+ python -m lidar_slam --no-model /working/6aa5b4b3-a490-4e8d-b976-f1b26bc105a8 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/6aa5b4b3-a490-4e8d-b976-f1b26bc105a8 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 0.01534707 Adjusted end_distance from 9.223372036854776e+18 to 160.52302707 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.01534707 meters Centerline goodness [0,1] 0.48230167024905835 Centerline is valid? [0, False] SLAMing on 0.04534707 meters Centerline goodness [0,1] 0.485471268915043 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.01, Z:0.01 [[ 0.99996046 0.00807917 -0.0037159 -0.01617957] [-0.00807355 0.99996625 0.0015249 -0.00725042] [ 0.0037281 -0.00149484 0.99999193 0.00618943] [ 0. 0. 0. 1. ]] SLAMing on 0.07534707 meters Centerline goodness [0,1] 0.4573413088819802 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.02, Z:0.01 [[ 9.99880772e-01 1.37220194e-02 -7.08154231e-03 -6.41037933e-02] [-1.37250253e-02 9.99905737e-01 -3.76035655e-04 -1.66815456e-02] [ 7.07571481e-03 4.73185168e-04 9.99974855e-01 6.82635250e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.10534707000000001 meters Centerline goodness [0,1] 0.45888504513101913 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.02, Z:0.01 [[ 0.99973222 0.02097486 -0.00977444 -0.11478194] [-0.02092111 0.99976562 0.00556909 -0.02188956] [ 0.00988896 -0.0053631 0.99993672 0.00742599] [ 0. 0. 0. 1. ]] SLAMing on 0.13534707 meters Centerline goodness [0,1] 0.42520621827411165 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.03, Z:0.01 [[ 0.99956833 0.02708853 -0.01137349 -0.166688 ] [-0.02710864 0.99963118 -0.00161814 -0.0291804 ] [ 0.01132546 0.00192576 0.99993401 0.00800172] [ 0. 0. 0. 1. ]] SLAMing on 0.16534707 meters Centerline goodness [0,1] 0.42034881379143674 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.03, Z:0.01 [[ 9.99355082e-01 3.03196739e-02 -1.92389426e-02 -2.28540636e-01] [-3.03379915e-02 9.99539479e-01 -6.60895947e-04 -3.31708801e-02] [ 1.92100445e-02 1.24414060e-03 9.99814696e-01 5.12724430e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.19534707 meters Centerline goodness [0,1] 0.43421882224370556 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.04, Z:0.01 [[ 0.99928466 0.03047043 -0.02239896 -0.31048034] [-0.03042552 0.99953429 0.00234328 -0.03605626] [ 0.02245993 -0.0016601 0.99974637 0.00729139] [ 0. 0. 0. 1. ]] SLAMing on 0.22534707 meters Centerline goodness [0,1] 0.505316742081448 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.04, Z:0.02 [[ 0.99959519 0.0181335 -0.02192352 -0.34277164] [-0.0183056 0.99980298 -0.00767494 -0.03655635] [ 0.02178003 0.00807316 0.99973019 0.01572934] [ 0. 0. 0. 1. ]] SLAMing on 0.25534707 meters Centerline goodness [0,1] 0.6208820149396668 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.04, Z:0.02 [[ 9.99722366e-01 6.48591097e-04 -2.35535561e-02 -3.45491433e-01] [-1.14366967e-03 9.99778572e-01 -2.10118874e-02 -3.56709312e-02] [ 2.35347126e-02 2.10329912e-02 9.99501741e-01 1.74857043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.28534707000000004 meters Centerline goodness [0,1] 0.7373828496967875 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.04, Z:0.02 [[ 0.99941672 -0.0171662 -0.02952197 -0.35076683] [ 0.01639697 0.99952475 -0.02610389 -0.03570886] [ 0.02995604 0.02560459 0.99922322 0.01849396] [ 0. 0. 0. 1. ]] SLAMing on 0.31534707000000006 meters Centerline goodness [0,1] 0.9303081088049504 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.04, Z:0.02 [[ 0.99915338 -0.02898696 -0.02919385 -0.35500641] [ 0.02794599 0.99898045 -0.03545543 -0.03695872] [ 0.03019183 0.03460956 0.99894476 0.02126354] [ 0. 0. 0. 1. ]] SLAMing on 0.34534707000000003 meters Centerline goodness [0,1] 0.9546045447454631 Centerline is valid? [False, True] Translation: X:-0.36, Y:-0.04, Z:0.02 [[ 0.99908192 -0.03169364 -0.02882408 -0.3595409 ] [ 0.03059904 0.99882221 -0.03765479 -0.03806838] [ 0.02998355 0.03673823 0.99887501 0.02435611] [ 0. 0. 0. 1. ]] SLAMing on 0.37534707000000006 meters Centerline goodness [0,1] 0.9798167027082689 Centerline is valid? [True, True] Translation: X:-0.39, Y:-0.03, Z:0.03 [[ 9.98690389e-01 -3.56990752e-02 -3.66481053e-02 -3.89210499e-01] [ 3.57156936e-02 9.99361971e-01 -2.01325761e-04 -2.64645590e-02] [ 3.66319099e-02 -1.10785040e-03 9.99328212e-01 3.40278790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.40534707000000003 meters Centerline goodness [0,1] 0.9932540295586797 Centerline is valid? [True, True] Translation: X:-0.42, Y:-0.02, Z:0.03 [[ 9.98443203e-01 -3.72593557e-02 -4.15079544e-02 -4.17864598e-01] [ 3.72829779e-02 9.99304727e-01 -2.05125829e-04 -1.60732366e-02] [ 4.14867379e-02 -1.34273366e-03 9.99138152e-01 3.06996536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.43534707000000006 meters Centerline goodness [0,1] 0.9984420891329332 Centerline is valid? [True, True] Translation: X:-0.45, Y:-0.01, Z:0.03 [[ 9.98223663e-01 -4.04879520e-02 -4.37063489e-02 -4.46805961e-01] [ 4.05173827e-02 9.99178811e-01 -2.12637042e-04 -1.08053454e-02] [ 4.36790670e-02 -1.55860754e-03 9.99044398e-01 2.68224473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.46534707000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.48, Y:-0.01, Z:0.03 [[ 9.98250132e-01 -3.92610962e-02 -4.42181043e-02 -4.75804296e-01] [ 3.92902386e-02 9.99227818e-01 -2.10176823e-04 -5.81827038e-03] [ 4.41922117e-02 -1.52753083e-03 9.99021879e-01 2.68952267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.49534707000000006 meters Centerline goodness [0,1] 0.9999027899290367 Centerline is valid? [True, True] Translation: X:-0.51, Y:0.00, Z:0.03 [[ 9.98474764e-01 -3.14164549e-02 -4.53999107e-02 -5.05426909e-01] [ 3.14393674e-02 9.99505639e-01 -2.09447908e-04 3.05521723e-03] [ 4.53840469e-02 -1.21821602e-03 9.98968871e-01 3.01115502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.52534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.53, Y:0.01, Z:0.03 [[ 9.98573882e-01 -2.89507208e-02 -4.48559742e-02 -5.33540664e-01] [ 2.89706471e-02 9.99580242e-01 -2.05924151e-04 1.28895143e-02] [ 4.48431071e-02 -1.09387612e-03 9.98993443e-01 2.87071039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.55534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.56, Y:0.03, Z:0.03 [[ 9.98770998e-01 -2.30214954e-02 -4.38919709e-02 -5.62482573e-01] [ 2.30351741e-02 9.99734636e-01 -1.94171026e-04 2.55215970e-02] [ 4.38847937e-02 -8.17126799e-04 9.99036264e-01 2.98807148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5853470700000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.59, Y:0.04, Z:0.03 [[ 9.98873346e-01 -1.55758257e-02 -4.48267006e-02 -5.91253973e-01] [ 1.55828126e-02 9.99878562e-01 -1.93591132e-04 4.02683739e-02] [ 4.48242723e-02 -5.05153055e-04 9.98994759e-01 3.29744966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6153470700000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.62, Y:0.05, Z:0.03 [[ 9.99021111e-01 -1.01387713e-02 -4.30583939e-02 -6.18938740e-01] [ 1.01404088e-02 9.99948568e-01 -1.80389760e-04 5.19808482e-02] [ 4.30580083e-02 -2.56416540e-04 9.99072541e-01 3.48339890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.64534707 meters Centerline goodness [0,1] 0.9998093331426665 Centerline is valid? [True, True] Translation: X:-0.65, Y:0.06, Z:0.04 [[ 9.99070540e-01 -5.80872932e-03 -4.27119980e-02 -6.47948391e-01] [ 5.80666388e-03 9.99983126e-01 -1.72421998e-04 6.14260607e-02] [ 4.27122788e-02 -7.57524776e-05 9.99087411e-01 3.51613251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.67534707 meters Centerline goodness [0,1] 0.9999073022641422 Centerline is valid? [True, True] Translation: X:-0.68, Y:0.07, Z:0.04 [[ 9.99019341e-01 -2.37990320e-03 -4.42119015e-02 -6.76582943e-01] [ 2.37457242e-03 9.99997166e-01 -1.73090888e-04 7.09333824e-02] [ 4.42121881e-02 6.79367830e-05 9.99022161e-01 3.62891010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7053470700000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.70, Y:0.08, Z:0.04 [[ 9.99125916e-01 -3.26012347e-03 -4.16746414e-02 -7.04862690e-01] [ 3.25630939e-03 9.99994686e-01 -1.59402453e-04 7.55692493e-02] [ 4.16749396e-02 2.35575958e-05 9.99131222e-01 3.65283280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7353470700000001 meters Centerline goodness [0,1] 0.9999760845649782 Centerline is valid? [True, True] Translation: X:-0.73, Y:0.08, Z:0.04 [[ 9.99151327e-01 -1.97251167e-03 -4.11428598e-02 -7.32611608e-01] [ 1.96769495e-03 9.99998052e-01 -1.57568187e-04 7.86095674e-02] [ 4.11430904e-02 7.64778659e-05 9.99153262e-01 3.68928465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7653470700000001 meters Centerline goodness [0,1] 0.9998106553691037 Centerline is valid? [True, True] Translation: X:-0.76, Y:0.08, Z:0.03 [[ 9.99017416e-01 6.17502412e-04 -4.43150184e-02 -7.60639210e-01] [-6.24390936e-04 9.99999795e-01 -1.41602867e-04 8.34769755e-02] [ 4.43149219e-02 1.69133627e-04 9.99017597e-01 3.08458121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.79534707 meters Centerline goodness [0,1] 0.9998108791754332 Centerline is valid? [True, True] Translation: X:-0.79, Y:0.09, Z:0.03 [[ 9.98896133e-01 7.49928913e-04 -4.69675675e-02 -7.89160992e-01] [-7.57619706e-04 9.99999702e-01 -1.45945493e-04 8.79370522e-02] [ 4.69674441e-02 1.81367943e-04 9.98896404e-01 2.82703947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8253470700000001 meters Centerline goodness [0,1] 0.9999306566812287 Centerline is valid? [True, True] Translation: X:-0.82, Y:0.09, Z:0.03 [[ 9.99059265e-01 2.63048816e-04 -4.33649063e-02 -8.18811250e-01] [-2.68466833e-04 9.99999957e-01 -1.19116428e-04 9.19540041e-02] [ 4.33648731e-02 1.30646410e-04 9.99059293e-01 3.34700317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8553470700000001 meters Centerline goodness [0,1] 0.9999293369450006 Centerline is valid? [True, True] Translation: X:-0.85, Y:0.09, Z:0.03 [[ 9.99073672e-01 -1.60038298e-03 -4.30027425e-02 -8.45975164e-01] [ 1.59767466e-03 9.99998719e-01 -9.73480839e-05 9.44118218e-02] [ 4.30028433e-02 2.85535155e-05 9.99074949e-01 2.92457165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8853470700000001 meters Centerline goodness [0,1] 0.99985871049781 Centerline is valid? [True, True] Translation: X:-0.88, Y:0.10, Z:0.03 [[ 9.98965543e-01 -4.92286327e-03 -4.52062897e-02 -8.75022185e-01] [ 4.92357536e-03 9.99987875e-01 -9.55937855e-05 9.68515288e-02] [ 4.52062121e-02 -1.27081676e-04 9.98977669e-01 2.80202420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.91534707 meters Centerline goodness [0,1] 0.9998352824905288 Centerline is valid? [True, True] Translation: X:-0.90, Y:0.10, Z:0.03 [[ 9.99065483e-01 -8.13482522e-03 -4.24497883e-02 -9.03456294e-01] [ 8.13901036e-03 9.99966875e-01 -7.42391228e-05 9.75018419e-02] [ 4.24489860e-02 -2.71329521e-04 9.99098599e-01 2.79644506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9453470700000001 meters Centerline goodness [0,1] 0.9997697179044329 Centerline is valid? [True, True] Translation: X:-0.93, Y:0.10, Z:0.03 [[ 9.99022774e-01 -7.33607756e-03 -4.35853052e-02 -9.32293309e-01] [ 7.34054753e-03 9.99973056e-01 -5.74904221e-05 1.01027138e-01] [ 4.35845526e-02 -2.62505764e-04 9.99049707e-01 2.72181560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9753470700000001 meters Centerline goodness [0,1] 0.9997697179044329 Centerline is valid? [True, True] Translation: X:-0.96, Y:0.10, Z:0.03 [[ 9.99026042e-01 -6.87658802e-03 -4.35853201e-02 -9.59767674e-01] [ 6.88140211e-03 9.99976322e-01 -3.95840562e-05 1.00783723e-01] [ 4.35845603e-02 -2.60382611e-04 9.99049708e-01 2.55762854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.00534707 meters Centerline goodness [0,1] 0.999745228830832 Centerline is valid? [True, True] Translation: X:-0.99, Y:0.11, Z:0.02 [[ 9.98933751e-01 -4.78753841e-04 -4.61641904e-02 -9.87099493e-01] [ 4.78578113e-04 9.99999885e-01 -1.48590657e-05 1.13427981e-01] [ 4.61641922e-02 -7.24994888e-06 9.98933865e-01 2.20114473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.03534707 meters Centerline goodness [0,1] 0.9998156512120933 Centerline is valid? [True, True] Translation: X:-1.02, Y:0.13, Z:0.02 [[ 9.98811844e-01 1.46427156e-02 -4.64810928e-02 -1.01642559e+00] [-1.46590796e-02 9.99892550e-01 -1.11890695e-05 1.32927517e-01] [ 4.64759346e-02 6.92545817e-04 9.98919170e-01 2.03433456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.06534707 meters Centerline goodness [0,1] 0.9997733967822343 Centerline is valid? [True, True] Translation: X:-1.05, Y:0.16, Z:0.02 [[ 9.98237970e-01 3.45503487e-02 -4.82413614e-02 -1.04689441e+00] [-3.45900281e-02 9.99401586e-01 1.23104486e-05 1.60738304e-01] [ 4.82129184e-02 1.65638129e-03 9.98835708e-01 1.86339521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.09534707 meters Centerline goodness [0,1] 0.999723055619663 Centerline is valid? [True, True] Translation: X:-1.08, Y:0.18, Z:0.01 [[ 9.97390448e-01 5.40554306e-02 -4.78571290e-02 -1.07616089e+00] [-5.41168545e-02 9.98534609e-01 1.22136694e-05 1.78704914e-01] [ 4.77876598e-02 2.57769549e-03 9.98854191e-01 1.36708476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1253470700000001 meters Centerline goodness [0,1] 0.9993129351410773 Centerline is valid? [True, True] Translation: X:-1.11, Y:0.19, Z:0.01 [[ 9.96530427e-01 6.76745961e-02 -4.84485003e-02 -1.10680188e+00] [-6.77534709e-02 9.97702093e-01 1.42594015e-05 1.94121657e-01] [ 4.83381351e-02 3.26834413e-03 9.98825682e-01 9.82446712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1553470700000001 meters Centerline goodness [0,1] 0.9994738166594221 Centerline is valid? [True, True] Translation: X:-1.14, Y:0.20, Z:0.01 [[ 9.96379885e-01 7.04545513e-02 -4.75739561e-02 -1.13614531e+00] [-7.05339309e-02 9.97509381e-01 1.02137079e-05 2.00274143e-01] [ 4.74561871e-02 3.34540140e-03 9.98867718e-01 1.05492417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1853470700000002 meters Centerline goodness [0,1] 0.9994305239179955 Centerline is valid? [True, True] Translation: X:-1.17, Y:0.20, Z:0.01 [[ 9.96877179e-01 6.52186878e-02 -4.45243029e-02 -1.16637085e+00] [-6.52820947e-02 9.97866848e-01 3.00078995e-05 2.00453480e-01] [ 4.44312829e-02 2.87672557e-03 9.99008301e-01 1.10885302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2153470700000002 meters Centerline goodness [0,1] 0.9996552358187 Centerline is valid? [True, True] Translation: X:-1.20, Y:0.20, Z:0.01 [[ 9.97488389e-01 5.41589684e-02 -4.56477914e-02 -1.19636115e+00] [-5.42140168e-02 9.98529338e-01 3.21301464e-05 1.97225244e-01] [ 4.55823990e-02 2.44270068e-03 9.98957596e-01 8.15418872e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2453470700000002 meters Centerline goodness [0,1] 0.9996534596280466 Centerline is valid? [True, True] Translation: X:-1.23, Y:0.19, Z:0.01 [[ 9.98142081e-01 4.15003190e-02 -4.46106551e-02 -1.22536215e+00] [-4.15401729e-02 9.99136834e-01 3.36843835e-05 1.86406948e-01] [ 4.45735466e-02 1.81951253e-03 9.99004449e-01 8.32542721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.27534707 meters Centerline goodness [0,1] 0.9997474051621199 Centerline is valid? [True, True] Translation: X:-1.25, Y:0.19, Z:0.01 [[ 9.98164003e-01 3.99575882e-02 -4.55193729e-02 -1.25444681e+00] [-3.99979045e-02 9.99199763e-01 2.51355646e-05 1.88644444e-01] [ 4.54839510e-02 1.79559012e-03 9.98963456e-01 6.48705296e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.30534707 meters Centerline goodness [0,1] 0.9995926495881234 Centerline is valid? [True, True] Translation: X:-1.28, Y:0.19, Z:0.01 [[ 9.98095956e-01 3.87991156e-02 -4.79488342e-02 -1.28367908e+00] [-3.88414760e-02 9.99245384e-01 4.83217587e-05 1.94235453e-01] [ 4.79145261e-02 1.81417374e-03 9.98849792e-01 5.84826258e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.33534707 meters Centerline goodness [0,1] 0.9996527375853687 Centerline is valid? [True, True] Translation: X:-1.31, Y:0.19, Z:0.01 [[ 9.98292327e-01 3.60515641e-02 -4.59642853e-02 -1.31212288e+00] [-3.60865681e-02 9.99348665e-01 6.82817386e-05 1.94864480e-01] [ 4.59368088e-02 1.59052817e-03 9.98943081e-01 8.33261484e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.36534707 meters Centerline goodness [0,1] 0.9995656745759612 Centerline is valid? [True, True] Translation: X:-1.34, Y:0.20, Z:0.01 [[ 9.98202241e-01 3.33299993e-02 -4.98136335e-02 -1.34136679e+00] [-3.33673200e-02 9.99443153e-01 8.24280803e-05 2.00408151e-01] [ 4.97886422e-02 1.57986755e-03 9.98758527e-01 7.18916837e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3953470700000001 meters Centerline goodness [0,1] 0.9996533715394925 Centerline is valid? [True, True] Translation: X:-1.37, Y:0.20, Z:0.01 [[ 9.98549795e-01 3.00467759e-02 -4.46710020e-02 -1.36955981e+00] [-3.00733823e-02 9.99547691e-01 7.64644615e-05 2.01952192e-01] [ 4.46530944e-02 1.26705455e-03 9.99001750e-01 1.09932593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4253470700000002 meters Centerline goodness [0,1] 0.9996490324995906 Centerline is valid? [True, True] Translation: X:-1.40, Y:0.21, Z:0.02 [[ 9.98703870e-01 2.67221329e-02 -4.33186853e-02 -1.39858506e+00] [-2.67439572e-02 9.99642314e-01 7.57455793e-05 2.07967832e-01] [ 4.33052149e-02 1.08286566e-03 9.99061302e-01 1.50255830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4553470700000002 meters Centerline goodness [0,1] 0.9994077313834028 Centerline is valid? [True, True] Translation: X:-1.43, Y:0.21, Z:0.01 [[ 9.98655500e-01 2.48578967e-02 -4.54893190e-02 -1.42701526e+00] [-2.48791323e-02 9.99690462e-01 9.93639022e-05 2.10974408e-01] [ 4.54777083e-02 1.03250448e-03 9.98964820e-01 1.42498962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4853470700000002 meters Centerline goodness [0,1] 0.9993281282579988 Centerline is valid? [True, True] Translation: X:-1.45, Y:0.22, Z:0.01 [[ 9.98690927e-01 2.53673640e-02 -4.44176609e-02 -1.45427304e+00] [-2.53872682e-02 9.99677685e-01 1.16019551e-04 2.15832495e-01] [ 4.44062875e-02 1.01177540e-03 9.99013042e-01 1.22123661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5153470700000002 meters Centerline goodness [0,1] 0.9999765615844369 Centerline is valid? [True, True] Translation: X:-1.48, Y:0.22, Z:0.01 [[ 9.98771456e-01 2.67667893e-02 -4.17027213e-02 -1.48198858e+00] [-2.67851576e-02 9.99641206e-01 1.18330682e-04 2.22394569e-01] [ 4.16909260e-02 9.98828655e-04 9.99130056e-01 1.37933744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.54534707 meters Centerline goodness [0,1] 0.9998358194952622 Centerline is valid? [True, True] Translation: X:-1.51, Y:0.23, Z:0.01 [[ 9.98585403e-01 2.78938205e-02 -4.52672948e-02 -1.51056855e+00] [-2.79164667e-02 9.99610251e-01 1.31944104e-04 2.27696011e-01] [ 4.52533323e-02 1.13194547e-03 9.98974902e-01 1.15233641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.57534707 meters Centerline goodness [0,1] 0.9999762819600588 Centerline is valid? [True, True] Translation: X:-1.54, Y:0.23, Z:0.01 [[ 9.98514895e-01 3.13226227e-02 -4.45746366e-02 -1.53859334e+00] [-3.13470252e-02 9.99508550e-01 1.51601906e-04 2.32771081e-01] [ 4.45574790e-02 1.24590550e-03 9.99006045e-01 1.30932888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.60534707 meters Centerline goodness [0,1] 0.9996499988333294 Centerline is valid? [True, True] Translation: X:-1.57, Y:0.24, Z:0.02 [[ 9.98576709e-01 3.41137663e-02 -4.09976383e-02 -1.56808246e+00] [-3.41367304e-02 9.99417162e-01 1.39999803e-04 2.40315587e-01] [ 4.09785192e-02 1.25972478e-03 9.99159234e-01 2.07766944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6353470700000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.60, Y:0.24, Z:0.02 [[ 9.98580951e-01 3.39045565e-02 -4.10678075e-02 -1.59606889e+00] [-3.39265306e-02 9.99424316e-01 1.61952432e-04 2.39770588e-01] [ 4.10496564e-02 1.23156561e-03 9.99156349e-01 1.71252632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6653470700000002 meters Centerline goodness [0,1] 0.9999277003904179 Centerline is valid? [True, True] Translation: X:-1.62, Y:0.24, Z:0.01 [[ 9.98250118e-01 3.53193129e-02 -4.74262430e-02 -1.62482332e+00] [-3.53499879e-02 9.99374975e-01 1.92042480e-04 2.43904799e-01] [ 4.74033832e-02 1.48481069e-03 9.98874724e-01 1.24935478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6953470700000002 meters Centerline goodness [0,1] 0.9999757998160786 Centerline is valid? [True, True] Translation: X:-1.65, Y:0.24, Z:0.02 [[ 9.98481357e-01 3.52011641e-02 -4.23775585e-02 -1.65393452e+00] [-3.52249110e-02 9.99379393e-01 1.86446253e-04 2.43864029e-01] [ 4.23578218e-02 1.30658262e-03 9.99101650e-01 1.81895001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7253470700000002 meters Centerline goodness [0,1] 0.9999274433453454 Centerline is valid? [True, True] Translation: X:-1.68, Y:0.24, Z:0.02 [[ 9.98593573e-01 3.43342277e-02 -4.03984776e-02 -1.68120397e+00] [-3.43543200e-02 9.99409697e-01 1.96959789e-04 2.42464484e-01] [ 4.03813927e-02 1.19117945e-03 9.99183629e-01 1.85397259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7553470700000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.71, Y:0.24, Z:0.01 [[ 9.98419935e-01 3.36035109e-02 -4.50381683e-02 -1.70893087e+00] [-3.36272204e-02 9.99434418e-01 2.31318674e-04 2.41010062e-01] [ 4.50204687e-02 1.28355524e-03 9.98985240e-01 1.37024992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7853470700000003 meters Centerline goodness [0,1] 0.9999754980030873 Centerline is valid? [True, True] Translation: X:-1.74, Y:0.24, Z:0.02 [[ 9.98576127e-01 3.10879272e-02 -4.33504210e-02 -1.73825647e+00] [-3.11074521e-02 9.99516021e-01 2.24270184e-04 2.38383959e-01] [ 4.33364124e-02 1.12457030e-03 9.99059903e-01 1.56458178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.81534707 meters Centerline goodness [0,1] 0.999950575792023 Centerline is valid? [True, True] Translation: X:-1.77, Y:0.24, Z:0.02 [[ 9.98593429e-01 3.05577167e-02 -4.33288642e-02 -1.76751884e+00] [-3.05759057e-02 9.99532418e-01 2.43024740e-04 2.36660476e-01] [ 4.33160307e-02 1.08213636e-03 9.99060834e-01 1.66240208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.84534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.80, Y:0.23, Z:0.02 [[ 9.98722222e-01 2.66990614e-02 -4.29078463e-02 -1.79610634e+00] [-2.67125666e-02 9.99643122e-01 2.58677472e-04 2.31537795e-01] [ 4.28994399e-02 8.87831762e-04 9.99079001e-01 1.67171129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8753470700000001 meters Centerline goodness [0,1] 0.9999755016046449 Centerline is valid? [True, True] Translation: X:-1.82, Y:0.23, Z:0.02 [[ 9.98788240e-01 2.37251475e-02 -4.31180931e-02 -1.82357940e+00] [-2.37351087e-02 9.99718243e-01 2.80981009e-04 2.27662321e-01] [ 4.31126106e-02 7.42772099e-04 9.99069943e-01 1.50526186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9053470700000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.85, Y:0.22, Z:0.01 [[ 9.98802542e-01 2.14485928e-02 -4.39709026e-02 -1.85282457e+00] [-2.14564302e-02 9.99769741e-01 2.93763794e-04 2.22988568e-01] [ 4.39670787e-02 6.50046576e-04 9.99032769e-01 1.39024688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9353470700000002 meters Centerline goodness [0,1] 0.9998563287198889 Centerline is valid? [True, True] Translation: X:-1.88, Y:0.22, Z:0.02 [[ 9.98862769e-01 1.74572855e-02 -4.43667840e-02 -1.88221960e+00] [-1.74604820e-02 9.99847504e-01 3.15504704e-04 2.17821645e-01] [ 4.43655262e-02 4.59519530e-04 9.99015260e-01 1.71157405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9653470700000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.91, Y:0.21, Z:0.01 [[ 9.98910547e-01 1.41057475e-02 -4.44831008e-02 -1.90973955e+00] [-1.41045977e-02 9.99900468e-01 3.39726069e-04 2.12261989e-01] [ 4.44834654e-02 2.88060288e-04 9.99010079e-01 1.39651874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9953470700000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.94, Y:0.21, Z:0.01 [[ 9.98941328e-01 1.11823738e-02 -4.46226104e-02 -1.93894971e+00] [-1.11781879e-02 9.99937463e-01 3.43337993e-04 2.06381097e-01] [ 4.46236591e-02 1.55825413e-04 9.99003856e-01 1.45070246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.02534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.97, Y:0.20, Z:0.01 [[ 9.98955441e-01 7.07489698e-03 -4.51439118e-02 -1.96636618e+00] [-7.06535997e-03 9.99974971e-01 3.70816610e-04 1.98914488e-01] [ 4.51454054e-02 -5.14712821e-05 9.98980425e-01 1.20676921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.05534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.00, Y:0.19, Z:0.01 [[ 9.98991393e-01 2.02692584e-03 -4.48563044e-02 -1.99515948e+00] [-2.01230399e-03 9.99997906e-01 3.71123586e-04 1.92383950e-01] [ 4.48569627e-02 -2.80484748e-04 9.98993380e-01 1.12459934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.08534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.02, Y:0.19, Z:0.02 [[ 9.99088865e-01 1.39197028e-03 -4.26556222e-02 -2.02460956e+00] [-1.37742272e-03 9.99998983e-01 3.70435565e-04 1.86700515e-01] [ 4.26560945e-02 -3.11343225e-04 9.99089766e-01 1.56942077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.11534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.05, Y:0.18, Z:0.01 [[ 9.98875582e-01 -3.01356971e-03 -4.73126793e-02 -2.05319112e+00] [ 3.03753923e-03 9.99995292e-01 4.34730055e-04 1.80501712e-01] [ 4.73111465e-02 -5.77955356e-04 9.98880034e-01 1.07524681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.14534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.08, Y:0.17, Z:0.02 [[ 9.98916759e-01 -4.45247032e-03 -4.63193603e-02 -2.08224422e+00] [ 4.47784693e-03 9.99989876e-01 4.44114410e-04 1.73105550e-01] [ 4.63169140e-02 -6.51044332e-04 9.98926584e-01 1.53852184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.17534707 meters Centerline goodness [0,1] 0.9999754673470389 Centerline is valid? [True, True] Translation: X:-2.11, Y:0.17, Z:0.02 [[ 9.98993036e-01 -4.46766814e-03 -4.46425180e-02 -2.11158714e+00] [ 4.49208208e-03 9.99989811e-01 4.46572021e-04 1.71325418e-01] [ 4.46400680e-02 -6.46660195e-04 9.99002926e-01 1.72972462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.20534707 meters Centerline goodness [0,1] 0.9999259112911192 Centerline is valid? [True, True] Translation: X:-2.14, Y:0.17, Z:0.01 [[ 9.98951562e-01 -4.22318334e-03 -4.55844426e-02 -2.13933481e+00] [ 4.24922311e-03 9.99990860e-01 4.74357658e-04 1.74330571e-01] [ 4.55820226e-02 -6.67558791e-04 9.98960376e-01 1.06109169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.23534707 meters Centerline goodness [0,1] 0.9999007321007569 Centerline is valid? [True, True] Translation: X:-2.17, Y:0.17, Z:0.01 [[ 9.98966012e-01 -7.24598637e-04 -4.54574645e-02 -2.16875098e+00] [ 7.47007656e-04 9.99999608e-01 4.75981370e-04 1.74375914e-01] [ 4.54571017e-02 -5.09446285e-04 9.98966162e-01 1.28155768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.26534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.20, Y:0.18, Z:0.01 [[ 9.98854442e-01 5.25083879e-03 -4.75629238e-02 -2.19790931e+00] [-5.23201517e-03 9.99986178e-01 5.20250077e-04 1.78127215e-01] [ 4.75649981e-02 -2.70804162e-04 9.98868108e-01 1.34435579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.29534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.23, Y:0.18, Z:0.01 [[ 9.98842415e-01 1.23272908e-02 -4.64958841e-02 -2.22542173e+00] [-1.23160067e-02 9.99924015e-01 5.29171888e-04 1.83843394e-01] [ 4.64988744e-02 4.40842922e-05 9.98918341e-01 1.03435886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.32534707 meters Centerline goodness [0,1] 0.9999244579860499 Centerline is valid? [True, True] Translation: X:-2.25, Y:0.19, Z:0.01 [[ 9.98738903e-01 1.99446517e-02 -4.60740122e-02 -2.25411215e+00] [-1.99415201e-02 9.99801009e-01 5.27650868e-04 1.93393329e-01] [ 4.60753677e-02 3.91800392e-04 9.98937889e-01 1.34552978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.35534707 meters Centerline goodness [0,1] 0.999975483586261 Centerline is valid? [True, True] Translation: X:-2.28, Y:0.21, Z:0.01 [[ 9.98399491e-01 3.05689831e-02 -4.75814331e-02 -2.28262030e+00] [-3.05767024e-02 9.99532263e-01 5.65782044e-04 2.05084494e-01] [ 4.75764729e-02 8.90006813e-04 9.98867202e-01 1.07260437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.38534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.31, Y:0.21, Z:0.01 [[ 9.98135195e-01 3.82076117e-02 -4.76057873e-02 -2.31047799e+00] [-3.82237989e-02 9.99269041e-01 5.70613886e-04 2.14792010e-01] [ 4.75927912e-02 1.25012424e-03 9.98866039e-01 1.16844949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.41534707 meters Centerline goodness [0,1] 0.9997196094924932 Centerline is valid? [True, True] Translation: X:-2.34, Y:0.23, Z:0.01 [[ 9.97731468e-01 4.70155602e-02 -4.81814740e-02 -2.34007713e+00] [-4.70420517e-02 9.98892739e-01 5.84588365e-04 2.25038498e-01] [ 4.81556093e-02 1.68329319e-03 9.98838427e-01 1.18037507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.44534707 meters Centerline goodness [0,1] 0.9999242500757499 Centerline is valid? [True, True] Translation: X:-2.37, Y:0.23, Z:0.01 [[ 9.97334140e-01 5.45592513e-02 -4.84551492e-02 -2.36896242e+00] [-5.45948051e-02 9.98508417e-01 5.90414260e-04 2.34248891e-01] [ 4.84150868e-02 2.05655913e-03 9.98825185e-01 1.14856471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.47534707 meters Centerline goodness [0,1] 0.9998505864481908 Centerline is valid? [True, True] Translation: X:-2.40, Y:0.24, Z:0.01 [[ 9.97012005e-01 5.97739466e-02 -4.89299148e-02 -2.39831318e+00] [-5.98163376e-02 9.98209220e-01 5.98773674e-04 2.41180526e-01] [ 4.88780832e-02 2.32982376e-03 9.98802035e-01 9.52816262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.50534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.43, Y:0.25, Z:0.01 [[ 9.96628462e-01 6.55241819e-02 -4.93790559e-02 -2.42703343e+00] [-6.55742597e-02 9.97847507e-01 6.06896594e-04 2.46383765e-01] [ 4.93125343e-02 2.63314462e-03 9.98779926e-01 7.64882132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.53534707 meters Centerline goodness [0,1] 0.9998212507341487 Centerline is valid? [True, True] Translation: X:-2.46, Y:0.25, Z:0.01 [[ 9.96533303e-01 6.76106099e-02 -4.84786664e-02 -2.45596534e+00] [-6.76613897e-02 9.97708165e-01 5.94681579e-04 2.49623810e-01] [ 4.84077681e-02 2.68751394e-03 9.98824041e-01 9.53718981e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.56534707 meters Centerline goodness [0,1] 0.9999490770210058 Centerline is valid? [True, True] Translation: X:-2.48, Y:0.25, Z:0.01 [[ 9.96411550e-01 6.81181154e-02 -5.02388780e-02 -2.48343980e+00] [-6.81723221e-02 9.97673359e-01 6.35758559e-04 2.49107194e-01] [ 5.01652968e-02 2.79142380e-03 9.98737028e-01 7.02951746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.59534707 meters Centerline goodness [0,1] 0.9999244027819776 Centerline is valid? [True, True] Translation: X:-2.51, Y:0.25, Z:0.01 [[ 9.96557409e-01 6.68150124e-02 -4.90824354e-02 -2.51228288e+00] [-6.68641072e-02 9.97761884e-01 6.42821829e-04 2.49150999e-01] [ 4.90155334e-02 2.64124437e-03 9.98794524e-01 9.39260423e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.62534707 meters Centerline goodness [0,1] 0.9998483239799788 Centerline is valid? [True, True] Translation: X:-2.54, Y:0.25, Z:0.01 [[ 9.96624640e-01 6.53512819e-02 -4.96843646e-02 -2.54124778e+00] [-6.53988052e-02 9.97858982e-01 6.70287291e-04 2.52787753e-01] [ 4.96217936e-02 2.58127326e-03 9.98764744e-01 1.07051255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.65534707 meters Centerline goodness [0,1] 0.9999744865416508 Centerline is valid? [True, True] Translation: X:-2.57, Y:0.25, Z:0.01 [[ 9.96811582e-01 6.19803207e-02 -5.02504679e-02 -2.56943984e+00] [-6.20235235e-02 9.98074442e-01 7.00638999e-04 2.45266083e-01] [ 5.01971336e-02 2.41830601e-03 9.98736401e-01 8.94365628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.68534707 meters Centerline goodness [0,1] 0.9999230414037248 Centerline is valid? [True, True] Translation: X:-2.60, Y:0.24, Z:0.01 [[ 9.96950728e-01 5.97241655e-02 -5.02222033e-02 -2.59851794e+00] [-5.97643148e-02 9.98212268e-01 7.03225519e-04 2.43440090e-01] [ 5.01744190e-02 2.30041438e-03 9.98737821e-01 1.03301592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.71534707 meters Centerline goodness [0,1] 0.999974140160331 Centerline is valid? [True, True] Translation: X:-2.63, Y:0.24, Z:0.01 [[ 9.97266524e-01 5.47282421e-02 -4.96417201e-02 -2.62757591e+00] [-5.47601557e-02 9.98499279e-01 7.17947925e-04 2.40858188e-01] [ 4.96065137e-02 2.00240289e-03 9.98766832e-01 9.68729558e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7453470700000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.66, Y:0.24, Z:0.01 [[ 9.97365270e-01 5.27809202e-02 -4.97663717e-02 -2.65580752e+00] [-5.28103859e-02 9.98604296e-01 7.23556802e-04 2.39297970e-01] [ 4.97351026e-02 1.90653087e-03 9.98760624e-01 9.81280876e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.77534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.69, Y:0.24, Z:0.01 [[ 9.97519341e-01 5.08757249e-02 -4.86500251e-02 -2.68506982e+00] [-5.09014260e-02 9.98703429e-01 7.11284340e-04 2.38523674e-01] [ 4.86231339e-02 1.76683577e-03 9.98815633e-01 1.02643097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.80534707 meters Centerline goodness [0,1] 0.999790499135809 Centerline is valid? [True, True] Translation: X:-2.71, Y:0.24, Z:0.01 [[ 9.97572364e-01 5.04633782e-02 -4.79877671e-02 -2.71386701e+00] [-5.04869627e-02 9.98724460e-01 7.21253878e-04 2.39896008e-01] [ 4.79629537e-02 1.70325367e-03 9.98847663e-01 9.89009004e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.83534707 meters Centerline goodness [0,1] 0.9998435789144376 Centerline is valid? [True, True] Translation: X:-2.74, Y:0.24, Z:0.01 [[ 9.97444116e-01 5.10897247e-02 -4.99507244e-02 -2.74148893e+00] [-5.11149905e-02 9.98692476e-01 7.72302583e-04 2.42980297e-01] [ 4.99248693e-02 1.78290213e-03 9.98751385e-01 1.10805523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.86534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.77, Y:0.24, Z:0.01 [[ 9.97386607e-01 5.14369711e-02 -5.07365203e-02 -2.76880760e+00] [-5.14621398e-02 9.98674617e-01 8.11020734e-04 2.40764166e-01] [ 5.07109915e-02 1.80210868e-03 9.98711744e-01 9.78429534e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.89534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.80, Y:0.24, Z:0.01 [[ 9.97360439e-01 5.19420268e-02 -5.07363823e-02 -2.79623090e+00] [-5.19674124e-02 9.98648445e-01 8.19591542e-04 2.40982412e-01] [ 5.07103805e-02 1.81921032e-03 9.98711744e-01 8.14270643e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.92534707 meters Centerline goodness [0,1] 0.9998414082943462 Centerline is valid? [True, True] Translation: X:-2.83, Y:0.25, Z:0.01 [[ 9.97428835e-01 5.37679754e-02 -4.73785210e-02 -2.82517599e+00] [-5.37910770e-02 9.98551901e-01 7.88178647e-04 2.46289990e-01] [ 4.73522909e-02 1.76238956e-03 9.98876696e-01 1.17053873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.95534707 meters Centerline goodness [0,1] 0.9997897945241474 Centerline is valid? [True, True] Translation: X:-2.85, Y:0.25, Z:0.01 [[ 9.97402991e-01 5.46299836e-02 -4.69344029e-02 -2.85446976e+00] [-5.46526098e-02 9.98505107e-01 8.01995137e-04 2.46328317e-01] [ 4.69080540e-02 1.76517526e-03 9.98897652e-01 1.26849707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.98534707 meters Centerline goodness [0,1] 0.9999733005820474 Centerline is valid? [True, True] Translation: X:-2.88, Y:0.25, Z:0.01 [[ 9.97343548e-01 5.45120750e-02 -4.83143924e-02 -2.88211704e+00] [-5.45348695e-02 9.98511507e-01 8.47240279e-04 2.48916332e-01] [ 4.82886616e-02 1.78982946e-03 9.98831819e-01 1.02022489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0153470700000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.91, Y:0.25, Z:0.01 [[ 9.97121374e-01 5.67087957e-02 -5.03296969e-02 -2.91035763e+00] [-5.67360533e-02 9.98388818e-01 8.88065714e-04 2.54951584e-01] [ 5.02989677e-02 1.96999906e-03 9.98732263e-01 9.52207884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.04534707 meters Centerline goodness [0,1] 0.9998668690257475 Centerline is valid? [True, True] Translation: X:-2.94, Y:0.26, Z:0.01 [[ 9.96984774e-01 5.92399058e-02 -5.01198025e-02 -2.93978294e+00] [-5.92690149e-02 9.98241635e-01 9.06528893e-04 2.59286593e-01] [ 5.00853763e-02 2.06675582e-03 9.98742802e-01 1.19560579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.07534707 meters Centerline goodness [0,1] 0.9999729100070434 Centerline is valid? [True, True] Translation: X:-2.97, Y:0.26, Z:0.01 [[ 9.96989216e-01 6.10531806e-02 -4.78018033e-02 -2.96776550e+00] [-6.10807482e-02 9.98132435e-01 8.85168144e-04 2.61610169e-01] [ 4.77665727e-02 2.03726682e-03 9.98856448e-01 1.36316426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.10534707 meters Centerline goodness [0,1] 0.9997597629661266 Centerline is valid? [True, True] Translation: X:-3.00, Y:0.26, Z:0.01 [[ 9.96863711e-01 6.31134683e-02 -4.77433987e-02 -2.99672316e+00] [-6.31431399e-02 9.98004086e-01 8.87964886e-04 2.64866781e-01] [ 4.77041496e-02 2.12948814e-03 9.98859239e-01 1.39359734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.13534707 meters Centerline goodness [0,1] 0.9997864673695449 Centerline is valid? [True, True] Translation: X:-3.02, Y:0.27, Z:0.01 [[ 9.96715274e-01 6.39096169e-02 -4.97415715e-02 -3.02441464e+00] [-6.39417422e-02 9.97953184e-01 9.46785564e-04 2.70072727e-01] [ 4.97002684e-02 2.23688711e-03 9.98761673e-01 1.46839226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.16534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.05, Y:0.27, Z:0.02 [[ 9.96774766e-01 6.31147883e-02 -4.95639852e-02 -3.05257294e+00] [-6.31444169e-02 9.98003929e-01 9.69361079e-04 2.66395480e-01] [ 4.95262330e-02 2.16345428e-03 9.98770480e-01 1.64144592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.19534707 meters Centerline goodness [0,1] 0.9999449445316156 Centerline is valid? [True, True] Translation: X:-3.08, Y:0.27, Z:0.02 [[ 9.96821053e-01 6.40700861e-02 -4.73583502e-02 -3.08137723e+00] [-6.40980512e-02 9.97943173e-01 9.29469145e-04 2.68586667e-01] [ 4.73204934e-02 2.10906355e-03 9.98877531e-01 1.86156366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.22534707 meters Centerline goodness [0,1] 0.9998087013554875 Centerline is valid? [True, True] Translation: X:-3.11, Y:0.27, Z:0.02 [[ 9.96863256e-01 6.35607724e-02 -4.71558708e-02 -3.11006746e+00] [-6.35870087e-02 9.97975851e-01 9.45021981e-04 2.72291918e-01] [ 4.71204866e-02 2.05644308e-03 9.98887096e-01 2.25836330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.25534707 meters Centerline goodness [0,1] 0.9998358547862009 Centerline is valid? [True, True] Translation: X:-3.14, Y:0.27, Z:0.02 [[ 9.97045509e-01 6.17334510e-02 -4.57081470e-02 -3.13813966e+00] [-6.17552288e-02 9.98090885e-01 9.36840538e-04 2.72206484e-01] [ 4.56787193e-02 1.88864442e-03 9.98954397e-01 2.36780845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2853470700000003 meters Centerline goodness [0,1] 0.9998357334501451 Centerline is valid? [True, True] Translation: X:-3.17, Y:0.28, Z:0.02 [[ 9.96894161e-01 6.20003244e-02 -4.85591509e-02 -3.16632676e+00] [-6.20247764e-02 9.98074104e-01 1.00456415e-03 2.76344470e-01] [ 4.85279144e-02 2.01042634e-03 9.98819803e-01 2.07213218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.31534707 meters Centerline goodness [0,1] 0.9999724730235631 Centerline is valid? [True, True] Translation: X:-3.19, Y:0.28, Z:0.02 [[ 9.96692585e-01 6.38073771e-02 -5.03240475e-02 -3.19393172e+00] [-6.38347458e-02 9.97959915e-01 1.06483594e-03 2.75208769e-01] [ 5.02893265e-02 2.15110869e-03 9.98732375e-01 1.90956391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.34534707 meters Centerline goodness [0,1] 0.9996728016359918 Centerline is valid? [True, True] Translation: X:-3.22, Y:0.28, Z:0.02 [[ 9.96716355e-01 6.40264931e-02 -4.95693079e-02 -3.22260513e+00] [-6.40531302e-02 9.97945935e-01 1.05258778e-03 2.78178241e-01] [ 4.95348828e-02 2.12593787e-03 9.98770132e-01 2.39656685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.37534707 meters Centerline goodness [0,1] 0.9999171385167794 Centerline is valid? [True, True] Translation: X:-3.25, Y:0.28, Z:0.02 [[ 9.96915832e-01 6.23762074e-02 -4.76238608e-02 -3.25085427e+00] [-6.23977156e-02 9.98050826e-01 1.03634500e-03 2.75427295e-01] [ 4.75956769e-02 1.93847139e-03 9.98864803e-01 2.36304589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.40534707 meters Centerline goodness [0,1] 0.999694079038852 Centerline is valid? [True, True] Translation: X:-3.28, Y:0.27, Z:0.03 [[ 9.97235620e-01 5.88490614e-02 -4.53641426e-02 -3.27939287e+00] [-5.88646590e-02 9.98265479e-01 9.93113507e-04 2.71773395e-01] [ 4.53439013e-02 1.67997662e-03 9.98970024e-01 2.83397493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.43534707 meters Centerline goodness [0,1] 0.9998325051644241 Centerline is valid? [True, True] Translation: X:-3.31, Y:0.27, Z:0.03 [[ 9.97325040e-01 5.54695120e-02 -4.76014405e-02 -3.30867005e+00] [-5.54824692e-02 9.98459109e-01 1.05004696e-03 2.72269962e-01] [ 4.75863375e-02 1.59380733e-03 9.98865857e-01 2.62875145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.46534707 meters Centerline goodness [0,1] 0.9996398293345155 Centerline is valid? [True, True] Translation: X:-3.34, Y:0.28, Z:0.03 [[ 9.97180553e-01 5.73189856e-02 -4.84301410e-02 -3.33747590e+00] [-5.73345400e-02 9.98354450e-01 1.06908546e-03 2.79796379e-01] [ 4.84117257e-02 1.71064862e-03 9.98826000e-01 3.20557102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4953470700000002 meters Centerline goodness [0,1] 0.9997762175165739 Centerline is valid? [True, True] Translation: X:-3.37, Y:0.28, Z:0.03 [[ 9.97352952e-01 5.72072718e-02 -4.48822648e-02 -3.36570777e+00] [-5.72196443e-02 9.98361103e-01 1.01006036e-03 2.77469452e-01] [ 4.48664902e-02 1.56076055e-03 9.98991773e-01 3.45428276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.52534707 meters Centerline goodness [0,1] 0.9995798672380473 Centerline is valid? [True, True] Translation: X:-3.39, Y:0.28, Z:0.03 [[ 9.97430554e-01 5.46058934e-02 -4.63733462e-02 -3.39469499e+00] [-5.46159290e-02 9.98506883e-01 1.05155298e-03 2.79865241e-01] [ 4.63615263e-02 1.48387231e-03 9.98923624e-01 3.30736851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5553470700000003 meters Centerline goodness [0,1] 0.9997189590242257 Centerline is valid? [True, True] Translation: X:-3.42, Y:0.27, Z:0.03 [[ 9.97517547e-01 5.24942085e-02 -4.69372000e-02 -3.42224022e+00] [-5.25010995e-02 9.98620275e-01 1.08683293e-03 2.71829777e-01] [ 4.69294920e-02 1.38011969e-03 9.98897251e-01 3.30872356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.58534707 meters Centerline goodness [0,1] 0.9993781446096444 Centerline is valid? [True, True] Translation: X:-3.45, Y:0.27, Z:0.04 [[ 9.97682441e-01 5.09741025e-02 -4.50709159e-02 -3.45161634e+00] [-5.09787247e-02 9.98699190e-01 1.04760313e-03 2.74252530e-01] [ 4.50656878e-02 1.25248256e-03 9.98983241e-01 3.53037163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.61534707 meters Centerline goodness [0,1] 0.9997469066366704 Centerline is valid? [True, True] Translation: X:-3.48, Y:0.28, Z:0.04 [[ 9.97592673e-01 5.19057578e-02 -4.59853340e-02 -3.47895746e+00] [-5.19105145e-02 9.98651144e-01 1.09155401e-03 2.77493668e-01] [ 4.59799643e-02 1.29819606e-03 9.98941519e-01 3.75835783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.64534707 meters Centerline goodness [0,1] 0.9999159263514839 Centerline is valid? [True, True] Translation: X:-3.51, Y:0.29, Z:0.04 [[ 9.97353060e-01 5.44306050e-02 -4.82097868e-02 -3.50760610e+00] [-5.44383757e-02 9.98516467e-01 1.15277113e-03 2.86242767e-01] [ 4.82010120e-02 1.47474267e-03 9.98836567e-01 3.87485887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.67534707 meters Centerline goodness [0,1] 0.9997449774730102 Centerline is valid? [True, True] Translation: X:-3.54, Y:0.28, Z:0.04 [[ 9.97351344e-01 5.40295670e-02 -4.86939645e-02 -3.53565093e+00] [-5.40359697e-02 9.98538286e-01 1.18585756e-03 2.83218098e-01] [ 4.86868592e-02 1.44850896e-03 9.98813041e-01 3.59113165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.70534707 meters Centerline goodness [0,1] 0.9999141925519135 Centerline is valid? [True, True] Translation: X:-3.56, Y:0.29, Z:0.04 [[ 9.97663231e-01 5.04047253e-02 -4.61241937e-02 -3.56351338e+00] [-5.04057030e-02 9.98728171e-01 1.14262287e-03 2.85114505e-01] [ 4.61231252e-02 1.18496959e-03 9.98935060e-01 4.47384971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.73534707 meters Centerline goodness [0,1] 0.9999428326425611 Centerline is valid? [True, True] Translation: X:-3.59, Y:0.29, Z:0.05 [[ 9.97615704e-01 5.11742879e-02 -4.63044298e-02 -3.59138076e+00] [-5.11759039e-02 9.98688991e-01 1.15135018e-03 2.88641965e-01] [ 4.63026438e-02 1.22106603e-03 9.98926711e-01 4.63273169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7653470700000002 meters Centerline goodness [0,1] 0.9998314606741573 Centerline is valid? [True, True] Translation: X:-3.62, Y:0.29, Z:0.05 [[ 9.97559242e-01 5.00498382e-02 -4.86885168e-02 -3.62052319e+00] [-5.00490039e-02 9.98745997e-01 1.23702828e-03 2.91576541e-01] [ 4.86893743e-02 1.20280278e-03 9.98813245e-01 4.61392665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.79534707 meters Centerline goodness [0,1] 0.9997750913691313 Centerline is valid? [True, True] Translation: X:-3.65, Y:0.29, Z:0.04 [[ 9.97625206e-01 4.63193015e-02 -5.09751988e-02 -3.64937811e+00] [-4.63124136e-02 9.98926136e-01 1.31691073e-03 2.88868015e-01] [ 5.09814567e-02 1.04700115e-03 9.98699051e-01 4.41641967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8253470700000003 meters Centerline goodness [0,1] 0.9998262430859228 Centerline is valid? [True, True] Translation: X:-3.68, Y:0.29, Z:0.05 [[ 9.98000320e-01 4.32407499e-02 -4.61042138e-02 -3.67633647e+00] [-4.32310655e-02 9.99064371e-01 1.20759692e-03 2.86477171e-01] [ 4.61132947e-02 7.87952174e-04 9.98935905e-01 4.62630099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.85534707 meters Centerline goodness [0,1] 0.9999407284473817 Centerline is valid? [True, True] Translation: X:-3.71, Y:0.28, Z:0.05 [[ 9.98913879e-01 1.28892684e-03 -4.65768395e-02 -3.70533675e+00] [-1.23261922e-03 9.99998474e-01 1.23762000e-03 2.81555074e-01] [ 4.65783636e-02 -1.17886428e-03 9.98913943e-01 5.17802587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.88534707 meters Centerline goodness [0,1] 0.9997100440733009 Centerline is valid? [True, True] Translation: X:-3.73, Y:0.28, Z:0.05 [[ 9.98840748e-01 2.58918403e-03 -4.80672158e-02 -3.73439362e+00] [-2.53057680e-03 9.99995979e-01 1.28009067e-03 2.83709193e-01] [ 4.80703369e-02 -1.15696894e-03 9.98843283e-01 5.02079544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.91534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.76, Y:0.29, Z:0.05 [[ 9.98814742e-01 5.17107494e-03 -4.83980587e-02 -3.76287550e+00] [-5.11377645e-03 9.99986070e-01 1.30764765e-03 2.87709593e-01] [ 4.84041464e-02 -1.05860089e-03 9.98827271e-01 4.85908601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.94534707 meters Centerline goodness [0,1] 0.9999708386795754 Centerline is valid? [True, True] Translation: X:-3.79, Y:0.30, Z:0.05 [[ 9.98730197e-01 1.15483727e-02 -4.90370068e-02 -3.79157645e+00] [-1.14962421e-02 9.99933011e-01 1.34500348e-03 2.95062593e-01] [ 4.90492545e-02 -7.79554285e-04 9.98796057e-01 4.86254026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.97534707 meters Centerline goodness [0,1] 0.9999402467807953 Centerline is valid? [True, True] Translation: X:-3.82, Y:0.31, Z:0.05 [[ 9.98541498e-01 2.15887417e-02 -4.94853747e-02 -3.81960615e+00] [-2.15469318e-02 9.99766888e-01 1.37825701e-03 3.08654114e-01] [ 4.95035939e-02 -3.09988824e-04 9.98773897e-01 4.85181109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.00534707 meters Centerline goodness [0,1] 0.9997932236433994 Centerline is valid? [True, True] Translation: X:-3.85, Y:0.33, Z:0.05 [[ 9.98033286e-01 3.65542100e-02 -5.09249481e-02 -3.84755849e+00] [-3.65283416e-02 9.99331582e-01 1.43889604e-03 3.28030352e-01] [ 5.09435066e-02 4.24137763e-04 9.98701446e-01 5.21335434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.03534707 meters Centerline goodness [0,1] 0.9994752438572664 Centerline is valid? [True, True] Translation: X:-3.88, Y:0.35, Z:0.05 [[ 9.97164824e-01 5.42147219e-02 -5.21831075e-02 -3.87634615e+00] [-5.42102453e-02 9.98528414e-01 1.50222098e-03 3.50235958e-01] [ 5.21877581e-02 1.33089714e-03 9.98636404e-01 5.31077963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0653470700000005 meters Centerline goodness [0,1] 0.9989262486194626 Centerline is valid? [True, True] Translation: X:-3.91, Y:0.38, Z:0.05 [[ 9.95946166e-01 7.25748650e-02 -5.31424790e-02 -3.90537429e+00] [-7.25960879e-02 9.97360244e-01 1.53341808e-03 3.80093294e-01] [ 5.31134835e-02 2.33073422e-03 9.98585763e-01 5.47229833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.09534707 meters Centerline goodness [0,1] 0.9953101885367158 Centerline is valid? [True, True] Translation: X:-3.94, Y:0.42, Z:0.06 [[ 9.93562896e-01 9.86340071e-02 -5.57144902e-02 -3.93509492e+00] [-9.86979905e-02 9.95116133e-01 1.60874770e-03 4.20722622e-01] [ 5.56010653e-02 3.90051620e-03 9.98445445e-01 5.57923378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.12534707 meters Centerline goodness [0,1] 0.9940666362391603 Centerline is valid? [True, True] Translation: X:-3.96, Y:0.44, Z:0.06 [[ 9.91798765e-01 1.14784327e-01 -5.62118069e-02 -3.96496261e+00] [-1.14875217e-01 9.93378605e-01 1.62237046e-03 4.41208715e-01] [ 5.60258290e-02 4.84827849e-03 9.98417548e-01 5.64049520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.15534707 meters Centerline goodness [0,1] 0.9897389007416438 Centerline is valid? [True, True] Translation: X:-3.99, Y:0.46, Z:0.06 [[ 9.90127563e-01 1.27170547e-01 -5.89496542e-02 -3.99388765e+00] [-1.27292229e-01 9.91863797e-01 1.70173816e-03 4.60137788e-01] [ 5.86864388e-02 5.81889504e-03 9.98259507e-01 5.74226950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.18534707 meters Centerline goodness [0,1] 0.979811851953581 Centerline is valid? [True, True] Translation: X:-4.02, Y:0.48, Z:0.06 [[ 9.89216948e-01 1.33614467e-01 -5.99750198e-02 -4.02373065e+00] [-1.33752141e-01 9.91013304e-01 1.73122419e-03 4.79408893e-01] [ 5.96673591e-02 6.30923097e-03 9.98198377e-01 5.83836879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.21534707 meters Centerline goodness [0,1] 0.9913052812365822 Centerline is valid? [True, True] Translation: X:-4.05, Y:0.48, Z:0.06 [[ 9.88953477e-01 1.35027438e-01 -6.11441852e-02 -4.05424057e+00] [-1.35173211e-01 9.90820411e-01 1.76507985e-03 4.83122446e-01] [ 6.08212410e-02 6.51947400e-03 9.98127383e-01 5.84985738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.24534707 meters Centerline goodness [0,1] 0.9665749947112333 Centerline is valid? [True, True] Translation: X:-4.08, Y:0.50, Z:0.06 [[ 9.89491028e-01 1.30417844e-01 -6.24394953e-02 -4.08424518e+00] [-1.30560919e-01 9.91438654e-01 1.80067568e-03 4.97927042e-01] [ 6.21397694e-02 6.37040547e-03 9.98047127e-01 5.87282003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2753470700000005 meters Centerline goodness [0,1] 0.9963070524541967 Centerline is valid? [True, True] Translation: X:-4.11, Y:0.49, Z:0.06 [[ 9.90808120e-01 1.19978114e-01 -6.24861751e-02 -4.11409521e+00] [-1.20100847e-01 9.92760062e-01 1.80176520e-03 4.88122550e-01] [ 6.22499514e-02 5.71943897e-03 9.98044203e-01 5.84099207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.30534707 meters Centerline goodness [0,1] 0.99928812956042 Centerline is valid? [True, True] Translation: X:-4.15, Y:0.47, Z:0.06 [[ 9.91982372e-01 1.10161592e-01 -6.19305809e-02 -4.14504163e+00] [-1.10263082e-01 9.93900830e-01 1.78691624e-03 4.73865869e-01] [ 6.17497053e-02 5.05606729e-03 9.98078860e-01 5.71866481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.33534707 meters Centerline goodness [0,1] 0.999677731227844 Centerline is valid? [True, True] Translation: X:-4.17, Y:0.47, Z:0.06 [[ 9.93665356e-01 9.37696347e-02 -6.19388044e-02 -4.17488221e+00] [-9.38395664e-02 9.95585731e-01 1.78537812e-03 4.67215456e-01] [ 6.18328041e-02 4.03824216e-03 9.98078352e-01 5.55886715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.36534707 meters Centerline goodness [0,1] 0.99975106685633 Centerline is valid? [True, True] Translation: X:-4.21, Y:0.46, Z:0.05 [[ 9.95228868e-01 7.55533770e-02 -6.17348193e-02 -4.20525732e+00] [-7.55877887e-02 9.97137560e-01 1.78117660e-03 4.55344504e-01] [ 6.16926810e-02 2.89372011e-03 9.98090998e-01 5.27677721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.395347070000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-4.24, Y:0.45, Z:0.05 [[ 9.96252375e-01 6.07596186e-02 -6.15587114e-02 -4.23569221e+00] [-6.07655324e-02 9.98150484e-01 1.77776267e-03 4.48837666e-01] [ 6.15528738e-02 1.96954759e-03 9.98101881e-01 5.36579580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.42534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-4.26, Y:0.44, Z:0.05 [[ 9.96779109e-01 5.33544365e-02 -5.98724608e-02 -4.26413898e+00] [-5.33466873e-02 9.98574555e-01 1.72899549e-03 4.42091208e-01] [ 5.98793654e-02 1.47057086e-03 9.98204538e-01 5.30931980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.45534707 meters Centerline goodness [0,1] 0.9998919658612121 Centerline is valid? [True, True] Translation: X:-4.29, Y:0.45, Z:0.05 [[ 9.96666145e-01 5.45568757e-02 -6.06641824e-02 -4.29230345e+00] [-5.45507106e-02 9.98509452e-01 1.75902257e-03 4.51034203e-01] [ 6.06697263e-02 1.55611601e-03 9.98156682e-01 5.39887061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.48534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-4.32, Y:0.46, Z:0.05 [[ 9.96215887e-01 6.17106702e-02 -6.12021254e-02 -4.32060724e+00] [-6.17163952e-02 9.98092106e-01 1.79862103e-03 4.62784971e-01] [ 6.11963523e-02 1.98535971e-03 9.98123772e-01 5.48379633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.51534707 meters Centerline goodness [0,1] 0.9998161359123336 Centerline is valid? [True, True] Translation: X:-4.35, Y:0.48, Z:0.06 [[ 9.95409793e-01 7.28801659e-02 -6.20308404e-02 -4.35122482e+00] [-7.29073622e-02 9.97337042e-01 1.82790965e-03 4.80151549e-01] [ 6.19988732e-02 2.70298578e-03 9.98072559e-01 5.74462432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.54534707 meters Centerline goodness [0,1] 0.999847182425979 Centerline is valid? [True, True] Translation: X:-4.38, Y:0.50, Z:0.06 [[ 9.94423065e-01 8.61868653e-02 -6.07831498e-02 -4.38001092e+00] [-8.62376247e-02 9.96272984e-01 1.79264212e-03 4.95655453e-01] [ 6.07111122e-02 3.45914978e-03 9.98149385e-01 5.87968906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.57534707 meters Centerline goodness [0,1] 0.9998470480269196 Centerline is valid? [True, True] Translation: X:-4.41, Y:0.52, Z:0.06 [[ 9.93416467e-01 9.61213359e-02 -6.23250578e-02 -4.40952871e+00] [-9.61939608e-02 9.95360905e-01 1.84123854e-03 5.17364936e-01] [ 6.22129083e-02 4.16617748e-03 9.98054205e-01 5.91556071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6053470700000005 meters Centerline goodness [0,1] 0.9993031898420563 Centerline is valid? [True, True] Translation: X:-4.44, Y:0.54, Z:0.06 [[ 9.91723980e-01 1.12326802e-01 -6.21790688e-02 -4.43887625e+00] [-1.12430497e-01 9.93657888e-01 1.83972071e-03 5.40418395e-01] [ 6.19913721e-02 5.16632848e-03 9.98063314e-01 6.14158260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.63534707 meters Centerline goodness [0,1] 0.996273340655892 Centerline is valid? [True, True] Translation: X:-4.47, Y:0.56, Z:0.06 [[ 9.90761209e-01 1.19030071e-01 -6.49928398e-02 -4.46921115e+00] [-1.19157622e-01 9.92873486e-01 1.92408579e-03 5.57752662e-01] [ 6.47586915e-02 5.83808268e-03 9.97883875e-01 6.06431740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.66534707 meters Centerline goodness [0,1] 0.9804209690230341 Centerline is valid? [True, True] Translation: X:-4.50, Y:0.58, Z:0.06 [[ 9.90399164e-01 1.22523828e-01 -6.40110005e-02 -4.49959022e+00] [-1.22654824e-01 9.92447584e-01 1.89408608e-03 5.76518887e-01] [ 6.37596335e-02 5.97535672e-03 9.97947396e-01 6.13199760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.69534707 meters Centerline goodness [0,1] 0.9929583068109484 Centerline is valid? [True, True] Translation: X:-4.53, Y:0.58, Z:0.06 [[ 9.90580637e-01 1.20361567e-01 -6.52923715e-02 -4.52940719e+00] [-1.20493385e-01 9.92712255e-01 1.92959940e-03 5.77622819e-01] [ 6.50487869e-02 5.95587509e-03 9.97864311e-01 6.08665596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.72534707 meters Centerline goodness [0,1] 0.9976245118170471 Centerline is valid? [True, True] Translation: X:-4.56, Y:0.58, Z:0.06 [[ 9.90798417e-01 1.18671623e-01 -6.50810444e-02 -4.56057445e+00] [-1.18799510e-01 9.92916416e-01 1.91509854e-03 5.76625795e-01] [ 6.48473052e-02 5.83411956e-03 9.97878144e-01 6.18917773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.75534707 meters Centerline goodness [0,1] 0.9948159459893908 Centerline is valid? [True, True] Translation: X:-4.59, Y:0.59, Z:0.06 [[ 9.91623758e-01 1.10033094e-01 -6.76390477e-02 -4.59078791e+00] [-1.10151682e-01 9.93912806e-01 1.98518933e-03 5.90350375e-01] [ 6.74457523e-02 5.48199398e-03 9.97707882e-01 5.85803336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.78534707 meters Centerline goodness [0,1] 0.9948159459893908 Centerline is valid? [True, True] Translation: X:-4.62, Y:0.59, Z:0.06 [[ 9.91634623e-01 1.09935100e-01 -6.76390970e-02 -4.62252587e+00] [-1.10053575e-01 9.93923677e-01 1.98350871e-03 5.91397580e-01] [ 6.74461572e-02 5.47700854e-03 9.97707882e-01 5.66805640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8153470700000005 meters Centerline goodness [0,1] 0.9963236779380277 Centerline is valid? [True, True] Translation: X:-4.65, Y:0.59, Z:0.06 [[ 9.91832324e-01 1.07947532e-01 -6.79409471e-02 -4.65427745e+00] [-1.08062888e-01 9.94142077e-01 1.98581895e-03 5.93966585e-01] [ 6.77573185e-02 5.37229556e-03 9.97687368e-01 5.77208554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.84534707 meters Centerline goodness [0,1] 0.9993464319268004 Centerline is valid? [True, True] Translation: X:-4.69, Y:0.59, Z:0.06 [[ 9.91962457e-01 1.06779631e-01 -6.78866318e-02 -4.68634446e+00] [-1.06892430e-01 9.94268621e-01 1.97916729e-03 5.85132143e-01] [ 6.77088826e-02 5.29330741e-03 9.97691078e-01 6.04912767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.87534707 meters Centerline goodness [0,1] 0.9988233862133322 Centerline is valid? [True, True] Translation: X:-4.72, Y:0.60, Z:0.06 [[ 9.92342191e-01 1.00097825e-01 -7.23698857e-02 -4.71635222e+00] [-1.00208827e-01 9.94964201e-01 2.10454499e-03 6.04308461e-01] [ 7.22161059e-02 5.16367258e-03 9.97375642e-01 5.64477573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.90534707 meters Centerline goodness [0,1] 0.9996314496314497 Centerline is valid? [True, True] Translation: X:-4.75, Y:0.60, Z:0.06 [[ 9.92241152e-01 1.00259023e-01 -7.35229507e-02 -4.74603995e+00] [-1.00374046e-01 9.94947476e-01 2.13813827e-03 6.04513879e-01] [ 7.33658419e-02 5.25824728e-03 9.97291233e-01 5.67543714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.935347070000001 meters Centerline goodness [0,1] 0.9974194076926228 Centerline is valid? [True, True] Translation: X:-4.78, Y:0.62, Z:0.05 [[ 9.92216401e-01 9.78894546e-02 -7.69692718e-02 -4.77621844e+00] [-9.80084119e-02 9.95183066e-01 2.23951547e-03 6.21773072e-01] [ 7.68177409e-02 5.32155212e-03 9.97030950e-01 5.23549194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.96534707 meters Centerline goodness [0,1] 0.9951783992285439 Centerline is valid? [True, True] Translation: X:-4.81, Y:0.63, Z:0.05 [[ 9.92154673e-01 9.70927748e-02 -7.87534049e-02 -4.80625974e+00] [-9.72149809e-02 9.95260772e-01 2.28983651e-03 6.33307090e-01] [ 7.86025012e-02 5.38413876e-03 9.96891498e-01 5.21823274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.99534707 meters Centerline goodness [0,1] 0.9994960524105493 Centerline is valid? [True, True] Translation: X:-4.84, Y:0.63, Z:0.05 [[ 9.92140720e-01 9.61369338e-02 -8.00904632e-02 -4.83530591e+00] [-9.62600891e-02 9.95353486e-01 2.33084058e-03 6.29855720e-01] [ 7.99424016e-02 5.39699327e-03 9.96784874e-01 5.44898303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0253470700000005 meters Centerline goodness [0,1] 0.9988578197047252 Centerline is valid? [True, True] Translation: X:-4.86, Y:0.64, Z:0.05 [[ 9.91989937e-01 9.60618100e-02 -8.20249612e-02 -4.86313765e+00] [-9.61895723e-02 9.95360135e-01 2.40181047e-03 6.41388165e-01] [ 8.18750987e-02 5.50737411e-03 9.96627381e-01 5.16005176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.05534707 meters Centerline goodness [0,1] 0.998517326103533 Centerline is valid? [True, True] Translation: X:-4.89, Y:0.65, Z:0.05 [[ 9.91962041e-01 9.45570164e-02 -8.40849569e-02 -4.89127613e+00] [-9.46833265e-02 9.95504320e-01 2.49334112e-03 6.47781797e-01] [ 8.39427007e-02 5.48814368e-03 9.96455470e-01 4.64304040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.08534707 meters Centerline goodness [0,1] 0.9989608140290106 Centerline is valid? [True, True] Translation: X:-4.92, Y:0.64, Z:0.05 [[ 9.92248509e-01 9.16386550e-02 -8.39360051e-02 -4.91964138e+00] [-9.17521386e-02 9.95778706e-01 2.51261259e-03 6.44072090e-01] [ 8.38119390e-02 5.20817187e-03 9.96467979e-01 5.06195425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.11534707 meters Centerline goodness [0,1] 0.9992116327960757 Centerline is valid? [True, True] Translation: X:-4.95, Y:0.64, Z:0.05 [[ 9.92389736e-01 9.08157821e-02 -8.31571146e-02 -4.94762412e+00] [-9.09233995e-02 9.95854752e-01 2.49984234e-03 6.41498906e-01] [ 8.30394329e-02 5.08010968e-03 9.96533314e-01 5.30045813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.145347070000001 meters Centerline goodness [0,1] 0.9987881410950011 Centerline is valid? [True, True] Translation: X:-4.98, Y:0.65, Z:0.04 [[ 9.92435571e-01 8.45225272e-02 -8.90369546e-02 -4.97550906e+00] [-8.46198143e-02 9.96409685e-01 2.68822023e-03 6.53612878e-01] [ 8.89444990e-02 4.86640518e-03 9.96024696e-01 4.04747234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.17534707 meters Centerline goodness [0,1] 0.9978486295770406 Centerline is valid? [True, True] Translation: X:-5.00, Y:0.66, Z:0.03 [[ 9.92518705e-01 8.02269104e-02 -9.20340299e-02 -5.00403617e+00] [-8.03118229e-02 9.96765893e-01 2.78659374e-03 6.62836195e-01] [ 9.19599418e-02 4.62567430e-03 9.95751963e-01 3.34162542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.20534707 meters Centerline goodness [0,1] 0.998132383599722 Centerline is valid? [True, True] Translation: X:-5.03, Y:0.66, Z:0.03 [[ 9.92629167e-01 7.56471140e-02 -9.46829015e-02 -5.03234595e+00] [-7.57155120e-02 9.97125315e-01 2.87514248e-03 6.61989548e-01] [ 9.46282142e-02 4.31501407e-03 9.95503331e-01 3.37774142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.23534707 meters Centerline goodness [0,1] 0.9976691988950276 Centerline is valid? [True, True] Translation: X:-5.06, Y:0.67, Z:0.02 [[ 9.92374649e-01 6.93178782e-02 -1.01919518e-01 -5.05902242e+00] [-6.93616282e-02 9.97586707e-01 3.11885674e-03 6.71291121e-01] [ 1.01889749e-01 3.97422938e-03 9.94787759e-01 2.16901637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.26534707 meters Centerline goodness [0,1] 0.9972210160660009 Centerline is valid? [True, True] Translation: X:-5.09, Y:0.67, Z:0.02 [[ 9.92517916e-01 6.41925384e-02 -1.03862910e-01 -5.08736437e+00] [-6.42059359e-02 9.97931482e-01 3.21783094e-03 6.72664887e-01] [ 1.03854629e-01 3.47486050e-03 9.94586417e-01 1.62421440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.29534707 meters Centerline goodness [0,1] 0.99728985249689 Centerline is valid? [True, True] Translation: X:-5.12, Y:0.67, Z:0.02 [[ 9.92868092e-01 5.90283382e-02 -1.03578986e-01 -5.11563710e+00] [-5.90111834e-02 9.98252087e-01 3.23270949e-03 6.70746670e-01] [ 1.03588761e-01 2.90266446e-03 9.94615978e-01 1.57611652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.32534707 meters Centerline goodness [0,1] 0.9967881027807111 Centerline is valid? [True, True] Translation: X:-5.14, Y:0.67, Z:0.01 [[ 9.92765204e-01 5.40020756e-02 -1.07242831e-01 -5.14395206e+00] [-5.39521318e-02 9.98537839e-01 3.36914555e-03 6.72473599e-01] [ 1.07267966e-01 2.44120889e-03 9.94227149e-01 5.78306235e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3553470700000005 meters Centerline goodness [0,1] 0.9962563508334076 Centerline is valid? [True, True] Translation: X:-5.17, Y:0.67, Z:0.01 [[ 9.92964311e-01 4.97691177e-02 -1.07447250e-01 -5.17212869e+00] [-4.96914624e-02 9.98758823e-01 3.40163787e-03 6.70456300e-01] [ 1.07483186e-01 1.96150600e-03 9.94204967e-01 6.55180910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.38534707 meters Centerline goodness [0,1] 0.9952397900169054 Centerline is valid? [True, True] Translation: X:-5.20, Y:0.67, Z:-0.00 [[ 9.92971646e-01 4.57226986e-02 -1.09163841e-01 -5.19917422e+00] [-4.56152349e-02 9.98953012e-01 3.48277011e-03 6.71403737e-01] [ 1.09208790e-01 1.52124229e-03 9.94017669e-01 -2.76214730e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.41534707 meters Centerline goodness [0,1] 0.9952167674044441 Centerline is valid? [True, True] Translation: X:-5.23, Y:0.67, Z:-0.01 [[ 9.92954616e-01 4.46307656e-02 -1.09768965e-01 -5.22694170e+00] [-4.45108373e-02 9.99002616e-01 3.54389949e-03 6.71731373e-01] [ 1.09817651e-01 1.36697721e-03 9.93950811e-01 -8.91065521e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.44534707 meters Centerline goodness [0,1] 0.9951215262653541 Centerline is valid? [True, True] Translation: X:-5.25, Y:0.67, Z:-0.01 [[ 9.92946530e-01 4.36899234e-02 -1.10219685e-01 -5.25424083e+00] [-4.35587883e-02 9.99044385e-01 3.59849465e-03 6.72416359e-01] [ 1.10271575e-01 1.22792315e-03 9.93900735e-01 -1.47371427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.475347070000001 meters Centerline goodness [0,1] 0.9936058561538123 Centerline is valid? [True, True] Translation: X:-5.28, Y:0.67, Z:-0.02 [[ 9.92922083e-01 4.03622584e-02 -1.11698812e-01 -5.28202782e+00] [-4.02034621e-02 9.99184757e-01 3.67459568e-03 6.74064411e-01] [ 1.11756065e-01 8.42091764e-04 9.93735313e-01 -1.78502058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.50534707 meters Centerline goodness [0,1] 0.9925050189605175 Centerline is valid? [True, True] Translation: X:-5.31, Y:0.68, Z:-0.03 [[ 9.92779102e-01 3.69944900e-02 -1.14109869e-01 -5.31036721e+00] [-3.68051674e-02 9.99315363e-01 3.76620558e-03 6.77247294e-01] [ 1.14171074e-01 4.60822634e-04 9.93460997e-01 -2.72404881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.53534707 meters Centerline goodness [0,1] 0.993501001557979 Centerline is valid? [True, True] Translation: X:-5.34, Y:0.68, Z:-0.03 [[ 9.92703824e-01 3.29099409e-02 -1.16000232e-01 -5.33887991e+00] [-3.26852150e-02 9.99458321e-01 3.83944340e-03 6.78687924e-01] [ 1.16063753e-01 -1.99376279e-05 9.93241766e-01 -3.20531021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5653470700000005 meters Centerline goodness [0,1] 0.9952052339128876 Centerline is valid? [True, True] Translation: X:-5.37, Y:0.68, Z:-0.04 [[ 9.92576182e-01 2.98972444e-02 -1.17892651e-01 -5.36751312e+00] [-2.96412501e-02 9.99552897e-01 3.92457323e-03 6.80586590e-01] [ 1.17957275e-01 -4.00952371e-04 9.93018590e-01 -3.91437211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.59534707 meters Centerline goodness [0,1] 0.9962821907870875 Centerline is valid? [True, True] Translation: X:-5.39, Y:0.68, Z:-0.04 [[ 9.92603368e-01 2.84684212e-02 -1.18017383e-01 -5.39476381e+00] [-2.81972009e-02 9.99594506e-01 3.96755856e-03 6.82107829e-01] [ 1.18082478e-01 -6.10452131e-04 9.93003603e-01 -4.03857538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.62534707 meters Centerline goodness [0,1] 0.9982358528972723 Centerline is valid? [True, True] Translation: X:-5.42, Y:0.68, Z:-0.05 [[ 9.92439699e-01 2.58594496e-02 -1.19978051e-01 -5.42312579e+00] [-2.55567404e-02 9.99665123e-01 4.06129396e-03 6.83433675e-01] [ 1.20042896e-01 -9.64341451e-04 9.92768237e-01 -4.74793670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.65534707 meters Centerline goodness [0,1] 0.9989218328840971 Centerline is valid? [True, True] Translation: X:-5.45, Y:0.68, Z:-0.05 [[ 9.92348705e-01 2.19761333e-02 -1.21495257e-01 -5.45203843e+00] [-2.16348475e-02 9.99757419e-01 4.12764644e-03 6.83343020e-01] [ 1.21556494e-01 -1.46753325e-03 9.92583430e-01 -5.43968267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.685347070000001 meters Centerline goodness [0,1] 0.9999557482963094 Centerline is valid? [True, True] Translation: X:-5.48, Y:0.68, Z:-0.06 [[ 9.92056193e-01 1.88175928e-02 -1.24380098e-01 -5.48097799e+00] [-1.84335485e-02 9.99821106e-01 4.23790016e-03 6.82244113e-01] [ 1.24437594e-01 -1.91146852e-03 9.92225595e-01 -6.48113052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.71534707 meters Centerline goodness [0,1] 0.9999120066874918 Centerline is valid? [True, True] Translation: X:-5.51, Y:0.68, Z:-0.07 [[ 9.92016387e-01 1.67827040e-02 -1.24987315e-01 -5.50931237e+00] [-1.63758972e-02 9.99856739e-01 4.28156520e-03 6.80387306e-01] [ 1.25041265e-01 -2.20060343e-03 9.92149101e-01 -7.23678344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.74534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-5.54, Y:0.68, Z:-0.08 [[ 9.92002333e-01 1.63825416e-02 -1.25151845e-01 -5.53786644e+00] [-1.59666615e-02 9.99863169e-01 4.32542179e-03 6.81933821e-01] [ 1.25205582e-01 -2.29257135e-03 9.92128170e-01 -7.87899746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7753470700000005 meters Centerline goodness [0,1] 0.9999556127657686 Centerline is valid? [True, True] Translation: X:-5.56, Y:0.69, Z:-0.07 [[ 9.91878172e-01 1.87234341e-02 -1.25805900e-01 -5.56485804e+00] [-1.83182862e-02 9.99822627e-01 4.37662212e-03 6.91625054e-01] [ 1.25865531e-01 -2.03652746e-03 9.92045221e-01 -7.41690281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.80534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-5.59, Y:0.70, Z:-0.08 [[ 9.91727828e-01 2.49217969e-02 -1.25915924e-01 -5.59319340e+00] [-2.45617816e-02 9.99688582e-01 4.41114571e-03 7.02272932e-01] [ 1.25986645e-01 -1.28193654e-03 9.92031109e-01 -7.85796245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.83534707 meters Centerline goodness [0,1] 0.9999555179929719 Centerline is valid? [True, True] Translation: X:-5.62, Y:0.71, Z:-0.09 [[ 9.91384182e-01 3.07952947e-02 -1.27314784e-01 -5.62100434e+00] [-3.04701839e-02 9.99525543e-01 4.50085442e-03 7.13670460e-01] [ 1.27392983e-01 -5.82771004e-04 9.91852150e-01 -8.73127340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.86534707 meters Centerline goodness [0,1] 0.999688528966806 Centerline is valid? [True, True] Translation: X:-5.65, Y:0.72, Z:-0.09 [[ 9.91034283e-01 3.35797925e-02 -1.29319172e-01 -5.64890166e+00] [-3.32646035e-02 9.99436007e-01 4.59708533e-03 7.24334096e-01] [ 1.29400606e-01 -2.54118180e-04 9.91592365e-01 -9.23549195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.895347070000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-5.68, Y:0.73, Z:-0.09 [[ 9.90828230e-01 3.75078559e-02 -1.29817482e-01 -5.67608441e+00] [-3.72220116e-02 9.99296302e-01 4.62835832e-03 7.34837014e-01] [ 1.29899730e-01 2.46159750e-04 9.91527105e-01 -9.24607594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.92534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-5.70, Y:0.75, Z:-0.10 [[ 9.90530642e-01 4.02797783e-02 -1.31250096e-01 -5.70433253e+00] [-4.00079231e-02 9.99188268e-01 4.70863021e-03 7.45158397e-01] [ 1.31333218e-01 5.87001221e-04 9.91338106e-01 -1.03832896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.95534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-5.73, Y:0.75, Z:-0.11 [[ 9.90513342e-01 4.33045917e-02 -1.30414846e-01 -5.73217738e+00] [-4.30569837e-02 9.99061473e-01 4.71903607e-03 7.54221214e-01] [ 1.30496804e-01 9.41001721e-04 9.91448283e-01 -1.08561619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.98534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-5.76, Y:0.76, Z:-0.11 [[ 9.90430731e-01 4.40633864e-02 -1.30787557e-01 -5.76026130e+00] [-4.38155912e-02 9.99028234e-01 4.77307709e-03 7.60983472e-01] [ 1.30870780e-01 1.00313190e-03 9.91398927e-01 -1.13287866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.015347070000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-5.79, Y:0.76, Z:-0.12 [[ 9.90462257e-01 3.89494357e-02 -1.32164513e-01 -5.78896108e+00] [-3.86470461e-02 9.99241138e-01 4.85332967e-03 7.63964005e-01] [ 1.32253253e-01 3.00728181e-04 9.91215913e-01 -1.21305685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.04534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-5.82, Y:0.76, Z:-0.12 [[ 9.90619672e-01 3.63384466e-02 -1.31727684e-01 -5.81602791e+00] [-3.60120005e-02 9.99339538e-01 4.86040826e-03 7.64590075e-01] [ 1.31817302e-01 -7.10386183e-05 9.91274026e-01 -1.24420799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.07534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-5.84, Y:0.76, Z:-0.13 [[ 9.90631747e-01 2.98953196e-02 -1.33247930e-01 -5.84375928e+00] [-2.95005982e-02 9.99552575e-01 4.93602031e-03 7.64330282e-01] [ 1.33335876e-01 -9.58884765e-04 9.91070444e-01 -1.27376721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1053470700000005 meters Centerline goodness [0,1] 0.9998647917793402 Centerline is valid? [True, True] Translation: X:-5.87, Y:0.77, Z:-0.13 [[ 9.90567855e-01 3.14766110e-02 -1.33358716e-01 -5.87075934e+00] [-3.10910927e-02 9.99504185e-01 4.97280876e-03 7.72194035e-01] [ 1.33449122e-01 -7.79636297e-04 9.91055359e-01 -1.34646269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.13534707 meters Centerline goodness [0,1] 0.9999543691535479 Centerline is valid? [True, True] Translation: X:-5.90, Y:0.79, Z:-0.13 [[ 9.90447509e-01 3.54932098e-02 -1.33244002e-01 -5.89867951e+00] [-3.51405577e-02 9.99369882e-01 4.99810152e-03 7.86008762e-01] [ 1.33337441e-01 -2.68088649e-04 9.91070661e-01 -1.30556751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.16534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-5.93, Y:0.80, Z:-0.14 [[ 9.90139879e-01 3.96881625e-02 -1.34342362e-01 -5.92647151e+00] [-3.93638365e-02 9.99212079e-01 5.07053044e-03 7.99275911e-01] [ 1.34437751e-01 2.67696373e-04 9.90922005e-01 -1.42165088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.19534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-5.95, Y:0.81, Z:-0.15 [[ 9.89943492e-01 4.07593473e-02 -1.35464231e-01 -5.95380941e+00] [-4.04336801e-02 9.99168923e-01 5.15571213e-03 8.11086764e-01] [ 1.35561794e-01 3.73453730e-04 9.90768823e-01 -1.53900940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.225347070000001 meters Centerline goodness [0,1] 0.999954020874523 Centerline is valid? [True, True] Translation: X:-5.98, Y:0.82, Z:-0.16 [[ 9.89794815e-01 4.15195364e-02 -1.36317100e-01 -5.98240806e+00] [-4.11927216e-02 9.99137591e-01 5.21862088e-03 8.21310681e-01] [ 1.36416214e-01 4.49908457e-04 9.90651510e-01 -1.59550441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.25534707 meters Centerline goodness [0,1] 0.9995414526779164 Centerline is valid? [True, True] Translation: X:-6.01, Y:0.83, Z:-0.16 [[ 9.89838202e-01 4.25703939e-02 -1.35676434e-01 -6.00961846e+00] [-4.22540938e-02 9.99093305e-01 5.21151116e-03 8.29392418e-01] [ 1.35775273e-01 5.74331924e-04 9.90739494e-01 -1.60661481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.28534707 meters Centerline goodness [0,1] 0.9999537807358106 Centerline is valid? [True, True] Translation: X:-6.04, Y:0.84, Z:-0.17 [[ 9.89942970e-01 4.05176212e-02 -1.35540539e-01 -6.03738676e+00] [-4.01808137e-02 9.99178785e-01 5.22082540e-03 8.36821702e-01] [ 1.35640767e-01 2.77809756e-04 9.90758046e-01 -1.65739939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3153470700000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-6.06, Y:0.84, Z:-0.17 [[ 9.89925705e-01 3.88093961e-02 -1.36165080e-01 -6.06479237e+00] [-3.84507785e-02 9.99246631e-01 5.26378948e-03 8.43994618e-01] [ 1.36266782e-01 2.48928329e-05 9.90672178e-01 -1.68139147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.34534707 meters Centerline goodness [0,1] 0.9999534926983537 Centerline is valid? [True, True] Translation: X:-6.09, Y:0.85, Z:-0.18 [[ 9.89731228e-01 3.80118252e-02 -1.37794040e-01 -6.09292019e+00] [-3.76345147e-02 9.99277284e-01 5.34347448e-03 8.52629946e-01] [ 1.37897570e-01 -1.02791724e-04 9.90446490e-01 -1.77466252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.37534707 meters Centerline goodness [0,1] 0.9998600550450156 Centerline is valid? [True, True] Translation: X:-6.12, Y:0.86, Z:-0.18 [[ 9.89560608e-01 4.15278762e-02 -1.38004487e-01 -6.12113154e+00] [-4.11793821e-02 9.99137281e-01 5.38065792e-03 8.62640298e-01] [ 1.38108875e-01 3.58452379e-04 9.90416988e-01 -1.81582693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.40534707 meters Centerline goodness [0,1] 0.9999543774807245 Centerline is valid? [True, True] Translation: X:-6.15, Y:0.88, Z:-0.20 [[ 9.89154005e-01 4.85980051e-02 -1.38609482e-01 -6.14836206e+00] [-4.83096110e-02 9.98817561e-01 5.44620556e-03 8.77961221e-01] [ 1.38710260e-01 1.30903413e-03 9.90332141e-01 -1.95486964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.435347070000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-6.18, Y:0.89, Z:-0.18 [[ 9.88539564e-01 5.48307146e-02 -1.40652492e-01 -6.17749897e+00] [-5.45933774e-02 9.98493254e-01 5.54832132e-03 8.90664205e-01] [ 1.40744783e-01 2.19395946e-03 9.90043480e-01 -1.84760240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.46534707 meters Centerline goodness [0,1] 0.9998562943092546 Centerline is valid? [True, True] Translation: X:-6.21, Y:0.91, Z:-0.20 [[ 9.87842560e-01 6.31473694e-02 -1.42054519e-01 -6.20608602e+00] [-6.29898485e-02 9.97998400e-01 5.60996235e-03 9.07276909e-01] [ 1.42124437e-01 3.40623303e-03 9.89842938e-01 -1.98017261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.49534707 meters Centerline goodness [0,1] 0.999902657451572 Centerline is valid? [True, True] Translation: X:-6.23, Y:0.92, Z:-0.20 [[ 9.87513279e-01 6.75238432e-02 -1.42330793e-01 -6.23495219e+00] [-6.74072508e-02 9.97709568e-01 5.64620740e-03 9.15939503e-01] [ 1.42386048e-01 4.01842267e-03 9.89803044e-01 -2.00981945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5253470700000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-6.26, Y:0.92, Z:-0.20 [[ 9.87549074e-01 6.82545893e-02 -1.41732628e-01 -6.26297441e+00] [-6.81420764e-02 9.97659612e-01 5.65291613e-03 9.16242406e-01] [ 1.41786756e-01 4.07542347e-03 9.89888836e-01 -1.95342475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.555347070000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-6.29, Y:0.92, Z:-0.19 [[ 9.87542341e-01 6.94899461e-02 -1.41178155e-01 -6.29069006e+00] [-6.93880653e-02 9.97573742e-01 5.65025827e-03 9.15657570e-01] [ 1.41228257e-01 4.21620979e-03 9.89968082e-01 -1.92762661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.58534707 meters Centerline goodness [0,1] 0.9997605593333971 Centerline is valid? [True, True] Translation: X:-6.32, Y:0.92, Z:-0.21 [[ 9.87545201e-01 7.08825715e-02 -1.40464003e-01 -6.31806666e+00] [-7.07910905e-02 9.97475139e-01 5.65412580e-03 9.18869243e-01] [ 1.40510130e-01 4.35989515e-03 9.90069641e-01 -2.06664954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.61534707 meters Centerline goodness [0,1] 0.9999513310945637 Centerline is valid? [True, True] Translation: X:-6.35, Y:0.91, Z:-0.20 [[ 9.87549460e-01 7.15376636e-02 -1.40101490e-01 -6.34603547e+00] [-7.14486106e-02 9.97428156e-01 5.67190991e-03 9.14478156e-01] [ 1.40146926e-01 4.40876525e-03 9.90120903e-01 -1.98976120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.645347070000001 meters Centerline goodness [0,1] 0.9999042420760318 Centerline is valid? [True, True] Translation: X:-6.37, Y:0.91, Z:-0.20 [[ 9.87414735e-01 7.13848457e-02 -1.41125278e-01 -6.37475366e+00] [-7.12879125e-02 9.97439213e-01 5.74885728e-03 9.12475880e-01] [ 1.41174268e-01 4.38402011e-03 9.89975053e-01 -2.04308425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.67534707 meters Centerline goodness [0,1] 0.9999522786924362 Centerline is valid? [True, True] Translation: X:-6.40, Y:0.91, Z:-0.20 [[ 9.87229239e-01 7.35817110e-02 -1.41294588e-01 -6.40287498e+00] [-7.35029323e-02 9.97278230e-01 5.78362266e-03 9.07678779e-01] [ 1.41335586e-01 4.67580517e-03 9.89950700e-01 -2.02856375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.70534707 meters Centerline goodness [0,1] 0.9999522786924362 Centerline is valid? [True, True] Translation: X:-6.43, Y:0.91, Z:-0.20 [[ 9.87205655e-01 7.39000412e-02 -1.41293235e-01 -6.43103850e+00] [-7.38197964e-02 9.97254634e-01 5.81654211e-03 9.08613553e-01] [ 1.41335176e-01 4.68811459e-03 9.89950701e-01 -2.04546692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.73534707 meters Centerline goodness [0,1] 0.9999043245311902 Centerline is valid? [True, True] Translation: X:-6.46, Y:0.91, Z:-0.20 [[ 9.87068997e-01 7.52664586e-02 -1.41526518e-01 -6.45931194e+00] [-7.51933162e-02 9.97151684e-01 5.87228960e-03 9.05550750e-01] [ 1.41565392e-01 4.84549323e-03 9.89917047e-01 -2.03969669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.765347070000001 meters Centerline goodness [0,1] 0.9999520544661264 Centerline is valid? [True, True] Translation: X:-6.49, Y:0.90, Z:-0.21 [[ 9.86390008e-01 7.78810528e-02 -1.44807782e-01 -6.48927214e+00] [-7.78296043e-02 9.96948446e-01 6.02903042e-03 9.01915056e-01] [ 1.44835441e-01 5.32335702e-03 9.89441437e-01 -2.11498463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.79534707 meters Centerline goodness [0,1] 0.999297950014041 Centerline is valid? [True, True] Translation: X:-6.52, Y:0.90, Z:-0.22 [[ 9.86386337e-01 8.01452779e-02 -1.43592228e-01 -6.51908421e+00] [-8.01183996e-02 9.96767423e-01 5.97878730e-03 8.99999937e-01] [ 1.43607227e-01 5.60698543e-03 9.89618879e-01 -2.19178118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.82534707 meters Centerline goodness [0,1] 0.9987815165432562 Centerline is valid? [True, True] Translation: X:-6.55, Y:0.90, Z:-0.22 [[ 9.86435824e-01 8.21189824e-02 -1.42129653e-01 -6.55003132e+00] [-8.21137609e-02 9.96605428e-01 5.91198368e-03 8.95423841e-01] [ 1.42132670e-01 5.83900788e-03 9.89830395e-01 -2.16465860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8553470700000005 meters Centerline goodness [0,1] 0.9932901434521055 Centerline is valid? [True, True] Translation: X:-6.58, Y:0.89, Z:-0.23 [[ 9.86849118e-01 8.12573347e-02 -1.39735693e-01 -6.57995997e+00] [-8.12444213e-02 9.96677295e-01 5.80635501e-03 8.93984583e-01] [ 1.39743201e-01 5.62274918e-03 9.90171815e-01 -2.31719738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.88534707 meters Centerline goodness [0,1] 0.9958314454009969 Centerline is valid? [True, True] Translation: X:-6.61, Y:0.88, Z:-0.24 [[ 9.86661056e-01 7.90249169e-02 -1.42320145e-01 -6.61095704e+00] [-7.89893004e-02 9.96857952e-01 5.90886306e-03 8.77527620e-01] [ 1.42339915e-01 5.41172358e-03 9.89803042e-01 -2.39518457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.91534707 meters Centerline goodness [0,1] 0.9937213341051788 Centerline is valid? [True, True] Translation: X:-6.64, Y:0.87, Z:-0.24 [[ 9.86780929e-01 7.90626333e-02 -1.41465534e-01 -6.64235703e+00] [-7.90286331e-02 9.96855079e-01 5.86743322e-03 8.70852733e-01] [ 1.41484530e-01 5.38995656e-03 9.89925793e-01 -2.44670975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.94534707 meters Centerline goodness [0,1] 0.997626582278481 Centerline is valid? [True, True] Translation: X:-6.67, Y:0.86, Z:-0.24 [[ 9.87514683e-01 7.59336468e-02 -1.38017505e-01 -6.67258542e+00] [-7.58710921e-02 9.97101217e-01 5.72184078e-03 8.58599407e-01] [ 1.38051903e-01 4.82113708e-03 9.90413262e-01 -2.42619253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.975347070000001 meters Centerline goodness [0,1] 0.9985440842718281 Centerline is valid? [True, True] Translation: X:-6.70, Y:0.84, Z:-0.26 [[ 9.87781904e-01 6.93684547e-02 -1.39552597e-01 -6.70289849e+00] [-6.92394198e-02 9.97583296e-01 5.78538678e-03 8.42240189e-01] [ 1.39616663e-01 3.94784048e-03 9.90197759e-01 -2.56250057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.00534707 meters Centerline goodness [0,1] 0.9997417911090072 Centerline is valid? [True, True] Translation: X:-6.73, Y:0.83, Z:-0.26 [[ 9.88360659e-01 6.61684463e-02 -1.36985200e-01 -6.73402658e+00] [-6.60133446e-02 9.97802575e-01 5.67983536e-03 8.32493721e-01] [ 1.37060011e-01 3.42912540e-03 9.90556810e-01 -2.56360063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.03534707 meters Centerline goodness [0,1] 0.9999151751632878 Centerline is valid? [True, True] Translation: X:-6.76, Y:0.82, Z:-0.27 [[ 9.88111021e-01 6.04495744e-02 -1.41359325e-01 -6.76398533e+00] [-6.02259524e-02 9.98167547e-01 5.86361132e-03 8.18958445e-01] [ 1.41454744e-01 2.71960102e-03 9.89940988e-01 -2.65057470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0653470700000005 meters Centerline goodness [0,1] 0.9996671936101174 Centerline is valid? [True, True] Translation: X:-6.79, Y:0.81, Z:-0.27 [[ 9.87906618e-01 6.22096519e-02 -1.42022790e-01 -6.79283351e+00] [-6.19983351e-02 9.98058715e-01 5.91679459e-03 8.12590062e-01] [ 1.42115165e-01 2.95993596e-03 9.89845705e-01 -2.71002474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.095347070000001 meters Centerline goodness [0,1] 0.9994531381457177 Centerline is valid? [True, True] Translation: X:-6.82, Y:0.82, Z:-0.26 [[ 9.88881184e-01 7.08975995e-02 -1.30719297e-01 -6.82286175e+00] [-7.07918136e-02 9.97476159e-01 5.46187707e-03 8.18727038e-01] [ 1.30776616e-01 3.85270861e-03 9.91404374e-01 -2.60447264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.12534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-6.85, Y:0.81, Z:-0.27 [[ 9.89407309e-01 6.43689803e-02 -1.30114610e-01 -6.85279151e+00] [-6.42077792e-02 9.97921735e-01 5.43796347e-03 8.12040979e-01] [ 1.30194234e-01 2.97400936e-03 9.91484048e-01 -2.69211464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.15534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-6.88, Y:0.79, Z:-0.28 [[ 9.90226624e-01 4.42987241e-02 -1.32245440e-01 -6.88112544e+00] [-4.39507421e-02 9.99018280e-01 5.55058984e-03 7.85724179e-01] [ 1.32361496e-01 3.15943386e-04 9.91201460e-01 -2.77240222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.185347070000001 meters Centerline goodness [0,1] 0.9997686256362796 Centerline is valid? [True, True] Translation: X:-6.91, Y:0.76, Z:-0.29 [[ 9.90823755e-01 1.86685069e-02 -1.33864758e-01 -6.91103734e+00] [-1.80763588e-02 9.99820715e-01 5.63758754e-03 7.56938677e-01] [ 1.33946003e-01 -3.16606827e-03 9.90983574e-01 -2.86721514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.21534707 meters Centerline goodness [0,1] 0.9997285453910886 Centerline is valid? [True, True] Translation: X:-6.94, Y:0.74, Z:-0.29 [[ 9.90915230e-01 -4.39154110e-03 -1.34416223e-01 -6.94064779e+00] [ 5.20010643e-03 9.99970434e-01 5.66489209e-03 7.36055767e-01] [ 1.34387372e-01 -6.31240652e-03 9.90908769e-01 -2.92073260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.24534707 meters Centerline goodness [0,1] 0.9991460290350128 Centerline is valid? [True, True] Translation: X:-6.97, Y:0.73, Z:-0.29 [[ 9.91138422e-01 -1.91509252e-02 -1.31445312e-01 -6.97044882e+00] [ 2.00533563e-02 9.99783534e-01 5.54506107e-03 7.26160973e-01] [ 1.31310666e-01 -8.13184275e-03 9.91307915e-01 -2.93491054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2753470700000005 meters Centerline goodness [0,1] 0.9951481871520987 Centerline is valid? [True, True] Translation: X:-7.00, Y:0.72, Z:-0.30 [[ 9.90981888e-01 -3.03487934e-02 -1.30513790e-01 -7.00110310e+00] [ 3.13350748e-02 9.99493751e-01 5.50947362e-03 7.21273004e-01] [ 1.30280512e-01 -9.54944794e-03 9.91431186e-01 -2.99377709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.305347070000001 meters Centerline goodness [0,1] 0.9982809336440387 Centerline is valid? [True, True] Translation: X:-7.03, Y:0.73, Z:-0.30 [[ 9.90910499e-01 -3.16446459e-02 -1.30747847e-01 -7.02881009e+00] [ 3.26467256e-02 9.99451670e-01 5.52734879e-03 7.29735564e-01] [ 1.30501243e-01 -9.74559702e-03 9.91400247e-01 -3.04329500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.33534707 meters Centerline goodness [0,1] 0.9952439398588524 Centerline is valid? [True, True] Translation: X:-7.06, Y:0.74, Z:-0.32 [[ 9.90910459e-01 -2.65012280e-02 -1.31886876e-01 -7.05789257e+00] [ 2.74769388e-02 9.99606844e-01 5.58339980e-03 7.36458908e-01] [ 1.31687057e-01 -9.15649686e-03 9.91249049e-01 -3.16457789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.36534707 meters Centerline goodness [0,1] 0.9990780223579578 Centerline is valid? [True, True] Translation: X:-7.09, Y:0.75, Z:-0.32 [[ 9.91354797e-01 -1.68888883e-02 -1.30116996e-01 -7.08730922e+00] [ 1.77566295e-02 9.99827147e-01 5.51158424e-03 7.53746785e-01] [ 1.30001420e-01 -7.77437476e-03 9.91483328e-01 -3.20521081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.395347070000001 meters Centerline goodness [0,1] 0.999922224382656 Centerline is valid? [True, True] Translation: X:-7.12, Y:0.77, Z:-0.32 [[ 9.91506123e-01 -9.21272285e-03 -1.29733315e-01 -7.11538800e+00] [ 1.00100577e-02 9.99934799e-01 5.49520606e-03 7.71214302e-01] [ 1.29674231e-01 -6.74716842e-03 9.91533696e-01 -3.24913233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.42534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-7.14, Y:0.79, Z:-0.33 [[ 9.91307210e-01 2.11588241e-04 -1.31567360e-01 -7.14333469e+00] [ 5.26452808e-04 9.99984322e-01 5.57479749e-03 7.91064846e-01] [ 1.31566477e-01 -5.59560096e-03 9.91291557e-01 -3.27410501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.45534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-7.17, Y:0.80, Z:-0.33 [[ 9.91307667e-01 6.19329144e-03 -1.31418234e-01 -7.17285751e+00] [-5.50865098e-03 9.99969300e-01 5.57253991e-03 8.03164852e-01] [ 1.31448712e-01 -4.80016435e-03 9.91311351e-01 -3.34514122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.48534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-7.20, Y:0.82, Z:-0.34 [[ 9.91438668e-01 1.41868729e-02 -1.29800235e-01 -7.20118951e+00] [-1.35870289e-02 9.99892534e-01 5.50571005e-03 8.17708587e-01] [ 1.29864395e-01 -3.69497429e-03 9.91524879e-01 -3.37067501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.515347070000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-7.23, Y:0.82, Z:-0.34 [[ 9.91406655e-01 1.76566867e-02 -1.29619006e-01 -7.22946292e+00] [-1.70850493e-02 9.99838798e-01 5.52086334e-03 8.24291446e-01] [ 1.29695592e-01 -3.25887354e-03 9.91548503e-01 -3.38252657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.54534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-7.26, Y:0.83, Z:-0.34 [[ 9.91286343e-01 1.82805383e-02 -1.30450021e-01 -7.25627392e+00] [-1.77032248e-02 9.99827693e-01 5.58392720e-03 8.31136143e-01] [ 1.30529621e-01 -3.22588473e-03 9.91439162e-01 -3.44021838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.57534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-7.28, Y:0.83, Z:-0.36 [[ 9.91298121e-01 1.68490378e-02 -1.30553227e-01 -7.28411222e+00] [-1.62543685e-02 9.99852098e-01 5.61932376e-03 8.29832612e-01] [ 1.30628598e-01 -3.44836483e-03 9.91425377e-01 -3.58230424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6053470700000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-7.31, Y:0.83, Z:-0.35 [[ 9.91406490e-01 1.58376043e-02 -1.29855077e-01 -7.31222089e+00] [-1.52369908e-02 9.99868130e-01 5.61752515e-03 8.32531368e-01] [ 1.29926921e-01 -3.59065027e-03 9.91517071e-01 -3.52426119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.635347070000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-7.34, Y:0.83, Z:-0.36 [[ 9.91935693e-01 1.37175228e-02 -1.25997658e-01 -7.34166584e+00] [-1.31340133e-02 9.99898834e-01 5.46072446e-03 8.27768637e-01] [ 1.26059819e-01 -3.76183259e-03 9.92015509e-01 -3.59988346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.66534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-7.37, Y:0.82, Z:-0.37 [[ 9.92028156e-01 9.41341489e-03 -1.25664334e-01 -7.37000646e+00] [-8.79752840e-03 9.99946421e-01 5.45512499e-03 8.24419644e-01] [ 1.25708952e-01 -4.30610204e-03 9.92057819e-01 -3.67159453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.69534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-7.40, Y:0.82, Z:-0.37 [[ 9.92031407e-01 7.06646719e-03 -1.25792495e-01 -7.39797015e+00] [-6.42891675e-03 9.99964354e-01 5.47352182e-03 8.23867880e-01] [ 1.25826690e-01 -4.62119608e-03 9.92041475e-01 -3.69136274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.725347070000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-7.43, Y:0.82, Z:-0.37 [[ 9.91978145e-01 7.36336041e-03 -1.26194850e-01 -7.42638584e+00] [-6.72053845e-03 9.99962187e-01 5.51888381e-03 8.23380649e-01] [ 1.26230716e-01 -4.62651478e-03 9.91990122e-01 -3.73600641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.75534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-7.46, Y:0.82, Z:-0.38 [[ 9.92250457e-01 8.09055147e-03 -1.23990212e-01 -7.45569502e+00] [-7.47311740e-03 9.99957257e-01 5.44399015e-03 8.21687392e-01] [ 1.24028957e-01 -4.47520831e-03 9.92268507e-01 -3.83221574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.78534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-7.48, Y:0.83, Z:-0.38 [[ 9.92307438e-01 1.19269910e-02 -1.23222140e-01 -7.48456324e+00] [-1.13457795e-02 9.99920959e-01 5.41742636e-03 8.30583034e-01] [ 1.23277014e-01 -3.97770124e-03 9.92364326e-01 -3.76582456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8153470700000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-7.51, Y:0.84, Z:-0.38 [[ 9.92559454e-01 1.72915457e-02 -1.20526894e-01 -7.51455681e+00] [-1.67744246e-02 9.99845232e-01 5.30384346e-03 8.37575298e-01] [ 1.20599952e-01 -3.24261067e-03 9.92695894e-01 -3.77603771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.845347070000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-7.54, Y:0.84, Z:-0.39 [[ 9.92425917e-01 2.25393671e-02 -1.20759168e-01 -7.54245344e+00] [-2.20563768e-02 9.99742494e-01 5.33494191e-03 8.44640483e-01] [ 1.20848318e-01 -2.63102491e-03 9.92667498e-01 -3.86539622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.87534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-7.57, Y:0.85, Z:-0.38 [[ 9.92050252e-01 2.72739061e-02 -1.22851257e-01 -7.57046582e+00] [-2.68048560e-02 9.99625722e-01 5.46949189e-03 8.53275011e-01] [ 1.22954451e-01 -2.13300054e-03 9.92410023e-01 -3.82600085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.90534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-7.60, Y:0.86, Z:-0.39 [[ 9.92393871e-01 3.13187942e-02 -1.19052669e-01 -7.60019152e+00] [-3.09048346e-02 9.99508162e-01 5.32219853e-03 8.57020578e-01] [ 1.19160799e-01 -1.60241415e-03 9.92873676e-01 -3.85801336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.935347070000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-7.63, Y:0.86, Z:-0.39 [[ 9.92560581e-01 3.44888169e-02 -1.16764780e-01 -7.62920732e+00] [-3.41120526e-02 9.99404361e-01 5.22413713e-03 8.62251060e-01] [ 1.16875404e-01 -1.20218628e-03 9.93145858e-01 -3.90006424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.965347070000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-7.66, Y:0.86, Z:-0.39 [[ 9.92593331e-01 3.45863196e-02 -1.16457138e-01 -7.65769303e+00] [-3.42096375e-02 9.99400982e-01 5.23234296e-03 8.64699160e-01] [ 1.16568345e-01 -1.20963225e-03 9.93181936e-01 -3.93295172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.99534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-7.69, Y:0.87, Z:-0.39 [[ 9.92855764e-01 3.73415087e-02 -1.13327152e-01 -7.68653248e+00] [-3.70001113e-02 9.99302170e-01 5.11507560e-03 8.65911548e-01] [ 1.13439074e-01 -8.85415048e-04 9.93544560e-01 -3.93450423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.02534707 meters Centerline goodness [0,1] 0.9999206758418276 Centerline is valid? [True, True] Translation: X:-7.71, Y:0.87, Z:-0.40 [[ 9.92727681e-01 3.66193706e-02 -1.14676820e-01 -7.71473339e+00] [-3.62623015e-02 9.99328783e-01 5.19896314e-03 8.65078672e-01] [ 1.14790230e-01 -1.00270921e-03 9.93389248e-01 -4.01363645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.055347070000002 meters Centerline goodness [0,1] 0.9998829405337911 Centerline is valid? [True, True] Translation: X:-7.74, Y:0.86, Z:-0.40 [[ 9.93098507e-01 3.61409166e-02 -1.11575932e-01 -7.74394540e+00] [-3.57973616e-02 9.99346150e-01 5.08155712e-03 8.64638926e-01] [ 1.11686630e-01 -1.05236279e-03 9.93742919e-01 -4.03016342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.085347070000001 meters Centerline goodness [0,1] 0.9997246262785209 Centerline is valid? [True, True] Translation: X:-7.77, Y:0.86, Z:-0.41 [[ 9.93109711e-01 3.57134070e-02 -1.11613861e-01 -7.77171898e+00] [-3.53643074e-02 9.99361440e-01 5.10657655e-03 8.64037792e-01] [ 1.11724962e-01 -1.12424386e-03 9.93738531e-01 -4.06984608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.115347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-7.80, Y:0.87, Z:-0.41 [[ 9.93394714e-01 3.86550587e-02 -1.08040402e-01 -7.80139306e+00] [-3.83428340e-02 9.99252301e-01 4.96654675e-03 8.65137207e-01] [ 1.08151602e-01 -7.91166083e-04 9.94134098e-01 -4.08044482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.145347070000001 meters Centerline goodness [0,1] 0.9995748134977388 Centerline is valid? [True, True] Translation: X:-7.83, Y:0.87, Z:-0.41 [[ 9.93484478e-01 3.98099573e-02 -1.06788384e-01 -7.83020700e+00] [-3.95096897e-02 9.99207041e-01 4.92681124e-03 8.66345722e-01] [ 1.06899841e-01 -6.75534591e-04 9.94269565e-01 -4.09413170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.17534707 meters Centerline goodness [0,1] 0.9999215901517231 Centerline is valid? [True, True] Translation: X:-7.86, Y:0.87, Z:-0.41 [[ 9.93335748e-01 4.20615924e-02 -1.07307572e-01 -7.85731095e+00] [-4.17674920e-02 9.99114908e-01 4.98772886e-03 8.69852869e-01] [ 1.07422387e-01 -4.72521219e-04 9.94213361e-01 -4.10936611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.205347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-7.89, Y:0.88, Z:-0.41 [[ 9.93338076e-01 4.72431259e-02 -1.05107347e-01 -7.88526758e+00] [-4.69860398e-02 9.98883419e-01 4.92213648e-03 8.75285699e-01] [ 1.05222523e-01 4.92323854e-05 9.94448701e-01 -4.14871103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.235347070000001 meters Centerline goodness [0,1] 0.9999220758980752 Centerline is valid? [True, True] Translation: X:-7.91, Y:0.88, Z:-0.42 [[ 9.93368252e-01 5.06940614e-02 -1.03197032e-01 -7.91437019e+00] [-5.04626210e-02 9.98714155e-01 4.85392960e-03 8.80302445e-01] [ 1.03310402e-01 3.85853171e-04 9.94649090e-01 -4.15890259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.26534707 meters Centerline goodness [0,1] 0.9997275098291097 Centerline is valid? [True, True] Translation: X:-7.94, Y:0.89, Z:-0.42 [[ 9.93212947e-01 5.71811477e-02 -1.01283554e-01 -7.94477596e+00] [-5.69916888e-02 9.98363279e-01 4.76557997e-03 8.88350846e-01] [ 1.01390283e-01 1.03908510e-03 9.94846185e-01 -4.15698480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.295347070000002 meters Centerline goodness [0,1] 0.9999213990960896 Centerline is valid? [True, True] Translation: X:-7.98, Y:0.89, Z:-0.42 [[ 9.93031915e-01 6.05601704e-02 -1.01094418e-01 -7.97721847e+00] [-6.03896028e-02 9.98163583e-01 4.74955796e-03 8.93733264e-01] [ 1.01196400e-01 1.38858908e-03 9.94865499e-01 -4.18587442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.325347070000001 meters Centerline goodness [0,1] 0.9998843262001157 Centerline is valid? [True, True] Translation: X:-8.01, Y:0.90, Z:-0.42 [[ 9.93106358e-01 6.44157039e-02 -9.79304768e-02 -8.00925890e+00] [-6.42754837e-02 9.97921640e-01 4.58931099e-03 8.99369196e-01] [ 9.80225658e-02 1.73685484e-03 9.95182677e-01 -4.23820683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.35534707 meters Centerline goodness [0,1] 0.9996137952342332 Centerline is valid? [True, True] Translation: X:-8.04, Y:0.90, Z:-0.42 [[ 9.93256412e-01 6.39975505e-02 -9.66747851e-02 -8.04059502e+00] [-6.38597307e-02 9.97948638e-01 4.52218652e-03 8.99574774e-01] [ 9.67658790e-02 1.68193498e-03 9.95305750e-01 -4.24087155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.385347070000002 meters Centerline goodness [0,1] 0.9999236233101657 Centerline is valid? [True, True] Translation: X:-8.07, Y:0.90, Z:-0.43 [[ 9.93555672e-01 6.22491822e-02 -9.47215155e-02 -8.07253171e+00] [-6.21096544e-02 9.98059530e-01 4.42338929e-03 8.98284428e-01] [ 9.48130636e-02 1.48823708e-03 9.95493982e-01 -4.29633504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.415347070000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-8.10, Y:0.90, Z:-0.43 [[ 9.93757852e-01 5.99935822e-02 -9.40537172e-02 -8.10442052e+00] [-5.98467557e-02 9.98197952e-01 4.38353241e-03 8.96994161e-01] [ 9.41472116e-02 1.27264009e-03 9.95557473e-01 -4.34525855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.445347070000002 meters Centerline goodness [0,1] 0.9998486110059799 Centerline is valid? [True, True] Translation: X:-8.14, Y:0.89, Z:-0.44 [[ 9.94169996e-01 5.47156424e-02 -9.29097328e-02 -8.13511635e+00] [-5.45499917e-02 9.98501680e-01 4.32350680e-03 8.91634287e-01] [ 9.30070878e-02 7.69924417e-04 9.95665149e-01 -4.38853019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.475347070000002 meters Centerline goodness [0,1] 0.9998138357286469 Centerline is valid? [True, True] Translation: X:-8.17, Y:0.89, Z:-0.44 [[ 9.94656261e-01 5.02430548e-02 -9.01917785e-02 -8.16737055e+00] [-5.00690853e-02 9.98736960e-01 4.19180839e-03 8.88839935e-01] [ 9.02884720e-02 3.46411382e-04 9.95915595e-01 -4.41153733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.505347070000001 meters Centerline goodness [0,1] 0.9993622448979592 Centerline is valid? [True, True] Translation: X:-8.20, Y:0.89, Z:-0.44 [[ 9.95084036e-01 4.96968111e-02 -8.56620613e-02 -8.19928740e+00] [-4.95386008e-02 9.98764308e-01 3.97294153e-03 8.87224772e-01] [ 8.57536519e-02 2.90167967e-04 9.96316329e-01 -4.35236801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.535347070000002 meters Centerline goodness [0,1] 0.9997389131326694 Centerline is valid? [True, True] Translation: X:-8.23, Y:0.89, Z:-0.44 [[ 9.95053502e-01 4.56269421e-02 -8.82423382e-02 -8.23131749e+00] [-4.54440207e-02 9.98958547e-01 4.08184779e-03 8.86897846e-01] [ 8.83366802e-02 -5.15702908e-05 9.96090673e-01 -4.44397640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.565347070000001 meters Centerline goodness [0,1] 0.9998125585754452 Centerline is valid? [True, True] Translation: X:-8.26, Y:0.89, Z:-0.45 [[ 9.95115832e-01 4.58902804e-02 -8.73988783e-02 -8.26098553e+00] [-4.57123778e-02 9.98946486e-01 4.03693378e-03 8.89364894e-01] [ 8.74920584e-02 -2.20061634e-05 9.96165217e-01 -4.46806709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.59534707 meters Centerline goodness [0,1] 0.9998125585754452 Centerline is valid? [True, True] Translation: X:-8.29, Y:0.89, Z:-0.45 [[ 9.95118116e-01 4.58405961e-02 -8.73989423e-02 -8.29176911e+00] [-4.56626239e-02 9.98948767e-01 4.03554831e-03 8.90835610e-01] [ 8.74920576e-02 -2.49821999e-05 9.96165217e-01 -4.48650770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.625347070000002 meters Centerline goodness [0,1] 0.9995534052847042 Centerline is valid? [True, True] Translation: X:-8.32, Y:0.90, Z:-0.45 [[ 9.95256175e-01 4.77979654e-02 -8.47378386e-02 -8.32225791e+00] [-4.76381196e-02 9.98857013e-01 3.90852904e-03 8.98627081e-01] [ 8.48278041e-02 1.46763626e-04 9.96395615e-01 -4.53220482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.655347070000001 meters Centerline goodness [0,1] 0.9999622570296283 Centerline is valid? [True, True] Translation: X:-8.35, Y:0.90, Z:-0.46 [[ 9.95074828e-01 4.96795804e-02 -8.57789420e-02 -8.35310994e+00] [-4.95231761e-02 9.98765157e-01 3.95164534e-03 9.03493559e-01] [ 8.58693345e-02 3.15862845e-04 9.96306357e-01 -4.57701308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.68534707 meters Centerline goodness [0,1] 0.9998861696072852 Centerline is valid? [True, True] Translation: X:-8.38, Y:0.91, Z:-0.46 [[ 9.95089127e-01 5.49790294e-02 -8.23099918e-02 -8.38487471e+00] [-5.48536543e-02 9.98487229e-01 3.78549154e-03 9.13583565e-01] [ 8.23935983e-02 7.48102360e-04 9.96599586e-01 -4.59867368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.715347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-8.42, Y:0.92, Z:-0.47 [[ 9.95092645e-01 5.43722877e-02 -8.26697174e-02 -8.41687435e+00] [-5.42443953e-02 9.98520481e-01 3.79394189e-03 9.21556589e-01] [ 8.27536913e-02 7.09045162e-04 9.96569779e-01 -4.66515990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.745347070000001 meters Centerline goodness [0,1] 0.9991969714351268 Centerline is valid? [True, True] Translation: X:-8.45, Y:0.93, Z:-0.47 [[ 9.95147484e-01 5.54739021e-02 -8.12658113e-02 -8.44889211e+00] [-5.53546206e-02 9.98459821e-01 3.72174911e-03 9.29798455e-01] [ 8.13471074e-02 7.94748900e-04 9.96685515e-01 -4.69817414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.775347070000002 meters Centerline goodness [0,1] 0.9993061712215241 Centerline is valid? [True, True] Translation: X:-8.48, Y:0.93, Z:-0.47 [[ 9.95206818e-01 5.60019530e-02 -8.01696316e-02 -8.47982415e+00] [-5.58881399e-02 9.98430311e-01 3.66459775e-03 9.34916310e-01] [ 8.02490148e-02 8.33498917e-04 9.96774499e-01 -4.68906960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.805347070000002 meters Centerline goodness [0,1] 0.9996062527070126 Centerline is valid? [True, True] Translation: X:-8.51, Y:0.94, Z:-0.47 [[ 9.95295152e-01 5.43706237e-02 -8.01959821e-02 -8.51111768e+00] [-5.42520806e-02 9.98520571e-01 3.65795674e-03 9.35788932e-01] [ 8.02762233e-02 7.10052276e-04 9.96772403e-01 -4.71699883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.835347070000001 meters Centerline goodness [0,1] 0.9992219412565648 Centerline is valid? [True, True] Translation: X:-8.54, Y:0.94, Z:-0.47 [[ 9.95467065e-01 5.08316101e-02 -8.03832741e-02 -8.54345327e+00] [-5.07020325e-02 9.98707142e-01 3.65360306e-03 9.38203167e-01] [ 8.04650684e-02 4.38553861e-04 9.96757333e-01 -4.72556201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.865347070000002 meters Centerline goodness [0,1] 0.9994460491433546 Centerline is valid? [True, True] Translation: X:-8.57, Y:0.94, Z:-0.47 [[ 9.95674534e-01 4.98645433e-02 -7.83948316e-02 -8.57467790e+00] [-4.97388467e-02 9.98755926e-01 3.55642176e-03 9.39323728e-01] [ 7.84746419e-02 3.58229939e-04 9.96916046e-01 -4.71261247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.895347070000001 meters Centerline goodness [0,1] 0.999609375 Centerline is valid? [True, True] Translation: X:-8.61, Y:0.94, Z:-0.48 [[ 9.95757554e-01 4.77459075e-02 -7.86589015e-02 -8.60747540e+00] [-4.76132868e-02 9.98859494e-01 3.56174513e-03 9.42712573e-01] [ 7.87392493e-02 1.98574221e-04 9.96895226e-01 -4.75651715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.92534707 meters Centerline goodness [0,1] 0.9996878048780488 Centerline is valid? [True, True] Translation: X:-8.64, Y:0.95, Z:-0.47 [[ 9.95801294e-01 4.68817214e-02 -7.86249771e-02 -8.63957485e+00] [-4.67473395e-02 9.98900438e-01 3.54990138e-03 9.45489738e-01] [ 7.87049495e-02 1.40512100e-04 9.96897944e-01 -4.74004729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.955347070000002 meters Centerline goodness [0,1] 0.998949661557613 Centerline is valid? [True, True] Translation: X:-8.67, Y:0.95, Z:-0.47 [[ 9.95810918e-01 4.58648345e-02 -7.91014016e-02 -8.67151505e+00] [-4.57262956e-02 9.98947652e-01 3.56282286e-03 9.49937029e-01] [ 7.91815677e-02 6.91161685e-05 9.96860208e-01 -4.74080405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.985347070000001 meters Centerline goodness [0,1] 0.9996825522796714 Centerline is valid? [True, True] Translation: X:-8.70, Y:0.95, Z:-0.48 [[ 9.95962109e-01 4.41184445e-02 -7.81859282e-02 -8.70219623e+00] [-4.39782481e-02 9.99026305e-01 3.51492780e-03 9.52357131e-01] [ 7.82648722e-02 -6.22547609e-05 9.96932598e-01 -4.76819911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.01534707 meters Centerline goodness [0,1] 0.9998026757172738 Centerline is valid? [True, True] Translation: X:-8.73, Y:0.96, Z:-0.48 [[ 9.95795981e-01 4.28562910e-02 -8.09549431e-02 -8.73442785e+00] [-4.27023481e-02 9.99081234e-01 3.63275493e-03 9.56686511e-01] [ 8.10362509e-02 -1.60516598e-04 9.96711142e-01 -4.82208417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.045347070000002 meters Centerline goodness [0,1] 0.9994883098480674 Centerline is valid? [True, True] Translation: X:-8.77, Y:0.96, Z:-0.48 [[ 9.95746391e-01 4.10593990e-02 -8.24818182e-02 -8.76662016e+00] [-4.08941706e-02 9.99156661e-01 3.69231859e-03 9.61622458e-01] [ 8.25638625e-02 -3.03587363e-04 9.96585730e-01 -4.84143347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.075347070000001 meters Centerline goodness [0,1] 0.9998799471767578 Centerline is valid? [True, True] Translation: X:-8.80, Y:0.97, Z:-0.49 [[ 9.95750264e-01 4.11807225e-02 -8.23745058e-02 -8.79762588e+00] [-4.10168923e-02 9.99151673e-01 3.68082903e-03 9.67225885e-01] [ 8.24562045e-02 -2.86440247e-04 9.96594648e-01 -4.85782783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.10534707 meters Centerline goodness [0,1] 0.9995236015721148 Centerline is valid? [True, True] Translation: X:-8.83, Y:0.97, Z:-0.49 [[ 9.95635638e-01 3.95363679e-02 -8.45372782e-02 -8.82933772e+00] [-3.93584349e-02 9.99218041e-01 3.77101796e-03 9.71498956e-01] [ 8.46202659e-02 -4.27304917e-04 9.96413181e-01 -4.86589170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.135347070000002 meters Centerline goodness [0,1] 0.9999599807907795 Centerline is valid? [True, True] Translation: X:-8.86, Y:0.98, Z:-0.49 [[ 9.95586279e-01 3.93505599e-02 -8.52026721e-02 -8.86097927e+00] [-3.91697999e-02 9.99225370e-01 3.79286753e-03 9.75388684e-01] [ 8.52859230e-02 -4.38755246e-04 9.96356422e-01 -4.92811757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.165347070000001 meters Centerline goodness [0,1] 0.9997991161108879 Centerline is valid? [True, True] Translation: X:-8.89, Y:0.98, Z:-0.49 [[ 9.95494070e-01 3.77854415e-02 -8.69702094e-02 -8.89243436e+00] [-3.75917155e-02 9.99285708e-01 3.86479256e-03 9.81719352e-01] [ 8.70541201e-02 -5.78018700e-04 9.96203416e-01 -4.90757955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.195347070000002 meters Centerline goodness [0,1] 0.9996780036224593 Centerline is valid? [True, True] Translation: X:-8.92, Y:0.97, Z:-0.50 [[ 9.95634782e-01 2.82178869e-02 -8.89670219e-02 -8.92380989e+00] [-2.79772757e-02 9.99600753e-01 3.95058954e-03 9.72736235e-01] [ 8.90429794e-02 -1.44428946e-03 9.96026738e-01 -4.95094014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.225347070000002 meters Centerline goodness [0,1] 0.9996826907821672 Centerline is valid? [True, True] Translation: X:-8.95, Y:0.96, Z:-0.50 [[ 9.95723300e-01 1.99581323e-02 -9.02041157e-02 -8.95330260e+00] [-1.96768586e-02 9.99798364e-01 4.00648475e-03 9.63793845e-01] [ 9.02658893e-02 -2.21441659e-03 9.95915240e-01 -5.00772352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.255347070000001 meters Centerline goodness [0,1] 0.9987879735700043 Centerline is valid? [True, True] Translation: X:-8.98, Y:0.95, Z:-0.50 [[ 9.95597771e-01 1.03903223e-02 -9.31510541e-02 -8.98414617e+00] [-1.00482728e-02 9.99940943e-01 4.14027219e-03 9.45948545e-01] [ 9.31885717e-02 -3.18603857e-03 9.95643380e-01 -5.02103089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.285347070000002 meters Centerline goodness [0,1] 0.9995677799607072 Centerline is valid? [True, True] Translation: X:-9.01, Y:0.95, Z:-0.50 [[ 9.95669860e-01 1.09108682e-02 -9.23172947e-02 -9.01243044e+00] [-1.05768143e-02 9.99935630e-01 4.10703817e-03 9.46108544e-01] [ 9.23561635e-02 -3.11283124e-03 9.95721170e-01 -5.00749593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.315347070000001 meters Centerline goodness [0,1] 0.999487664538504 Centerline is valid? [True, True] Translation: X:-9.04, Y:0.95, Z:-0.49 [[ 9.95638488e-01 1.63387748e-02 -9.18533932e-02 -9.04114124e+00] [-1.60303050e-02 9.99863120e-01 4.09510951e-03 9.52141680e-01] [ 9.19077294e-02 -2.60481074e-03 9.95764121e-01 -4.94657480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.34534707 meters Centerline goodness [0,1] 0.9994944388270981 Centerline is valid? [True, True] Translation: X:-9.07, Y:0.96, Z:-0.50 [[ 9.94991233e-01 2.98833833e-02 -9.53909258e-02 -9.06977918e+00] [-2.96120067e-02 9.99552393e-01 4.25952676e-03 9.61013294e-01] [ 9.54755172e-02 -1.41347505e-03 9.95430775e-01 -5.00856911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.375347070000002 meters Centerline goodness [0,1] 0.999132286818648 Centerline is valid? [True, True] Translation: X:-9.10, Y:0.97, Z:-0.50 [[ 9.94497762e-01 3.92880771e-02 -9.71115281e-02 -9.09829734e+00] [-3.90500077e-02 9.99227782e-01 4.35162483e-03 9.69307058e-01] [ 9.72075038e-02 -5.35475237e-04 9.95263992e-01 -5.03028439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.405347070000001 meters Centerline goodness [0,1] 0.9993988939648955 Centerline is valid? [True, True] Translation: X:-9.13, Y:0.98, Z:-0.50 [[ 9.93562390e-01 5.27274628e-02 -1.00267598e-01 -9.12727890e+00] [-5.25399090e-02 9.98608631e-01 4.51214400e-03 9.81729606e-01] [ 1.00366003e-01 7.84953905e-04 9.94950275e-01 -5.00504507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.43534707 meters Centerline goodness [0,1] 0.999209704824752 Centerline is valid? [True, True] Translation: X:-9.16, Y:0.99, Z:-0.50 [[ 9.92595788e-01 6.54901469e-02 -1.02296838e-01 -9.15695847e+00] [-6.53622954e-02 9.97850973e-01 4.60491040e-03 9.93390192e-01] [ 1.02378576e-01 2.11554147e-03 9.94743259e-01 -5.03810919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.465347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-9.19, Y:1.01, Z:-0.51 [[ 9.91841593e-01 7.66349688e-02 -1.01869210e-01 -9.18695389e+00] [-7.65668187e-02 9.97053912e-01 4.58470185e-03 1.00758990e+00] [ 1.01920443e-01 3.25250339e-03 9.94787236e-01 -5.13831797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.495347070000001 meters Centerline goodness [0,1] 0.9998012876559892 Centerline is valid? [True, True] Translation: X:-9.22, Y:1.01, Z:-0.51 [[ 9.90957001e-01 8.43553661e-02 -1.04347466e-01 -9.21690122e+00] [-8.43266443e-02 9.96427105e-01 4.69484050e-03 1.01259801e+00] [ 1.04370678e-01 4.14688657e-03 9.94529821e-01 -5.11647922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.525347070000002 meters Centerline goodness [0,1] 0.9987337765115543 Centerline is valid? [True, True] Translation: X:-9.25, Y:1.02, Z:-0.52 [[ 9.90259038e-01 9.01031335e-02 -1.06153013e-01 -9.24704515e+00] [-9.01063434e-02 9.95920699e-01 4.77569837e-03 1.02227610e+00] [ 1.06150289e-01 4.83588140e-03 9.94338338e-01 -5.16935876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.555347070000002 meters Centerline goodness [0,1] 0.9999599118059731 Centerline is valid? [True, True] Translation: X:-9.28, Y:1.01, Z:-0.51 [[ 9.90282190e-01 9.13915272e-02 -1.04827349e-01 -9.27916723e+00] [-9.14032758e-02 9.95802858e-01 4.70209198e-03 1.01439319e+00] [ 1.04817105e-01 4.92516511e-03 9.94479320e-01 -5.11606890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.585347070000001 meters Centerline goodness [0,1] 0.99983789260385 Centerline is valid? [True, True] Translation: X:-9.31, Y:1.01, Z:-0.51 [[ 9.90089250e-01 9.17916772e-02 -1.06290005e-01 -9.31121330e+00] [-9.18097189e-02 9.95765317e-01 4.73377421e-03 1.01230912e+00] [ 1.06274421e-01 5.07159651e-03 9.94323904e-01 -5.09963219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.615347070000002 meters Centerline goodness [0,1] 0.999801532171635 Centerline is valid? [True, True] Translation: X:-9.34, Y:1.02, Z:-0.52 [[ 9.90088165e-01 8.98463111e-02 -1.07949363e-01 -9.34402314e+00] [-8.98577553e-02 9.95943195e-01 4.76818051e-03 1.01608220e+00] [ 1.07939837e-01 4.97916835e-03 9.94144959e-01 -5.18938912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.645347070000001 meters Centerline goodness [0,1] 0.9996446760630108 Centerline is valid? [True, True] Translation: X:-9.38, Y:1.01, Z:-0.52 [[ 9.90177791e-01 8.78170055e-02 -1.08793916e-01 -9.37693687e+00] [-8.78207558e-02 9.96124890e-01 4.76628673e-03 1.01435726e+00] [ 1.08790889e-01 4.83489268e-03 9.94052899e-01 -5.18044363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.67534707 meters Centerline goodness [0,1] 0.9986604680482232 Centerline is valid? [True, True] Translation: X:-9.41, Y:1.02, Z:-0.53 [[ 9.90327483e-01 8.50360986e-02 -1.09637306e-01 -9.40824949e+00] [-8.50268580e-02 9.96367251e-01 4.76799043e-03 1.02029905e+00] [ 1.09644473e-01 4.60024371e-03 9.93960224e-01 -5.27319823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.705347070000002 meters Centerline goodness [0,1] 0.9994089135831659 Centerline is valid? [True, True] Translation: X:-9.44, Y:1.02, Z:-0.53 [[ 9.90526278e-01 8.20253758e-02 -1.10134149e-01 -9.44033878e+00] [-8.20001240e-02 9.96620922e-01 4.76626051e-03 1.01973320e+00] [ 1.10152952e-01 4.30990760e-03 9.93905303e-01 -5.31005729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.735347070000001 meters Centerline goodness [0,1] 0.9990147783251232 Centerline is valid? [True, True] Translation: X:-9.47, Y:1.02, Z:-0.53 [[ 9.90946557e-01 7.77419105e-02 -1.09458291e-01 -9.47114741e+00] [-7.76915654e-02 9.96966216e-01 4.73120131e-03 1.02004707e+00] [ 1.09494031e-01 3.81561832e-03 9.93980130e-01 -5.31376233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.76534707 meters Centerline goodness [0,1] 0.9991425007795447 Centerline is valid? [True, True] Translation: X:-9.50, Y:1.02, Z:-0.53 [[ 9.91154791e-01 7.34616216e-02 -1.10524070e-01 -9.50273126e+00] [-7.33854369e-02 9.97292282e-01 4.76259052e-03 1.01919579e+00] [ 1.10574670e-01 3.39039277e-03 9.93862037e-01 -5.34134880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.795347070000002 meters Centerline goodness [0,1] 0.9990910812346147 Centerline is valid? [True, True] Translation: X:-9.53, Y:1.02, Z:-0.53 [[ 9.91629815e-01 6.88975746e-02 -1.09194480e-01 -9.53350869e+00] [-6.87974377e-02 9.97619631e-01 4.68872152e-03 1.01865660e+00] [ 1.09257598e-01 2.86282436e-03 9.94009347e-01 -5.32855038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.825347070000001 meters Centerline goodness [0,1] 0.9998432786114485 Centerline is valid? [True, True] Translation: X:-9.56, Y:1.02, Z:-0.54 [[ 9.91628787e-01 6.74776252e-02 -1.10086873e-01 -9.56444108e+00] [-6.73681837e-02 9.97717030e-01 4.71759696e-03 1.01848020e+00] [ 1.10153880e-01 2.73824772e-03 9.93910773e-01 -5.36435868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.855347070000002 meters Centerline goodness [0,1] 0.9998064416227934 Centerline is valid? [True, True] Translation: X:-9.60, Y:1.02, Z:-0.54 [[ 9.91733685e-01 6.57932564e-02 -1.10161450e-01 -9.59653710e+00] [-6.56748567e-02 9.97829975e-01 4.70687045e-03 1.02099889e+00] [ 1.10232077e-01 2.56687544e-03 9.93902561e-01 -5.39408450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.885347070000002 meters Centerline goodness [0,1] 0.9996882307092751 Centerline is valid? [True, True] Translation: X:-9.63, Y:1.02, Z:-0.54 [[ 9.91806358e-01 6.46996951e-02 -1.10154880e-01 -9.62787079e+00] [-6.45754928e-02 9.97901764e-01 4.69843454e-03 1.02441740e+00] [ 1.10227736e-01 2.45336840e-03 9.93903329e-01 -5.37398288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.915347070000001 meters Centerline goodness [0,1] 0.9996855716700075 Centerline is valid? [True, True] Translation: X:-9.66, Y:1.03, Z:-0.54 [[ 9.91464203e-01 6.63711614e-02 -1.12221225e-01 -9.65892347e+00] [-6.62536246e-02 9.97791363e-01 4.78050876e-03 1.03148691e+00] [ 1.12290657e-01 2.69535961e-03 9.93671748e-01 -5.38800339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.945347070000002 meters Centerline goodness [0,1] 0.9991054412508265 Centerline is valid? [True, True] Translation: X:-9.69, Y:1.04, Z:-0.54 [[ 9.91348857e-01 7.05674447e-02 -1.10669236e-01 -9.69105682e+00] [-7.04799261e-02 9.97502090e-01 4.70753595e-03 1.03841092e+00] [ 1.10724993e-01 3.13314922e-03 9.93846145e-01 -5.36412183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.975347070000002 meters Centerline goodness [0,1] 0.9996167407634524 Centerline is valid? [True, True] Translation: X:-9.72, Y:1.05, Z:-0.55 [[ 9.91092111e-01 7.28483627e-02 -1.11487859e-01 -9.72131993e+00] [-7.27747542e-02 9.97337162e-01 4.73499491e-03 1.04746140e+00] [ 1.11535922e-01 3.42068547e-03 9.93754515e-01 -5.46532136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.005347070000001 meters Centerline goodness [0,1] 0.9990810231275846 Centerline is valid? [True, True] Translation: X:-9.75, Y:1.05, Z:-0.55 [[ 9.91247047e-01 7.35748996e-02 -1.09617639e-01 -9.75341616e+00] [-7.35088726e-02 9.97283728e-01 4.64886225e-03 1.05233562e+00] [ 1.09661927e-01 3.44969805e-03 9.93962958e-01 -5.46690851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.035347070000002 meters Centerline goodness [0,1] 0.9997309141231645 Centerline is valid? [True, True] Translation: X:-9.79, Y:1.04, Z:-0.55 [[ 9.91539191e-01 6.72553616e-02 -1.11025891e-01 -9.78510792e+00] [-6.71503068e-02 9.97731850e-01 4.68949603e-03 1.04251737e+00] [ 1.11089461e-01 2.80560354e-03 9.93806450e-01 -5.48265752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.065347070000001 meters Centerline goodness [0,1] 0.9996571559178697 Centerline is valid? [True, True] Translation: X:-9.82, Y:1.04, Z:-0.55 [[ 9.91847925e-01 6.31528379e-02 -1.10677069e-01 -9.81654600e+00] [-6.30251518e-02 9.98001081e-01 4.65529649e-03 1.03825607e+00] [ 1.10749829e-01 2.35809288e-03 9.93845519e-01 -5.48264892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.09534707 meters Centerline goodness [0,1] 0.9991621601035875 Centerline is valid? [True, True] Translation: X:-9.85, Y:1.03, Z:-0.56 [[ 9.92259583e-01 5.60770966e-02 -1.10798369e-01 -9.84806055e+00] [-5.59063891e-02 9.98425190e-01 4.64930523e-03 1.03194366e+00] [ 1.10884602e-01 1.58101903e-03 9.93832031e-01 -5.55797371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.125347070000002 meters Centerline goodness [0,1] 0.9994631078386256 Centerline is valid? [True, True] Translation: X:-9.88, Y:1.03, Z:-0.55 [[ 9.92384215e-01 5.42331529e-02 -1.10599885e-01 -9.88002022e+00] [-5.40529430e-02 9.98527340e-01 4.62928606e-03 1.02779183e+00] [ 1.10688070e-01 1.38421889e-03 9.93854232e-01 -5.52252146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.155347070000001 meters Centerline goodness [0,1] 0.9989825526623205 Centerline is valid? [True, True] Translation: X:-9.91, Y:1.02, Z:-0.55 [[ 9.92513417e-01 5.13753620e-02 -1.10804736e-01 -9.91126988e+00] [-5.11779625e-02 9.98678832e-01 4.62680652e-03 1.02405246e+00] [ 1.10896049e-01 1.07859309e-03 9.93831426e-01 -5.49499810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.18534707 meters Centerline goodness [0,1] 0.9994315382574753 Centerline is valid? [True, True] Translation: X:-9.94, Y:1.02, Z:-0.55 [[ 9.92505588e-01 4.88349499e-02 -1.12016988e-01 -9.94269509e+00] [-4.86184380e-02 9.98806529e-01 4.66532233e-03 1.02266289e+00] [ 1.12111130e-01 8.15732499e-04 9.93695340e-01 -5.54814636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.215347070000002 meters Centerline goodness [0,1] 0.9994004122166011 Centerline is valid? [True, True] Translation: X:-9.97, Y:1.02, Z:-0.56 [[ 9.92697646e-01 4.67843788e-02 -1.11187258e-01 -9.97418698e+00] [-4.65589543e-02 9.98904840e-01 4.62443374e-03 1.02155565e+00] [ 1.11281841e-01 5.86097984e-04 9.93788714e-01 -5.58649710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.245347070000001 meters Centerline goodness [0,1] 0.9995490756049902 Centerline is valid? [True, True] Translation: X:-10.01, Y:1.02, Z:-0.56 [[ 9.92660922e-01 4.71396431e-02 -1.11364929e-01 -1.00050753e+01] [-4.69162775e-02 9.98888109e-01 4.62689311e-03 1.02271758e+00] [ 1.11459214e-01 6.31891941e-04 9.93768808e-01 -5.63586223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.275347070000002 meters Centerline goodness [0,1] 0.9991806941754804 Centerline is valid? [True, True] Translation: X:-10.04, Y:1.02, Z:-0.56 [[ 9.92666939e-01 4.87121786e-02 -1.10632147e-01 -1.00360235e+01] [-4.85018913e-02 9.98812531e-01 4.59279222e-03 1.02356218e+00] [ 1.10724500e-01 8.06755390e-04 9.93850811e-01 -5.56225546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.305347070000002 meters Centerline goodness [0,1] 0.9997377491383186 Centerline is valid? [True, True] Translation: X:-10.07, Y:1.03, Z:-0.56 [[ 9.92653837e-01 4.89049861e-02 -1.10664636e-01 -1.00672944e+01] [-4.86964240e-02 9.98803087e-01 4.58826696e-03 1.02558057e+00] [ 1.10756569e-01 8.34411227e-04 9.93847215e-01 -5.64716682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.335347070000001 meters Centerline goodness [0,1] 0.9981407109921167 Centerline is valid? [True, True] Translation: X:-10.10, Y:1.03, Z:-0.56 [[ 9.92517113e-01 5.17261564e-02 -1.10608248e-01 -1.00993465e+01] [-5.15362418e-02 9.98660636e-01 4.57718382e-03 1.03027044e+00] [ 1.10696863e-01 1.15740014e-03 9.93853543e-01 -5.59517965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.365347070000002 meters Centerline goodness [0,1] 0.9988250413071416 Centerline is valid? [True, True] Translation: X:-10.13, Y:1.03, Z:-0.57 [[ 9.92654801e-01 4.88387301e-02 -1.10685247e-01 -1.01308017e+01] [-4.86316155e-02 9.98806320e-01 4.57175334e-03 1.03173079e+00] [ 1.10776403e-01 8.44629477e-04 9.93844996e-01 -5.71730356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.395347070000001 meters Centerline goodness [0,1] 0.9989525270285436 Centerline is valid? [True, True] Translation: X:-10.16, Y:1.04, Z:-0.57 [[ 9.92195038e-01 5.45099658e-02 -1.12150216e-01 -1.01615350e+01] [-5.43342968e-02 9.98512092e-01 4.62451474e-03 1.03710031e+00] [ 1.12235429e-01 1.50518255e-03 9.93680503e-01 -5.69892589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.42534707 meters Centerline goodness [0,1] 0.998554591950189 Centerline is valid? [True, True] Translation: X:-10.19, Y:1.04, Z:-0.58 [[ 9.92291229e-01 5.38947670e-02 -1.11595120e-01 -1.01935234e+01] [-5.37177612e-02 9.98545589e-01 4.59445334e-03 1.04225106e+00] [ 1.11680431e-01 1.43560423e-03 9.93743136e-01 -5.76596231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.455347070000002 meters Centerline goodness [0,1] 0.9980866173602678 Centerline is valid? [True, True] Translation: X:-10.23, Y:1.04, Z:-0.58 [[ 9.92389936e-01 5.41589136e-02 -1.10584933e-01 -1.02251825e+01] [-5.39880675e-02 9.98531256e-01 4.54088231e-03 1.04330217e+00] [ 1.10668442e-01 1.46394095e-03 9.93856304e-01 -5.75427095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.485347070000001 meters Centerline goodness [0,1] 0.9989217727543129 Centerline is valid? [True, True] Translation: X:-10.26, Y:1.05, Z:-0.57 [[ 9.92296419e-01 5.77138173e-02 -1.09621767e-01 -1.02560245e+01] [-5.75687822e-02 9.98331445e-01 4.49018601e-03 1.04654305e+00] [ 1.09698003e-01 1.85519612e-03 9.93963232e-01 -5.72870284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.51534707 meters Centerline goodness [0,1] 0.9989217727543129 Centerline is valid? [True, True] Translation: X:-10.29, Y:1.05, Z:-0.57 [[ 9.92304056e-01 5.75815410e-02 -1.09622198e-01 -1.02885623e+01] [-5.74368671e-02 9.98339090e-01 4.47963147e-03 1.04803070e+00] [ 1.09698070e-01 1.85119916e-03 9.93963232e-01 -5.74816888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.545347070000002 meters Centerline goodness [0,1] 0.9982937052561297 Centerline is valid? [True, True] Translation: X:-10.32, Y:1.05, Z:-0.58 [[ 9.92439218e-01 5.59932987e-02 -1.09220643e-01 -1.03192016e+01] [-5.58418103e-02 9.98429723e-01 4.44761214e-03 1.04912571e+00] [ 1.09298172e-01 1.68509369e-03 9.94007580e-01 -5.76763848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.575347070000001 meters Centerline goodness [0,1] 0.9985226223453371 Centerline is valid? [True, True] Translation: X:-10.35, Y:1.05, Z:-0.59 [[ 9.92734148e-01 5.26219083e-02 -1.08212046e-01 -1.03503720e+01] [-5.24545902e-02 9.98613643e-01 4.39408208e-03 1.05039412e+00] [ 1.08293250e-01 1.31406320e-03 9.94118124e-01 -5.87665235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.605347070000002 meters Centerline goodness [0,1] 0.9992695664877105 Centerline is valid? [True, True] Translation: X:-10.38, Y:1.05, Z:-0.59 [[ 9.93369905e-01 4.72732726e-02 -1.04792508e-01 -1.03808403e+01] [-4.70871970e-02 9.98881740e-01 4.25034591e-03 1.04849623e+00] [ 1.04876251e-01 7.12219767e-04 9.94485025e-01 -5.93191467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.635347070000002 meters Centerline goodness [0,1] 0.9977808498253784 Centerline is valid? [True, True] Translation: X:-10.41, Y:1.05, Z:-0.59 [[ 9.93248257e-01 4.51953629e-02 -1.06842305e-01 -1.04120860e+01] [-4.49903890e-02 9.98978039e-01 4.32927273e-03 1.04918238e+00] [ 1.06928780e-01 5.06834272e-04 9.94266553e-01 -5.91167070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.665347070000001 meters Centerline goodness [0,1] 0.999218895294774 Centerline is valid? [True, True] Translation: X:-10.44, Y:1.05, Z:-0.59 [[ 9.92865275e-01 4.84613275e-02 -1.08949737e-01 -1.04426167e+01] [-4.82687703e-02 9.98824668e-01 4.40554958e-03 1.05238355e+00] [ 1.09035184e-01 8.84752626e-04 9.94037497e-01 -5.88146923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.695347070000002 meters Centerline goodness [0,1] 0.9986839700237616 Centerline is valid? [True, True] Translation: X:-10.47, Y:1.05, Z:-0.59 [[ 9.93598204e-01 4.28996902e-02 -1.04509453e-01 -1.04731652e+01] [-4.26926123e-02 9.99079348e-01 4.21867628e-03 1.05166803e+00] [ 1.04594216e-01 2.70112389e-04 9.94514946e-01 -5.94497358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.725347070000002 meters Centerline goodness [0,1] 0.9983949806668125 Centerline is valid? [True, True] Translation: X:-10.50, Y:1.05, Z:-0.60 [[ 9.93687482e-01 3.93908592e-02 -1.05040699e-01 -1.05041314e+01] [-3.91624728e-02 9.99223874e-01 4.23671920e-03 1.05243596e+00] [ 1.05126062e-01 -9.63213083e-05 9.94458899e-01 -5.99253521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.755347070000001 meters Centerline goodness [0,1] 0.9991822169355439 Centerline is valid? [True, True] Translation: X:-10.53, Y:1.06, Z:-0.60 [[ 9.93399889e-01 4.03151134e-02 -1.07384133e-01 -1.05338552e+01] [-4.00820648e-02 9.99187015e-01 4.32856431e-03 1.05697407e+00] [ 1.07471338e-01 4.18247168e-06 9.94208183e-01 -6.00384618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.785347070000002 meters Centerline goodness [0,1] 0.9981041271693161 Centerline is valid? [True, True] Translation: X:-10.56, Y:1.06, Z:-0.60 [[ 9.94072543e-01 3.52763096e-02 -1.02836577e-01 -1.05640281e+01] [-3.50356412e-02 9.99377463e-01 4.14618895e-03 1.05613246e+00] [ 1.02918819e-01 -5.18667193e-04 9.94689624e-01 -6.01281157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.815347070000001 meters Centerline goodness [0,1] 0.9998516705603144 Centerline is valid? [True, True] Translation: X:-10.59, Y:1.06, Z:-0.60 [[ 9.94269589e-01 3.64049484e-02 -1.00512007e-01 -1.05925188e+01] [-3.61804203e-02 9.99337041e-01 4.05644810e-03 1.05981664e+00] [ 1.00593046e-01 -3.96636335e-04 9.94927576e-01 -6.03350331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.84534707 meters Centerline goodness [0,1] 0.9995935259773853 Centerline is valid? [True, True] Translation: X:-10.62, Y:1.06, Z:-0.60 [[ 9.94576101e-01 3.41835465e-02 -9.82337227e-02 -1.06214442e+01] [-3.39567293e-02 9.99415378e-01 3.98041133e-03 1.06022642e+00] [ 9.83123577e-02 -6.23126051e-04 9.95155411e-01 -6.03741534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.875347070000002 meters Centerline goodness [0,1] 0.9994474120464174 Centerline is valid? [True, True] Translation: X:-10.65, Y:1.06, Z:-0.61 [[ 9.94734814e-01 3.08920320e-02 -9.77155642e-02 -1.06500640e+01] [-3.06488107e-02 9.99522253e-01 3.98948125e-03 1.06194468e+00] [ 9.77921241e-02 -9.73610062e-04 9.95206387e-01 -6.11625190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.905347070000001 meters Centerline goodness [0,1] 0.9999629025077905 Centerline is valid? [True, True] Translation: X:-10.68, Y:1.07, Z:-0.61 [[ 9.94927739e-01 2.97770439e-02 -9.60839278e-02 -1.06774958e+01] [-2.95346181e-02 9.99555975e-01 3.94458607e-03 1.06547277e+00] [ 9.61587223e-02 -1.08677599e-03 9.95365420e-01 -6.09427857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.935347070000002 meters Centerline goodness [0,1] 0.9997745970923025 Centerline is valid? [True, True] Translation: X:-10.70, Y:1.07, Z:-0.61 [[ 9.94570734e-01 3.18444914e-02 -9.90705970e-02 -1.07046831e+01] [-3.15956429e-02 9.99492405e-01 4.08017653e-03 1.07074568e+00] [ 9.91502404e-02 -9.27824960e-04 9.95072042e-01 -6.10631850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.965347070000002 meters Centerline goodness [0,1] 0.9999247072996273 Centerline is valid? [True, True] Translation: X:-10.73, Y:1.08, Z:-0.61 [[ 9.94943348e-01 3.24237898e-02 -9.50601536e-02 -1.07340799e+01] [-3.21963381e-02 9.99473853e-01 3.92591014e-03 1.07504479e+00] [ 9.51374308e-02 -8.45469324e-04 9.95463789e-01 -6.10988071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.995347070000001 meters Centerline goodness [0,1] 0.9997752303888514 Centerline is valid? [True, True] Translation: X:-10.76, Y:1.08, Z:-0.61 [[ 9.95131916e-01 3.07370988e-02 -9.36359987e-02 -1.07623785e+01] [-3.05083881e-02 9.99527006e-01 3.87339866e-03 1.07588109e+00] [ 9.37107664e-02 -9.97859243e-04 9.95598964e-01 -6.11158974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.025347070000002 meters Centerline goodness [0,1] 0.9994028068080024 Centerline is valid? [True, True] Translation: X:-10.79, Y:1.08, Z:-0.62 [[ 9.94965109e-01 3.36788529e-02 -9.43936773e-02 -1.07900120e+01] [-3.34586434e-02 9.99432435e-01 3.91504134e-03 1.08080956e+00] [ 9.44719568e-02 -7.37045144e-04 9.95527250e-01 -6.17909114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.055347070000002 meters Centerline goodness [0,1] 0.9990712879378877 Centerline is valid? [True, True] Translation: X:-10.82, Y:1.08, Z:-0.62 [[ 9.95266735e-01 3.46199207e-02 -9.08052148e-02 -1.08187988e+01] [-3.44193266e-02 9.99400352e-01 3.77456419e-03 1.08310387e+00] [ 9.08814387e-02 -6.31243835e-04 9.95861519e-01 -6.21149750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.085347070000001 meters Centerline goodness [0,1] 0.9989591465001301 Centerline is valid? [True, True] Translation: X:-10.85, Y:1.09, Z:-0.62 [[ 9.95626118e-01 3.62055511e-02 -8.61266038e-02 -1.08482678e+01] [-3.60306888e-02 9.99344256e-01 3.58442913e-03 1.08655980e+00] [ 8.61999030e-02 -4.65550399e-04 9.96277752e-01 -6.17503928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.115347070000002 meters Centerline goodness [0,1] 0.9991489046773239 Centerline is valid? [True, True] Translation: X:-10.88, Y:1.08, Z:-0.62 [[ 9.95975939e-01 3.55671259e-02 -8.22612264e-02 -1.08801011e+01] [-3.54054448e-02 9.99367166e-01 3.42380761e-03 1.08387783e+00] [ 8.23309436e-02 -4.97534682e-04 9.96604921e-01 -6.18121514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.145347070000001 meters Centerline goodness [0,1] 0.9988470961233608 Centerline is valid? [True, True] Translation: X:-10.91, Y:1.08, Z:-0.63 [[ 9.96425072e-01 2.97710991e-02 -7.90617299e-02 -1.09116936e+01] [-2.96038221e-02 9.99556305e-01 3.28729456e-03 1.07719682e+00] [ 7.91245170e-02 -9.35013337e-04 9.96864302e-01 -6.25140327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.17534707 meters Centerline goodness [0,1] 0.9990602916854608 Centerline is valid? [True, True] Translation: X:-10.94, Y:1.09, Z:-0.63 [[ 9.95365975e-01 4.13003621e-02 -8.68381009e-02 -1.09416387e+01] [-4.11425382e-02 9.99146776e-01 3.60718406e-03 1.08555561e+00] [ 8.69129866e-02 -1.77283957e-05 9.96215907e-01 -6.27341347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.205347070000002 meters Centerline goodness [0,1] 0.9993258174463463 Centerline is valid? [True, True] Translation: X:-10.97, Y:1.09, Z:-0.62 [[ 9.95948119e-01 4.07757996e-02 -8.01540877e-02 -1.09724472e+01] [-4.06398170e-02 9.99168320e-01 3.32781419e-03 1.08810735e+00] [ 8.02231194e-02 -5.68828262e-05 9.96776930e-01 -6.24475772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.235347070000001 meters Centerline goodness [0,1] 0.9987877897366197 Centerline is valid? [True, True] Translation: X:-11.00, Y:1.09, Z:-0.62 [[ 9.96572106e-01 3.99295663e-02 -7.24545901e-02 -1.10040851e+01] [-3.98164052e-02 9.99202491e-01 3.00606645e-03 1.09092189e+00] [ 7.25168378e-02 -1.10880652e-04 9.97367182e-01 -6.24199517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.26534707 meters Centerline goodness [0,1] 0.9986505229223676 Centerline is valid? [True, True] Translation: X:-11.04, Y:1.10, Z:-0.63 [[ 9.96124109e-01 4.61479538e-02 -7.48807488e-02 -1.10360353e+01] [-4.60450179e-02 9.98934551e-01 3.10137147e-03 1.09852809e+00] [ 7.49440891e-02 3.58534528e-04 9.97187673e-01 -6.29141128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.295347070000002 meters Centerline goodness [0,1] 0.9988390817511141 Centerline is valid? [True, True] Translation: X:-11.07, Y:1.10, Z:-0.63 [[ 9.96136224e-01 4.71438525e-02 -7.40950725e-02 -1.10675601e+01] [-4.70462740e-02 9.98888016e-01 3.06270696e-03 1.10130174e+00] [ 7.41570678e-02 4.35023737e-04 9.97246479e-01 -6.32894409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.325347070000001 meters Centerline goodness [0,1] 0.998305584205098 Centerline is valid? [True, True] Translation: X:-11.10, Y:1.10, Z:-0.63 [[ 9.96726263e-01 4.05909745e-02 -6.99223152e-02 -1.11000207e+01] [-4.04883674e-02 9.99175846e-01 2.88466087e-03 1.10082024e+00] [ 6.99817796e-02 -4.41768647e-05 9.97548269e-01 -6.33231587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.355347070000002 meters Centerline goodness [0,1] 0.9981184283342557 Centerline is valid? [True, True] Translation: X:-11.13, Y:1.10, Z:-0.63 [[ 9.96945907e-01 3.89104849e-02 -6.77113904e-02 -1.11319149e+01] [-3.88107706e-02 9.99242689e-01 2.78798955e-03 1.10297608e+00] [ 6.77685938e-02 -1.51543531e-04 9.97701055e-01 -6.34832188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.385347070000002 meters Centerline goodness [0,1] 0.9979343415713758 Centerline is valid? [True, True] Translation: X:-11.16, Y:1.10, Z:-0.64 [[ 9.97182114e-01 3.66717372e-02 -6.54447487e-02 -1.11628445e+01] [-3.65741449e-02 9.99327324e-01 2.68907536e-03 1.10341896e+00] [ 6.54993387e-02 -2.87912124e-04 9.97852571e-01 -6.37393546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.415347070000001 meters Centerline goodness [0,1] 0.9970870206489676 Centerline is valid? [True, True] Translation: X:-11.20, Y:1.10, Z:-0.64 [[ 9.97482429e-01 3.51370108e-02 -6.15970328e-02 -1.11954560e+01] [-3.50481429e-02 9.99382441e-01 2.52292909e-03 1.10339486e+00] [ 6.16476411e-02 -3.57715834e-04 9.98097911e-01 -6.39514963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.445347070000002 meters Centerline goodness [0,1] 0.9971016646848989 Centerline is valid? [True, True] Translation: X:-11.23, Y:1.10, Z:-0.64 [[ 9.97607317e-01 3.10810450e-02 -6.17544373e-02 -1.12275325e+01] [-3.09842896e-02 9.99516685e-01 2.52401454e-03 1.10431719e+00] [ 6.18030394e-02 -6.04558007e-04 9.98088182e-01 -6.40947107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.475347070000002 meters Centerline goodness [0,1] 0.996586153733206 Centerline is valid? [True, True] Translation: X:-11.26, Y:1.10, Z:-0.64 [[ 9.97890381e-01 2.65386980e-02 -5.92493497e-02 -1.12602370e+01] [-2.64419330e-02 9.99647430e-01 2.41674630e-03 1.10304681e+00] [ 5.92925975e-02 -8.44980547e-04 9.98240289e-01 -6.41725982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.505347070000001 meters Centerline goodness [0,1] 0.9955645906486786 Centerline is valid? [True, True] Translation: X:-11.29, Y:1.10, Z:-0.65 [[ 9.97984755e-01 1.87745545e-02 -6.06130771e-02 -1.12905790e+01] [-1.86592882e-02 9.99822856e-01 2.46718221e-03 1.09751347e+00] [ 6.06486601e-02 -1.33121336e-03 9.98158288e-01 -6.47340909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.535347070000002 meters Centerline goodness [0,1] 0.9943669137956098 Centerline is valid? [True, True] Translation: X:-11.32, Y:1.09, Z:-0.65 [[ 9.98259462e-01 1.13296707e-02 -5.78764588e-02 -1.13199625e+01] [-1.12121016e-02 9.99934368e-01 2.35571704e-03 1.09262730e+00] [ 5.78993497e-02 -1.70270009e-03 9.98320973e-01 -6.53532785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.565347070000001 meters Centerline goodness [0,1] 0.9941354314646851 Centerline is valid? [True, True] Translation: X:-11.35, Y:1.09, Z:-0.65 [[ 9.98552051e-01 1.08358863e-02 -5.26914220e-02 -1.13476868e+01] [-1.07376986e-02 9.99940046e-01 2.14618849e-03 1.09186118e+00] [ 5.27115188e-02 -1.57729631e-03 9.98608536e-01 -6.53631964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.59534707 meters Centerline goodness [0,1] 0.9931683564082997 Centerline is valid? [True, True] Translation: X:-11.38, Y:1.09, Z:-0.65 [[ 9.98644083e-01 2.31370580e-03 -5.20061672e-02 -1.13771926e+01] [-2.20621471e-03 9.99995310e-01 2.12420354e-03 1.08926764e+00] [ 5.20108381e-02 -2.00658653e-03 9.98644504e-01 -6.51322287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.625347070000002 meters Centerline goodness [0,1] 0.9934312495387113 Centerline is valid? [True, True] Translation: X:-11.40, Y:1.09, Z:-0.65 [[ 9.98735549e-01 3.33685944e-03 -5.01614256e-02 -1.14047688e+01] [-3.23813054e-03 9.99992657e-01 2.04936081e-03 1.09290981e+00] [ 5.01678957e-02 -1.88434025e-03 9.98739021e-01 -6.52848700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.655347070000001 meters Centerline goodness [0,1] 0.9935749832875288 Centerline is valid? [True, True] Translation: X:-11.43, Y:1.09, Z:-0.66 [[ 9.98736541e-01 9.38591399e-04 -5.02438161e-02 -1.14338923e+01] [-8.36226748e-04 9.99997532e-01 2.05834032e-03 1.08804271e+00] [ 5.02456241e-02 -2.01372447e-03 9.98734861e-01 -6.56069847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.685347070000002 meters Centerline goodness [0,1] 0.9963956599286563 Centerline is valid? [True, True] Translation: X:-11.46, Y:1.08, Z:-0.65 [[ 9.98753064e-01 -1.99253150e-03 -4.98833311e-02 -1.14633954e+01] [ 2.09729430e-03 9.99995704e-01 2.04790175e-03 1.08081529e+00] [ 4.98790362e-02 -2.14996818e-03 9.98752952e-01 -6.50143979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.715347070000002 meters Centerline goodness [0,1] 0.9977229459852924 Centerline is valid? [True, True] Translation: X:-11.49, Y:1.08, Z:-0.65 [[ 9.98935256e-01 -1.88697992e-03 -4.60954803e-02 -1.14916649e+01] [ 1.97645995e-03 9.99996250e-01 1.89568861e-03 1.07879975e+00] [ 4.60917303e-02 -1.98477606e-03 9.98935240e-01 -6.47053819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.745347070000001 meters Centerline goodness [0,1] 0.9985974222896133 Centerline is valid? [True, True] Translation: X:-11.52, Y:1.08, Z:-0.64 [[ 9.99229045e-01 -3.67916572e-04 -3.92578626e-02 -1.15198188e+01] [ 4.31750277e-04 9.99998599e-01 1.61754501e-03 1.07773768e+00] [ 3.92572124e-02 -1.63324755e-03 9.99227804e-01 -6.41732127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.775347070000002 meters Centerline goodness [0,1] 0.9981071852731591 Centerline is valid? [True, True] Translation: X:-11.55, Y:1.07, Z:-0.64 [[ 9.99060737e-01 -8.76577218e-03 -4.24358901e-02 -1.15502675e+01] [ 8.84823067e-03 9.99959312e-01 1.75569142e-03 1.06726856e+00] [ 4.24187734e-02 -2.12952491e-03 9.99097649e-01 -6.43607570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.805347070000002 meters Centerline goodness [0,1] 0.9975497475497476 Centerline is valid? [True, True] Translation: X:-11.58, Y:1.06, Z:-0.64 [[ 9.99102852e-01 -1.00831323e-02 -4.11317629e-02 -1.15796358e+01] [ 1.01616550e-02 9.99946923e-01 1.70042224e-03 1.06258121e+00] [ 4.11124341e-02 -2.11686349e-03 9.99152284e-01 -6.43466421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.835347070000001 meters Centerline goodness [0,1] 0.9989155635330192 Centerline is valid? [True, True] Translation: X:-11.61, Y:1.07, Z:-0.64 [[ 9.99126862e-01 -7.65532674e-03 -4.10720082e-02 -1.16084307e+01] [ 7.73171775e-03 9.99968662e-01 1.70140334e-03 1.06658138e+00] [ 4.10576963e-02 -2.01747495e-03 9.99154740e-01 -6.42339610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.865347070000002 meters Centerline goodness [0,1] 0.9986220765678534 Centerline is valid? [True, True] Translation: X:-11.64, Y:1.07, Z:-0.64 [[ 9.99136421e-01 -6.42082227e-03 -4.10510115e-02 -1.16375991e+01] [ 6.49607719e-03 9.99977455e-01 1.70007483e-03 1.06544803e+00] [ 4.10391701e-02 -1.96527722e-03 9.99155606e-01 -6.41540004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.895347070000001 meters Centerline goodness [0,1] 0.9995058725151089 Centerline is valid? [True, True] Translation: X:-11.67, Y:1.08, Z:-0.64 [[ 9.99250377e-01 3.49669269e-04 -3.87112682e-02 -1.16659100e+01] [-2.87207047e-04 9.99998648e-01 1.61909050e-03 1.07700719e+00] [ 3.87117820e-02 -1.60675864e-03 9.99249126e-01 -6.41051161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.92534707 meters Centerline goodness [0,1] 0.999281989267629 Centerline is valid? [True, True] Translation: X:-11.69, Y:1.08, Z:-0.64 [[ 9.99238602e-01 9.59496019e-04 -3.90037998e-02 -1.16943145e+01] [-8.96696128e-04 9.99998273e-01 1.62755880e-03 1.07874159e+00] [ 3.90052940e-02 -1.59134502e-03 9.99237737e-01 -6.39789333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.955347070000002 meters Centerline goodness [0,1] 0.9998861523281849 Centerline is valid? [True, True] Translation: X:-11.72, Y:1.08, Z:-0.63 [[ 9.99256669e-01 3.47376599e-03 -3.83932510e-02 -1.17232751e+01] [-3.41414485e-03 9.99992862e-01 1.61836217e-03 1.07859370e+00] [ 3.83985987e-02 -1.48607907e-03 9.99261397e-01 -6.32495241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.985347070000001 meters Centerline goodness [0,1] 0.9997336478825006 Centerline is valid? [True, True] Translation: X:-11.75, Y:1.08, Z:-0.63 [[ 9.99248497e-01 4.83944714e-03 -3.84580355e-02 -1.17504019e+01] [-4.78053560e-03 9.99987255e-01 1.62365155e-03 1.08155030e+00] [ 3.84654029e-02 -1.43858136e-03 9.99258897e-01 -6.32872731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.015347070000002 meters Centerline goodness [0,1] 0.9999616608518959 Centerline is valid? [True, True] Translation: X:-11.78, Y:1.09, Z:-0.63 [[ 9.99269348e-01 6.87421303e-03 -3.75967587e-02 -1.17780785e+01] [-6.81916141e-03 9.99975482e-01 1.59230505e-03 1.08543620e+00] [ 3.76067827e-02 -1.33476326e-03 9.99291723e-01 -6.32391268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.045347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-11.81, Y:1.09, Z:-0.63 [[ 9.99311606e-01 6.85772394e-03 -3.64593736e-02 -1.18067176e+01] [-6.80597425e-03 9.99975648e-01 1.54330348e-03 1.08543911e+00] [ 3.64690693e-02 -1.29409952e-03 9.99333944e-01 -6.30508766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.075347070000001 meters Centerline goodness [0,1] 0.9997710273240726 Centerline is valid? [True, True] Translation: X:-11.84, Y:1.08, Z:-0.63 [[ 9.99284108e-01 2.92411595e-03 -3.77189661e-02 -1.18361177e+01] [-2.86544641e-03 9.99994600e-01 1.60940516e-03 1.08027483e+00] [ 3.77234685e-02 -1.50017132e-03 9.99287091e-01 -6.29215416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.105347070000002 meters Centerline goodness [0,1] 0.9999243884919284 Centerline is valid? [True, True] Translation: X:-11.87, Y:1.08, Z:-0.63 [[ 9.99197719e-01 -1.58578314e-04 -4.00486474e-02 -1.18656120e+01] [ 2.27710258e-04 9.99998492e-01 1.72164355e-03 1.07693993e+00] [ 4.00483140e-02 -1.72938179e-03 9.99196248e-01 -6.28579580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.135347070000002 meters Centerline goodness [0,1] 0.9995824634655532 Centerline is valid? [True, True] Translation: X:-11.89, Y:1.08, Z:-0.63 [[ 9.99168768e-01 -3.06369935e-03 -4.06495679e-02 -1.18930667e+01] [ 3.13792565e-03 9.99993524e-01 1.76232627e-03 1.07721607e+00] [ 4.06439054e-02 -1.88841669e-03 9.99171911e-01 -6.31180196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.165347070000001 meters Centerline goodness [0,1] 0.9995806648368405 Centerline is valid? [True, True] Translation: X:-11.92, Y:1.08, Z:-0.63 [[ 9.99145526e-01 -6.86606356e-03 -4.07562996e-02 -1.19223295e+01] [ 6.94406513e-03 9.99974319e-01 1.77259401e-03 1.07615668e+00] [ 4.07430822e-02 -2.05409377e-03 9.99167544e-01 -6.30737239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.195347070000002 meters Centerline goodness [0,1] 0.9996600951733514 Centerline is valid? [True, True] Translation: X:-11.95, Y:1.07, Z:-0.63 [[ 9.98988871e-01 -1.09671818e-02 -4.35999581e-02 -1.19531505e+01] [ 1.10604624e-02 9.99937028e-01 1.89880233e-03 1.06774562e+00] [ 4.35763880e-02 -2.37911809e-03 9.99047265e-01 -6.27820795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.225347070000002 meters Centerline goodness [0,1] 0.9994670524192013 Centerline is valid? [True, True] Translation: X:-11.98, Y:1.06, Z:-0.63 [[ 9.98896575e-01 -1.51027163e-02 -4.44695490e-02 -1.19839372e+01] [ 1.52038893e-02 9.99882537e-01 1.93774406e-03 1.06252149e+00] [ 4.44350603e-02 -2.61171600e-03 9.99008861e-01 -6.26505290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.255347070000001 meters Centerline goodness [0,1] 0.9997367332355486 Centerline is valid? [True, True] Translation: X:-12.01, Y:1.06, Z:-0.63 [[ 9.98731658e-01 -1.82848016e-02 -4.69120554e-02 -1.20123374e+01] [ 1.84009271e-02 9.99828598e-01 2.04469584e-03 1.06137006e+00] [ 4.68666277e-02 -2.90532778e-03 9.98896931e-01 -6.27985752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.285347070000002 meters Centerline goodness [0,1] 0.9978785171951764 Centerline is valid? [True, True] Translation: X:-12.04, Y:1.05, Z:-0.63 [[ 9.98464605e-01 -2.21319640e-02 -5.07800061e-02 -1.20431450e+01] [ 2.22732071e-02 9.99749463e-01 2.21720755e-03 1.05354204e+00] [ 5.07182127e-02 -3.34483685e-03 9.98707402e-01 -6.27958250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.315347070000001 meters Centerline goodness [0,1] 0.9987242504971671 Centerline is valid? [True, True] Translation: X:-12.07, Y:1.06, Z:-0.63 [[ 9.98394941e-01 -2.39060067e-02 -5.13424281e-02 -1.20706047e+01] [ 2.40527552e-02 9.99708176e-01 2.24217471e-03 1.05703614e+00] [ 5.12738437e-02 -3.47350274e-03 9.98678591e-01 -6.28050011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.345347070000003 meters Centerline goodness [0,1] 0.998731343283582 Centerline is valid? [True, True] Translation: X:-12.10, Y:1.06, Z:-0.63 [[ 9.98247477e-01 -2.53491572e-02 -5.34733176e-02 -1.20985876e+01] [ 2.55107364e-02 9.99671807e-01 2.34117777e-03 1.05733520e+00] [ 5.33964212e-02 -3.70121851e-03 9.98566534e-01 -6.28231109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.375347070000002 meters Centerline goodness [0,1] 0.9971574971013951 Centerline is valid? [True, True] Translation: X:-12.13, Y:1.06, Z:-0.63 [[ 9.98261288e-01 -2.44794141e-02 -5.36205021e-02 -1.21276779e+01] [ 2.46408862e-02 9.99693600e-01 2.35225644e-03 1.05691645e+00] [ 5.35464909e-02 -3.66942324e-03 9.98558616e-01 -6.27571940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.405347070000001 meters Centerline goodness [0,1] 0.9971574971013951 Centerline is valid? [True, True] Translation: X:-12.15, Y:1.06, Z:-0.63 [[ 9.98269774e-01 -2.41324739e-02 -5.36197911e-02 -1.21549742e+01] [ 2.42943085e-02 9.99702044e-01 2.36834848e-03 1.05793300e+00] [ 5.35466606e-02 -3.66690644e-03 9.98558616e-01 -6.29215979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.435347070000002 meters Centerline goodness [0,1] 0.9954466368045015 Centerline is valid? [True, True] Translation: X:-12.18, Y:1.05, Z:-0.63 [[ 9.98087425e-01 -2.45438814e-02 -5.67370296e-02 -1.21842333e+01] [ 2.47269713e-02 9.99691048e-01 2.52710913e-03 1.04965093e+00] [ 5.66574755e-02 -3.92521074e-03 9.98385959e-01 -6.28418433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.465347070000002 meters Centerline goodness [0,1] 0.9977526406472395 Centerline is valid? [True, True] Translation: X:-12.21, Y:1.06, Z:-0.63 [[ 9.98047097e-01 -2.47885672e-02 -5.73368972e-02 -1.22115644e+01] [ 2.49769932e-02 9.99684718e-01 2.57188250e-03 1.05552476e+00] [ 5.72550666e-02 -3.99896315e-03 9.98351574e-01 -6.27621728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.495347070000001 meters Centerline goodness [0,1] 0.9964954142122139 Centerline is valid? [True, True] Translation: X:-12.24, Y:1.05, Z:-0.63 [[ 9.97967671e-01 -2.44853961e-02 -5.88302099e-02 -1.22400010e+01] [ 2.46836297e-02 9.99691813e-01 2.64514472e-03 1.05026206e+00] [ 5.87473118e-02 -4.09191203e-03 9.98264499e-01 -6.28634741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.525347070000002 meters Centerline goodness [0,1] 0.9980309109823153 Centerline is valid? [True, True] Translation: X:-12.27, Y:1.05, Z:-0.63 [[ 9.97916636e-01 -2.15913124e-02 -6.07964107e-02 -1.22690700e+01] [ 2.17990024e-02 9.99758578e-01 2.75488826e-03 1.05349843e+00] [ 6.07222515e-02 -4.07444993e-03 9.98146386e-01 -6.28924639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.555347070000002 meters Centerline goodness [0,1] 0.9970676663820942 Centerline is valid? [True, True] Translation: X:-12.30, Y:1.06, Z:-0.63 [[ 9.97827525e-01 -2.19221326e-02 -6.21260804e-02 -1.22970958e+01] [ 2.21397176e-02 9.99750920e-01 2.81600508e-03 1.05581584e+00] [ 6.20488732e-02 -4.18534126e-03 9.98064337e-01 -6.30884381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.585347070000001 meters Centerline goodness [0,1] 0.9959763750461424 Centerline is valid? [True, True] Translation: X:-12.33, Y:1.05, Z:-0.63 [[ 9.97743023e-01 -2.03722920e-02 -6.39830403e-02 -1.23262024e+01] [ 2.06004501e-02 9.99783559e-01 2.90815788e-03 1.04838714e+00] [ 6.39099459e-02 -4.21967366e-03 9.97946749e-01 -6.29332485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.615347070000002 meters Centerline goodness [0,1] 0.9964790023840088 Centerline is valid? [True, True] Translation: X:-12.36, Y:1.05, Z:-0.63 [[ 9.97724603e-01 -1.70478590e-02 -6.52302551e-02 -1.23558467e+01] [ 1.72791736e-02 9.99846252e-01 2.98356416e-03 1.05283447e+00] [ 6.51693627e-02 -4.10390027e-03 9.97865779e-01 -6.28267136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.645347070000001 meters Centerline goodness [0,1] 0.9975693293558723 Centerline is valid? [True, True] Translation: X:-12.38, Y:1.05, Z:-0.63 [[ 9.97685752e-01 -1.60104570e-02 -6.60818074e-02 -1.23835685e+01] [ 1.62457307e-02 9.99863455e-01 3.02448136e-03 1.05422505e+00] [ 6.60243609e-02 -4.09102920e-03 9.97809625e-01 -6.31575526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.67534707 meters Centerline goodness [0,1] 0.9968692449355433 Centerline is valid? [True, True] Translation: X:-12.41, Y:1.05, Z:-0.63 [[ 9.97573429e-01 -1.33227435e-02 -6.83356276e-02 -1.24129178e+01] [ 1.35685979e-02 9.99903028e-01 3.13483764e-03 1.05414155e+00] [ 6.82872364e-02 -4.05444939e-03 9.97657464e-01 -6.33284093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.705347070000002 meters Centerline goodness [0,1] 0.9964633068081344 Centerline is valid? [True, True] Translation: X:-12.44, Y:1.05, Z:-0.63 [[ 9.97587822e-01 -7.45776411e-03 -6.90139047e-02 -1.24436929e+01] [ 7.69483903e-03 9.99965370e-01 3.16996791e-03 1.05473902e+00] [ 6.89878739e-02 -3.69337227e-03 9.97610662e-01 -6.29171079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.735347070000001 meters Centerline goodness [0,1] 0.9977200014709668 Centerline is valid? [True, True] Translation: X:-12.47, Y:1.06, Z:-0.63 [[ 9.97407743e-01 -5.77421817e-03 -7.17248394e-02 -1.24706663e+01] [ 6.02612930e-03 9.99976410e-01 3.29629278e-03 1.05872627e+00] [ 7.17041139e-02 -3.71997110e-03 9.97419010e-01 -6.34750293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.765347070000002 meters Centerline goodness [0,1] 0.9991181657848325 Centerline is valid? [True, True] Translation: X:-12.50, Y:1.06, Z:-0.64 [[ 9.97346481e-01 -3.15000270e-03 -7.27328951e-02 -1.25000358e+01] [ 3.40263497e-03 9.99988600e-01 3.34978037e-03 1.05861109e+00] [ 7.27215142e-02 -3.58837516e-03 9.97345830e-01 -6.38872259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.795347070000002 meters Centerline goodness [0,1] 0.9999263568745858 Centerline is valid? [True, True] Translation: X:-12.53, Y:1.06, Z:-0.64 [[ 9.97234227e-01 8.53037770e-04 -7.43180200e-02 -1.25296340e+01] [-6.00069505e-04 9.99993951e-01 3.42612413e-03 1.05958934e+00] [ 7.43204930e-02 -3.37205227e-03 9.97228707e-01 -6.39362747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.825347070000001 meters Centerline goodness [0,1] 0.9996671966867581 Centerline is valid? [True, True] Translation: X:-12.56, Y:1.06, Z:-0.63 [[ 9.97298656e-01 4.03803431e-03 -7.33422518e-02 -1.25582900e+01] [-3.79998064e-03 9.99987051e-01 3.38503970e-03 1.06397959e+00] [ 7.33549710e-02 -3.09719641e-03 9.97301086e-01 -6.34183819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.855347070000002 meters Centerline goodness [0,1] 0.9997038024362249 Centerline is valid? [True, True] Translation: X:-12.59, Y:1.06, Z:-0.64 [[ 9.97300392e-01 5.52121768e-03 -7.32218881e-02 -1.25865625e+01] [-5.28739374e-03 9.99980286e-01 3.38681502e-03 1.06307700e+00] [ 7.32391439e-02 -2.99051899e-03 9.97309924e-01 -6.36303387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.885347070000002 meters Centerline goodness [0,1] 0.9992254637996533 Centerline is valid? [True, True] Translation: X:-12.62, Y:1.06, Z:-0.63 [[ 9.97338718e-01 7.42808115e-03 -7.25279549e-02 -1.26150570e+01] [-7.20310889e-03 9.99968402e-01 3.36293846e-03 1.06370992e+00] [ 7.25506434e-02 -2.83156198e-03 9.97360710e-01 -6.34897230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.915347070000001 meters Centerline goodness [0,1] 0.9994531734169371 Centerline is valid? [True, True] Translation: X:-12.64, Y:1.06, Z:-0.64 [[ 9.97280016e-01 6.81492257e-03 -7.33902405e-02 -1.26439472e+01] [-6.58207522e-03 9.99972510e-01 3.41412079e-03 1.06177202e+00] [ 7.34114900e-02 -2.92177435e-03 9.97297456e-01 -6.40080144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.945347070000002 meters Centerline goodness [0,1] 0.9995893070489845 Centerline is valid? [True, True] Translation: X:-12.67, Y:1.06, Z:-0.64 [[ 9.97269056e-01 6.68870331e-03 -7.35506071e-02 -1.26724393e+01] [-6.45296788e-03 9.99973255e-01 3.44224533e-03 1.06176426e+00] [ 7.35716642e-02 -2.95822505e-03 9.97285545e-01 -6.36454752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.975347070000002 meters Centerline goodness [0,1] 0.9997071313515888 Centerline is valid? [True, True] Translation: X:-12.70, Y:1.06, Z:-0.64 [[ 9.97199390e-01 5.39763543e-03 -7.45938450e-02 -1.27009629e+01] [-5.15064638e-03 9.99980599e-01 3.50309444e-03 1.05664376e+00] [ 7.46113062e-02 -3.10907712e-03 9.97207845e-01 -6.43534049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.005347070000001 meters Centerline goodness [0,1] 0.9997095661644582 Centerline is valid? [True, True] Translation: X:-12.73, Y:1.05, Z:-0.64 [[ 9.97217548e-01 4.31181618e-03 -7.44215727e-02 -1.27299360e+01] [-4.06113189e-03 9.99985560e-01 3.51943558e-03 1.05182577e+00] [ 7.44356733e-02 -3.20740710e-03 9.97220659e-01 -6.44929060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.035347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-12.76, Y:1.05, Z:-0.65 [[ 9.97103750e-01 2.18366977e-03 -7.60219878e-02 -1.27578978e+01] [-1.91428271e-03 9.99991629e-01 3.61623035e-03 1.05432475e+00] [ 7.60292481e-02 -3.46022927e-03 9.97099584e-01 -6.48886724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.065347070000001 meters Centerline goodness [0,1] 0.9998536192637049 Centerline is valid? [True, True] Translation: X:-12.79, Y:1.05, Z:-0.65 [[ 9.97153506e-01 1.18286108e-03 -7.53888978e-02 -1.27870122e+01] [-9.14286452e-04 9.99993113e-01 3.59693532e-03 1.04806546e+00] [ 7.53926333e-02 -3.51776962e-03 9.97147720e-01 -6.47828506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.095347070000003 meters Centerline goodness [0,1] 0.9995667087922008 Centerline is valid? [True, True] Translation: X:-12.82, Y:1.04, Z:-0.65 [[ 9.97250304e-01 1.83684892e-03 -7.40841212e-02 -1.28160934e+01] [-1.57751885e-03 9.99992423e-01 3.55884434e-03 1.04119688e+00] [ 7.40900969e-02 -3.43218950e-03 9.97245646e-01 -6.48028279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.125347070000002 meters Centerline goodness [0,1] 0.999963530269876 Centerline is valid? [True, True] Translation: X:-12.84, Y:1.05, Z:-0.65 [[ 9.97143447e-01 9.99340156e-04 -7.55244790e-02 -1.28435109e+01] [-7.25767459e-04 9.99993077e-01 3.64966399e-03 1.04664404e+00] [ 7.55276034e-02 -3.58442532e-03 9.97137269e-01 -6.50611943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.155347070000001 meters Centerline goodness [0,1] 0.9993537036372123 Centerline is valid? [True, True] Translation: X:-12.87, Y:1.04, Z:-0.65 [[ 9.97293375e-01 2.13027917e-03 -7.34941225e-02 -1.28727503e+01] [-1.87345493e-03 9.99991897e-01 3.56324716e-03 1.04007149e+00] [ 7.35011177e-02 -3.41591486e-03 9.97289285e-01 -6.47582103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.185347070000002 meters Centerline goodness [0,1] 0.9996726677577742 Centerline is valid? [True, True] Translation: X:-12.90, Y:1.04, Z:-0.65 [[ 9.97247209e-01 3.98041658e-03 -7.40416125e-02 -1.29003164e+01] [-3.72317534e-03 9.99986546e-01 3.61197986e-03 1.04378182e+00] [ 7.40549935e-02 -3.32636693e-03 9.97248612e-01 -6.51010689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.215347070000002 meters Centerline goodness [0,1] 0.9993840133342996 Centerline is valid? [True, True] Translation: X:-12.93, Y:1.04, Z:-0.65 [[ 9.97217357e-01 5.86382705e-03 -7.43179616e-02 -1.29288398e+01] [-5.60897850e-03 9.99977654e-01 3.63741558e-03 1.04332677e+00] [ 7.43376301e-02 -3.21044610e-03 9.97227963e-01 -6.50189229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.245347070000001 meters Centerline goodness [0,1] 0.9994573278824934 Centerline is valid? [True, True] Translation: X:-12.96, Y:1.04, Z:-0.65 [[ 9.97154494e-01 8.38104214e-03 -7.49177727e-02 -1.29576638e+01] [-8.12723789e-03 9.99960158e-01 3.69200013e-03 1.04435168e+00] [ 7.49457307e-02 -3.07261996e-03 9.97182880e-01 -6.52518611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.275347070000002 meters Centerline goodness [0,1] 0.9994350880909508 Centerline is valid? [True, True] Translation: X:-12.99, Y:1.04, Z:-0.65 [[ 9.97228617e-01 1.24354889e-02 -7.33515142e-02 -1.29874674e+01] [-1.22016564e-02 9.99918950e-01 3.63510018e-03 1.04281046e+00] [ 7.33907733e-02 -2.73001595e-03 9.97299524e-01 -6.54845353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.305347070000002 meters Centerline goodness [0,1] 0.9996809415768576 Centerline is valid? [True, True] Translation: X:-13.02, Y:1.05, Z:-0.66 [[ 9.97148078e-01 1.49942562e-02 -7.39654166e-02 -1.30154594e+01] [-1.47631697e-02 9.99884283e-01 3.67002435e-03 1.04554475e+00] [ 7.40118869e-02 -2.56759373e-03 9.97254054e-01 -6.58724838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.335347070000001 meters Centerline goodness [0,1] 0.9990774580420821 Centerline is valid? [True, True] Translation: X:-13.04, Y:1.05, Z:-0.66 [[ 9.97173463e-01 1.86146121e-02 -7.27913560e-02 -1.30448362e+01] [-1.83998981e-02 9.99824157e-01 3.61923193e-03 1.04679061e+00] [ 7.28459268e-02 -2.26964851e-03 9.97340624e-01 -6.57529193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.365347070000002 meters Centerline goodness [0,1] 0.9991037177786541 Centerline is valid? [True, True] Translation: X:-13.07, Y:1.05, Z:-0.66 [[ 9.97115906e-01 2.03210344e-02 -7.31226689e-02 -1.30727931e+01] [-2.01085196e-02 9.99791172e-01 3.64136154e-03 1.05183278e+00] [ 7.31813951e-02 -2.16047089e-03 9.97316307e-01 -6.55977779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.395347070000001 meters Centerline goodness [0,1] 0.9992561105207226 Centerline is valid? [True, True] Translation: X:-13.10, Y:1.05, Z:-0.66 [[ 9.97092696e-01 1.99673393e-02 -7.35354460e-02 -1.31017237e+01] [-1.97505930e-02 9.99798189e-01 3.67357051e-03 1.05201819e+00] [ 7.35939572e-02 -2.21052166e-03 9.97285838e-01 -6.59831524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.425347070000003 meters Centerline goodness [0,1] 0.9997100819018627 Centerline is valid? [True, True] Translation: X:-13.13, Y:1.05, Z:-0.66 [[ 9.97105349e-01 2.00490018e-02 -7.33414015e-02 -1.31281988e+01] [-1.98318990e-02 9.99796529e-01 3.68727325e-03 1.05452322e+00] [ 7.34004049e-02 -2.22210061e-03 9.97300077e-01 -6.61799600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.455347070000002 meters Centerline goodness [0,1] 0.9993438559399264 Centerline is valid? [True, True] Translation: X:-13.16, Y:1.06, Z:-0.66 [[ 9.97119871e-01 2.04455146e-02 -7.30338595e-02 -1.31565003e+01] [-2.02299936e-02 9.99788545e-01 3.68955905e-03 1.05624223e+00] [ 7.30938511e-02 -2.20145814e-03 9.97322637e-01 -6.61499093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.485347070000001 meters Centerline goodness [0,1] 0.999300441826215 Centerline is valid? [True, True] Translation: X:-13.18, Y:1.06, Z:-0.66 [[ 9.97074506e-01 2.20442018e-02 -7.31880007e-02 -1.31845340e+01] [-2.18313922e-02 9.99754796e-01 3.70650788e-03 1.06009609e+00] [ 7.32517617e-02 -2.09786856e-03 9.97311275e-01 -6.62633820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.515347070000002 meters Centerline goodness [0,1] 0.9991872021280526 Centerline is valid? [True, True] Translation: X:-13.21, Y:1.06, Z:-0.66 [[ 9.97049941e-01 2.18604074e-02 -7.35767453e-02 -1.32118903e+01] [-2.16441194e-02 9.99758759e-01 3.73577040e-03 1.06334688e+00] [ 7.36406610e-02 -2.13224580e-03 9.97282561e-01 -6.63074851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.545347070000002 meters Centerline goodness [0,1] 0.9995329117562518 Centerline is valid? [True, True] Translation: X:-13.24, Y:1.06, Z:-0.67 [[ 9.97043019e-01 2.23885105e-02 -7.35117149e-02 -1.32391052e+01] [-2.21730224e-02 9.99747129e-01 3.74623113e-03 1.06081164e+00] [ 7.35769985e-02 -2.10517670e-03 9.97287317e-01 -6.69074457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.575347070000001 meters Centerline goodness [0,1] 0.9993191428366659 Centerline is valid? [True, True] Translation: X:-13.27, Y:1.07, Z:-0.67 [[ 9.97070545e-01 2.39615964e-02 -7.26372533e-02 -1.32674141e+01] [-2.37532398e-02 9.99710890e-01 3.73104841e-03 1.06510716e+00] [ 7.27056550e-02 -1.99474838e-03 9.97351447e-01 -6.71030944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.605347070000002 meters Centerline goodness [0,1] 0.9988884107860011 Centerline is valid? [True, True] Translation: X:-13.29, Y:1.07, Z:-0.67 [[ 9.97036553e-01 2.68794503e-02 -7.20805551e-02 -1.32944804e+01] [-2.66803919e-02 9.99637081e-01 3.72318591e-03 1.07053256e+00] [ 7.21544729e-02 -1.78901499e-03 9.97391865e-01 -6.71299102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.635347070000002 meters Centerline goodness [0,1] 0.9987767143987911 Centerline is valid? [True, True] Translation: X:-13.32, Y:1.07, Z:-0.67 [[ 9.97057373e-01 2.80525446e-02 -7.13417833e-02 -1.33231284e+01] [-2.78597168e-02 9.99605007e-01 3.69668349e-03 1.07465027e+00] [ 7.14173052e-02 -1.69824364e-03 9.97445078e-01 -6.72369567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.665347070000001 meters Centerline goodness [0,1] 0.9990589938472675 Centerline is valid? [True, True] Translation: X:-13.35, Y:1.08, Z:-0.67 [[ 9.97055215e-01 2.91534154e-02 -7.09293836e-02 -1.33504223e+01] [-2.89641648e-02 9.99573620e-01 3.69541283e-03 1.08022043e+00] [ 7.10068746e-02 -1.63012027e-03 9.97474494e-01 -6.72231784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.695347070000002 meters Centerline goodness [0,1] 0.9988782747141409 Centerline is valid? [True, True] Translation: X:-13.38, Y:1.09, Z:-0.67 [[ 9.97100276e-01 2.72407797e-02 -7.10561779e-02 -1.33780159e+01] [-2.70453807e-02 9.99627319e-01 3.71074148e-03 1.08509179e+00] [ 7.11307801e-02 -1.77823997e-03 9.97465413e-01 -6.74997365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.725347070000002 meters Centerline goodness [0,1] 0.9996020692399522 Centerline is valid? [True, True] Translation: X:-13.41, Y:1.09, Z:-0.68 [[ 9.97040750e-01 2.59102276e-02 -7.23768093e-02 -1.34060528e+01] [-2.57029257e-02 9.99662425e-01 3.79426300e-03 1.08633953e+00] [ 7.24506868e-02 -1.92273908e-03 9.97370142e-01 -6.80354271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.755347070000001 meters Centerline goodness [0,1] 0.9989731930030438 Centerline is valid? [True, True] Translation: X:-13.43, Y:1.09, Z:-0.68 [[ 9.97190126e-01 2.43370357e-02 -7.08488602e-02 -1.34339971e+01] [-2.41330147e-02 9.99701782e-01 3.73434271e-03 1.09258478e+00] [ 7.09186146e-02 -2.01405309e-03 9.97480072e-01 -6.78684387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.785347070000002 meters Centerline goodness [0,1] 0.9987430418387502 Centerline is valid? [True, True] Translation: X:-13.46, Y:1.09, Z:-0.68 [[ 9.97285286e-01 2.20428355e-02 -7.02578958e-02 -1.34625914e+01] [-2.18357851e-02 9.99754673e-01 3.71375599e-03 1.09107855e+00] [ 7.03225214e-02 -2.16953789e-03 9.97521948e-01 -6.82027557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.815347070000001 meters Centerline goodness [0,1] 0.9990866245296116 Centerline is valid? [True, True] Translation: X:-13.49, Y:1.10, Z:-0.69 [[ 9.97346069e-01 1.85857216e-02 -7.03945290e-02 -1.34899096e+01] [-1.83677735e-02 9.99824295e-01 3.74218418e-03 1.09597270e+00] [ 7.04517115e-02 -2.43926192e-03 9.97512209e-01 -6.85779893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.845347070000003 meters Centerline goodness [0,1] 0.9994224243736914 Centerline is valid? [True, True] Translation: X:-13.52, Y:1.10, Z:-0.69 [[ 9.97342207e-01 1.69988585e-02 -7.08488536e-02 -1.35182327e+01] [-1.67733384e-02 9.99852184e-01 3.77687786e-03 1.09518846e+00] [ 7.09025836e-02 -2.57846790e-03 9.97479912e-01 -6.88395013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.875347070000002 meters Centerline goodness [0,1] 0.9992424242424243 Centerline is valid? [True, True] Translation: X:-13.55, Y:1.10, Z:-0.69 [[ 9.97440285e-01 1.39482145e-02 -7.01307650e-02 -1.35468012e+01] [-1.37183232e-02 9.99898835e-01 3.75862358e-03 1.09563507e+00] [ 7.01760963e-02 -2.78692607e-03 9.97530726e-01 -6.89219197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.905347070000001 meters Centerline goodness [0,1] 0.998491162523351 Centerline is valid? [True, True] Translation: X:-13.57, Y:1.10, Z:-0.69 [[ 9.97494099e-01 1.17061110e-02 -6.97745654e-02 -1.35741234e+01] [-1.14726195e-02 9.99927170e-01 3.74618280e-03 1.10062374e+00] [ 6.98133369e-02 -2.93629820e-03 9.97555751e-01 -6.90169750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.935347070000002 meters Centerline goodness [0,1] 0.9993108201240524 Centerline is valid? [True, True] Translation: X:-13.60, Y:1.10, Z:-0.70 [[ 9.97428290e-01 1.06916998e-02 -7.08695532e-02 -1.36021677e+01] [-1.04473778e-02 9.99938138e-01 3.81727063e-03 1.10279938e+00] [ 7.09059822e-02 -3.06705272e-03 9.97478288e-01 -6.96122061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.965347070000002 meters Centerline goodness [0,1] 0.998160372254085 Centerline is valid? [True, True] Translation: X:-13.63, Y:1.11, Z:-0.69 [[ 9.97509147e-01 8.11232541e-03 -7.00691982e-02 -1.36304477e+01] [-7.86584630e-03 9.99961871e-01 3.79285714e-03 1.10655935e+00] [ 7.00972954e-02 -3.23225614e-03 9.97534923e-01 -6.93617904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.995347070000001 meters Centerline goodness [0,1] 0.9989607304580209 Centerline is valid? [True, True] Translation: X:-13.66, Y:1.11, Z:-0.70 [[ 9.97476474e-01 7.47806882e-03 -7.06028444e-02 -1.36587059e+01] [-7.22562716e-03 9.99966559e-01 3.83023718e-03 1.10944130e+00] [ 7.06291262e-02 -3.31042164e-03 9.97497152e-01 -6.95760974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.025347070000002 meters Centerline goodness [0,1] 0.999194021101993 Centerline is valid? [True, True] Translation: X:-13.69, Y:1.11, Z:-0.70 [[ 9.97444432e-01 3.20765410e-03 -7.13744766e-02 -1.36873711e+01] [-2.93741269e-03 9.99988116e-01 3.89088725e-03 1.11398769e+00] [ 7.13861090e-02 -3.67128753e-03 9.97442001e-01 -6.99684821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.055347070000002 meters Centerline goodness [0,1] 0.9986683928241169 Centerline is valid? [True, True] Translation: X:-13.71, Y:1.12, Z:-0.70 [[ 9.97463203e-01 1.66295114e-03 -7.11645475e-02 -1.37148953e+01] [-1.39010041e-03 9.99991493e-01 3.88343637e-03 1.11991630e+00] [ 7.11704001e-02 -3.77465902e-03 9.97457030e-01 -7.00923935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.085347070000001 meters Centerline goodness [0,1] 0.9996641791044776 Centerline is valid? [True, True] Translation: X:-13.74, Y:1.12, Z:-0.70 [[ 9.97375765e-01 -5.56552824e-04 -7.23966350e-02 -1.37435241e+01] [ 8.45377303e-04 9.99991806e-01 3.95889354e-03 1.12205485e+00] [ 7.23938385e-02 -4.00970695e-03 9.97368064e-01 -7.03845164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.115347070000002 meters Centerline goodness [0,1] 0.9994396503418133 Centerline is valid? [True, True] Translation: X:-13.77, Y:1.12, Z:-0.71 [[ 9.97429219e-01 -1.09589674e-03 -7.16502067e-02 -1.37723257e+01] [ 1.38084843e-03 9.99991334e-01 3.92757176e-03 1.12294674e+00] [ 7.16452815e-02 -4.01641291e-03 9.97422088e-01 -7.05168538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.145347070000001 meters Centerline goodness [0,1] 0.9996296844911865 Centerline is valid? [True, True] Translation: X:-13.80, Y:1.12, Z:-0.71 [[ 9.97454003e-01 -2.41015551e-03 -7.12720425e-02 -1.38009077e+01] [ 2.69710510e-03 9.99988640e-01 3.93015455e-03 1.12160416e+00] [ 7.12617605e-02 -4.11237658e-03 9.97449172e-01 -7.07257707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.175347070000003 meters Centerline goodness [0,1] 0.9991071428571429 Centerline is valid? [True, True] Translation: X:-13.83, Y:1.13, Z:-0.71 [[ 9.97495048e-01 -4.34633093e-03 -7.06026853e-02 -1.38281468e+01] [ 4.63417586e-03 9.99981604e-01 3.91368244e-03 1.12787168e+00] [ 7.05843763e-02 -4.23106411e-03 9.97496839e-01 -7.06503387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.205347070000002 meters Centerline goodness [0,1] 0.9997381611431136 Centerline is valid? [True, True] Translation: X:-13.86, Y:1.13, Z:-0.71 [[ 9.97411391e-01 -6.92031319e-03 -7.15725302e-02 -1.38579427e+01] [ 7.22329374e-03 9.99966010e-01 3.97523297e-03 1.12866175e+00] [ 7.15425876e-02 -4.48193205e-03 9.97427476e-01 -7.12352419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.235347070000001 meters Centerline goodness [0,1] 0.9988281393049401 Centerline is valid? [True, True] Translation: X:-13.89, Y:1.13, Z:-0.71 [[ 9.97456766e-01 -6.58148185e-03 -7.09696014e-02 -1.38861835e+01] [ 6.87909130e-03 9.99968538e-01 3.94987956e-03 1.12747614e+00] [ 7.09413724e-02 -4.42804045e-03 9.97470658e-01 -7.11535507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.265347070000002 meters Centerline goodness [0,1] 0.9992698598130841 Centerline is valid? [True, True] Translation: X:-13.91, Y:1.13, Z:-0.71 [[ 9.97509426e-01 -6.43932841e-03 -7.02387367e-02 -1.39140476e+01] [ 6.73227108e-03 9.99969597e-01 3.93474093e-03 1.12798515e+00] [ 7.02112641e-02 -4.39780738e-03 9.97522450e-01 -7.13395509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.295347070000002 meters Centerline goodness [0,1] 0.9992621287585316 Centerline is valid? [True, True] Translation: X:-13.94, Y:1.13, Z:-0.72 [[ 9.97491071e-01 -7.18212684e-03 -7.04271243e-02 -1.39411028e+01] [ 7.48010868e-03 9.99964150e-01 3.96824749e-03 1.13247041e+00] [ 7.03960990e-02 -4.48509398e-03 9.97509034e-01 -7.15812997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.325347070000001 meters Centerline goodness [0,1] 0.9992621287585316 Centerline is valid? [True, True] Translation: X:-13.97, Y:1.13, Z:-0.72 [[ 9.97493612e-01 -6.82799048e-03 -7.04263573e-02 -1.39683762e+01] [ 7.12604824e-03 9.99966682e-01 3.98181349e-03 1.13380859e+00] [ 7.03968231e-02 -4.47369514e-03 9.97509034e-01 -7.17451931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.355347070000002 meters Centerline goodness [0,1] 0.9997025248205853 Centerline is valid? [True, True] Translation: X:-14.00, Y:1.14, Z:-0.72 [[ 9.97497093e-01 -5.16989388e-03 -7.05182313e-02 -1.39964058e+01] [ 5.46624262e-03 9.99977019e-01 4.01011267e-03 1.13666502e+00] [ 7.04958788e-02 -4.38554550e-03 9.97502430e-01 -7.20584615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.385347070000002 meters Centerline goodness [0,1] 0.9995104868772828 Centerline is valid? [True, True] Translation: X:-14.02, Y:1.14, Z:-0.72 [[ 9.97497449e-01 -4.35752745e-03 -7.05680639e-02 -1.40238330e+01] [ 4.65312406e-03 9.99981074e-01 4.02497083e-03 1.14141895e+00] [ 7.05491894e-02 -4.34326009e-03 9.97498846e-01 -7.19883219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.415347070000001 meters Centerline goodness [0,1] 0.9997755499027383 Centerline is valid? [True, True] Translation: X:-14.05, Y:1.14, Z:-0.73 [[ 9.97442536e-01 -4.18610438e-03 -7.13502947e-02 -1.40521126e+01] [ 4.48888204e-03 9.99981586e-01 4.08371948e-03 1.14141325e+00] [ 7.13318861e-02 -4.39355857e-03 9.97442960e-01 -7.26426160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.445347070000002 meters Centerline goodness [0,1] 0.9999624497765762 Centerline is valid? [True, True] Translation: X:-14.08, Y:1.14, Z:-0.73 [[ 9.97399470e-01 -4.58757141e-03 -7.19253244e-02 -1.40801577e+01] [ 4.89796495e-03 9.99979436e-01 4.13971822e-03 1.14319339e+00] [ 7.19048541e-02 -4.48124047e-03 9.97401429e-01 -7.31361056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.475347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.11, Y:1.15, Z:-0.73 [[ 9.97429201e-01 -2.78498027e-03 -7.16047043e-02 -1.41074895e+01] [ 3.08947215e-03 9.99986649e-01 4.14199955e-03 1.15019270e+00] [ 7.15922130e-02 -4.35257204e-03 9.97424488e-01 -7.28204820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.505347070000003 meters Centerline goodness [0,1] 0.9993666169895679 Centerline is valid? [True, True] Translation: X:-14.14, Y:1.14, Z:-0.72 [[ 9.97573962e-01 -1.02605126e-03 -6.96070275e-02 -1.41368383e+01] [ 1.31044765e-03 9.99990980e-01 4.04020190e-03 1.14292318e+00] [ 6.96022541e-02 -4.12161658e-03 9.97566308e-01 -7.24767455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.535347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.16, Y:1.15, Z:-0.73 [[ 9.97437460e-01 -1.05072979e-03 -7.15360634e-02 -1.41642092e+01] [ 1.35292801e-03 9.99990365e-01 4.17609520e-03 1.14700444e+00] [ 7.15309862e-02 -4.26217693e-03 9.97429272e-01 -7.34669254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.565347070000001 meters Centerline goodness [0,1] 0.999698568198945 Centerline is valid? [True, True] Translation: X:-14.19, Y:1.15, Z:-0.73 [[ 9.97468909e-01 1.82808720e-03 -7.10804775e-02 -1.41940517e+01] [-1.53569085e-03 9.99990135e-01 4.16802624e-03 1.14995779e+00] [ 7.10873957e-02 -4.04831895e-03 9.97461876e-01 -7.33070770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.595347070000003 meters Centerline goodness [0,1] 0.9997759103641457 Centerline is valid? [True, True] Translation: X:-14.22, Y:1.15, Z:-0.74 [[ 9.97368510e-01 2.49338603e-03 -7.24557746e-02 -1.42222050e+01] [-2.19075630e-03 9.99988544e-01 4.25592194e-03 1.15054446e+00] [ 7.24655562e-02 -4.08598958e-03 9.97362546e-01 -7.36072304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.625347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.25, Y:1.15, Z:-0.74 [[ 9.97365385e-01 4.46262354e-03 -7.24042425e-02 -1.42493631e+01] [-4.16386907e-03 9.99982186e-01 4.27661634e-03 1.15173364e+00] [ 7.24220376e-02 -3.96386732e-03 9.97366200e-01 -7.38166538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.655347070000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.28, Y:1.15, Z:-0.74 [[ 9.97373818e-01 4.96784627e-03 -7.22550179e-02 -1.42767319e+01] [-4.67045115e-03 9.99979916e-01 4.28428103e-03 1.15224195e+00] [ 7.22748504e-02 -3.93556620e-03 9.97376989e-01 -7.39464507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.685347070000002 meters Centerline goodness [0,1] 0.9999626879594045 Centerline is valid? [True, True] Translation: X:-14.31, Y:1.15, Z:-0.74 [[ 9.97399966e-01 7.03562863e-03 -7.17203387e-02 -1.43059768e+01] [-6.74635141e-03 9.99968106e-01 4.27484821e-03 1.15181222e+00] [ 7.17481275e-02 -3.77988285e-03 9.97415620e-01 -7.40583027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.715347070000002 meters Centerline goodness [0,1] 0.9998880889319953 Centerline is valid? [True, True] Translation: X:-14.33, Y:1.16, Z:-0.74 [[ 9.97299591e-01 9.59940385e-03 -7.28105564e-02 -1.43338674e+01] [-9.30765224e-03 9.99947242e-01 4.34524401e-03 1.15643067e+00] [ 7.28484268e-02 -3.65581474e-03 9.97336323e-01 -7.41770508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.745347070000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.36, Y:1.16, Z:-0.75 [[ 9.97139754e-01 1.07462567e-02 -7.48119595e-02 -1.43614893e+01] [-1.04405333e-02 9.99935476e-01 4.47645755e-03 1.15558769e+00] [ 7.48552375e-02 -3.68257703e-03 9.97187611e-01 -7.48346033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.775347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.39, Y:1.17, Z:-0.75 [[ 9.96899663e-01 2.26371803e-02 -7.53566213e-02 -1.43901572e+01] [-2.23591163e-02 9.99739733e-01 4.53169276e-03 1.16900360e+00] [ 7.54395932e-02 -2.83273553e-03 9.97146350e-01 -7.50842928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.805347070000002 meters Centerline goodness [0,1] 0.9997744445697531 Centerline is valid? [True, True] Translation: X:-14.42, Y:1.18, Z:-0.75 [[ 9.96645530e-01 3.33057530e-02 -7.47556927e-02 -1.44197417e+01] [-3.30619529e-02 9.99443188e-01 4.49678675e-03 1.18185828e+00] [ 7.48638367e-02 -2.01013322e-03 9.97191739e-01 -7.49962875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.835347070000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.45, Y:1.20, Z:-0.75 [[ 9.95897553e-01 5.11503073e-02 -7.46438899e-02 -1.44490284e+01] [-5.09572105e-02 9.98690743e-01 4.49034953e-03 1.20121057e+00] [ 7.47758446e-02 -6.68283700e-04 9.97200144e-01 -7.50120945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.865347070000002 meters Centerline goodness [0,1] 0.9999612222739258 Centerline is valid? [True, True] Translation: X:-14.48, Y:1.22, Z:-0.75 [[ 9.95159079e-01 6.38317963e-02 -7.47255649e-02 -1.44790453e+01] [-6.36740590e-02 9.97960630e-01 4.49380111e-03 1.21687352e+00] [ 7.48600192e-02 2.86033058e-04 9.97194011e-01 -7.51073977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.895347070000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.51, Y:1.23, Z:-0.76 [[ 9.94058428e-01 7.64174464e-02 -7.75126769e-02 -1.45084561e+01] [-7.62865577e-02 9.97075080e-01 4.65260452e-03 1.23347910e+00] [ 7.76414987e-02 1.28821457e-03 9.96980510e-01 -7.55782420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.925347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.54, Y:1.25, Z:-0.76 [[ 9.93248238e-01 8.55273986e-02 -7.83773032e-02 -1.45387531e+01] [-8.54221055e-02 9.96333760e-01 4.70134638e-03 1.24756903e+00] [ 7.84920471e-02 2.02555025e-03 9.96912682e-01 -7.58508704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.955347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.57, Y:1.25, Z:-0.76 [[ 9.92875642e-01 8.99078987e-02 -7.81954549e-02 -1.45698523e+01] [-8.98168095e-02 9.95947268e-01 4.68829897e-03 1.25401617e+00] [ 7.83000648e-02 2.36836843e-03 9.96927024e-01 -7.60018879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.985347070000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.60, Y:1.26, Z:-0.76 [[ 9.92601234e-01 9.36553874e-02 -7.72752183e-02 -1.46014173e+01] [-9.35780276e-02 9.95601185e-01 4.62954405e-03 1.25731048e+00] [ 7.73688807e-02 2.63597138e-03 9.96999051e-01 -7.63839511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.015347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.63, Y:1.25, Z:-0.76 [[ 9.92572901e-01 9.37680455e-02 -7.75021953e-02 -1.46336142e+01] [-9.36912748e-02 9.95590513e-01 4.63414105e-03 1.25198405e+00] [ 7.75949847e-02 2.66155666e-03 9.96981411e-01 -7.63693836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.045347070000002 meters Centerline goodness [0,1] 0.9999599230522603 Centerline is valid? [True, True] Translation: X:-14.67, Y:1.25, Z:-0.77 [[ 9.92741663e-01 9.22136639e-02 -7.72051208e-02 -1.46658036e+01] [-9.21345898e-02 9.95735969e-01 4.59316715e-03 1.25125922e+00] [ 7.72994686e-02 2.55343374e-03 9.97004650e-01 -7.65730289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.075347070000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.70, Y:1.24, Z:-0.77 [[ 9.93068098e-01 8.84457574e-02 -7.74151218e-02 -1.46977714e+01] [-8.83567317e-02 9.96078361e-01 4.58119222e-03 1.24406676e+00] [ 7.75167146e-02 2.29071130e-03 9.96988421e-01 -7.66596456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.105347070000002 meters Centerline goodness [0,1] 0.9998023168465583 Centerline is valid? [True, True] Translation: X:-14.73, Y:1.24, Z:-0.77 [[ 9.93316963e-01 8.58495384e-02 -7.71444602e-02 -1.47297657e+01] [-8.57550976e-02 9.96305892e-01 4.54223022e-03 1.24363319e+00] [ 7.72494287e-02 2.10365639e-03 9.97009579e-01 -7.70930372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.135347070000002 meters Centerline goodness [0,1] 0.9999605926860026 Centerline is valid? [True, True] Translation: X:-14.76, Y:1.24, Z:-0.77 [[ 9.93466826e-01 8.43222429e-02 -7.68987945e-02 -1.47612026e+01] [-8.42256624e-02 9.96436526e-01 4.50411832e-03 1.23677389e+00] [ 7.70045650e-02 2.00215977e-03 9.97028730e-01 -7.72896407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.165347070000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.79, Y:1.24, Z:-0.78 [[ 9.93560556e-01 8.28267570e-02 -7.73120291e-02 -1.47932144e+01] [-8.27263150e-02 9.96562115e-01 4.50647347e-03 1.23570371e+00] [ 7.74194957e-02 1.91828498e-03 9.96996761e-01 -7.75334894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.195347070000002 meters Centerline goodness [0,1] 0.9998815072280591 Centerline is valid? [True, True] Translation: X:-14.82, Y:1.23, Z:-0.78 [[ 9.93537718e-01 8.26314053e-02 -7.78129389e-02 -1.48244622e+01] [-8.25307220e-02 9.96578296e-01 4.51441482e-03 1.23032329e+00] [ 7.79197185e-02 1.93671663e-03 9.96957756e-01 -7.75252730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.225347070000002 meters Centerline goodness [0,1] 0.9999607010925097 Centerline is valid? [True, True] Translation: X:-14.86, Y:1.23, Z:-0.78 [[ 9.93384126e-01 8.40589621e-02 -7.82436517e-02 -1.48564553e+01] [-8.39628974e-02 9.96458618e-01 4.52263773e-03 1.23381146e+00] [ 7.83467293e-02 2.07684717e-03 9.96924007e-01 -7.81035893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.255347070000003 meters Centerline goodness [0,1] 0.9998030643191933 Centerline is valid? [True, True] Translation: X:-14.89, Y:1.23, Z:-0.78 [[ 9.93135087e-01 8.62126313e-02 -7.90574505e-02 -1.48882428e+01] [-8.61231983e-02 9.96274120e-01 4.54660964e-03 1.23214731e+00] [ 7.91548672e-02 2.29328292e-03 9.96859693e-01 -7.79728061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.285347070000002 meters Centerline goodness [0,1] 0.9996438605516205 Centerline is valid? [True, True] Translation: X:-14.92, Y:1.23, Z:-0.78 [[ 9.92768604e-01 9.01175110e-02 -7.93053180e-02 -1.49192791e+01] [-9.00408819e-02 9.95927681e-01 4.54904057e-03 1.23279852e+00] [ 7.93923096e-02 2.62457611e-03 9.96839994e-01 -7.80937054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.315347070000001 meters Centerline goodness [0,1] 0.9999608671832199 Centerline is valid? [True, True] Translation: X:-14.95, Y:1.24, Z:-0.78 [[ 9.92605284e-01 9.15294606e-02 -7.97314780e-02 -1.49509086e+01] [-9.14573025e-02 9.95798539e-01 4.56408824e-03 1.23733786e+00] [ 7.98142378e-02 2.76168779e-03 9.96805929e-01 -7.83953552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.345347070000003 meters Centerline goodness [0,1] 0.9995684751480914 Centerline is valid? [True, True] Translation: X:-14.98, Y:1.24, Z:-0.79 [[ 9.92370614e-01 9.41268345e-02 -7.96285284e-02 -1.49827381e+01] [-9.40652704e-02 9.95555716e-01 4.53226964e-03 1.23906581e+00] [ 7.97012448e-02 2.99258785e-03 9.96814304e-01 -7.86763360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.375347070000002 meters Centerline goodness [0,1] 0.999334637964775 Centerline is valid? [True, True] Translation: X:-15.01, Y:1.24, Z:-0.79 [[ 9.92020054e-01 9.70509264e-02 -8.04818610e-02 -1.50129288e+01] [-9.69992119e-02 9.95274006e-01 4.56128813e-03 1.23998558e+00] [ 8.05441815e-02 3.28178779e-03 9.96745637e-01 -7.89304613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.405347070000001 meters Centerline goodness [0,1] 0.999845009299442 Centerline is valid? [True, True] Translation: X:-15.04, Y:1.25, Z:-0.80 [[ 9.91934163e-01 9.75501483e-02 -8.09356811e-02 -1.50446679e+01] [-9.75001871e-02 9.95224974e-01 4.57866452e-03 1.24771134e+00] [ 8.09958606e-02 3.34951029e-03 9.96708810e-01 -7.96216393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.435347070000002 meters Centerline goodness [0,1] 0.9996452363120344 Centerline is valid? [True, True] Translation: X:-15.08, Y:1.24, Z:-0.79 [[ 9.91738399e-01 9.95465807e-02 -8.09038103e-02 -1.50767165e+01] [-9.95053868e-02 9.95026616e-01 4.55089058e-03 1.24053096e+00] [ 8.09544702e-02 3.53707200e-03 9.96711524e-01 -7.91892883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.465347070000002 meters Centerline goodness [0,1] 0.9994880680475703 Centerline is valid? [True, True] Translation: X:-15.11, Y:1.24, Z:-0.80 [[ 9.91600948e-01 1.00241423e-01 -8.17264780e-02 -1.51081682e+01] [-1.00203601e-01 9.94956437e-01 4.57456347e-03 1.23925350e+00] [ 8.17728461e-02 3.65314596e-03 9.96644298e-01 -7.95940404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.495347070000001 meters Centerline goodness [0,1] 0.9999199167133819 Centerline is valid? [True, True] Translation: X:-15.14, Y:1.24, Z:-0.80 [[ 9.91490827e-01 1.00468976e-01 -8.27763538e-02 -1.51403059e+01] [-1.00432626e-01 9.94933165e-01 4.61350225e-03 1.23568148e+00] [ 8.28204536e-02 3.73920142e-03 9.96557470e-01 -7.96598300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.525347070000002 meters Centerline goodness [0,1] 0.9995294302184228 Centerline is valid? [True, True] Translation: X:-15.17, Y:1.24, Z:-0.80 [[ 9.91578875e-01 1.00795132e-01 -8.13122096e-02 -1.51731847e+01] [-1.00763564e-01 9.94900214e-01 4.50211847e-03 1.24484898e+00] [ 8.13513263e-02 3.72910247e-03 9.96678512e-01 -8.04373756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.555347070000002 meters Centerline goodness [0,1] 0.9998845621055872 Centerline is valid? [True, True] Translation: X:-15.20, Y:1.24, Z:-0.80 [[ 9.91654077e-01 1.00508988e-01 -8.07473564e-02 -1.52042395e+01] [-1.00478954e-01 9.94929252e-01 4.44557283e-03 1.24179852e+00] [ 8.07847269e-02 3.70493948e-03 9.96724687e-01 -8.03405272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.585347070000003 meters Centerline goodness [0,1] 0.9995282833444711 Centerline is valid? [True, True] Translation: X:-15.24, Y:1.24, Z:-0.80 [[ 9.91478243e-01 1.01919211e-01 -8.11379604e-02 -1.52361590e+01] [-1.01894367e-01 9.94785237e-01 4.45757684e-03 1.24165498e+00] [ 8.11691579e-02 3.84791065e-03 9.96692912e-01 -8.03653329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.615347070000002 meters Centerline goodness [0,1] 0.9998477466504263 Centerline is valid? [True, True] Translation: X:-15.27, Y:1.24, Z:-0.81 [[ 9.91592279e-01 1.02122076e-01 -7.94722200e-02 -1.52690742e+01] [-1.02100939e-01 9.94764576e-01 4.34013908e-03 1.24333231e+00] [ 7.94993732e-02 3.81053988e-03 9.96827633e-01 -8.08386144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.645347070000001 meters Centerline goodness [0,1] 0.9998069572603374 Centerline is valid? [True, True] Translation: X:-15.30, Y:1.24, Z:-0.81 [[ 9.91481616e-01 1.01923737e-01 -8.10910361e-02 -1.53006187e+01] [-1.01903221e-01 9.94784576e-01 4.40235229e-03 1.24328934e+00] [ 8.11168162e-02 3.89858638e-03 9.96696977e-01 -8.11078418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.675347070000003 meters Centerline goodness [0,1] 0.9999201086522329 Centerline is valid? [True, True] Translation: X:-15.33, Y:1.23, Z:-0.81 [[ 9.91139922e-01 1.04511988e-01 -8.19688908e-02 -1.53314415e+01] [-1.04500767e-01 9.94514900e-01 4.43884870e-03 1.23494147e+00] [ 8.19831962e-02 4.16629182e-03 9.96625003e-01 -8.08458696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.705347070000002 meters Centerline goodness [0,1] 0.9999607689289918 Centerline is valid? [True, True] Translation: X:-15.36, Y:1.24, Z:-0.81 [[ 9.91352561e-01 1.02761189e-01 -8.16102755e-02 -1.53634045e+01] [-1.02744908e-01 9.94697961e-01 4.41019577e-03 1.23933203e+00] [ 8.16307716e-02 4.01298140e-03 9.96654561e-01 -8.13719089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.735347070000001 meters Centerline goodness [0,1] 0.999960964946522 Centerline is valid? [True, True] Translation: X:-15.40, Y:1.25, Z:-0.82 [[ 9.91260784e-01 1.04148688e-01 -8.09636300e-02 -1.53950156e+01] [-1.04139540e-01 9.94553195e-01 4.34723482e-03 1.24549260e+00] [ 8.09753957e-02 4.12227180e-03 9.96707576e-01 -8.18700897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.765347070000002 meters Centerline goodness [0,1] 0.9996873412279673 Centerline is valid? [True, True] Translation: X:-15.43, Y:1.24, Z:-0.81 [[ 9.91373687e-01 1.04285039e-01 -7.93904507e-02 -1.54284576e+01] [-1.04278790e-01 9.94539084e-01 4.23600397e-03 1.23786297e+00] [ 7.93986579e-02 4.07927727e-03 9.96834596e-01 -8.13981746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.795347070000002 meters Centerline goodness [0,1] 0.9994952632396334 Centerline is valid? [True, True] Translation: X:-15.46, Y:1.24, Z:-0.82 [[ 9.91631789e-01 1.02790413e-01 -7.81058573e-02 -1.54598770e+01] [-1.02781654e-01 9.94695314e-01 4.14292692e-03 1.24135920e+00] [ 7.81173835e-02 3.91959119e-03 9.96936463e-01 -8.17786281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.825347070000001 meters Centerline goodness [0,1] 0.9994629430719656 Centerline is valid? [True, True] Translation: X:-15.49, Y:1.24, Z:-0.82 [[ 9.91723526e-01 1.01308641e-01 -7.88733561e-02 -1.54912041e+01] [-1.01296345e-01 9.94847568e-01 4.16726872e-03 1.23654007e+00] [ 7.88891469e-02 3.85680428e-03 9.96875934e-01 -8.19335877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.855347070000002 meters Centerline goodness [0,1] 0.9994655060512351 Centerline is valid? [True, True] Translation: X:-15.52, Y:1.24, Z:-0.82 [[ 9.91844099e-01 1.00043821e-01 -7.89716214e-02 -1.55232782e+01] [-1.00029493e-01 9.94975829e-01 4.14732466e-03 1.24086562e+00] [ 7.89897686e-02 3.78599177e-03 9.96868237e-01 -8.23023814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.885347070000002 meters Centerline goodness [0,1] 0.9997704754982595 Centerline is valid? [True, True] Translation: X:-15.55, Y:1.23, Z:-0.82 [[ 9.92201208e-01 9.71222948e-02 -7.81282489e-02 -1.55545173e+01] [-9.71008741e-02 9.95266174e-01 4.08213615e-03 1.23468275e+00] [ 7.81548698e-02 3.53602085e-03 9.96934959e-01 -8.24057820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.915347070000003 meters Centerline goodness [0,1] 0.9989319906930617 Centerline is valid? [True, True] Translation: X:-15.59, Y:1.23, Z:-0.83 [[ 9.92474686e-01 9.62721172e-02 -7.56682048e-02 -1.55868308e+01] [-9.62501542e-02 9.95349356e-01 3.94549261e-03 1.23347123e+00] [ 7.56961399e-02 3.36727484e-03 9.97125246e-01 -8.25192210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.945347070000002 meters Centerline goodness [0,1] 0.9995802648147442 Centerline is valid? [True, True] Translation: X:-15.62, Y:1.23, Z:-0.83 [[ 9.92664221e-01 9.34578407e-02 -7.67031716e-02 -1.56183564e+01] [-9.34288991e-02 9.95618025e-01 3.97357023e-03 1.23087453e+00] [ 7.67384215e-02 3.22187189e-03 9.97046054e-01 -8.28434873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.975347070000002 meters Centerline goodness [0,1] 0.9996594649816489 Centerline is valid? [True, True] Translation: X:-15.65, Y:1.23, Z:-0.83 [[ 9.93079069e-01 8.95552328e-02 -7.59856723e-02 -1.56503126e+01] [-8.95172708e-02 9.95977586e-01 3.91227248e-03 1.23157455e+00] [ 7.60303909e-02 2.91683409e-03 9.97101234e-01 -8.30693247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.005347070000003 meters Centerline goodness [0,1] 0.9996230824318721 Centerline is valid? [True, True] Translation: X:-15.68, Y:1.23, Z:-0.83 [[ 9.93343646e-01 8.57087407e-02 -7.69572199e-02 -1.56812661e+01] [-8.56598581e-02 9.96316641e-01 3.94204559e-03 1.22596279e+00] [ 7.70116266e-02 2.67633861e-03 9.97026603e-01 -8.32618761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.03534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-15.71, Y:1.22, Z:-0.83 [[ 9.93674235e-01 8.16727326e-02 -7.70784018e-02 -1.57127564e+01] [-8.16122557e-02 9.96656370e-01 3.93954031e-03 1.22100561e+00] [ 7.71424332e-02 2.37592253e-03 9.97017252e-01 -8.34794533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.06534707 meters Centerline goodness [0,1] 0.9995532223835586 Centerline is valid? [True, True] Translation: X:-15.74, Y:1.23, Z:-0.84 [[ 9.93913813e-01 8.08753999e-02 -7.47963975e-02 -1.57440418e+01] [-8.08177240e-02 9.96721645e-01 3.80244684e-03 1.22559288e+00] [ 7.48587127e-02 2.26557017e-03 9.97191577e-01 -8.38728958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.095347070000003 meters Centerline goodness [0,1] 0.9995528727923094 Centerline is valid? [True, True] Translation: X:-15.78, Y:1.22, Z:-0.84 [[ 9.94134689e-01 7.81627635e-02 -7.47449198e-02 -1.57754264e+01] [-7.80979485e-02 9.96938471e-01 3.79405443e-03 1.21930122e+00] [ 7.48126399e-02 2.06562377e-03 9.97195468e-01 -8.38766023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.125347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-15.81, Y:1.22, Z:-0.84 [[ 9.94298031e-01 7.38531298e-02 -7.69229512e-02 -1.58074610e+01] [-7.37721157e-02 9.97267506e-01 3.89815076e-03 1.21786371e+00] [ 7.70006503e-02 1.79884522e-03 9.97029420e-01 -8.42373466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.15534707 meters Centerline goodness [0,1] 0.99981556621173 Centerline is valid? [True, True] Translation: X:-15.84, Y:1.22, Z:-0.85 [[ 9.94558237e-01 7.34562333e-02 -7.38789271e-02 -1.58392196e+01] [-7.33809505e-02 9.97296984e-01 3.73653493e-03 1.22430544e+00] [ 7.39537030e-02 1.70510430e-03 9.97260218e-01 -8.46506761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.185347070000002 meters Centerline goodness [0,1] 0.999449298773772 Centerline is valid? [True, True] Translation: X:-15.87, Y:1.23, Z:-0.85 [[ 9.94576288e-01 7.35739128e-02 -7.35179314e-02 -1.58707191e+01] [-7.35002487e-02 9.97288296e-01 3.71062751e-03 1.22571656e+00] [ 7.35915779e-02 1.71308410e-03 9.97286992e-01 -8.48069061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.215347070000004 meters Centerline goodness [0,1] 0.999449298773772 Centerline is valid? [True, True] Translation: X:-15.90, Y:1.23, Z:-0.85 [[ 9.94586091e-01 7.34408594e-02 -7.35183555e-02 -1.59031962e+01] [-7.33674544e-02 9.97298105e-01 3.70220780e-03 1.22751101e+00] [ 7.35916099e-02 1.71169020e-03 9.97286992e-01 -8.50011988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.24534707 meters Centerline goodness [0,1] 0.9991492195013687 Centerline is valid? [True, True] Translation: X:-15.94, Y:1.23, Z:-0.85 [[ 9.94511747e-01 7.54127591e-02 -7.25210332e-02 -1.59353292e+01] [-7.53472189e-02 9.97150703e-01 3.64296266e-03 1.23107887e+00] [ 7.25891251e-02 1.84128901e-03 9.97360230e-01 -8.49549740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.275347070000002 meters Centerline goodness [0,1] 0.9998151366140422 Centerline is valid? [True, True] Translation: X:-15.97, Y:1.23, Z:-0.85 [[ 9.94436319e-01 7.49461655e-02 -7.40235025e-02 -1.59659978e+01] [-7.48770709e-02 9.97185863e-01 3.71203646e-03 1.23445793e+00] [ 7.40933931e-02 1.85127917e-03 9.97249589e-01 -8.53952062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.305347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.00, Y:1.24, Z:-0.85 [[ 9.94089069e-01 7.83959177e-02 -7.51066173e-02 -1.59970629e+01] [-7.83353313e-02 9.96919988e-01 3.75680383e-03 1.23594851e+00] [ 7.51698061e-02 2.14890413e-03 9.97168432e-01 -8.54032246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.33534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.03, Y:1.24, Z:-0.86 [[ 9.93899705e-01 8.20586152e-02 -7.36869055e-02 -1.60289613e+01] [-8.20119748e-02 9.96624610e-01 3.66357969e-03 1.24298682e+00] [ 7.37388118e-02 2.40197786e-03 9.97274695e-01 -8.56076232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.365347070000002 meters Centerline goodness [0,1] 0.9993492822966508 Centerline is valid? [True, True] Translation: X:-16.06, Y:1.26, Z:-0.86 [[ 9.93414697e-01 8.91347145e-02 -7.19877963e-02 -1.60596395e+01] [-8.91092259e-02 9.96015455e-01 3.57197499e-03 1.26109574e+00] [ 7.20193446e-02 2.86632435e-03 9.97399117e-01 -8.55284035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.395347070000003 meters Centerline goodness [0,1] 0.9996587289549522 Centerline is valid? [True, True] Translation: X:-16.09, Y:1.26, Z:-0.86 [[ 9.93233121e-01 8.90819180e-02 -7.45142890e-02 -1.60906342e+01] [-8.90550891e-02 9.96019870e-01 3.68917513e-03 1.26423434e+00] [ 7.45463512e-02 2.97166572e-03 9.97213122e-01 -8.60036000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.42534707 meters Centerline goodness [0,1] 0.9996191926884996 Centerline is valid? [True, True] Translation: X:-16.12, Y:1.27, Z:-0.86 [[ 9.93170871e-01 8.99214699e-02 -7.43353913e-02 -1.61221473e+01] [-8.98989165e-02 9.95944184e-01 3.65612854e-03 1.27418230e+00] [ 7.43626651e-02 3.05151077e-03 9.97226595e-01 -8.62086912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.455347070000002 meters Centerline goodness [0,1] 0.9996574430023217 Centerline is valid? [True, True] Translation: X:-16.15, Y:1.28, Z:-0.86 [[ 9.93223735e-01 9.02488545e-02 -7.32240205e-02 -1.61542973e+01] [-9.02296836e-02 9.95914561e-01 3.57649018e-03 1.27968180e+00] [ 7.32476424e-02 3.05472527e-03 9.97309105e-01 -8.61549637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.485347070000003 meters Centerline goodness [0,1] 0.9998479203102426 Centerline is valid? [True, True] Translation: X:-16.19, Y:1.28, Z:-0.87 [[ 9.93343187e-01 8.67838464e-02 -7.57487725e-02 -1.61854828e+01] [-8.67552527e-02 9.96222880e-01 3.67417413e-03 1.28315139e+00] [ 7.57815193e-02 2.92188806e-03 9.97120165e-01 -8.66672818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.51534707 meters Centerline goodness [0,1] 0.9999619873037594 Centerline is valid? [True, True] Translation: X:-16.22, Y:1.29, Z:-0.87 [[ 9.93582693e-01 8.37607670e-02 -7.60102990e-02 -1.62172210e+01] [-8.37249712e-02 9.96482168e-01 3.66303407e-03 1.28759388e+00] [ 7.60497261e-02 2.72443283e-03 9.97100304e-01 -8.70625505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.545347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.25, Y:1.28, Z:-0.87 [[ 9.94149360e-01 7.62850290e-02 -7.64698879e-02 -1.62478465e+01] [-7.62282980e-02 9.97083656e-01 3.66473528e-03 1.28407327e+00] [ 7.65264398e-02 2.18587517e-03 9.97065156e-01 -8.71254577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.575347070000003 meters Centerline goodness [0,1] 0.9996981929301694 Centerline is valid? [True, True] Translation: X:-16.28, Y:1.29, Z:-0.87 [[ 9.94219016e-01 7.50721242e-02 -7.67640774e-02 -1.62794801e+01] [-7.50115902e-02 9.97175887e-01 3.67571225e-03 1.28957936e+00] [ 7.68232306e-02 2.10373250e-03 9.97042509e-01 -8.74061628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.60534707 meters Centerline goodness [0,1] 0.9998478451063182 Centerline is valid? [True, True] Translation: X:-16.31, Y:1.29, Z:-0.88 [[ 9.94641540e-01 6.81161438e-02 -7.77714526e-02 -1.63108362e+01] [-6.80333073e-02 9.97676125e-01 3.71726211e-03 1.29030631e+00] [ 7.78439271e-02 1.59370583e-03 9.96964284e-01 -8.79950877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.63534707 meters Centerline goodness [0,1] 0.9998106634353227 Centerline is valid? [True, True] Translation: X:-16.34, Y:1.29, Z:-0.88 [[ 9.94938156e-01 6.24183443e-02 -7.87528811e-02 -1.63424252e+01] [-6.23158900e-02 9.98049393e-01 3.76029323e-03 1.28905222e+00] [ 7.88339764e-02 1.16629666e-03 9.96887077e-01 -8.80565789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.665347070000003 meters Centerline goodness [0,1] 0.9999620003039976 Centerline is valid? [True, True] Translation: X:-16.37, Y:1.29, Z:-0.88 [[ 9.95152907e-01 5.82398504e-02 -7.92389484e-02 -1.63733767e+01] [-5.81233135e-02 9.98302261e-01 3.77831783e-03 1.28902100e+00] [ 7.93244700e-02 8.45626262e-04 9.96848491e-01 -8.83181193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.69534707 meters Centerline goodness [0,1] 0.9999616137576293 Centerline is valid? [True, True] Translation: X:-16.40, Y:1.29, Z:-0.89 [[ 9.95322773e-01 5.51608392e-02 -7.93086398e-02 -1.64040090e+01] [-5.50347282e-02 9.98477298e-01 3.77673092e-03 1.29001305e+00] [ 7.93962040e-02 6.05663144e-04 9.96842955e-01 -8.85637995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.72534707 meters Centerline goodness [0,1] 0.9998102178698853 Centerline is valid? [True, True] Translation: X:-16.44, Y:1.29, Z:-0.89 [[ 9.95467072e-01 5.22401616e-02 -7.94749957e-02 -1.64357378e+01] [-5.21045972e-02 9.98634479e-01 3.78000462e-03 1.29399770e+00] [ 7.95639390e-02 3.78142510e-04 9.96829693e-01 -8.87230696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.755347070000003 meters Centerline goodness [0,1] 0.9997723651263374 Centerline is valid? [True, True] Translation: X:-16.47, Y:1.30, Z:-0.89 [[ 9.95596436e-01 4.94398652e-02 -7.96456895e-02 -1.64679164e+01] [-4.92953591e-02 9.98777089e-01 3.78075488e-03 1.29698781e+00] [ 7.97352099e-02 1.62056780e-04 9.96816066e-01 -8.89272376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.78534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.50, Y:1.30, Z:-0.89 [[ 9.95633067e-01 4.81005726e-02 -8.00070685e-02 -1.64984026e+01] [-4.79509665e-02 9.98842496e-01 3.79126613e-03 1.30085390e+00] [ 8.00968221e-02 6.17063399e-05 9.96787086e-01 -8.92455933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.81534707 meters Centerline goodness [0,1] 0.9998046188113009 Centerline is valid? [True, True] Translation: X:-16.53, Y:1.30, Z:-0.89 [[ 9.95783021e-01 4.53053987e-02 -7.97721535e-02 -1.65292966e+01] [-4.51481110e-02 9.98973171e-01 3.77519537e-03 1.30356125e+00] [ 7.98612778e-02 -1.57713404e-04 9.96805975e-01 -8.92279476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.845347070000003 meters Centerline goodness [0,1] 0.9994916911045943 Centerline is valid? [True, True] Translation: X:-16.56, Y:1.31, Z:-0.90 [[ 9.95852427e-01 4.18616617e-02 -8.07808499e-02 -1.65597824e+01] [-4.16894168e-02 9.99123322e-01 3.81842487e-03 1.30737969e+00] [ 8.08698767e-02 -4.34881157e-04 9.96724573e-01 -8.95125444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.875347070000004 meters Centerline goodness [0,1] 0.9999212908303817 Centerline is valid? [True, True] Translation: X:-16.59, Y:1.31, Z:-0.90 [[ 9.95908216e-01 4.03723711e-02 -8.08510781e-02 -1.65891091e+01] [-4.01952496e-02 9.99184551e-01 3.81776168e-03 1.30994343e+00] [ 8.09392803e-02 -5.52310963e-04 9.96718881e-01 -8.97078828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.90534707 meters Centerline goodness [0,1] 0.9999214762465646 Centerline is valid? [True, True] Translation: X:-16.62, Y:1.31, Z:-0.90 [[ 9.95965722e-01 3.81968598e-02 -8.11990122e-02 -1.66172037e+01] [-3.80101905e-02 9.99269958e-01 3.84398275e-03 1.31315211e+00] [ 8.12865616e-02 -7.42085136e-04 9.96690496e-01 -9.01957572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.935347070000002 meters Centerline goodness [0,1] 0.9997621218728938 Centerline is valid? [True, True] Translation: X:-16.65, Y:1.32, Z:-0.90 [[ 9.95996143e-01 3.51209196e-02 -8.22082928e-02 -1.66455510e+01] [-3.49169023e-02 9.99382537e-01 3.91850690e-03 1.31624132e+00] [ 8.22951538e-02 -1.03235884e-03 9.96607466e-01 -9.03076927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.965347070000004 meters Centerline goodness [0,1] 0.9999203377678643 Centerline is valid? [True, True] Translation: X:-16.67, Y:1.32, Z:-0.91 [[ 9.96100942e-01 3.25262211e-02 -8.20058372e-02 -1.66741753e+01] [-3.23123145e-02 9.99470076e-01 3.93457064e-03 1.31730764e+00] [ 8.20903571e-02 -1.26943112e-03 9.96624082e-01 -9.05239150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.99534707 meters Centerline goodness [0,1] 0.9997574973728882 Centerline is valid? [True, True] Translation: X:-16.70, Y:1.32, Z:-0.90 [[ 9.96105357e-01 2.91487948e-02 -8.32133731e-02 -1.67015810e+01] [-2.89148315e-02 9.99573813e-01 4.01562134e-03 1.32171003e+00] [ 8.32949592e-02 -1.59388126e-03 9.96523662e-01 -9.04146775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.025347070000002 meters Centerline goodness [0,1] 0.9997190898511176 Centerline is valid? [True, True] Translation: X:-16.73, Y:1.32, Z:-0.91 [[ 9.96175929e-01 2.86002369e-02 -8.25563115e-02 -1.67289908e+01] [-2.83665080e-02 9.99589575e-01 4.00291773e-03 1.32089230e+00] [ 8.26369127e-02 -1.64577602e-03 9.96578362e-01 -9.07713428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.055347070000003 meters Centerline goodness [0,1] 0.9997163925127623 Centerline is valid? [True, True] Translation: X:-16.76, Y:1.32, Z:-0.91 [[ 9.96149487e-01 2.84260407e-02 -8.29346670e-02 -1.67571846e+01] [-2.81870542e-02 9.99594456e-01 4.05129911e-03 1.32379842e+00] [ 8.30161958e-02 -1.69801557e-03 9.96546752e-01 -9.07566831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.08534707 meters Centerline goodness [0,1] 0.9996776403271951 Centerline is valid? [True, True] Translation: X:-16.79, Y:1.32, Z:-0.91 [[ 9.96243747e-01 2.64847274e-02 -8.24436529e-02 -1.67855285e+01] [-2.62398707e-02 9.99647462e-01 4.05226340e-03 1.32483455e+00] [ 8.25219115e-02 -1.87373127e-03 9.96587489e-01 -9.06716026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.115347070000002 meters Centerline goodness [0,1] 0.9999187421281437 Centerline is valid? [True, True] Translation: X:-16.81, Y:1.33, Z:-0.91 [[ 9.96206242e-01 2.52272051e-02 -8.32869218e-02 -1.68129779e+01] [-2.49711531e-02 9.99679704e-01 4.11476837e-03 1.32810068e+00] [ 8.33640494e-02 -2.01938746e-03 9.96517113e-01 -9.10023470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.145347070000003 meters Centerline goodness [0,1] 0.999516635785064 Centerline is valid? [True, True] Translation: X:-16.84, Y:1.33, Z:-0.91 [[ 9.96230322e-01 2.42902427e-02 -8.32774208e-02 -1.68416884e+01] [-2.40298104e-02 9.99702718e-01 4.12832051e-03 1.32653950e+00] [ 8.33529419e-02 -2.11161744e-03 9.96517851e-01 -9.11199002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.17534707 meters Centerline goodness [0,1] 0.9993948684847507 Centerline is valid? [True, True] Translation: X:-16.87, Y:1.33, Z:-0.91 [[ 9.96173515e-01 2.36727562e-02 -8.41304225e-02 -1.68690170e+01] [-2.34029287e-02 9.99717324e-01 4.19214300e-03 1.33149568e+00] [ 8.42058804e-02 -2.20720355e-03 9.96445933e-01 -9.11568648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.205347070000002 meters Centerline goodness [0,1] 0.9993025354886355 Centerline is valid? [True, True] Translation: X:-16.90, Y:1.33, Z:-0.92 [[ 9.96115739e-01 2.21915186e-02 -8.52113369e-02 -1.68973385e+01] [-2.19080429e-02 9.99750912e-01 4.26052004e-03 1.33183374e+00] [ 8.52846591e-02 -2.37715744e-03 9.96353791e-01 -9.15651143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.235347070000003 meters Centerline goodness [0,1] 0.9991871901162318 Centerline is valid? [True, True] Translation: X:-16.92, Y:1.34, Z:-0.91 [[ 9.96133172e-01 2.20587961e-02 -8.50418348e-02 -1.69238729e+01] [-2.17740568e-02 9.99753780e-01 4.27442050e-03 1.33645277e+00] [ 8.51151843e-02 -2.40618631e-03 9.96368213e-01 -9.13851996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.26534707 meters Centerline goodness [0,1] 0.9992927569996256 Centerline is valid? [True, True] Translation: X:-16.95, Y:1.34, Z:-0.91 [[ 9.96047407e-01 2.06057275e-02 -8.64000432e-02 -1.69515869e+01] [-2.03052421e-02 9.99784341e-01 4.35532169e-03 1.33920779e+00] [ 8.64711548e-02 -2.58373308e-03 9.96251004e-01 -9.14713876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.295347070000002 meters Centerline goodness [0,1] 0.9988231474717961 Centerline is valid? [True, True] Translation: X:-16.98, Y:1.34, Z:-0.92 [[ 9.96021507e-01 2.24789642e-02 -8.62313956e-02 -1.69806416e+01] [-2.21853068e-02 9.99744358e-01 4.36239014e-03 1.33858723e+00] [ 8.63074133e-02 -2.43196444e-03 9.96265585e-01 -9.16517126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.325347070000003 meters Centerline goodness [0,1] 0.9987865550297294 Centerline is valid? [True, True] Translation: X:-17.01, Y:1.34, Z:-0.92 [[ 9.96011737e-01 2.22063740e-02 -8.64146796e-02 -1.70093753e+01] [-2.19080337e-02 9.99750311e-01 4.39937483e-03 1.33989451e+00] [ 8.64907969e-02 -2.48865325e-03 9.96249541e-01 -9.18197661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.35534707 meters Centerline goodness [0,1] 0.9987795948254821 Centerline is valid? [True, True] Translation: X:-17.04, Y:1.34, Z:-0.92 [[ 9.95929501e-01 2.42374134e-02 -8.68157620e-02 -1.70378699e+01] [-2.39416487e-02 9.99703469e-01 4.44656540e-03 1.34072554e+00] [ 8.68977916e-02 -2.34995319e-03 9.96214461e-01 -9.22223707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.38534707 meters Centerline goodness [0,1] 0.9986012835280567 Centerline is valid? [True, True] Translation: X:-17.07, Y:1.34, Z:-0.92 [[ 9.95767351e-01 2.63633991e-02 -8.80474503e-02 -1.70653332e+01] [-2.60655369e-02 9.99649967e-01 4.53119693e-03 1.34441023e+00] [ 8.81360885e-02 -2.21701390e-03 9.96105976e-01 -9.21102479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.415347070000003 meters Centerline goodness [0,1] 0.9984622855292975 Centerline is valid? [True, True] Translation: X:-17.10, Y:1.35, Z:-0.92 [[ 9.95832384e-01 2.91798530e-02 -8.64083243e-02 -1.70950630e+01] [-2.89029491e-02 9.99572298e-01 4.45420091e-03 1.34603947e+00] [ 8.65013403e-02 -1.93818212e-03 9.96249849e-01 -9.19020171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.44534707 meters Centerline goodness [0,1] 0.9985437903058041 Centerline is valid? [True, True] Translation: X:-17.12, Y:1.35, Z:-0.92 [[ 9.95592765e-01 2.88010616e-02 -8.92499005e-02 -1.71223726e+01] [-2.85035301e-02 9.99583077e-01 4.60667663e-03 1.34997225e+00] [ 8.93453673e-02 -2.04243670e-03 9.95998611e-01 -9.20686676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.47534707 meters Centerline goodness [0,1] 0.9983557364245489 Centerline is valid? [True, True] Translation: X:-17.15, Y:1.35, Z:-0.92 [[ 9.95612062e-01 3.20370977e-02 -8.79218156e-02 -1.71517928e+01] [-3.17602119e-02 9.99485176e-01 4.54670081e-03 1.35043192e+00] [ 8.80222144e-02 -1.73433468e-03 9.96117002e-01 -9.16627214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.505347070000003 meters Centerline goodness [0,1] 0.9982409490693394 Centerline is valid? [True, True] Translation: X:-17.18, Y:1.35, Z:-0.92 [[ 9.95568666e-01 3.44027013e-02 -8.75184895e-02 -1.71800562e+01] [-3.41368402e-02 9.99406888e-01 4.53307894e-03 1.35178822e+00] [ 8.76225314e-02 -1.52538666e-03 9.96152581e-01 -9.17993515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.535347070000004 meters Centerline goodness [0,1] 0.9981309930115391 Centerline is valid? [True, True] Translation: X:-17.21, Y:1.35, Z:-0.92 [[ 9.95567698e-01 3.77523872e-02 -8.61377704e-02 -1.72086178e+01] [-3.75065508e-02 9.99286379e-01 4.47116103e-03 1.35126601e+00] [ 8.62450977e-02 -1.22061283e-03 9.96273202e-01 -9.16521834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.56534707 meters Centerline goodness [0,1] 0.9982947624847747 Centerline is valid? [True, True] Translation: X:-17.24, Y:1.35, Z:-0.92 [[ 9.95549151e-01 3.94697026e-02 -8.55805442e-02 -1.72370971e+01] [-3.92321687e-02 9.99220185e-01 4.45628497e-03 1.35205581e+00] [ 8.56896955e-02 -1.07894038e-03 9.96321290e-01 -9.17583836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.595347070000003 meters Centerline goodness [0,1] 0.9986787844817232 Centerline is valid? [True, True] Translation: X:-17.27, Y:1.35, Z:-0.91 [[ 9.95508858e-01 4.27321123e-02 -8.44753272e-02 -1.72659093e+01] [-4.25103731e-02 9.99086236e-01 4.42273898e-03 1.35178907e+00] [ 8.45871297e-02 -8.11798153e-04 9.96415756e-01 -9.13174229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.625347070000004 meters Centerline goodness [0,1] 0.999712443002095 Centerline is valid? [True, True] Translation: X:-17.29, Y:1.35, Z:-0.91 [[ 9.95323585e-01 4.46497110e-02 -8.56584189e-02 -1.72941524e+01] [-4.44270552e-02 9.99002474e-01 4.50482249e-03 1.35307305e+00] [ 8.57741114e-02 -6.78204768e-04 9.96314379e-01 -9.08390200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.65534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.32, Y:1.35, Z:-0.91 [[ 9.95386728e-01 4.57061908e-02 -8.43576062e-02 -1.73229943e+01] [-4.54928387e-02 9.98954750e-01 4.45067738e-03 1.35108242e+00] [ 8.44728549e-02 -5.92478226e-04 9.96425605e-01 -9.07397613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.685347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.35, Y:1.35, Z:-0.90 [[ 9.95343349e-01 4.73201965e-02 -8.39786704e-02 -1.73507220e+01] [-4.71126914e-02 9.98879659e-01 4.45205570e-03 1.35049245e+00] [ 8.40952579e-02 -4.74862847e-04 9.96457607e-01 -9.03261492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.715347070000004 meters Centerline goodness [0,1] 0.9999204170148422 Centerline is valid? [True, True] Translation: X:-17.38, Y:1.35, Z:-0.90 [[ 9.95391919e-01 4.90570748e-02 -8.23913321e-02 -1.73792834e+01] [-4.88621487e-02 9.98795920e-01 4.38175039e-03 1.34923522e+00] [ 8.25070823e-02 -3.35741408e-04 9.96590422e-01 -9.04748924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.74534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.41, Y:1.35, Z:-0.91 [[ 9.95209116e-01 4.97146002e-02 -8.41859450e-02 -1.74088822e+01] [-4.95117348e-02 9.98763417e-01 4.49711825e-03 1.34965761e+00] [ 8.43054146e-02 -3.07380889e-04 9.96439914e-01 -9.07425433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.775347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.44, Y:1.35, Z:-0.91 [[ 9.95405449e-01 5.01992575e-02 -8.15354293e-02 -1.74382913e+01] [-5.00104299e-02 9.98739189e-01 4.35775379e-03 1.34878520e+00] [ 8.16513845e-02 -2.60110004e-04 9.96660917e-01 -9.07469952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.805347070000003 meters Centerline goodness [0,1] 0.9999604179860672 Centerline is valid? [True, True] Translation: X:-17.47, Y:1.35, Z:-0.91 [[ 9.95336111e-01 5.05155066e-02 -8.21840015e-02 -1.74677563e+01] [-5.03244744e-02 9.98723248e-01 4.39555444e-03 1.34965462e+00] [ 8.23011166e-02 -2.39187388e-04 9.96607480e-01 -9.06991910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.83534707 meters Centerline goodness [0,1] 0.9999217343664397 Centerline is valid? [True, True] Translation: X:-17.50, Y:1.35, Z:-0.91 [[ 9.95460306e-01 5.11753902e-02 -8.02487313e-02 -1.74984167e+01] [-5.09953030e-02 9.98689665e-01 4.29331817e-03 1.34920679e+00] [ 8.03632908e-02 -1.81519450e-04 9.96765624e-01 -9.08542967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.865347070000002 meters Centerline goodness [0,1] 0.9998446420942245 Centerline is valid? [True, True] Translation: X:-17.53, Y:1.35, Z:-0.91 [[ 9.95469605e-01 5.01434306e-02 -8.07830546e-02 -1.75287824e+01] [-4.99575763e-02 9.98741991e-01 4.32146299e-03 1.34843521e+00] [ 8.08981218e-02 -2.66159442e-04 9.96722340e-01 -9.10634117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.895347070000003 meters Centerline goodness [0,1] 0.9998061639852684 Centerline is valid? [True, True] Translation: X:-17.56, Y:1.35, Z:-0.91 [[ 9.95457654e-01 4.98902197e-02 -8.10865257e-02 -1.75585669e+01] [-4.97021890e-02 9.98754666e-01 4.33691298e-03 1.34829081e+00] [ 8.12019154e-02 -2.87035400e-04 9.96697630e-01 -9.11783555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.92534707 meters Centerline goodness [0,1] 0.9998827575425981 Centerline is valid? [True, True] Translation: X:-17.59, Y:1.35, Z:-0.91 [[ 9.95443712e-01 5.02558449e-02 -8.10318826e-02 -1.75880239e+01] [-5.00691318e-02 9.98736343e-01 4.33577886e-03 1.34743550e+00] [ 8.11473843e-02 -2.58827796e-04 9.96702079e-01 -9.10491929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.955347070000002 meters Centerline goodness [0,1] 0.9998061865260873 Centerline is valid? [True, True] Translation: X:-17.62, Y:1.35, Z:-0.91 [[ 9.95604824e-01 4.85652051e-02 -8.00778022e-02 -1.76173942e+01] [-4.83772236e-02 9.98819936e-01 4.28705491e-03 1.34652617e+00] [ 8.01915070e-02 -3.94270815e-04 9.96779397e-01 -9.13082615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.985347070000003 meters Centerline goodness [0,1] 0.9997296984206665 Centerline is valid? [True, True] Translation: X:-17.65, Y:1.34, Z:-0.91 [[ 9.95710521e-01 4.82863757e-02 -7.89239139e-02 -1.76476520e+01] [-4.81026207e-02 9.98833447e-01 4.22890354e-03 1.34446889e+00] [ 7.90360434e-02 -4.14316661e-04 9.96871673e-01 -9.13865477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.01534707 meters Centerline goodness [0,1] 0.9997298548934856 Centerline is valid? [True, True] Translation: X:-17.68, Y:1.34, Z:-0.91 [[ 9.95775014e-01 4.78289105e-02 -7.83869676e-02 -1.76764125e+01] [-4.76458948e-02 9.98855441e-01 4.20447208e-03 1.34439399e+00] [ 7.84983444e-02 -4.51891034e-04 9.96914142e-01 -9.13411360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.045347070000002 meters Centerline goodness [0,1] 0.99972647702407 Centerline is valid? [True, True] Translation: X:-17.71, Y:1.34, Z:-0.92 [[ 9.95748295e-01 4.78474495e-02 -7.87143857e-02 -1.77055815e+01] [-4.76620498e-02 9.98854547e-01 4.23350391e-03 1.34334617e+00] [ 7.88267844e-02 -4.63815329e-04 9.96888220e-01 -9.15332902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.075347070000003 meters Centerline goodness [0,1] 0.9994542123114109 Centerline is valid? [True, True] Translation: X:-17.73, Y:1.34, Z:-0.92 [[ 9.95864451e-01 4.57252061e-02 -7.85060576e-02 -1.77345807e+01] [-4.55326047e-02 9.98953844e-01 4.24257753e-03 1.34256798e+00] [ 7.86179207e-02 -6.50446857e-04 9.96904609e-01 -9.16513296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.10534707 meters Centerline goodness [0,1] 0.9992618779379201 Centerline is valid? [True, True] Translation: X:-17.76, Y:1.34, Z:-0.92 [[ 9.95919212e-01 4.60082893e-02 -7.76412276e-02 -1.77639331e+01] [-4.58200072e-02 9.98940859e-01 4.20568462e-03 1.34129250e+00] [ 7.77524909e-02 -6.31000499e-04 9.96972493e-01 -9.15175681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.13534707 meters Centerline goodness [0,1] 0.9992618779379201 Centerline is valid? [True, True] Translation: X:-17.79, Y:1.34, Z:-0.92 [[ 9.95902787e-01 4.63648072e-02 -7.76398314e-02 -1.77911563e+01] [-4.61756084e-02 9.98924376e-01 4.23132108e-03 1.34253838e+00] [ 7.77525046e-02 -6.28918007e-04 9.96972493e-01 -9.16816345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.165347070000003 meters Centerline goodness [0,1] 0.999113475177305 Centerline is valid? [True, True] Translation: X:-17.82, Y:1.34, Z:-0.92 [[ 9.96064307e-01 4.37919193e-02 -7.70594796e-02 -1.78197061e+01] [-4.35957951e-02 9.99040312e-01 4.22631027e-03 1.34068344e+00] [ 7.71706048e-02 -8.50207530e-04 9.97017540e-01 -9.21967333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.19534707 meters Centerline goodness [0,1] 0.9991567650440782 Centerline is valid? [True, True] Translation: X:-17.85, Y:1.34, Z:-0.92 [[ 9.96111550e-01 4.24487220e-02 -7.72002928e-02 -1.78477080e+01] [-4.22462589e-02 9.99098169e-01 4.25456931e-03 1.34022655e+00] [ 7.73112722e-02 -9.76602074e-04 9.97006526e-01 -9.21169553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.22534707 meters Centerline goodness [0,1] 0.9995368941031183 Centerline is valid? [True, True] Translation: X:-17.88, Y:1.34, Z:-0.92 [[ 9.96260242e-01 4.12900794e-02 -7.58990090e-02 -1.78758752e+01] [-4.10901013e-02 9.99146638e-01 4.19517619e-03 1.33859905e+00] [ 7.60074588e-02 -1.06078928e-03 9.97106685e-01 -9.22829261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.255347070000003 meters Centerline goodness [0,1] 0.9995030011086898 Centerline is valid? [True, True] Translation: X:-17.90, Y:1.34, Z:-0.92 [[ 9.96325473e-01 4.15525657e-02 -7.48928298e-02 -1.79046374e+01] [-4.13566625e-02 9.99135765e-01 4.16539440e-03 1.33955759e+00] [ 7.50011876e-02 -1.05277106e-03 9.97182889e-01 -9.22752175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.285347070000004 meters Centerline goodness [0,1] 0.9990342643025457 Centerline is valid? [True, True] Translation: X:-17.93, Y:1.34, Z:-0.92 [[ 9.96280197e-01 4.08756760e-02 -7.58613723e-02 -1.79331819e+01] [-4.06708967e-02 9.99163588e-01 4.24297728e-03 1.34100431e+00] [ 7.59713555e-02 -1.14184420e-03 9.97109347e-01 -9.24415550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.31534707 meters Centerline goodness [0,1] 0.9993906386868263 Centerline is valid? [True, True] Translation: X:-17.96, Y:1.34, Z:-0.93 [[ 9.96420928e-01 4.11218350e-02 -7.38534332e-02 -1.79622514e+01] [-4.09267839e-02 9.99153517e-01 4.15311965e-03 1.34133065e+00] [ 7.39617014e-02 -1.11567184e-03 9.97260458e-01 -9.25256044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.345347070000003 meters Centerline goodness [0,1] 0.9993063583815028 Centerline is valid? [True, True] Translation: X:-17.99, Y:1.34, Z:-0.93 [[ 9.96353643e-01 4.24678577e-02 -7.39993130e-02 -1.79911773e+01] [-4.22740291e-02 9.99097291e-01 4.18434561e-03 1.34323215e+00] [ 7.41102134e-02 -1.04083888e-03 9.97249514e-01 -9.25001468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.375347070000004 meters Centerline goodness [0,1] 0.9993198564141319 Centerline is valid? [True, True] Translation: X:-18.02, Y:1.34, Z:-0.93 [[ 9.96582575e-01 3.87979363e-02 -7.29238770e-02 -1.80201446e+01] [-3.85982753e-02 9.99246209e-01 4.14572394e-03 1.34197444e+00] [ 7.30297532e-02 -1.31682036e-03 9.97328893e-01 -9.28003221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.40534707 meters Centerline goodness [0,1] 0.9992256765651012 Centerline is valid? [True, True] Translation: X:-18.05, Y:1.35, Z:-0.93 [[ 9.96512717e-01 4.04752980e-02 -7.29668054e-02 -1.80482842e+01] [-4.02784543e-02 9.99179802e-01 4.16776315e-03 1.34519212e+00] [ 7.30756496e-02 -1.21423885e-03 9.97325661e-01 -9.27004020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.435347070000002 meters Centerline goodness [0,1] 0.9995019347917704 Centerline is valid? [True, True] Translation: X:-18.08, Y:1.34, Z:-0.93 [[ 9.96709784e-01 3.73042276e-02 -7.19583260e-02 -1.80767505e+01] [-3.71037909e-02 9.99302922e-01 4.12061101e-03 1.34281746e+00] [ 7.20618816e-02 -1.43712663e-03 9.97399128e-01 -9.30534285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.465347070000004 meters Centerline goodness [0,1] 0.9995731470702367 Centerline is valid? [True, True] Translation: X:-18.10, Y:1.35, Z:-0.93 [[ 9.96687453e-01 3.80002491e-02 -7.19034196e-02 -1.81046596e+01] [-3.78004677e-02 9.99276741e-01 4.13767815e-03 1.34598113e+00] [ 7.20086476e-02 -1.40598900e-03 9.97403017e-01 -9.28999878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.49534707 meters Centerline goodness [0,1] 0.999351714144072 Centerline is valid? [True, True] Translation: X:-18.13, Y:1.34, Z:-0.93 [[ 9.96870163e-01 3.41249019e-02 -7.13117729e-02 -1.81337267e+01] [-3.39177238e-02 9.99416159e-01 4.11448937e-03 1.34312288e+00] [ 7.14105447e-02 -1.68287868e-03 9.97445589e-01 -9.30853836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.525347070000002 meters Centerline goodness [0,1] 0.9991185037559405 Centerline is valid? [True, True] Translation: X:-18.16, Y:1.34, Z:-0.93 [[ 9.96983691e-01 3.08709782e-02 -7.12074686e-02 -1.81619846e+01] [-3.06544456e-02 9.99521502e-01 4.13192887e-03 1.34353949e+00] [ 7.13009526e-02 -1.93664022e-03 9.97452968e-01 -9.33368370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.555347070000003 meters Centerline goodness [0,1] 0.999689633767846 Centerline is valid? [True, True] Translation: X:-18.19, Y:1.35, Z:-0.93 [[ 9.97065463e-01 3.12289711e-02 -6.98943045e-02 -1.81900613e+01] [-3.10198779e-02 9.99510460e-01 4.07521618e-03 1.34587621e+00] [ 6.99873532e-02 -1.89514452e-03 9.97546079e-01 -9.31593546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.58534707 meters Centerline goodness [0,1] 0.999509341385167 Centerline is valid? [True, True] Translation: X:-18.22, Y:1.34, Z:-0.93 [[ 9.97211211e-01 2.68981165e-02 -6.96153120e-02 -1.82188659e+01] [-2.66796094e-02 9.99635763e-01 4.06682938e-03 1.33906839e+00] [ 6.96993456e-02 -2.19817852e-03 9.97565622e-01 -9.34120503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.615347070000002 meters Centerline goodness [0,1] 0.999766736645673 Centerline is valid? [True, True] Translation: X:-18.25, Y:1.35, Z:-0.93 [[ 9.97224843e-01 2.64074540e-02 -6.96078969e-02 -1.82467276e+01] [-2.61873248e-02 9.99648755e-01 4.07321067e-03 1.34735608e+00] [ 6.96910106e-02 -2.23906226e-03 9.97566113e-01 -9.32570648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.645347070000003 meters Centerline goodness [0,1] 0.9999231508165226 Centerline is valid? [True, True] Translation: X:-18.28, Y:1.34, Z:-0.94 [[ 9.97334676e-01 2.12870630e-02 -6.97882866e-02 -1.82763720e+01] [-2.10527412e-02 9.99769994e-01 4.09148984e-03 1.34321531e+00] [ 6.98593308e-02 -2.61134995e-03 9.97553435e-01 -9.36190050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.67534707 meters Centerline goodness [0,1] 0.999620031917319 Centerline is valid? [True, True] Translation: X:-18.31, Y:1.34, Z:-0.94 [[ 9.97462702e-01 1.92569725e-02 -6.85370433e-02 -1.83050813e+01] [-1.90258281e-02 9.99810896e-01 4.02376486e-03 1.34218549e+00] [ 6.86015682e-02 -2.70958137e-03 9.97640458e-01 -9.36247974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.705347070000002 meters Centerline goodness [0,1] 0.999617254181498 Centerline is valid? [True, True] Translation: X:-18.33, Y:1.34, Z:-0.94 [[ 9.97486399e-01 1.64296063e-02 -6.89271482e-02 -1.83333611e+01] [-1.61877339e-02 9.99860702e-01 4.06622466e-03 1.34304909e+00] [ 6.89843532e-02 -2.94022946e-03 9.97613409e-01 -9.38369854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.735347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.36, Y:1.35, Z:-0.94 [[ 9.97576854e-01 1.65218375e-02 -6.75829078e-02 -1.83613784e+01] [-1.62891289e-02 9.99859350e-01 3.99295903e-03 1.34569083e+00] [ 6.76393733e-02 -2.88241681e-03 9.97705671e-01 -9.36259853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.76534707 meters Centerline goodness [0,1] 0.9996530321138055 Centerline is valid? [True, True] Translation: X:-18.39, Y:1.35, Z:-0.93 [[ 9.97647002e-01 1.31611907e-02 -6.72847876e-02 -1.83904063e+01] [-1.29224395e-02 9.99908571e-01 3.98239149e-03 1.34772578e+00] [ 6.73310489e-02 -3.10353733e-03 9.97725863e-01 -9.33637679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.795347070000002 meters Centerline goodness [0,1] 0.9998078179651766 Centerline is valid? [True, True] Translation: X:-18.42, Y:1.35, Z:-0.94 [[ 9.97622327e-01 1.15719705e-02 -6.79395455e-02 -1.84187278e+01] [-1.13245028e-02 9.99927769e-01 4.02648839e-03 1.34551414e+00] [ 6.79812326e-02 -3.24753315e-03 9.97681315e-01 -9.37701718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.825347070000003 meters Centerline goodness [0,1] 0.9999239890544238 Centerline is valid? [True, True] Translation: X:-18.45, Y:1.34, Z:-0.94 [[ 9.97640952e-01 1.11905220e-02 -6.77296329e-02 -1.84475336e+01] [-1.09422679e-02 9.99931989e-01 4.03525426e-03 1.34098698e+00] [ 6.77701831e-02 -3.28461911e-03 9.97695552e-01 -9.39194040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.85534707 meters Centerline goodness [0,1] 0.9997314818366643 Centerline is valid? [True, True] Translation: X:-18.48, Y:1.34, Z:-0.94 [[ 9.97647629e-01 1.00151389e-02 -6.78152292e-02 -1.84758677e+01] [-9.76212928e-03 9.99944102e-01 4.06124076e-03 1.34352074e+00] [ 6.78521124e-02 -3.38966618e-03 9.97689632e-01 -9.38788467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.88534707 meters Centerline goodness [0,1] 0.9995402651137844 Centerline is valid? [True, True] Translation: X:-18.50, Y:1.35, Z:-0.94 [[ 9.97630722e-01 7.97144393e-03 -6.83329929e-02 -1.85031241e+01] [-7.70851818e-03 9.99961840e-01 4.11053541e-03 1.34882259e+00] [ 6.83631522e-02 -3.57405029e-03 9.97654101e-01 -9.41203840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.915347070000003 meters Centerline goodness [0,1] 0.9999234771962044 Centerline is valid? [True, True] Translation: X:-18.53, Y:1.35, Z:-0.94 [[ 9.97607662e-01 8.33385258e-03 -6.86258013e-02 -1.85304435e+01] [-8.06899885e-03 9.99958893e-01 4.13568834e-03 1.35086250e+00] [ 6.86574465e-02 -3.57205286e-03 9.97633899e-01 -9.41281908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.94534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.56, Y:1.36, Z:-0.94 [[ 9.97649434e-01 8.64047642e-03 -6.79775657e-02 -1.85580439e+01] [-8.38080990e-03 9.99956458e-01 4.10414730e-03 1.35531831e+00] [ 6.80100676e-02 -3.52479317e-03 9.97678408e-01 -9.41155639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.97534707 meters Centerline goodness [0,1] 0.9999222062312809 Centerline is valid? [True, True] Translation: X:-18.59, Y:1.35, Z:-0.94 [[ 9.97608796e-01 8.54158618e-03 -6.85837524e-02 -1.85873705e+01] [-8.27634979e-03 9.99957137e-01 4.15055598e-03 1.35029677e+00] [ 6.86162650e-02 -3.57300803e-03 9.97636728e-01 -9.44375793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.005347070000003 meters Centerline goodness [0,1] 0.9998856053384175 Centerline is valid? [True, True] Translation: X:-18.61, Y:1.36, Z:-0.95 [[ 9.97481020e-01 8.38879851e-03 -7.04360957e-02 -1.86143943e+01] [-8.10714367e-03 9.99957961e-01 4.28365487e-03 1.35641751e+00] [ 7.04690694e-02 -3.70182888e-03 9.97507096e-01 -9.46398422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.035347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.64, Y:1.36, Z:-0.95 [[ 9.97487743e-01 9.26269062e-03 -7.02310872e-02 -1.86422128e+01] [-8.98430646e-03 9.99950486e-01 4.27868101e-03 1.36068585e+00] [ 7.02672419e-02 -3.63695425e-03 9.97521572e-01 -9.46898309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.06534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.67, Y:1.36, Z:-0.95 [[ 9.97502706e-01 9.99908856e-03 -6.99168749e-02 -1.86707420e+01] [-9.72431966e-03 9.99943604e-01 4.26920508e-03 1.36081399e+00] [ 6.99556201e-02 -3.57864958e-03 9.97543686e-01 -9.49410025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.095347070000003 meters Centerline goodness [0,1] 0.9999227411442037 Centerline is valid? [True, True] Translation: X:-18.70, Y:1.36, Z:-0.95 [[ 9.97434177e-01 1.02814049e-02 -7.08474082e-02 -1.86971940e+01] [-9.99851827e-03 9.99940568e-01 4.34638331e-03 1.36491281e+00] [ 7.08878845e-02 -3.62686215e-03 9.97477696e-01 -9.50210948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.125347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.72, Y:1.37, Z:-0.95 [[ 9.97368156e-01 1.22168938e-02 -7.14668442e-02 -1.87240661e+01] [-1.19331494e-02 9.99919135e-01 4.39592073e-03 1.37029860e+00] [ 7.15147695e-02 -3.53152682e-03 9.97433289e-01 -9.51512616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.15534707 meters Centerline goodness [0,1] 0.9997293116782676 Centerline is valid? [True, True] Translation: X:-18.75, Y:1.37, Z:-0.96 [[ 9.97295615e-01 1.28551438e-02 -7.23616002e-02 -1.87512571e+01] [-1.25647066e-02 9.99911081e-01 4.46747926e-03 1.36934401e+00] [ 7.24125959e-02 -3.54619520e-03 9.97368458e-01 -9.57084124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.185347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.78, Y:1.37, Z:-0.96 [[ 9.97261197e-01 1.41393802e-02 -7.25960219e-02 -1.87785434e+01] [-1.38487736e-02 9.99893953e-01 4.50487812e-03 1.37342458e+00] [ 7.26520195e-02 -3.48717427e-03 9.97351254e-01 -9.57258906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.215347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.81, Y:1.38, Z:-0.96 [[ 9.97128201e-01 1.44822698e-02 -7.43344827e-02 -1.88064452e+01] [-1.41778807e-02 9.99888811e-01 4.62093547e-03 1.37825634e+00] [ 7.43931392e-02 -3.55375965e-03 9.97222659e-01 -9.59558918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.24534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.84, Y:1.38, Z:-0.96 [[ 9.97153253e-01 1.50095126e-02 -7.38925209e-02 -1.88354446e+01] [-1.47093586e-02 9.99881209e-01 4.60459008e-03 1.38041910e+00] [ 7.39528558e-02 -3.50457039e-03 9.97255581e-01 -9.61083258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.275347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.86, Y:1.38, Z:-0.96 [[ 9.97072507e-01 1.71315453e-02 -7.45179630e-02 -1.88635977e+01] [-1.68306388e-02 9.99847476e-01 4.66417840e-03 1.38005234e+00] [ 7.45865018e-02 -3.39633913e-03 9.97208764e-01 -9.64050329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.305347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.89, Y:1.38, Z:-0.97 [[ 9.97029932e-01 1.70571665e-02 -7.51023810e-02 -1.88925493e+01] [-1.67504427e-02 9.99848598e-01 4.71211765e-03 1.38181494e+00] [ 7.51713857e-02 -3.44012421e-03 9.97164695e-01 -9.65429301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.33534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.92, Y:1.39, Z:-0.97 [[ 9.96933421e-01 1.80551662e-02 -7.61430608e-02 -1.89200884e+01] [-1.77412351e-02 9.99831103e-01 4.79737092e-03 1.38673846e+00] [ 7.62168178e-02 -3.43178746e-03 9.97085362e-01 -9.66554955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.365347070000002 meters Centerline goodness [0,1] 0.9999604211192907 Centerline is valid? [True, True] Translation: X:-18.95, Y:1.39, Z:-0.97 [[ 9.96879102e-01 1.96489974e-02 -7.64589613e-02 -1.89473812e+01] [-1.93364738e-02 9.99801387e-01 4.82570166e-03 1.38990682e+00] [ 7.65385957e-02 -3.33219443e-03 9.97061051e-01 -9.67477465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.395347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.98, Y:1.39, Z:-0.97 [[ 9.96749306e-01 2.38301621e-02 -7.69606702e-02 -1.89764881e+01] [-2.35253297e-02 9.99711403e-01 4.86519593e-03 1.39156289e+00] [ 7.70543980e-02 -3.03885553e-03 9.97022259e-01 -9.71357350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.42534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.00, Y:1.40, Z:-0.97 [[ 9.96670315e-01 2.65241129e-02 -7.71022343e-02 -1.90048677e+01] [-2.62254643e-02 9.99644125e-01 4.88354027e-03 1.39531432e+00] [ 7.72043271e-02 -2.84523772e-03 9.97011232e-01 -9.72438465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.455347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.03, Y:1.40, Z:-0.97 [[ 9.96549958e-01 2.96379955e-02 -7.75227132e-02 -1.90316882e+01] [-2.93438616e-02 9.99557215e-01 4.93078886e-03 1.40045230e+00] [ 7.76345260e-02 -2.63896166e-03 9.96978393e-01 -9.74856940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.485347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.06, Y:1.41, Z:-0.98 [[ 9.96331437e-01 3.44282318e-02 -7.83477146e-02 -1.90610291e+01] [-3.41418729e-02 9.99404529e-01 4.99196991e-03 1.40639891e+00] [ 7.84729256e-02 -2.29871883e-03 9.96913595e-01 -9.75834077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.51534707 meters Centerline goodness [0,1] 0.9996816173836909 Centerline is valid? [True, True] Translation: X:-19.09, Y:1.41, Z:-0.97 [[ 9.96303700e-01 3.77399970e-02 -7.71662476e-02 -1.90897761e+01] [-3.74718441e-02 9.99285570e-01 4.92051305e-03 1.41293222e+00] [ 7.72968179e-02 -2.01076376e-03 9.97006098e-01 -9.72248292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.545347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.12, Y:1.41, Z:-0.98 [[ 9.96142998e-01 3.99209444e-02 -7.81373494e-02 -1.91175895e+01] [-3.96521823e-02 9.99201089e-01 4.98874594e-03 1.41364376e+00] [ 7.82740801e-02 -1.87118791e-03 9.96930121e-01 -9.80341473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.575347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.15, Y:1.42, Z:-0.98 [[ 9.96062022e-01 4.09747271e-02 -7.86226423e-02 -1.91457932e+01] [-4.07051654e-02 9.99158546e-01 5.02882358e-03 1.41600333e+00] [ 7.87625397e-02 -1.80867252e-03 9.96891765e-01 -9.80684110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.60534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.17, Y:1.41, Z:-0.98 [[ 9.96029746e-01 4.16224373e-02 -7.86912772e-02 -1.91731116e+01] [-4.13533489e-02 9.99131838e-01 5.04676878e-03 1.41496699e+00] [ 7.88330193e-02 -1.77258399e-03 9.96886259e-01 -9.84860631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.63534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.20, Y:1.42, Z:-0.99 [[ 9.96028217e-01 4.37898038e-02 -7.75257600e-02 -1.92022260e+01] [-4.35331411e-02 9.99039479e-01 4.99841450e-03 1.41571024e+00] [ 7.76701745e-02 -1.60362204e-03 9.96977819e-01 -9.85358499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.665347070000003 meters Centerline goodness [0,1] 0.9999215409360166 Centerline is valid? [True, True] Translation: X:-19.23, Y:1.41, Z:-0.99 [[ 9.96125775e-01 4.18309130e-02 -7.73538293e-02 -1.92304291e+01] [-4.15679644e-02 9.99123133e-01 5.00701811e-03 1.41383495e+00] [ 7.74954484e-02 -1.77217857e-03 9.96991131e-01 -9.85687158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.695347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.26, Y:1.41, Z:-0.99 [[ 9.96079935e-01 4.07428764e-02 -7.85161224e-02 -1.92586831e+01] [-4.04679036e-02 9.99167870e-01 5.09075335e-03 1.41290129e+00] [ 7.86581987e-02 -1.89341439e-03 9.96899846e-01 -9.86220020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.72534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.29, Y:1.41, Z:-0.99 [[ 9.96229158e-01 3.68279139e-02 -7.85567918e-02 -1.92880051e+01] [-3.65395580e-02 9.99319166e-01 5.10544091e-03 1.40880194e+00] [ 7.86913304e-02 -2.21575865e-03 9.96896567e-01 -9.90708257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.755347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.32, Y:1.41, Z:-0.99 [[ 9.96343282e-01 3.46664858e-02 -7.80916031e-02 -1.93165060e+01] [-3.43731237e-02 9.99396067e-01 5.09809853e-03 1.40595336e+00] [ 7.82211741e-02 -2.39520389e-03 9.96933153e-01 -9.91961910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.785347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.35, Y:1.40, Z:-0.99 [[ 9.96451756e-01 3.25416092e-02 -7.76205037e-02 -1.93456435e+01] [-3.22434685e-02 9.99467076e-01 5.09151805e-03 1.40350863e+00] [ 7.77448240e-02 -2.57069783e-03 9.96969976e-01 -9.93515500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.81534707 meters Centerline goodness [0,1] 0.9998838604777206 Centerline is valid? [True, True] Translation: X:-19.38, Y:1.40, Z:-0.99 [[ 9.96594467e-01 2.81187101e-02 -7.75164942e-02 -1.93762394e+01] [-2.78064990e-02 9.99600292e-01 5.10430386e-03 1.39895028e+00] [ 7.76290367e-02 -2.93145866e-03 9.96978003e-01 -9.93772213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.845347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.40, Y:1.40, Z:-0.99 [[ 9.96653447e-01 2.52083829e-02 -7.77588821e-02 -1.94041915e+01] [-2.48849287e-02 9.99677180e-01 5.12604062e-03 1.39621935e+00] [ 7.78629991e-02 -3.17386181e-03 9.96959016e-01 -9.94508145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.875347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.43, Y:1.39, Z:-1.00 [[ 9.96754865e-01 2.30258517e-02 -7.71333245e-02 -1.94334313e+01] [-2.27001458e-02 9.99729326e-01 5.09686912e-03 1.38917992e+00] [ 7.72298063e-02 -3.32939138e-03 9.97007759e-01 -9.98941242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.90534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.46, Y:1.39, Z:-1.00 [[ 9.96765514e-01 2.05522522e-02 -7.76924434e-02 -1.94613600e+01] [-2.02127022e-02 9.99782416e-01 5.15437323e-03 1.38826753e+00] [ 7.77814727e-02 -3.56732725e-03 9.96964050e-01 -9.99553408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.935347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.49, Y:1.39, Z:-1.00 [[ 9.96728438e-01 2.06073650e-02 -7.81521417e-02 -1.94887894e+01] [-2.02632579e-02 9.99781190e-01 5.19359406e-03 1.38907032e+00] [ 7.82420675e-02 -3.59298590e-03 9.96927916e-01 -1.00116979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.965347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.52, Y:1.39, Z:-1.01 [[ 9.96703459e-01 2.17938604e-02 -7.81488425e-02 -1.95178610e+01] [-2.14524228e-02 9.99756316e-01 5.20603477e-03 1.38506720e+00] [ 7.82432584e-02 -3.51239086e-03 9.96928110e-01 -1.00698569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.99534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.55, Y:1.39, Z:-1.00 [[ 9.96638741e-01 2.48661667e-02 -7.80569860e-02 -1.95461342e+01] [-2.45333298e-02 9.99685383e-01 5.22024394e-03 1.39302126e+00] [ 7.81622354e-02 -3.28769958e-03 9.96935232e-01 -1.00391979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.025347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.57, Y:1.39, Z:-1.01 [[ 9.96629600e-01 2.52321217e-02 -7.80562583e-02 -1.95733756e+01] [-2.48995549e-02 9.99676271e-01 5.23109837e-03 1.39462162e+00] [ 7.81629809e-02 -3.26990139e-03 9.96935232e-01 -1.00555449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.055347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.60, Y:1.40, Z:-1.01 [[ 9.96595904e-01 2.74491543e-02 -7.77376907e-02 -1.96021453e+01] [-2.71238605e-02 9.99618360e-01 5.23749015e-03 1.39752427e+00] [ 7.78517875e-02 -3.11111495e-03 9.96960090e-01 -1.00656143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.08534707 meters Centerline goodness [0,1] 0.9999620910572804 Centerline is valid? [True, True] Translation: X:-19.63, Y:1.40, Z:-1.01 [[ 9.96547454e-01 2.87579059e-02 -7.78855173e-02 -1.96306422e+01] [-2.84333861e-02 9.99581784e-01 5.27261418e-03 1.39889087e+00] [ 7.80045736e-02 -3.03986125e-03 9.96948367e-01 -1.00979969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.115347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.66, Y:1.40, Z:-1.01 [[ 9.96426994e-01 2.89984497e-02 -7.93242400e-02 -1.96582004e+01] [-2.86608131e-02 9.99574652e-01 5.39188884e-03 1.40309616e+00] [ 7.94468561e-02 -3.09912638e-03 9.96834285e-01 -1.00984109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.145347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.69, Y:1.40, Z:-1.01 [[ 9.96474953e-01 3.05928452e-02 -7.81136716e-02 -1.96869157e+01] [-3.02693326e-02 9.99527608e-01 5.32251982e-03 1.39958074e+00] [ 7.82396023e-02 -2.93930898e-03 9.96930251e-01 -1.01377235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.17534707 meters Centerline goodness [0,1] 0.9998856402241452 Centerline is valid? [True, True] Translation: X:-19.71, Y:1.40, Z:-1.01 [[ 9.96473864e-01 3.14962114e-02 -7.77677729e-02 -1.97145085e+01] [-3.11766243e-02 9.99499730e-01 5.32050080e-03 1.40492488e+00] [ 7.78964436e-02 -2.87720335e-03 9.96957304e-01 -1.01309365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.205347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.74, Y:1.40, Z:-1.02 [[ 9.96435393e-01 3.17259890e-02 -7.81662883e-02 -1.97425706e+01] [-3.14027390e-02 9.99492433e-01 5.36145820e-03 1.40458752e+00] [ 7.82967112e-02 -2.88771116e-03 9.96925918e-01 -1.01511087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.235347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.77, Y:1.41, Z:-1.02 [[ 9.96421606e-01 3.16525810e-02 -7.83715348e-02 -1.97704662e+01] [-3.13254941e-02 9.99494650e-01 5.39974394e-03 1.40826868e+00] [ 7.85028457e-02 -2.92539447e-03 9.96909597e-01 -1.01841394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.26534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.80, Y:1.41, Z:-1.02 [[ 9.96461094e-01 3.31750163e-02 -7.72315105e-02 -1.97995107e+01] [-3.28609856e-02 9.99445700e-01 5.33375249e-03 1.40705351e+00] [ 7.73656483e-02 -2.77697329e-03 9.96998919e-01 -1.02145788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.295347070000002 meters Centerline goodness [0,1] 0.999810440914433 Centerline is valid? [True, True] Translation: X:-19.83, Y:1.41, Z:-1.02 [[ 9.96448686e-01 3.52717322e-02 -7.64586286e-02 -1.98277988e+01] [-3.49682372e-02 9.99374344e-01 5.30496395e-03 1.41125311e+00] [ 7.65979071e-02 -2.61250089e-03 9.97058642e-01 -1.02007448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.325347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.86, Y:1.41, Z:-1.03 [[ 9.96343492e-01 3.35260056e-02 -7.85853257e-02 -1.98559282e+01] [-3.31982713e-02 9.99433797e-01 5.47356008e-03 1.41265396e+00] [ 7.87243371e-02 -2.84464900e-03 9.96892365e-01 -1.02560634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.35534707 meters Centerline goodness [0,1] 0.9998854743271617 Centerline is valid? [True, True] Translation: X:-19.88, Y:1.41, Z:-1.03 [[ 9.96404029e-01 3.49395684e-02 -7.71896148e-02 -1.98847295e+01] [-3.46267868e-02 9.99385793e-01 5.38723219e-03 1.41404126e+00] [ 7.73304319e-02 -2.69503153e-03 9.97001876e-01 -1.02781183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.38534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.91, Y:1.42, Z:-1.03 [[ 9.96360481e-01 3.42797085e-02 -7.80428989e-02 -1.99123285e+01] [-3.39562654e-02 9.99408361e-01 5.46809916e-03 1.41837064e+00] [ 7.81841705e-02 -2.79815252e-03 9.96935006e-01 -1.02961176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.415347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.94, Y:1.42, Z:-1.03 [[ 9.96324932e-01 3.62646386e-02 -7.75983621e-02 -1.99412685e+01] [-3.59498484e-02 9.99338733e-01 5.45021526e-03 1.41667907e+00] [ 7.77446990e-02 -2.64053600e-03 9.96969804e-01 -1.03181458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.445347070000004 meters Centerline goodness [0,1] 0.9999614613843071 Centerline is valid? [True, True] Translation: X:-19.97, Y:1.42, Z:-1.03 [[ 9.96397078e-01 3.62918947e-02 -7.66535145e-02 -1.99691237e+01] [-3.59831329e-02 9.99337777e-01 5.40579151e-03 1.41839271e+00] [ 7.67989391e-02 -2.62808127e-03 9.97043137e-01 -1.03479146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.47534707 meters Centerline goodness [0,1] 0.9999223723024375 Centerline is valid? [True, True] Translation: X:-20.00, Y:1.43, Z:-1.04 [[ 9.96356520e-01 3.73194097e-02 -7.66873331e-02 -1.99968504e+01] [-3.70127166e-02 9.99300112e-01 5.41717704e-03 1.42558669e+00] [ 7.68358264e-02 -2.55903314e-03 9.97040474e-01 -1.03589315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.505347070000003 meters Centerline goodness [0,1] 0.9998497934660158 Centerline is valid? [True, True] Translation: X:-20.03, Y:1.42, Z:-1.04 [[ 9.96533605e-01 3.78121663e-02 -7.41013768e-02 -2.00255489e+01] [-3.75265217e-02 9.99281874e-01 5.24379475e-03 1.42042752e+00] [ 7.42464419e-02 -2.44485076e-03 9.97236927e-01 -1.03808469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.535347070000004 meters Centerline goodness [0,1] 0.999924167740957 Centerline is valid? [True, True] Translation: X:-20.05, Y:1.42, Z:-1.05 [[ 9.96372134e-01 3.84553161e-02 -7.59194322e-02 -2.00540651e+01] [-3.81563161e-02 9.99257270e-01 5.38550052e-03 1.42095101e+00] [ 7.60701457e-02 -2.46915679e-03 9.97099411e-01 -1.04501436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.56534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.08, Y:1.43, Z:-1.05 [[ 9.96248555e-01 4.05069467e-02 -7.64722390e-02 -2.00815602e+01] [-4.02080128e-02 9.99176493e-01 5.44530034e-03 1.42589209e+00] [ 7.66298361e-02 -2.35007583e-03 9.97056842e-01 -1.04676936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.595347070000003 meters Centerline goodness [0,1] 0.9997716286682146 Centerline is valid? [True, True] Translation: X:-20.11, Y:1.43, Z:-1.05 [[ 9.96327683e-01 4.31737247e-02 -7.39403685e-02 -2.01108213e+01] [-4.29010929e-02 9.99065413e-01 5.27220186e-03 1.42922837e+00] [ 7.40988854e-02 -2.08071804e-03 9.97248728e-01 -1.04782028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.625347070000004 meters Centerline goodness [0,1] 0.9999612102404966 Centerline is valid? [True, True] Translation: X:-20.14, Y:1.43, Z:-1.05 [[ 9.96079847e-01 4.46048165e-02 -7.63894484e-02 -2.01376681e+01] [-4.43175565e-02 9.99002616e-01 5.45236837e-03 1.43293670e+00] [ 7.65564606e-02 -2.04560056e-03 9.97063149e-01 -1.05254236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.65534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.17, Y:1.44, Z:-1.06 [[ 9.95840273e-01 4.77817548e-02 -7.75825644e-02 -2.01659067e+01] [-4.74938390e-02 9.98856095e-01 5.55304412e-03 1.43680122e+00] [ 7.77591515e-02 -1.84525115e-03 9.96970466e-01 -1.05576341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.685347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.19, Y:1.44, Z:-1.06 [[ 9.95636412e-01 5.31223796e-02 -7.67212320e-02 -2.01936702e+01] [-5.28550595e-02 9.98586981e-01 5.51209714e-03 1.44336770e+00] [ 7.69056392e-02 -1.43293934e-03 9.97037346e-01 -1.05874162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.715347070000004 meters Centerline goodness [0,1] 0.9999613227615548 Centerline is valid? [True, True] Translation: X:-20.22, Y:1.45, Z:-1.06 [[ 9.95455054e-01 5.72290977e-02 -7.61187647e-02 -2.02226465e+01] [-5.69774542e-02 9.98360451e-01 5.47529950e-03 1.44798191e+00] [ 7.63073107e-02 -1.11336113e-03 9.97083725e-01 -1.06218654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.74534707 meters Centerline goodness [0,1] 0.999490096097274 Centerline is valid? [True, True] Translation: X:-20.25, Y:1.46, Z:-1.06 [[ 9.95044871e-01 6.62506513e-02 -7.41387606e-02 -2.02531157e+01] [-6.60367976e-02 9.97802927e-01 5.33482100e-03 1.45714907e+00] [ 7.43293077e-02 -4.12499942e-04 9.97233666e-01 -1.05851954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.775347070000002 meters Centerline goodness [0,1] 0.9998050758255039 Centerline is valid? [True, True] Translation: X:-20.29, Y:1.46, Z:-1.07 [[ 9.94775296e-01 6.79175611e-02 -7.62188702e-02 -2.02850912e+01] [-6.76968032e-02 9.97690894e-01 5.47928361e-03 1.46224548e+00] [ 7.64150123e-02 -2.90882120e-04 9.97076056e-01 -1.06637749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.805347070000003 meters Centerline goodness [0,1] 0.999802652352384 Centerline is valid? [True, True] Translation: X:-20.32, Y:1.47, Z:-1.07 [[ 9.94417390e-01 7.40093207e-02 -7.52108675e-02 -2.03162715e+01] [-7.38122673e-02 9.97257533e-01 5.40015530e-03 1.46954573e+00] [ 7.54042660e-02 1.81476317e-04 9.97153029e-01 -1.06690147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.83534707 meters Centerline goodness [0,1] 0.9998437194764602 Centerline is valid? [True, True] Translation: X:-20.35, Y:1.47, Z:-1.07 [[ 9.94313415e-01 7.59949145e-02 -7.46029914e-02 -2.03489627e+01] [-7.58071135e-02 9.97108149e-01 5.34990044e-03 1.47301504e+00] [ 7.47938158e-02 3.35959657e-04 9.97198963e-01 -1.06893976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.865347070000002 meters Centerline goodness [0,1] 0.9998828353837141 Centerline is valid? [True, True] Translation: X:-20.38, Y:1.47, Z:-1.07 [[ 9.94360830e-01 7.52940494e-02 -7.46816333e-02 -2.03822026e+01] [-7.51047130e-02 9.97161331e-01 5.34441601e-03 1.47472245e+00] [ 7.48720396e-02 2.94664703e-04 9.97193106e-01 -1.07104678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.895347070000003 meters Centerline goodness [0,1] 0.999960514885888 Centerline is valid? [True, True] Translation: X:-20.41, Y:1.47, Z:-1.07 [[ 9.94328187e-01 7.49072539e-02 -7.55007289e-02 -2.04133666e+01] [-7.47135213e-02 9.97190466e-01 5.39119530e-03 1.47496918e+00] [ 7.56924466e-02 2.80307869e-04 9.97131172e-01 -1.07395635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.92534707 meters Centerline goodness [0,1] 0.9999611333514711 Centerline is valid? [True, True] Translation: X:-20.45, Y:1.47, Z:-1.08 [[ 9.94474059e-01 7.38350226e-02 -7.46306615e-02 -2.04451807e+01] [-7.36437317e-02 9.97270447e-01 5.31558010e-03 1.47493018e+00] [ 7.48194291e-02 2.09873894e-04 9.97197076e-01 -1.07611244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.955347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.48, Y:1.47, Z:-1.08 [[ 9.94669418e-01 7.04481704e-02 -7.52981063e-02 -2.04770154e+01] [-7.02443331e-02 9.97515440e-01 5.35535134e-03 1.47448996e+00] [ 7.54882983e-02 -3.75389414e-05 9.97146687e-01 -1.08102024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.985347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.51, Y:1.48, Z:-1.08 [[ 9.94703428e-01 6.97571696e-02 -7.54919087e-02 -2.05081186e+01] [-6.95508250e-02 9.97563998e-01 5.36212456e-03 1.47590572e+00] [ 7.56820569e-02 -8.31991516e-05 9.97131997e-01 -1.08355279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.01534707 meters Centerline goodness [0,1] 0.9998806350216847 Centerline is valid? [True, True] Translation: X:-20.54, Y:1.48, Z:-1.08 [[ 9.94654855e-01 7.03053839e-02 -7.56232271e-02 -2.05393429e+01] [-7.01004539e-02 9.97525514e-01 5.36419211e-03 1.47789444e+00] [ 7.58132301e-02 -3.42971843e-05 9.97122035e-01 -1.08361193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.045347070000002 meters Centerline goodness [0,1] 0.9995762711864407 Centerline is valid? [True, True] Translation: X:-20.57, Y:1.48, Z:-1.08 [[ 9.94868549e-01 7.10235051e-02 -7.20571390e-02 -2.05710393e+01] [-7.08401818e-02 9.97474642e-01 5.09979219e-03 1.48086923e+00] [ 7.22373740e-02 3.09179678e-05 9.97387468e-01 -1.08242131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.075347070000003 meters Centerline goodness [0,1] 0.9995042897998093 Centerline is valid? [True, True] Translation: X:-20.60, Y:1.48, Z:-1.08 [[ 9.95085840e-01 6.86701151e-02 -7.13343239e-02 -2.06031126e+01] [-6.84848396e-02 9.97639413e-01 5.04272185e-03 1.48244620e+00] [ 7.15122173e-02 -1.32621383e-04 9.97439715e-01 -1.08473005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.105347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.63, Y:1.48, Z:-1.09 [[ 9.95036030e-01 6.64389562e-02 -7.40888964e-02 -2.06341743e+01] [-6.62334395e-02 9.97790447e-01 5.23016406e-03 1.48384019e+00] [ 7.42726797e-02 -2.97039243e-04 9.97237926e-01 -1.09041042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.13534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.67, Y:1.49, Z:-1.09 [[ 9.95069033e-01 6.65742187e-02 -7.35220611e-02 -2.06659700e+01] [-6.63726419e-02 9.97781437e-01 5.18428033e-03 1.48601827e+00] [ 7.37040872e-02 -2.78863377e-04 9.97280116e-01 -1.09462090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.165347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.70, Y:1.49, Z:-1.10 [[ 9.95007965e-01 6.64036663e-02 -7.44963318e-02 -2.06975137e+01] [-6.61967943e-02 9.97792799e-01 5.24539301e-03 1.48885566e+00] [ 7.46802167e-02 -2.87789469e-04 9.97207492e-01 -1.09818177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.195347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.73, Y:1.49, Z:-1.10 [[ 9.94994942e-01 6.64807058e-02 -7.46014763e-02 -2.07285911e+01] [-6.62739886e-02 9.97787673e-01 5.24581201e-03 1.49221693e+00] [ 7.47851787e-02 -2.75419026e-04 9.97199630e-01 -1.09934283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.22534707 meters Centerline goodness [0,1] 0.9998100448294203 Centerline is valid? [True, True] Translation: X:-20.76, Y:1.50, Z:-1.10 [[ 9.94928659e-01 6.94100904e-02 -7.27956220e-02 -2.07601328e+01] [-6.92215153e-02 9.97588210e-01 5.11319716e-03 1.49591183e+00] [ 7.29749617e-02 -4.82431302e-05 9.97333772e-01 -1.10217570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.255347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.79, Y:1.50, Z:-1.11 [[ 9.95016702e-01 6.68492411e-02 -7.39793289e-02 -2.07919744e+01] [-6.66479585e-02 9.97763061e-01 5.18890181e-03 1.49582511e+00] [ 7.41607157e-02 -2.32472722e-04 9.97246276e-01 -1.10684177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.285347070000004 meters Centerline goodness [0,1] 0.9997720797720798 Centerline is valid? [True, True] Translation: X:-20.82, Y:1.49, Z:-1.11 [[ 9.95207210e-01 6.59421076e-02 -7.22097432e-02 -2.08235627e+01] [-6.57484237e-02 9.97823409e-01 5.05850390e-03 1.49411570e+00] [ 7.23861406e-02 -2.86582767e-04 9.97376641e-01 -1.10752969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.31534707 meters Centerline goodness [0,1] 0.9999245482325424 Centerline is valid? [True, True] Translation: X:-20.86, Y:1.49, Z:-1.11 [[ 9.95454712e-01 6.18163302e-02 -7.24476177e-02 -2.08551737e+01] [-6.16108132e-02 9.98087371e-01 5.07020390e-03 1.48816136e+00] [ 7.26224737e-02 -5.83601718e-04 9.97359331e-01 -1.10990118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.345347070000003 meters Centerline goodness [0,1] 0.9998458039397093 Centerline is valid? [True, True] Translation: X:-20.89, Y:1.49, Z:-1.11 [[ 9.95570170e-01 5.92235915e-02 -7.30246728e-02 -2.08870664e+01] [-5.90082202e-02 9.98244443e-01 5.10508693e-03 1.48706084e+00] [ 7.31988154e-02 -7.73416290e-04 9.97317069e-01 -1.11038446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.375347070000004 meters Centerline goodness [0,1] 0.9998091967181836 Centerline is valid? [True, True] Translation: X:-20.92, Y:1.48, Z:-1.11 [[ 9.95725403e-01 5.66828539e-02 -7.29244484e-02 -2.09185579e+01] [-5.64617633e-02 9.98391781e-01 5.09134319e-03 1.48212100e+00] [ 7.30957618e-02 -9.52136810e-04 9.97324472e-01 -1.11457865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.40534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.95, Y:1.47, Z:-1.12 [[ 9.96102431e-01 5.13837191e-02 -7.16914204e-02 -2.09499306e+01] [-5.11565645e-02 9.98678118e-01 5.00223905e-03 1.47298519e+00] [ 7.18536864e-02 -1.31525571e-03 9.97414316e-01 -1.11827531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.435347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.98, Y:1.47, Z:-1.12 [[ 9.96296341e-01 4.97093763e-02 -7.01610915e-02 -2.09797402e+01] [-4.94876532e-02 9.98762736e-01 4.89594536e-03 1.46710712e+00] [ 7.03176580e-02 -1.40570468e-03 9.97523659e-01 -1.11925029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.465347070000004 meters Centerline goodness [0,1] 0.999850751837618 Centerline is valid? [True, True] Translation: X:-21.01, Y:1.46, Z:-1.12 [[ 9.96548044e-01 4.69370012e-02 -6.84756423e-02 -2.10083380e+01] [-4.67190273e-02 9.98896623e-01 4.78209031e-03 1.46401962e+00] [ 6.86245448e-02 -1.56646734e-03 9.97641327e-01 -1.11515666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.49534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-21.04, Y:1.46, Z:-1.12 [[ 9.96666465e-01 4.36831274e-02 -6.89038603e-02 -2.10376389e+01] [-4.34539302e-02 9.99043793e-01 4.82240478e-03 1.45918869e+00] [ 6.90486317e-02 -1.81218558e-03 9.97611649e-01 -1.11927515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.525347070000002 meters Centerline goodness [0,1] 0.9998109354911896 Centerline is valid? [True, True] Translation: X:-21.07, Y:1.46, Z:-1.12 [[ 9.96686327e-01 4.28835769e-02 -6.91184879e-02 -2.10653245e+01] [-4.26495931e-02 9.99078281e-01 4.85809248e-03 1.45942700e+00] [ 6.92631124e-02 -1.89411896e-03 9.97596629e-01 -1.12084901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.555347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-21.09, Y:1.45, Z:-1.12 [[ 9.96760590e-01 4.19991725e-02 -6.85886008e-02 -2.10943700e+01] [-4.17658842e-02 9.99115739e-01 4.83238963e-03 1.44983005e+00] [ 6.87309069e-02 -1.95207198e-03 9.97633325e-01 -1.12360069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.58534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-21.12, Y:1.45, Z:-1.12 [[ 9.96776821e-01 4.38004271e-02 -6.72122956e-02 -2.11229704e+01] [-4.35788160e-02 9.99038650e-01 4.76052660e-03 1.44810326e+00] [ 6.73561942e-02 -1.81615031e-03 9.97727340e-01 -1.12327112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.615347070000002 meters Centerline goodness [0,1] 0.9998178307283128 Centerline is valid? [True, True] Translation: X:-21.15, Y:1.44, Z:-1.12 [[ 9.96818127e-01 4.59361301e-02 -6.51421088e-02 -2.11518814e+01] [-4.57311116e-02 9.98943030e-01 4.63564920e-03 1.44273584e+00] [ 6.52861993e-02 -1.64187810e-03 9.97865230e-01 -1.12102310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.645347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-21.18, Y:1.44, Z:-1.13 [[ 9.96737789e-01 4.68147945e-02 -6.57431034e-02 -2.11795680e+01] [-4.66064626e-02 9.98902272e-01 4.69984166e-03 1.44310212e+00] [ 6.58909575e-02 -1.62045630e-03 9.97825514e-01 -1.12540385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.67534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-21.21, Y:1.45, Z:-1.13 [[ 9.96666416e-01 4.77250253e-02 -6.61693099e-02 -2.12069584e+01] [-4.75154516e-02 9.98859265e-01 4.73828236e-03 1.44661627e+00] [ 6.63199629e-02 -1.57842225e-03 9.97797159e-01 -1.12750074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.705347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-21.24, Y:1.45, Z:-1.13 [[ 9.96271220e-01 5.42246504e-02 -6.71069562e-02 -2.12355714e+01] [-5.40232258e-02 9.98528075e-01 4.81396685e-03 1.44717234e+00] [ 6.72692154e-02 -1.17068238e-03 9.97734174e-01 -1.12893985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.735347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-21.27, Y:1.45, Z:-1.13 [[ 9.95847069e-01 6.12190096e-02 -6.73858210e-02 -2.12653437e+01] [-6.10315302e-02 9.98124107e-01 4.83928007e-03 1.44710581e+00] [ 6.75556684e-02 -7.06523106e-04 9.97715256e-01 -1.13044110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.76534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-21.30, Y:1.45, Z:-1.13 [[ 9.95760389e-01 6.29652895e-02 -6.70568365e-02 -2.12969009e+01] [-6.27833999e-02 9.98015544e-01 4.81852317e-03 1.44634198e+00] [ 6.72271648e-02 -5.88038325e-04 9.97737522e-01 -1.13342494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.795347070000002 meters Centerline goodness [0,1] 0.9996741019698725 Centerline is valid? [True, True] Translation: X:-21.33, Y:1.45, Z:-1.13 [[ 9.95678632e-01 6.54962862e-02 -6.58353907e-02 -2.13272726e+01] [-6.53267094e-02 9.97852730e-01 4.72753910e-03 1.44555283e+00] [ 6.60036606e-02 -4.06300224e-04 9.97819298e-01 -1.12955394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.825347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-21.36, Y:1.44, Z:-1.14 [[ 9.95764788e-01 6.51070510e-02 -6.49119244e-02 -2.13596935e+01] [-6.49415098e-02 9.97878195e-01 4.65920260e-03 1.43888316e+00] [ 6.50775409e-02 -4.23991523e-04 9.97880120e-01 -1.13538254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.855347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-21.39, Y:1.44, Z:-1.14 [[ 9.95842833e-01 6.45760326e-02 -6.42416331e-02 -2.13906422e+01] [-6.44131899e-02 9.97912689e-01 4.60493952e-03 1.43584857e+00] [ 6.44049096e-02 -4.47787499e-04 9.97923748e-01 -1.13522297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.88534707 meters Centerline goodness [0,1] 0.9998913319085739 Centerline is valid? [True, True] Translation: X:-21.42, Y:1.43, Z:-1.13 [[ 9.95912973e-01 6.44923703e-02 -6.32304134e-02 -2.14224792e+01] [-6.43345673e-02 9.97918101e-01 4.53062775e-03 1.42958399e+00] [ 6.33909650e-02 -4.44209662e-04 9.97988671e-01 -1.13379118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.915347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-21.45, Y:1.43, Z:-1.14 [[ 9.95866815e-01 6.43929235e-02 -6.40534077e-02 -2.14525078e+01] [-6.42310009e-02 9.97924519e-01 4.58609488e-03 1.42647503e+00] [ 6.42157781e-02 -4.52925218e-04 9.97935934e-01 -1.13785819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.945347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-21.48, Y:1.43, Z:-1.14 [[ 9.95870385e-01 6.43375514e-02 -6.40535425e-02 -2.14832280e+01] [-6.41756355e-02 9.97928090e-01 4.58421160e-03 1.42872107e+00] [ 6.42157662e-02 -4.54603776e-04 9.97935934e-01 -1.13970064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.97534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-21.51, Y:1.42, Z:-1.14 [[ 9.95658835e-01 6.77043425e-02 -6.38717977e-02 -2.15145095e+01] [-6.75504923e-02 9.97705401e-01 4.56764507e-03 1.42470000e+00] [ 6.40344870e-02 -2.33244790e-04 9.97947659e-01 -1.14213833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.005347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-21.55, Y:1.43, Z:-1.14 [[ 9.95433923e-01 7.13519935e-02 -6.34050290e-02 -2.15456904e+01] [-7.12080071e-02 9.97451198e-01 4.53064366e-03 1.42606742e+00] [ 6.35666926e-02 4.98936239e-06 9.97977593e-01 -1.14207914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.035347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-21.58, Y:1.43, Z:-1.14 [[ 9.95098325e-01 7.63440562e-02 -6.28562557e-02 -2.15777989e+01] [-7.62128291e-02 9.97081480e-01 4.48620511e-03 1.42718343e+00] [ 6.30153036e-02 3.26237887e-04 9.98012507e-01 -1.14452709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.06534707 meters Centerline goodness [0,1] 0.9999643201198843 Centerline is valid? [True, True] Translation: X:-21.61, Y:1.43, Z:-1.15 [[ 9.94579538e-01 8.13799742e-02 -6.47212634e-02 -2.16102786e+01] [-8.12519649e-02 9.96682923e-01 4.61191327e-03 1.42857187e+00] [ 6.48818953e-02 6.71815251e-04 9.97892724e-01 -1.14600281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.095347070000003 meters Centerline goodness [0,1] 0.9996839332748024 Centerline is valid? [True, True] Translation: X:-21.64, Y:1.43, Z:-1.14 [[ 9.94428070e-01 8.42925770e-02 -6.33054178e-02 -2.16425561e+01] [-8.41764381e-02 9.96440685e-01 4.50420176e-03 1.42817914e+00] [ 6.34597647e-02 8.49719924e-04 9.97984036e-01 -1.14225587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.125347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-21.68, Y:1.43, Z:-1.15 [[ 9.94430298e-01 8.41330967e-02 -6.34823235e-02 -2.16757476e+01] [-8.40164314e-02 9.96454164e-01 4.50975429e-03 1.42700551e+00] [ 6.36366452e-02 8.48921971e-04 9.97972774e-01 -1.15056897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.15534707 meters Centerline goodness [0,1] 0.9998262078554049 Centerline is valid? [True, True] Translation: X:-21.71, Y:1.42, Z:-1.15 [[ 9.94604603e-01 8.39671306e-02 -6.09196610e-02 -2.17082645e+01] [-8.38599643e-02 9.96468193e-01 4.31828467e-03 1.42135196e+00] [ 6.10670985e-02 8.13734789e-04 9.98133331e-01 -1.14815200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.185347070000002 meters Centerline goodness [0,1] 0.9997556804300024 Centerline is valid? [True, True] Translation: X:-21.74, Y:1.41, Z:-1.15 [[ 9.94684527e-01 8.34754620e-02 -6.02871353e-02 -2.17403895e+01] [-8.33699415e-02 9.96509527e-01 4.26794664e-03 1.41396118e+00] [ 6.04329735e-02 7.80874457e-04 9.98171952e-01 -1.14957238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.215347070000004 meters Centerline goodness [0,1] 0.9997567079104686 Centerline is valid? [True, True] Translation: X:-21.77, Y:1.41, Z:-1.15 [[ 9.95042500e-01 7.95283305e-02 -5.97132180e-02 -2.17727952e+01] [-7.94180039e-02 9.96832459e-01 4.22238463e-03 1.40973260e+00] [ 5.98598731e-02 5.40852419e-04 9.98206643e-01 -1.15125965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.24534707 meters Centerline goodness [0,1] 0.99996610514185 Centerline is valid? [True, True] Translation: X:-21.81, Y:1.40, Z:-1.16 [[ 9.95475583e-01 7.31870271e-02 -6.05972240e-02 -2.18051202e+01] [-7.30620882e-02 9.97318219e-01 4.27793115e-03 1.39998032e+00] [ 6.07478046e-02 1.68783718e-04 9.98153132e-01 -1.15624429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.275347070000002 meters Centerline goodness [0,1] 0.9997637609260571 Centerline is valid? [True, True] Translation: X:-21.84, Y:1.39, Z:-1.16 [[ 9.95840543e-01 6.94572826e-02 -5.89686248e-02 -2.18359035e+01] [-6.93328233e-02 9.97584925e-01 4.15647551e-03 1.39325555e+00] [ 5.91149087e-02 -5.07255885e-05 9.98251183e-01 -1.15514407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.305347070000003 meters Centerline goodness [0,1] 0.9996256975636314 Centerline is valid? [True, True] Translation: X:-21.87, Y:1.38, Z:-1.15 [[ 9.96271657e-01 6.41368488e-02 -5.76996596e-02 -2.18665868e+01] [-6.40088607e-02 9.97941049e-01 4.06554348e-03 1.38329934e+00] [ 5.78416099e-02 -3.57096264e-04 9.98325709e-01 -1.15469352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.33534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-21.90, Y:1.38, Z:-1.16 [[ 9.96516494e-01 6.06686731e-02 -5.72205331e-02 -2.18952846e+01] [-6.05369609e-02 9.98157805e-01 4.03403228e-03 1.37608479e+00] [ 5.73598610e-02 -5.56022535e-04 9.98353413e-01 -1.15839025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.365347070000002 meters Centerline goodness [0,1] 0.9999666688887408 Centerline is valid? [True, True] Translation: X:-21.92, Y:1.37, Z:-1.16 [[ 9.96700768e-01 5.81564786e-02 -5.66162725e-02 -2.19249750e+01] [-5.80222868e-02 9.98307224e-01 4.01253681e-03 1.36780505e+00] [ 5.67537889e-02 -7.14292919e-04 9.98387949e-01 -1.15952990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.395347070000003 meters Centerline goodness [0,1] 0.9999664542099966 Centerline is valid? [True, True] Translation: X:-21.95, Y:1.36, Z:-1.16 [[ 9.96741512e-01 5.83794651e-02 -5.56614351e-02 -2.19533239e+01] [-5.82490979e-02 9.98294214e-01 3.96303567e-03 1.36499462e+00] [ 5.57978485e-02 -7.07893781e-04 9.98441836e-01 -1.15950588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.42534707 meters Centerline goodness [0,1] 0.9996005193248777 Centerline is valid? [True, True] Translation: X:-21.98, Y:1.36, Z:-1.16 [[ 9.96833457e-01 5.91275385e-02 -5.31694719e-02 -2.19802502e+01] [-5.90085377e-02 9.98250220e-01 3.80657699e-03 1.36388154e+00] [ 5.33015106e-02 -6.57070517e-04 9.98578248e-01 -1.15853743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.455347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.01, Y:1.36, Z:-1.16 [[ 9.96586108e-01 6.28330055e-02 -5.35550527e-02 -2.20093346e+01] [-6.27171148e-02 9.98023943e-01 3.84349615e-03 1.36274486e+00] [ 5.36907233e-02 -4.71556478e-04 9.98557502e-01 -1.16136178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.485347070000003 meters Centerline goodness [0,1] 0.9999335062171687 Centerline is valid? [True, True] Translation: X:-22.04, Y:1.36, Z:-1.16 [[ 9.96312834e-01 6.75090434e-02 -5.29458780e-02 -2.20381413e+01] [-6.74012780e-02 9.97718634e-01 3.82035930e-03 1.36327356e+00] [ 5.30829978e-02 -2.37653165e-04 9.98590075e-01 -1.16051740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.51534707 meters Centerline goodness [0,1] 0.9997393797237425 Centerline is valid? [True, True] Translation: X:-22.07, Y:1.36, Z:-1.16 [[ 9.96255885e-01 6.79527816e-02 -5.34474528e-02 -2.20672633e+01] [-6.78424149e-02 9.97688510e-01 3.87865438e-03 1.36347217e+00] [ 5.35874749e-02 -2.38127981e-04 9.98563131e-01 -1.16370424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.545347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.10, Y:1.36, Z:-1.17 [[ 9.96032411e-01 7.06612468e-02 -5.40964297e-02 -2.20959550e+01] [-7.05520337e-02 9.97500365e-01 3.92830405e-03 1.36385198e+00] [ 5.42387873e-02 -9.61050232e-05 9.98527989e-01 -1.16711524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.575347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.13, Y:1.36, Z:-1.17 [[ 9.95936695e-01 7.24083638e-02 -5.35455649e-02 -2.21260776e+01] [-7.23035702e-02 9.97375069e-01 3.89421785e-03 1.36423381e+00] [ 5.36869854e-02 -6.85895295e-06 9.98557814e-01 -1.16817765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.605347070000004 meters Centerline goodness [0,1] 0.9997416354476166 Centerline is valid? [True, True] Translation: X:-22.16, Y:1.36, Z:-1.17 [[ 9.95905118e-01 7.33538633e-02 -5.28413324e-02 -2.21556600e+01] [-7.32529915e-02 9.97305976e-01 3.84579679e-03 1.36229219e+00] [ 5.29810806e-02 4.07369679e-05 9.98595515e-01 -1.16627513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.63534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.19, Y:1.36, Z:-1.17 [[ 9.96032539e-01 7.18092163e-02 -5.25606104e-02 -2.21863386e+01] [-7.17070954e-02 9.97418385e-01 3.82857529e-03 1.36044278e+00] [ 5.26998461e-02 -4.44168627e-05 9.98610397e-01 -1.17204094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.665347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.22, Y:1.36, Z:-1.17 [[ 9.96238529e-01 6.82585056e-02 -5.33813533e-02 -2.22157959e+01] [-6.81480912e-02 9.97667641e-01 3.88802601e-03 1.35603347e+00] [ 5.35222396e-02 -2.35563981e-04 9.98566630e-01 -1.17454433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.695347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.25, Y:1.35, Z:-1.18 [[ 9.96282304e-01 6.70624497e-02 -5.40758615e-02 -2.22450875e+01] [-6.69472278e-02 9.97748733e-01 3.94142266e-03 1.35423476e+00] [ 5.42184437e-02 -3.06540628e-04 9.98529051e-01 -1.17607174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.72534707 meters Centerline goodness [0,1] 0.9999050001583331 Centerline is valid? [True, True] Translation: X:-22.27, Y:1.35, Z:-1.18 [[ 9.96436567e-01 6.55908289e-02 -5.30284060e-02 -2.22731700e+01] [-6.54777490e-02 9.97846530e-01 3.86882325e-03 1.35230867e+00] [ 5.31679702e-02 -3.82856298e-04 9.98585510e-01 -1.17541897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.755347070000003 meters Centerline goodness [0,1] 0.9999363948607047 Centerline is valid? [True, True] Translation: X:-22.30, Y:1.35, Z:-1.18 [[ 9.96687222e-01 6.32427807e-02 -5.11364120e-02 -2.23027213e+01] [-6.31342716e-02 9.97998049e-01 3.73608595e-03 1.34855575e+00] [ 5.12703199e-02 -4.95249005e-04 9.98684689e-01 -1.17664579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.785347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.33, Y:1.35, Z:-1.18 [[ 9.96703419e-01 6.21000793e-02 -5.22099065e-02 -2.23300796e+01] [-6.19845073e-02 9.98069757e-01 3.83147113e-03 1.34543685e+00] [ 5.23470634e-02 -5.82635044e-04 9.98628783e-01 -1.17820244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.81534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.36, Y:1.34, Z:-1.18 [[ 9.96634608e-01 6.24092088e-02 -5.31464868e-02 -2.23579735e+01] [-6.22894038e-02 9.98050474e-01 3.90928620e-03 1.34480652e+00] [ 5.32868518e-02 -5.85666940e-04 9.98579075e-01 -1.18284701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.845347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.39, Y:1.34, Z:-1.18 [[ 9.96593239e-01 6.18868630e-02 -5.45154318e-02 -2.23855970e+01] [-6.17586190e-02 9.98082956e-01 4.03557351e-03 1.34405345e+00] [ 5.46606723e-02 -6.55027496e-04 9.98504773e-01 -1.18464360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.875347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.41, Y:1.34, Z:-1.18 [[ 9.96635858e-01 6.14035939e-02 -5.42822717e-02 -2.24134339e+01] [-6.12743767e-02 9.98112771e-01 4.04312962e-03 1.34107181e+00] [ 5.44280913e-02 -7.03415597e-04 9.98517445e-01 -1.18443117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.90534707 meters Centerline goodness [0,1] 0.9999693542949956 Centerline is valid? [True, True] Translation: X:-22.44, Y:1.34, Z:-1.19 [[ 9.96621719e-01 6.16536937e-02 -5.42583696e-02 -2.24408698e+01] [-6.15235474e-02 9.98097345e-01 4.06728758e-03 1.34163716e+00] [ 5.44058979e-02 -7.15379769e-04 9.98518646e-01 -1.18602496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.935347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.47, Y:1.34, Z:-1.18 [[ 9.96559386e-01 6.33212874e-02 -5.34771446e-02 -2.24686712e+01] [-6.31967853e-02 9.97992998e-01 4.01764075e-03 1.34053145e+00] [ 5.36242180e-02 -6.24233975e-04 9.98560991e-01 -1.18499318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.965347070000004 meters Centerline goodness [0,1] 0.9998765508301957 Centerline is valid? [True, True] Translation: X:-22.50, Y:1.34, Z:-1.19 [[ 9.96516909e-01 6.46748192e-02 -5.26423568e-02 -2.24968309e+01] [-6.45546908e-02 9.97906230e-01 3.98090293e-03 1.34154522e+00] [ 5.27896000e-02 -5.68726017e-04 9.98605495e-01 -1.18703138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.99534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.52, Y:1.34, Z:-1.19 [[ 9.96558921e-01 6.29944938e-02 -5.38703201e-02 -2.25248580e+01] [-6.28659143e-02 9.98013643e-01 4.07973355e-03 1.34037320e+00] [ 5.40203152e-02 -6.79087935e-04 9.98539606e-01 -1.18810591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.025347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.55, Y:1.34, Z:-1.19 [[ 9.96525611e-01 6.26717398e-02 -5.48539763e-02 -2.25525443e+01] [-6.25365187e-02 9.98033924e-01 4.17982345e-03 1.34029606e+00] [ 5.50080860e-02 -7.34924406e-04 9.98485639e-01 -1.18931840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.055347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.58, Y:1.34, Z:-1.19 [[ 9.96583914e-01 6.16451947e-02 -5.49579122e-02 -2.25799490e+01] [-6.15064409e-02 9.98097790e-01 4.21418748e-03 1.34065169e+00] [ 5.51131551e-02 -8.19525874e-04 9.98479779e-01 -1.19107920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.08534707 meters Centerline goodness [0,1] 0.9997838438735178 Centerline is valid? [True, True] Translation: X:-22.61, Y:1.34, Z:-1.19 [[ 9.96618911e-01 6.15620381e-02 -5.44138000e-02 -2.26081071e+01] [-6.14255628e-02 9.98102920e-01 4.17858228e-03 1.33865262e+00] [ 5.45678147e-02 -8.22055836e-04 9.98509728e-01 -1.19205056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.115347070000002 meters Centerline goodness [0,1] 0.9998148262452935 Centerline is valid? [True, True] Translation: X:-22.63, Y:1.34, Z:-1.19 [[ 9.96674228e-01 6.16622552e-02 -5.32752234e-02 -2.26345973e+01] [-6.15301748e-02 9.98096731e-01 4.11740722e-03 1.34044352e+00] [ 5.34277149e-02 -8.25679854e-04 9.98571378e-01 -1.19264138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.145347070000003 meters Centerline goodness [0,1] 0.9997858803376973 Centerline is valid? [True, True] Translation: X:-22.66, Y:1.34, Z:-1.19 [[ 9.96763939e-01 5.73926045e-02 -5.62826630e-02 -2.26641729e+01] [-5.72376773e-02 9.98351050e-01 4.36216538e-03 1.33638234e+00] [ 5.64402118e-02 -1.12656025e-03 9.98405345e-01 -1.19476512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.17534707 meters Centerline goodness [0,1] 0.99981629466336 Centerline is valid? [True, True] Translation: X:-22.69, Y:1.34, Z:-1.20 [[ 9.96741816e-01 5.59350748e-02 -5.81121355e-02 -2.26920408e+01] [-5.57666346e-02 9.98433611e-01 4.51750968e-03 1.33670276e+00] [ 5.82737965e-02 -1.26207258e-03 9.98299841e-01 -1.19689103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.205347070000002 meters Centerline goodness [0,1] 0.9996894024102373 Centerline is valid? [True, True] Translation: X:-22.72, Y:1.34, Z:-1.20 [[ 9.96794496e-01 5.51047506e-02 -5.80017257e-02 -2.27207366e+01] [-5.49348366e-02 9.98479706e-01 4.52111361e-03 1.33571588e+00] [ 5.81626809e-02 -1.32030584e-03 9.98306245e-01 -1.19635041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.235347070000003 meters Centerline goodness [0,1] 0.9997842170160296 Centerline is valid? [True, True] Translation: X:-22.75, Y:1.34, Z:-1.20 [[ 9.96844941e-01 5.25372096e-02 -5.94979430e-02 -2.27489074e+01] [-5.23524029e-02 9.98617792e-01 4.66174538e-03 1.33636397e+00] [ 5.96606196e-02 -1.53217702e-03 9.98217543e-01 -1.19897285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.265347070000004 meters Centerline goodness [0,1] 0.9996895084919427 Centerline is valid? [True, True] Translation: X:-22.78, Y:1.34, Z:-1.20 [[ 9.97014538e-01 5.03735265e-02 -5.85193885e-02 -2.27774217e+01] [-5.01896727e-02 9.98729073e-01 4.60825206e-03 1.33607007e+00] [ 5.86771486e-02 -1.65742534e-03 9.98275636e-01 -1.20012618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.295347070000002 meters Centerline goodness [0,1] 0.9997208696461247 Centerline is valid? [True, True] Translation: X:-22.81, Y:1.34, Z:-1.20 [[ 9.96968589e-01 4.96010329e-02 -5.99447194e-02 -2.28061734e+01] [-4.94051963e-02 9.98767544e-01 4.74558802e-03 1.33622886e+00] [ 6.01062262e-02 -1.76962156e-03 9.98190418e-01 -1.20094165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.325347070000003 meters Centerline goodness [0,1] 0.9996592739437492 Centerline is valid? [True, True] Translation: X:-22.83, Y:1.33, Z:-1.20 [[ 9.96925646e-01 4.81644374e-02 -6.18016403e-02 -2.28348467e+01] [-4.79518891e-02 9.98837536e-01 4.91863797e-03 1.33327718e+00] [ 6.19667016e-02 -1.94001093e-03 9.98076332e-01 -1.20219395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.355347070000004 meters Centerline goodness [0,1] 0.9996887256427816 Centerline is valid? [True, True] Translation: X:-22.86, Y:1.34, Z:-1.20 [[ 9.96902530e-01 4.88862939e-02 -6.16074335e-02 -2.28617338e+01] [-4.86749781e-02 9.98802518e-01 4.92707820e-03 1.33895167e+00] [ 6.17745263e-02 -1.91307625e-03 9.98088297e-01 -1.20367963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.38534707 meters Centerline goodness [0,1] 0.99953284125946 Centerline is valid? [True, True] Translation: X:-22.89, Y:1.34, Z:-1.20 [[ 9.96900983e-01 4.85237950e-02 -6.19182600e-02 -2.28892765e+01] [-4.83089950e-02 9.98820112e-01 4.96231153e-03 1.34213533e+00] [ 6.20859936e-02 -1.95572433e-03 9.98068888e-01 -1.20414998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.415347070000003 meters Centerline goodness [0,1] 0.9994746438394264 Centerline is valid? [True, True] Translation: X:-22.92, Y:1.34, Z:-1.21 [[ 9.96844138e-01 4.69657698e-02 -6.39998496e-02 -2.29186401e+01] [-4.67323700e-02 9.98894223e-01 5.13980805e-03 1.34159670e+00] [ 6.41704751e-02 -2.13272287e-03 9.97936672e-01 -1.20594415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.445347070000004 meters Centerline goodness [0,1] 0.9994398107805303 Centerline is valid? [True, True] Translation: X:-22.95, Y:1.34, Z:-1.21 [[ 9.96781082e-01 4.91320680e-02 -6.33522988e-02 -2.29466831e+01] [-4.89062425e-02 9.98790295e-01 5.11134296e-03 1.34434506e+00] [ 6.35267921e-02 -1.99656708e-03 9.97978136e-01 -1.20757603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.47534707 meters Centerline goodness [0,1] 0.9995358049142786 Centerline is valid? [True, True] Translation: X:-22.98, Y:1.34, Z:-1.21 [[ 9.96837130e-01 4.55816558e-02 -6.51002976e-02 -2.29756373e+01] [-4.53347069e-02 9.98957972e-01 5.26632491e-03 1.34192229e+00] [ 6.52725091e-02 -2.29836530e-03 9.97864829e-01 -1.20951363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.505347070000003 meters Centerline goodness [0,1] 0.999496062992126 Centerline is valid? [True, True] Translation: X:-23.00, Y:1.35, Z:-1.21 [[ 9.96839974e-01 4.75277475e-02 -6.36488796e-02 -2.30037580e+01] [-4.72951778e-02 9.98867647e-01 5.15650003e-03 1.34514737e+00] [ 6.38218834e-02 -2.12992027e-03 9.97959033e-01 -1.21138939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.535347070000004 meters Centerline goodness [0,1] 0.9994634854509878 Centerline is valid? [True, True] Translation: X:-23.03, Y:1.35, Z:-1.21 [[ 9.96766381e-01 4.86311391e-02 -6.39671386e-02 -2.30314346e+01] [-4.83976697e-02 9.98814635e-01 5.19522127e-03 1.34755442e+00] [ 6.41439637e-02 -2.08256146e-03 9.97938483e-01 -1.21198511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.56534707 meters Centerline goodness [0,1] 0.9994589433481859 Centerline is valid? [True, True] Translation: X:-23.06, Y:1.35, Z:-1.22 [[ 9.96816691e-01 4.57903842e-02 -6.52665665e-02 -2.30593260e+01] [-4.55406399e-02 9.98948375e-01 5.30991370e-03 1.35004733e+00] [ 6.54410735e-02 -2.32072940e-03 9.97853737e-01 -1.21517488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.595347070000003 meters Centerline goodness [0,1] 0.9993382074877095 Centerline is valid? [True, True] Translation: X:-23.09, Y:1.35, Z:-1.22 [[ 9.96756971e-01 4.38295840e-02 -6.74870958e-02 -2.30871017e+01] [-4.35573786e-02 9.99035786e-01 5.50034222e-03 1.35298557e+00] [ 6.76631015e-02 -2.54294346e-03 9.97704986e-01 -1.21513956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.625347070000004 meters Centerline goodness [0,1] 0.9992718753957199 Centerline is valid? [True, True] Translation: X:-23.12, Y:1.35, Z:-1.22 [[ 9.96705579e-01 4.37851941e-02 -6.82703917e-02 -2.31157607e+01] [-4.35056794e-02 9.99037617e-01 5.57639491e-03 1.35464623e+00] [ 6.84488529e-02 -2.58787415e-03 9.97651270e-01 -1.21655097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.65534707 meters Centerline goodness [0,1] 0.9993310397553516 Centerline is valid? [True, True] Translation: X:-23.14, Y:1.36, Z:-1.22 [[ 9.96788071e-01 4.30448476e-02 -6.75328334e-02 -2.31449591e+01] [-4.27678324e-02 9.99069661e-01 5.54302519e-03 1.35586967e+00] [ 6.77086037e-02 -2.63698848e-03 9.97701654e-01 -1.21859299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.685347070000002 meters Centerline goodness [0,1] 0.999224878305894 Centerline is valid? [True, True] Translation: X:-23.17, Y:1.35, Z:-1.22 [[ 9.96823060e-01 3.94123404e-02 -6.92131080e-02 -2.31743622e+01] [-3.91109478e-02 9.99218589e-01 5.70482126e-03 1.35011490e+00] [ 6.93838645e-02 -2.97970713e-03 9.97585586e-01 -1.21954273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.715347070000004 meters Centerline goodness [0,1] 0.9992241566582876 Centerline is valid? [True, True] Translation: X:-23.20, Y:1.35, Z:-1.22 [[ 9.96846998e-01 3.69332987e-02 -7.02281572e-02 -2.32016014e+01] [-3.66162680e-02 9.99312587e-01 5.79672621e-03 1.35436712e+00] [ 7.03939736e-02 -3.20695609e-03 9.97514112e-01 -1.22182757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.74534707 meters Centerline goodness [0,1] 0.9991039426523297 Centerline is valid? [True, True] Translation: X:-23.23, Y:1.35, Z:-1.22 [[ 9.96963336e-01 3.67100314e-02 -6.86766304e-02 -2.32293550e+01] [-3.64055641e-02 9.99320955e-01 5.68011270e-03 1.35338670e+00] [ 6.88385130e-02 -3.16265264e-03 9.97622803e-01 -1.22395003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.775347070000002 meters Centerline goodness [0,1] 0.999170680361073 Centerline is valid? [True, True] Translation: X:-23.26, Y:1.36, Z:-1.22 [[ 9.96944316e-01 3.56530748e-02 -6.95045976e-02 -2.32562888e+01] [-3.53367694e-02 9.99358773e-01 5.77546952e-03 1.36335462e+00] [ 6.96659426e-02 -3.30175358e-03 9.97564913e-01 -1.22321971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.805347070000003 meters Centerline goodness [0,1] 0.9991416854754108 Centerline is valid? [True, True] Translation: X:-23.29, Y:1.36, Z:-1.22 [[ 9.96956248e-01 3.12370395e-02 -7.14316977e-02 -2.32867001e+01] [-3.08909402e-02 9.99505081e-01 5.94503317e-03 1.35550271e+00] [ 7.15820500e-02 -3.72034565e-03 9.97427776e-01 -1.22493014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.83534707 meters Centerline goodness [0,1] 0.9991416854754108 Centerline is valid? [True, True] Translation: X:-23.31, Y:1.36, Z:-1.23 [[ 9.96943683e-01 3.16370436e-02 -7.14310137e-02 -2.33140279e+01] [-3.12913810e-02 9.99492575e-01 5.95323516e-03 1.35752944e+00] [ 7.15831106e-02 -3.69986512e-03 9.97427776e-01 -1.22657032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.865347070000002 meters Centerline goodness [0,1] 0.9992285686734595 Centerline is valid? [True, True] Translation: X:-23.34, Y:1.37, Z:-1.23 [[ 9.97007912e-01 3.06441806e-02 -7.09658849e-02 -2.33410023e+01] [-3.02986905e-02 9.99523239e-01 5.93998735e-03 1.36697302e+00] [ 7.11140772e-02 -3.77204100e-03 9.97461057e-01 -1.22723991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.895347070000003 meters Centerline goodness [0,1] 0.9986866551348581 Centerline is valid? [True, True] Translation: X:-23.37, Y:1.36, Z:-1.23 [[ 9.97015391e-01 2.96265220e-02 -7.12922115e-02 -2.33701732e+01] [-2.92743087e-02 9.99553525e-01 5.98043092e-03 1.36378467e+00] [ 7.14375607e-02 -3.87555146e-03 9.97437544e-01 -1.22730090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.92534707 meters Centerline goodness [0,1] 0.9989957887917071 Centerline is valid? [True, True] Translation: X:-23.40, Y:1.37, Z:-1.23 [[ 9.96771428e-01 2.50540929e-02 -7.62824569e-02 -2.33991670e+01] [-2.46353693e-02 9.99675854e-01 6.42532359e-03 1.36858307e+00] [ 7.64187109e-02 -4.52533247e-03 9.97065545e-01 -1.22897387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.955347070000002 meters Centerline goodness [0,1] 0.9988298391028766 Centerline is valid? [True, True] Translation: X:-23.43, Y:1.37, Z:-1.23 [[ 9.96700486e-01 2.47908130e-02 -7.72887828e-02 -2.34280961e+01] [-2.43593756e-02 9.99682004e-01 6.52006808e-03 1.37211258e+00] [ 7.74258430e-02 -4.61584854e-03 9.96987429e-01 -1.23007421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.985347070000003 meters Centerline goodness [0,1] 0.9989147949620178 Centerline is valid? [True, True] Translation: X:-23.46, Y:1.38, Z:-1.23 [[ 9.96725734e-01 2.65082013e-02 -7.63880029e-02 -2.34567050e+01] [-2.60895970e-02 9.99638652e-01 6.47287304e-03 1.37686472e+00] [ 7.65319845e-02 -4.45874692e-03 9.97057157e-01 -1.23097910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.015347070000004 meters Centerline goodness [0,1] 0.9987066317457238 Centerline is valid? [True, True] Translation: X:-23.49, Y:1.38, Z:-1.23 [[ 9.96652769e-01 2.77038542e-02 -7.69139443e-02 -2.34853367e+01] [-2.72807197e-02 9.99606373e-01 6.54685388e-03 1.38231798e+00] [ 7.70650420e-02 -4.42667229e-03 9.97016241e-01 -1.23032430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.045347070000002 meters Centerline goodness [0,1] 0.9988594518851631 Centerline is valid? [True, True] Translation: X:-23.51, Y:1.39, Z:-1.23 [[ 9.96560302e-01 3.14549634e-02 -7.66690980e-02 -2.35144747e+01] [-3.10437297e-02 9.99496566e-01 6.54995660e-03 1.38583335e+00] [ 7.68365288e-02 -4.14733197e-03 9.97035078e-01 -1.23000660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.075347070000003 meters Centerline goodness [0,1] 0.9988387139586582 Centerline is valid? [True, True] Translation: X:-23.54, Y:1.39, Z:-1.23 [[ 9.96580918e-01 3.35123195e-02 -7.55208429e-02 -2.35415313e+01] [-3.31186848e-02 9.99430555e-01 6.45896852e-03 1.39454764e+00] [ 7.56942930e-02 -3.93573379e-03 9.97123304e-01 -1.23066303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.105347070000004 meters Centerline goodness [0,1] 0.9988919481566046 Centerline is valid? [True, True] Translation: X:-23.57, Y:1.40, Z:-1.23 [[ 9.96467986e-01 3.51884561e-02 -7.62451615e-02 -2.35691927e+01] [-3.47912761e-02 9.99373256e-01 6.53168051e-03 1.40082101e+00] [ 7.64272150e-02 -3.85594406e-03 9.97067707e-01 -1.23319845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.13534707 meters Centerline goodness [0,1] 0.9986886348352387 Centerline is valid? [True, True] Translation: X:-23.60, Y:1.40, Z:-1.23 [[ 9.96326598e-01 3.65852473e-02 -7.74262922e-02 -2.35982093e+01] [-3.61786040e-02 9.99323223e-01 6.64866949e-03 1.40299263e+00] [ 7.76171351e-02 -3.82307109e-03 9.96975910e-01 -1.23220152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.165347070000003 meters Centerline goodness [0,1] 0.9993679518312764 Centerline is valid? [True, True] Translation: X:-23.63, Y:1.40, Z:-1.23 [[ 9.96431502e-01 3.77624603e-02 -7.54868144e-02 -2.36268129e+01] [-3.73771054e-02 9.99280016e-01 6.51168933e-03 1.40375440e+00] [ 7.56783624e-02 -3.66697376e-03 9.97125538e-01 -1.23231516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.195347070000004 meters Centerline goodness [0,1] 0.9994327093135783 Centerline is valid? [True, True] Translation: X:-23.66, Y:1.41, Z:-1.23 [[ 9.96454183e-01 3.89911022e-02 -7.45570551e-02 -2.36551530e+01] [-3.86167611e-02 9.99233236e-01 6.45642695e-03 1.40538109e+00] [ 7.47516307e-02 -3.55438166e-03 9.97195848e-01 -1.23297185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.22534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.68, Y:1.41, Z:-1.23 [[ 9.96577388e-01 3.99661975e-02 -7.23616774e-02 -2.36826296e+01] [-3.96154957e-02 9.99195289e-01 6.27582249e-03 1.40831877e+00] [ 7.25542680e-02 -3.38769906e-03 9.97358713e-01 -1.23307852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.255347070000003 meters Centerline goodness [0,1] 0.9999019479670546 Centerline is valid? [True, True] Translation: X:-23.71, Y:1.41, Z:-1.23 [[ 9.96638086e-01 3.80877125e-02 -7.25386194e-02 -2.37125963e+01] [-3.77294193e-02 9.99268109e-01 6.30368008e-03 1.40529494e+00] [ 7.27256218e-02 -3.54564767e-03 9.97345683e-01 -1.22967854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.285347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.74, Y:1.41, Z:-1.23 [[ 9.96796052e-01 3.78001773e-02 -7.04895564e-02 -2.37390904e+01] [-3.74594930e-02 9.99279227e-01 6.14924142e-03 1.41129205e+00] [ 7.06711918e-02 -3.48903653e-03 9.97493564e-01 -1.22803527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.31534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.77, Y:1.41, Z:-1.23 [[ 9.96886355e-01 3.58991150e-02 -7.02057566e-02 -2.37680543e+01] [-3.55548973e-02 9.99348821e-01 6.14687799e-03 1.41120405e+00] [ 7.03807075e-02 -3.63158032e-03 9.97513593e-01 -1.22681811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.345347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.80, Y:1.41, Z:-1.23 [[ 9.96920078e-01 3.19414184e-02 -7.16247410e-02 -2.37981870e+01] [-3.15711845e-02 9.99481679e-01 6.29551789e-03 1.40806082e+00] [ 7.17887042e-02 -4.01485027e-03 9.97411782e-01 -1.22897116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.375347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.83, Y:1.41, Z:-1.23 [[ 9.97078150e-01 3.28460439e-02 -6.89659367e-02 -2.38255417e+01] [-3.25046919e-02 9.99453173e-01 6.06625192e-03 1.41156963e+00] [ 6.91274766e-02 -3.80681072e-03 9.97600571e-01 -1.22930972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.40534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.85, Y:1.42, Z:-1.23 [[ 9.97053735e-01 3.24015465e-02 -6.95268956e-02 -2.38525989e+01] [-3.20528353e-02 9.99467405e-01 6.12554952e-03 1.41668612e+00] [ 6.96883432e-02 -3.87896789e-03 9.97561271e-01 -1.23102975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.435347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.88, Y:1.42, Z:-1.23 [[ 9.96991252e-01 3.22666666e-02 -7.04791109e-02 -2.38807093e+01] [-3.19068141e-02 9.99471457e-01 6.22592639e-03 1.42160126e+00] [ 7.06427496e-02 -3.95843026e-03 9.97493826e-01 -1.23007555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.465347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.91, Y:1.43, Z:-1.23 [[ 9.96933046e-01 3.46263937e-02 -7.01820119e-02 -2.39088554e+01] [-3.42735150e-02 9.99393095e-01 6.22636925e-03 1.42757843e+00] [ 7.03550148e-02 -3.80188903e-03 9.97514771e-01 -1.23001142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.49534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.94, Y:1.43, Z:-1.23 [[ 9.96719762e-01 3.84103542e-02 -7.12345465e-02 -2.39382756e+01] [-3.80547187e-02 9.99255523e-01 6.34338847e-03 1.43441405e+00] [ 7.14251658e-02 -3.61177002e-03 9.97439422e-01 -1.23117280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.525347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.97, Y:1.44, Z:-1.23 [[ 9.96573225e-01 4.06882715e-02 -7.20157711e-02 -2.39656957e+01] [-4.03303343e-02 9.99165789e-01 6.41800391e-03 1.44428652e+00] [ 7.22168322e-02 -3.49159073e-03 9.97382844e-01 -1.22994054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.555347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.99, Y:1.45, Z:-1.23 [[ 9.96304733e-01 4.46522745e-02 -7.33693013e-02 -2.39945391e+01] [-4.42907336e-02 9.98997224e-01 6.54811722e-03 1.44584460e+00] [ 7.35881166e-02 -3.27434000e-03 9.97283344e-01 -1.23341065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.58534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.02, Y:1.45, Z:-1.23 [[ 9.96234948e-01 4.69671387e-02 -7.28698529e-02 -2.40214726e+01] [-4.66162026e-02 9.98891660e-01 6.51013982e-03 1.45364339e+00] [ 7.30948510e-02 -3.08871298e-03 9.97320211e-01 -1.23440861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.615347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.05, Y:1.46, Z:-1.23 [[ 9.96014765e-01 5.05344378e-02 -7.34905361e-02 -2.40498077e+01] [-5.01862484e-02 9.98718214e-01 6.57797700e-03 1.46128867e+00] [ 7.37287513e-02 -2.86354792e-03 9.97274221e-01 -1.23203505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.645347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.08, Y:1.47, Z:-1.23 [[ 9.95939817e-01 5.34419775e-02 -7.24419471e-02 -2.40781852e+01] [-5.31095055e-02 9.98567478e-01 6.50934397e-03 1.46557265e+00] [ 7.26860446e-02 -2.63555886e-03 9.97351389e-01 -1.23336464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.675347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.11, Y:1.47, Z:-1.23 [[ 9.95860383e-01 5.40650219e-02 -7.30689480e-02 -2.41052397e+01] [-5.37267307e-02 9.98533938e-01 6.58879975e-03 1.47474108e+00] [ 7.33180480e-02 -2.63576895e-03 9.97305127e-01 -1.23281001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.705347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.13, Y:1.47, Z:-1.24 [[ 9.95880215e-01 5.10698810e-02 -7.49297289e-02 -2.41343581e+01] [-5.07048915e-02 9.98690756e-01 6.76660368e-03 1.47368252e+00] [ 7.51771973e-02 -2.93942295e-03 9.97165858e-01 -1.23673687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.735347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.16, Y:1.48, Z:-1.23 [[ 9.95974649e-01 5.01201134e-02 -7.43133438e-02 -2.41629869e+01] [-4.97575793e-02 9.98738697e-01 6.72300767e-03 1.48094799e+00] [ 7.45565701e-02 -2.99829311e-03 9.97212278e-01 -1.23487035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.765347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.19, Y:1.48, Z:-1.24 [[ 9.96024431e-01 5.00085802e-02 -7.37188930e-02 -2.41913085e+01] [-4.96494672e-02 9.98744251e-01 6.69705754e-03 1.48331113e+00] [ 7.39612310e-02 -3.01032916e-03 9.97256574e-01 -1.23502234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.795347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.22, Y:1.48, Z:-1.24 [[ 9.95936277e-01 4.96974186e-02 -7.51072502e-02 -2.42201817e+01] [-4.93214291e-02 9.98759442e-01 6.85374009e-03 1.48250917e+00] [ 7.53546885e-02 -3.12149147e-03 9.97151908e-01 -1.23809217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.825347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.25, Y:1.49, Z:-1.24 [[ 9.95864692e-01 5.02135002e-02 -7.57107629e-02 -2.42467861e+01] [-4.98308623e-02 9.98733588e-01 6.93577643e-03 1.49101644e+00] [ 7.59631515e-02 -3.13436227e-03 9.97105699e-01 -1.23840751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.855347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.27, Y:1.50, Z:-1.24 [[ 9.95715839e-01 5.33050100e-02 -7.55549093e-02 -2.42733157e+01] [-5.29313501e-02 9.98574032e-01 6.94084731e-03 1.49993469e+00] [ 7.58171523e-02 -2.91188824e-03 9.97117486e-01 -1.23868771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.88534707 meters Centerline goodness [0,1] 0.9998624152994187 Centerline is valid? [True, True] Translation: X:-24.30, Y:1.51, Z:-1.24 [[ 9.95545209e-01 5.70936456e-02 -7.50336694e-02 -2.43024516e+01] [-5.67350754e-02 9.98365401e-01 6.90340497e-03 1.50720726e+00] [ 7.53051600e-02 -2.61561086e-03 9.97157105e-01 -1.23819318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.915347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.33, Y:1.51, Z:-1.24 [[ 9.95484507e-01 5.90156561e-02 -7.43488322e-02 -2.43298441e+01] [-5.86684927e-02 9.98254041e-01 6.84666726e-03 1.51414317e+00] [ 7.46230828e-02 -2.45381727e-03 9.97208792e-01 -1.23815702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.945347070000004 meters Centerline goodness [0,1] 0.9998606757227447 Centerline is valid? [True, True] Translation: X:-24.36, Y:1.52, Z:-1.24 [[ 9.95299992e-01 6.14091189e-02 -7.48788764e-02 -2.43577516e+01] [-6.10623728e-02 9.98110009e-01 6.91352618e-03 1.52158244e+00] [ 7.51619095e-02 -2.30875069e-03 9.97168670e-01 -1.23641031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.97534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.39, Y:1.53, Z:-1.24 [[ 9.95264591e-01 6.23412652e-02 -7.45785561e-02 -2.43855368e+01] [-6.19980636e-02 9.98052346e-01 6.91041293e-03 1.52656538e+00] [ 7.48641068e-02 -2.25396324e-03 9.97191198e-01 -1.24013846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.005347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.41, Y:1.53, Z:-1.24 [[ 9.95410163e-01 5.93200322e-02 -7.50982147e-02 -2.44130608e+01] [-5.89626650e-02 9.98235864e-01 6.96884338e-03 1.53107020e+00] [ 7.53791232e-02 -2.50886665e-03 9.97151791e-01 -1.23945739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.035347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.44, Y:1.52, Z:-1.24 [[ 9.95591807e-01 5.27808816e-02 -7.75314977e-02 -2.44435663e+01] [-5.23794554e-02 9.98601273e-01 7.20351058e-03 1.52287439e+00] [ 7.78032599e-02 -3.11069849e-03 9.96963879e-01 -1.24449388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.06534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.47, Y:1.52, Z:-1.25 [[ 9.95637543e-01 5.13476673e-02 -7.79057072e-02 -2.44722048e+01] [-5.09373787e-02 9.98675563e-01 7.24586254e-03 1.52481295e+00] [ 7.81745841e-02 -3.24594027e-03 9.96934400e-01 -1.24546583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.095347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.50, Y:1.54, Z:-1.24 [[ 9.95970365e-01 4.84076873e-02 -7.54965466e-02 -2.44997661e+01] [-4.80124466e-02 9.98821910e-01 7.04250410e-03 1.53638221e+00] [ 7.57485162e-02 -3.38935146e-03 9.97121194e-01 -1.23822916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.125347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.53, Y:1.54, Z:-1.24 [[ 9.96122053e-01 4.60603662e-02 -7.49619717e-02 -2.45291402e+01] [-4.56632696e-02 9.98932338e-01 7.00354373e-03 1.53914508e+00] [ 7.52045235e-02 -3.55337563e-03 9.97161799e-01 -1.23643025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.15534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.56, Y:1.54, Z:-1.24 [[ 9.96408536e-01 4.00041594e-02 -7.46304004e-02 -2.45592031e+01] [-3.95927280e-02 9.99191487e-01 6.98486645e-03 1.53995555e+00] [ 7.48494844e-02 -4.00495940e-03 9.97186800e-01 -1.23843563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.185347070000002 meters Centerline goodness [0,1] 0.9997628324580722 Centerline is valid? [True, True] Translation: X:-24.59, Y:1.53, Z:-1.24 [[ 9.96490362e-01 3.39658374e-02 -7.65067340e-02 -2.45902853e+01] [-3.35153857e-02 9.99412523e-01 7.16439426e-03 1.53215341e+00] [ 7.67051326e-02 -4.57509713e-03 9.97043325e-01 -1.24065825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.215347070000004 meters Centerline goodness [0,1] 0.9998622494662167 Centerline is valid? [True, True] Translation: X:-24.62, Y:1.54, Z:-1.24 [[ 9.96389362e-01 3.06581762e-02 -7.91726958e-02 -2.46184694e+01] [-3.01650789e-02 9.99517412e-01 7.41691706e-03 1.53990828e+00] [ 7.93618772e-02 -5.00188665e-03 9.96833323e-01 -1.24017726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.24534707 meters Centerline goodness [0,1] 0.9998632852553148 Centerline is valid? [True, True] Translation: X:-24.65, Y:1.54, Z:-1.24 [[ 9.96185036e-01 3.04363503e-02 -8.17863267e-02 -2.46469500e+01] [-2.99082937e-02 9.99523187e-01 7.67418276e-03 1.54454988e+00] [ 8.19809040e-02 -5.19881654e-03 9.96620341e-01 -1.24251238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.275347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.67, Y:1.56, Z:-1.24 [[ 9.95924004e-01 3.83192137e-02 -8.16517989e-02 -2.46748258e+01] [-3.78174874e-02 9.99255127e-01 7.68295823e-03 1.56340406e+00] [ 8.18853837e-02 -4.56377665e-03 9.96631304e-01 -1.24179051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.305347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.70, Y:1.58, Z:-1.24 [[ 9.95697996e-01 4.61076595e-02 -8.03715435e-02 -2.47039264e+01] [-4.56466800e-02 9.98929006e-01 7.56450093e-03 1.57558416e+00] [ 8.06342475e-02 -3.86326429e-03 9.96736271e-01 -1.24085064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.33534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.73, Y:1.60, Z:-1.24 [[ 9.95283840e-01 5.72309716e-02 -7.83242844e-02 -2.47317533e+01] [-5.68274065e-02 9.98356788e-01 7.37356979e-03 1.59743097e+00] [ 7.86175775e-02 -2.88782891e-03 9.96900666e-01 -1.23658932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.365347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.76, Y:1.61, Z:-1.24 [[ 9.94944344e-01 6.28136082e-02 -7.83594440e-02 -2.47605525e+01] [-6.24268213e-02 9.98022270e-01 7.37839635e-03 1.60873488e+00] [ 7.86679339e-02 -2.44936271e-03 9.96897867e-01 -1.23818203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.395347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.79, Y:1.62, Z:-1.24 [[ 9.94610408e-01 6.56433934e-02 -8.02563427e-02 -2.47876023e+01] [-6.52463260e-02 9.97840529e-01 7.56281015e-03 1.61787779e+00] [ 8.05794799e-02 -2.28561820e-03 9.96745566e-01 -1.23820660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.425347070000004 meters Centerline goodness [0,1] 0.9999268390825621 Centerline is valid? [True, True] Translation: X:-24.82, Y:1.62, Z:-1.24 [[ 9.94401446e-01 6.81520225e-02 -8.07531192e-02 -2.48153202e+01] [-6.77570063e-02 9.97672715e-01 7.62507179e-03 1.62385720e+00] [ 8.10848478e-02 -2.11079281e-03 9.96704967e-01 -1.24146065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.455347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.84, Y:1.63, Z:-1.24 [[ 9.94239310e-01 6.81489267e-02 -8.27279779e-02 -2.48438464e+01] [-6.77317592e-02 9.97672748e-01 7.84195992e-03 1.62806757e+00] [ 8.30698703e-02 -2.19347334e-03 9.96541311e-01 -1.24448472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.485347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.87, Y:1.63, Z:-1.25 [[ 9.94363182e-01 6.56121757e-02 -8.32880830e-02 -2.48719989e+01] [-6.51779892e-02 9.97842189e-01 7.92435474e-03 1.63068048e+00] [ 8.36282972e-02 -2.45113683e-03 9.96494004e-01 -1.24699461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.515347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.90, Y:1.64, Z:-1.25 [[ 9.94389281e-01 6.56255240e-02 -8.29653481e-02 -2.48997589e+01] [-6.51927874e-02 9.97841280e-01 7.91713496e-03 1.63523252e+00] [ 8.33058152e-02 -2.46397184e-03 9.96520983e-01 -1.24529036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.545347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.93, Y:1.64, Z:-1.24 [[ 9.94731247e-01 6.47683313e-02 -7.94657704e-02 -2.49290017e+01] [-6.43675807e-02 9.97897339e-01 7.59700268e-03 1.63771239e+00] [ 7.97907260e-02 -2.44195656e-03 9.96808646e-01 -1.24310510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.575347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.96, Y:1.63, Z:-1.25 [[ 9.95083446e-01 6.04765317e-02 -7.84316560e-02 -2.49583107e+01] [-6.00711254e-02 9.98165771e-01 7.52019585e-03 1.63105130e+00] [ 7.87425898e-02 -2.77174456e-03 9.96891128e-01 -1.24603401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.605347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.99, Y:1.63, Z:-1.25 [[ 9.95262991e-01 5.71108702e-02 -7.86760859e-02 -2.49872779e+01] [-5.66918414e-02 9.98363168e-01 7.55118526e-03 1.63016336e+00] [ 7.89785611e-02 -3.05512305e-03 9.96871633e-01 -1.24673660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.63534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.02, Y:1.64, Z:-1.25 [[ 9.95325012e-01 5.35415840e-02 -8.03829497e-02 -2.50156331e+01] [-5.30920205e-02 9.98559773e-01 7.72123875e-03 1.64050005e+00] [ 8.06805873e-02 -3.41744884e-03 9.96734149e-01 -1.24569848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.665347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.04, Y:1.64, Z:-1.25 [[ 9.95068726e-01 5.33494882e-02 -8.36185588e-02 -2.50445172e+01] [-5.28612452e-02 9.98569471e-01 8.04364838e-03 1.63874692e+00] [ 8.39280646e-02 -3.58380180e-03 9.96465371e-01 -1.25064740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.695347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.07, Y:1.64, Z:-1.26 [[ 9.94933926e-01 5.37595870e-02 -8.49493358e-02 -2.50728304e+01] [-5.32545537e-02 9.98547287e-01 8.20168327e-03 1.63771194e+00] [ 8.52668480e-02 -3.63619397e-03 9.96351516e-01 -1.25524199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.72534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.10, Y:1.65, Z:-1.26 [[ 9.94917386e-01 5.48270720e-02 -8.44593787e-02 -2.51003905e+01] [-5.43297452e-02 9.98489564e-01 8.17731810e-03 1.64668078e+00] [ 8.47801466e-02 -3.54709943e-03 9.96393369e-01 -1.25538716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.755347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.13, Y:1.65, Z:-1.26 [[ 9.94897766e-01 5.51842825e-02 -8.44578652e-02 -2.51276423e+01] [-5.46869160e-02 9.98469938e-01 8.19292039e-03 1.64906539e+00] [ 8.47807599e-02 -3.53237801e-03 9.96393369e-01 -1.25702598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.785347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.16, Y:1.66, Z:-1.25 [[ 9.94747409e-01 6.05759829e-02 -8.25114649e-02 -2.51565506e+01] [-6.01180304e-02 9.98159011e-01 8.02564999e-03 1.65854546e+00] [ 8.28457239e-02 -3.02306778e-03 9.96557799e-01 -1.25460715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.81534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.19, Y:1.67, Z:-1.25 [[ 9.94643552e-01 6.44205077e-02 -8.08344096e-02 -2.51859259e+01] [-6.39934975e-02 9.97919324e-01 7.86484126e-03 1.66652148e+00] [ 8.11728764e-02 -2.64983706e-03 9.96696515e-01 -1.25182990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.845347070000003 meters Centerline goodness [0,1] 0.9999276986479647 Centerline is valid? [True, True] Translation: X:-25.21, Y:1.68, Z:-1.25 [[ 9.94530788e-01 6.71797521e-02 -7.99711964e-02 -2.52128519e+01] [-6.67703076e-02 9.97737993e-01 7.78610738e-03 1.67675983e+00] [ 8.03133697e-02 -2.40382213e-03 9.96766765e-01 -1.24968351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.875347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.24, Y:1.68, Z:-1.25 [[ 9.94353939e-01 6.88971231e-02 -8.07058231e-02 -2.52418552e+01] [-6.84845438e-02 9.97621117e-01 7.87240646e-03 1.67841610e+00] [ 8.10562195e-02 -2.30085689e-03 9.96706875e-01 -1.25164159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.90534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.27, Y:1.68, Z:-1.25 [[ 9.94360269e-01 6.63259149e-02 -8.27558305e-02 -2.52697604e+01] [-6.58810517e-02 9.97794624e-01 8.09780947e-03 1.68105119e+00] [ 8.31104174e-02 -2.60009885e-03 9.96536953e-01 -1.25188539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.935347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.30, Y:1.68, Z:-1.26 [[ 9.94700513e-01 6.00202230e-02 -8.34773113e-02 -2.52993568e+01] [-5.95443834e-02 9.98192139e-01 8.18049833e-03 1.67877872e+00] [ 8.38173912e-02 -3.16654086e-03 9.96476100e-01 -1.25848858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.965347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.33, Y:1.68, Z:-1.26 [[ 9.94805190e-01 5.87310325e-02 -8.31462505e-02 -2.53288719e+01] [-5.82535948e-02 9.98268479e-01 8.15863641e-03 1.68002571e+00] [ 8.34814461e-02 -3.27268586e-03 9.96503958e-01 -1.25563841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.99534707 meters Centerline goodness [0,1] 0.9998571989575524 Centerline is valid? [True, True] Translation: X:-25.36, Y:1.68, Z:-1.25 [[ 9.94938973e-01 5.90968631e-02 -8.12650080e-02 -2.53576736e+01] [-5.86399280e-02 9.98247143e-01 8.00006031e-03 1.68008981e+00] [ 8.15953405e-02 -3.19419757e-03 9.96660422e-01 -1.25496493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.025347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.39, Y:1.68, Z:-1.26 [[ 9.95008939e-01 5.66318413e-02 -8.21586679e-02 -2.53857890e+01] [-5.61544910e-02 9.98389144e-01 8.11107531e-03 1.68346603e+00] [ 8.24856673e-02 -3.45701426e-03 9.96586255e-01 -1.25639401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.055347070000003 meters Centerline goodness [0,1] 0.9997150591252315 Centerline is valid? [True, True] Translation: X:-25.41, Y:1.68, Z:-1.26 [[ 9.94973403e-01 5.67456439e-02 -8.25097479e-02 -2.54148074e+01] [-5.62634244e-02 9.98382615e-01 8.15968487e-03 1.68271100e+00] [ 8.28393245e-02 -3.47638847e-03 9.96556853e-01 -1.26047692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.08534707 meters Centerline goodness [0,1] 0.9997816355497325 Centerline is valid? [True, True] Translation: X:-25.44, Y:1.69, Z:-1.26 [[ 9.94860550e-01 6.00136345e-02 -8.15527400e-02 -2.54428023e+01] [-5.95516908e-02 9.98192463e-01 8.08715601e-03 1.69227362e+00] [ 8.18906701e-02 -3.18898892e-03 9.96636217e-01 -1.25748835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.115347070000002 meters Centerline goodness [0,1] 0.9994596541786743 Centerline is valid? [True, True] Translation: X:-25.47, Y:1.70, Z:-1.26 [[ 9.94694542e-01 6.19567697e-02 -8.21226373e-02 -2.54708898e+01] [-6.14938852e-02 9.98074134e-01 8.15630474e-03 1.69682719e+00] [ 8.24698184e-02 -3.06299177e-03 9.96588856e-01 -1.25769487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.145347070000003 meters Centerline goodness [0,1] 0.9996758275402514 Centerline is valid? [True, True] Translation: X:-25.50, Y:1.70, Z:-1.26 [[ 9.94659140e-01 6.22096543e-02 -8.23599044e-02 -2.54968202e+01] [-6.17428463e-02 9.98058363e-01 8.20519706e-03 1.70170863e+00] [ 8.27104338e-02 -3.07623934e-03 9.96568874e-01 -1.26166866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.175347070000004 meters Centerline goodness [0,1] 0.999320117369212 Centerline is valid? [True, True] Translation: X:-25.53, Y:1.70, Z:-1.26 [[ 9.94488419e-01 6.41285326e-02 -8.29476676e-02 -2.55251057e+01] [-6.36600821e-02 9.97937267e-01 8.28279023e-03 1.70398564e+00] [ 8.33077319e-02 -2.95668363e-03 9.96519483e-01 -1.26437752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.205347070000002 meters Centerline goodness [0,1] 0.9993832982659798 Centerline is valid? [True, True] Translation: X:-25.55, Y:1.71, Z:-1.26 [[ 9.94145407e-01 6.74311689e-02 -8.44271747e-02 -2.55523019e+01] [-6.69555750e-02 9.97720131e-01 8.45530308e-03 1.71201202e+00] [ 8.48048427e-02 -2.75293070e-03 9.96393778e-01 -1.26326650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.235347070000003 meters Centerline goodness [0,1] 0.9995275647781372 Centerline is valid? [True, True] Translation: X:-25.58, Y:1.72, Z:-1.27 [[ 9.93703988e-01 6.99014254e-02 -8.75566970e-02 -2.55804354e+01] [-6.93978227e-02 9.97550371e-01 8.78630349e-03 1.71872216e+00] [ 8.79563907e-02 -2.65474068e-03 9.96120789e-01 -1.26948307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.265347070000004 meters Centerline goodness [0,1] 0.999327885669815 Centerline is valid? [True, True] Translation: X:-25.61, Y:1.72, Z:-1.28 [[ 9.93577155e-01 7.26666100e-02 -8.67409984e-02 -2.56089483e+01] [-7.21802316e-02 9.97353357e-01 8.73471900e-03 1.71876268e+00] [ 8.71461484e-02 -2.41763189e-03 9.96192604e-01 -1.27699851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.295347070000002 meters Centerline goodness [0,1] 0.9994118511983532 Centerline is valid? [True, True] Translation: X:-25.64, Y:1.73, Z:-1.27 [[ 9.93401284e-01 7.65300602e-02 -8.54227083e-02 -2.56368360e+01] [-7.60706387e-02 9.97065126e-01 8.62515287e-03 1.73143371e+00] [ 8.58320869e-02 -2.07007796e-03 9.96307466e-01 -1.26568382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.325347070000003 meters Centerline goodness [0,1] 0.9997103443281798 Centerline is valid? [True, True] Translation: X:-25.66, Y:1.73, Z:-1.27 [[ 9.93360222e-01 7.76793977e-02 -8.48609500e-02 -2.56647471e+01] [-7.72293620e-02 9.96976449e-01 8.57819742e-03 1.73224030e+00] [ 8.52707178e-02 -1.96748307e-03 9.96355877e-01 -1.27333096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.355347070000004 meters Centerline goodness [0,1] 0.99956612914889 Centerline is valid? [True, True] Translation: X:-25.69, Y:1.73, Z:-1.28 [[ 9.93306673e-01 7.85840972e-02 -8.46545550e-02 -2.56931814e+01] [-7.81381391e-02 9.96905675e-01 8.57363726e-03 1.73435571e+00] [ 8.50663578e-02 -1.90150170e-03 9.96373474e-01 -1.27567814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.38534707 meters Centerline goodness [0,1] 0.9995281649245064 Centerline is valid? [True, True] Translation: X:-25.72, Y:1.74, Z:-1.27 [[ 9.93462297e-01 7.68328571e-02 -8.44356403e-02 -2.57211492e+01] [-7.63809235e-02 9.97041840e-01 8.57464328e-03 1.73642596e+00] [ 8.48446805e-02 -2.06931262e-03 9.96392040e-01 -1.27420506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.415347070000003 meters Centerline goodness [0,1] 0.9992413842930424 Centerline is valid? [True, True] Translation: X:-25.75, Y:1.73, Z:-1.28 [[ 9.93659125e-01 7.27832739e-02 -8.56979509e-02 -2.57506195e+01] [-7.23012604e-02 9.97344727e-01 8.71908059e-03 1.73305779e+00] [ 8.61050027e-02 -2.46772412e-03 9.96283011e-01 -1.27828420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.445347070000004 meters Centerline goodness [0,1] 0.9987811872669917 Centerline is valid? [True, True] Translation: X:-25.78, Y:1.73, Z:-1.28 [[ 9.93897059e-01 7.06200913e-02 -8.47433653e-02 -2.57798083e+01] [-7.01385353e-02 9.97499755e-01 8.65011496e-03 1.72810977e+00] [ 8.51423581e-02 -2.65354831e-03 9.96365263e-01 -1.27811775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.47534707 meters Centerline goodness [0,1] 0.9991111111111111 Centerline is valid? [True, True] Translation: X:-25.81, Y:1.73, Z:-1.29 [[ 9.94028006e-01 6.47844318e-02 -8.78140132e-02 -2.58091096e+01] [-6.42425209e-02 9.97893855e-01 8.98628063e-03 1.72683002e+00] [ 8.82112352e-02 -3.29122103e-03 9.96096354e-01 -1.28702477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.505347070000003 meters Centerline goodness [0,1] 0.9991205892052325 Centerline is valid? [True, True] Translation: X:-25.84, Y:1.73, Z:-1.28 [[ 9.94128220e-01 6.50107276e-02 -8.65025344e-02 -2.58366311e+01] [-6.44852237e-02 9.97879343e-01 8.85848642e-03 1.73202543e+00] [ 8.68949888e-02 -3.22833606e-03 9.96212246e-01 -1.28191879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.535347070000004 meters Centerline goodness [0,1] 0.9994580533275526 Centerline is valid? [True, True] Translation: X:-25.87, Y:1.73, Z:-1.29 [[ 9.94355749e-01 6.34070323e-02 -8.50658179e-02 -2.58656506e+01] [-6.28915520e-02 9.97982196e-01 8.72868865e-03 1.72702745e+00] [ 8.54476320e-02 -3.32950042e-03 9.96337100e-01 -1.28713772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.56534707 meters Centerline goodness [0,1] 0.9984043517679058 Centerline is valid? [True, True] Translation: X:-25.89, Y:1.73, Z:-1.29 [[ 9.94374555e-01 6.32855641e-02 -8.49363381e-02 -2.58930125e+01] [-6.27684505e-02 9.97989779e-01 8.74768202e-03 1.72909508e+00] [ 8.53191993e-02 -3.36715008e-03 9.96347980e-01 -1.28694957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.595347070000003 meters Centerline goodness [0,1] 0.9990630968253397 Centerline is valid? [True, True] Translation: X:-25.92, Y:1.73, Z:-1.29 [[ 9.94513737e-01 6.23072764e-02 -8.40251776e-02 -2.59219731e+01] [-6.17950418e-02 9.98051066e-01 8.68579673e-03 1.72846471e+00] [ 8.44026064e-02 -3.44580480e-03 9.96425776e-01 -1.29003198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.625347070000004 meters Centerline goodness [0,1] 0.9988166529207158 Centerline is valid? [True, True] Translation: X:-25.95, Y:1.73, Z:-1.29 [[ 9.94634025e-01 5.90960099e-02 -8.49165317e-02 -2.59495520e+01] [-5.85590645e-02 9.98245137e-01 8.80236688e-03 1.73247380e+00] [ 8.52876996e-02 -3.78250094e-03 9.96349186e-01 -1.29176313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.65534707 meters Centerline goodness [0,1] 0.9989332954060589 Centerline is valid? [True, True] Translation: X:-25.98, Y:1.73, Z:-1.30 [[ 9.94480609e-01 5.80083204e-02 -8.74262676e-02 -2.59791509e+01] [-5.74332975e-02 9.98308049e-01 9.08048043e-03 1.72805703e+00] [ 8.78050900e-02 -4.00918288e-03 9.96129606e-01 -1.29643990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.685347070000002 meters Centerline goodness [0,1] 0.9989966315487708 Centerline is valid? [True, True] Translation: X:-26.01, Y:1.73, Z:-1.30 [[ 9.94638392e-01 5.56336569e-02 -8.71743444e-02 -2.60079310e+01] [-5.50508037e-02 9.98442288e-01 9.07781839e-03 1.72869448e+00] [ 8.75435841e-02 -4.23012896e-03 9.96151709e-01 -1.29891623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.715347070000004 meters Centerline goodness [0,1] 0.998786970637554 Centerline is valid? [True, True] Translation: X:-26.03, Y:1.73, Z:-1.30 [[ 9.94537196e-01 5.62732424e-02 -8.79152293e-02 -2.60346596e+01] [-5.56819209e-02 9.98406485e-01 9.16597271e-03 1.73316398e+00] [ 8.82909340e-02 -4.22061195e-03 9.96085788e-01 -1.30007206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.74534707 meters Centerline goodness [0,1] 0.9994269546219692 Centerline is valid? [True, True] Translation: X:-26.06, Y:1.74, Z:-1.30 [[ 9.94754372e-01 5.53724283e-02 -8.60094999e-02 -2.60622949e+01] [-5.48013787e-02 9.98456820e-01 8.98816511e-03 1.73652706e+00] [ 8.63744684e-02 -4.22757735e-03 9.96253772e-01 -1.30035935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.775347070000002 meters Centerline goodness [0,1] 0.9992683691600182 Centerline is valid? [True, True] Translation: X:-26.09, Y:1.74, Z:-1.31 [[ 9.94606566e-01 5.52968570e-02 -8.77498548e-02 -2.60912146e+01] [-5.46994704e-02 9.98460481e-01 9.19971947e-03 1.73813027e+00] [ 8.81234778e-02 -4.35023080e-03 9.96100059e-01 -1.30677488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.805347070000003 meters Centerline goodness [0,1] 0.9994011554177822 Centerline is valid? [True, True] Translation: X:-26.12, Y:1.74, Z:-1.31 [[ 9.94408209e-01 5.54492215e-02 -8.98760176e-02 -2.61195740e+01] [-5.48210916e-02 9.98451528e-01 9.44430390e-03 1.74065982e+00] [ 9.02605264e-02 -4.46439193e-03 9.95908182e-01 -1.31081771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.835347070000005 meters Centerline goodness [0,1] 0.9992683691600182 Centerline is valid? [True, True] Translation: X:-26.15, Y:1.74, Z:-1.31 [[ 9.94508162e-01 5.29408229e-02 -9.02816965e-02 -2.61486184e+01] [-5.22944153e-02 9.98586408e-01 9.51204326e-03 1.74439959e+00] [ 9.06576504e-02 -4.73857614e-03 9.95870843e-01 -1.31409210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.865347070000002 meters Centerline goodness [0,1] 0.9989460370994941 Centerline is valid? [True, True] Translation: X:-26.18, Y:1.75, Z:-1.31 [[ 9.94535628e-01 5.10217533e-02 -9.10805450e-02 -2.61760765e+01] [-5.03545787e-02 9.98685172e-01 9.60958146e-03 1.74822181e+00] [ 9.14510874e-02 -4.97074866e-03 9.95797163e-01 -1.31240456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.895347070000003 meters Centerline goodness [0,1] 0.999473536431279 Centerline is valid? [True, True] Translation: X:-26.20, Y:1.75, Z:-1.32 [[ 9.94317599e-01 5.13620316e-02 -9.32440523e-02 -2.62043458e+01] [-5.06623603e-02 9.98667195e-01 9.85692461e-03 1.74748497e+00] [ 9.36260479e-02 -5.07694984e-03 9.95594490e-01 -1.32289557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.925347070000004 meters Centerline goodness [0,1] 0.999123637255933 Centerline is valid? [True, True] Translation: X:-26.23, Y:1.75, Z:-1.33 [[ 9.94257248e-01 5.21788116e-02 -9.34339148e-02 -2.62333202e+01] [-5.14768817e-02 9.98625029e-01 9.90865628e-03 1.74628955e+00] [ 9.38224679e-02 -5.04206675e-03 9.95576176e-01 -1.32646527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.955347070000002 meters Centerline goodness [0,1] 0.9996091390399033 Centerline is valid? [True, True] Translation: X:-26.26, Y:1.76, Z:-1.32 [[ 9.94016644e-01 5.54511540e-02 -9.41067497e-02 -2.62604817e+01] [-5.47515156e-02 9.98449912e-01 1.00022787e-02 1.76434761e+00] [ 9.45155138e-02 -4.78994433e-03 9.95511865e-01 -1.32401449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.985347070000003 meters Centerline goodness [0,1] 0.9996005519645581 Centerline is valid? [True, True] Translation: X:-26.29, Y:1.77, Z:-1.32 [[ 9.93934678e-01 5.71721237e-02 -9.39425615e-02 -2.62885670e+01] [-5.64809345e-02 9.98353574e-01 1.00022246e-02 1.77295326e+00] [ 9.43597405e-02 -4.63559422e-03 9.95527373e-01 -1.32348317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.015347070000004 meters Centerline goodness [0,1] 0.9995718567147138 Centerline is valid? [True, True] Translation: X:-26.32, Y:1.77, Z:-1.33 [[ 9.93966937e-01 5.92067251e-02 -9.23270965e-02 -2.63183571e+01] [-5.85457442e-02 9.98236095e-01 9.85361940e-03 1.77281689e+00] [ 9.27476409e-02 -4.38881331e-03 9.95679975e-01 -1.32741232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.045347070000002 meters Centerline goodness [0,1] 0.9999641010913268 Centerline is valid? [True, True] Translation: X:-26.35, Y:1.78, Z:-1.33 [[ 9.94027693e-01 5.97365533e-02 -9.13262788e-02 -2.63456579e+01] [-5.90912484e-02 9.98204911e-01 9.75604777e-03 1.77862353e+00] [ 9.17451326e-02 -4.30119784e-03 9.95773232e-01 -1.33139035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.075347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.38, Y:1.78, Z:-1.34 [[ 9.94042461e-01 5.60813933e-02 -9.34583457e-02 -2.63758262e+01] [-5.53882434e-02 9.98414853e-01 9.99621962e-03 1.77628033e+00] [ 9.38708024e-02 -4.76017316e-03 9.95573007e-01 -1.33934865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.105347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.40, Y:1.78, Z:-1.34 [[ 9.93937495e-01 5.35737854e-02 -9.60109705e-02 -2.64039268e+01] [-5.28300499e-02 9.98550670e-01 1.02735325e-02 1.78011878e+00] [ 9.64222109e-02 -5.13898479e-03 9.95327257e-01 -1.34215009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.13534707 meters Centerline goodness [0,1] 0.9998579747195001 Centerline is valid? [True, True] Translation: X:-26.43, Y:1.78, Z:-1.35 [[ 9.93776948e-01 5.18231078e-02 -9.85989048e-02 -2.64322544e+01] [-5.10293180e-02 9.98641353e-01 1.05573037e-02 1.78462755e+00] [ 9.90120559e-02 -5.46017022e-03 9.95071253e-01 -1.34530727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.165347070000003 meters Centerline goodness [0,1] 0.9997848382700997 Centerline is valid? [True, True] Translation: X:-26.46, Y:1.79, Z:-1.35 [[ 9.93831154e-01 5.22240442e-02 -9.78380594e-02 -2.64604286e+01] [-5.14427122e-02 9.98620818e-01 1.04933372e-02 1.78932635e+00] [ 9.82511274e-02 -5.39555029e-03 9.95147026e-01 -1.34544209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.195347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.49, Y:1.79, Z:-1.35 [[ 9.94230166e-01 5.36494112e-02 -9.28876639e-02 -2.64909241e+01] [-5.29496870e-02 9.98547280e-01 9.98300025e-03 1.79150055e+00] [ 9.32883062e-02 -5.00702727e-03 9.95626547e-01 -1.34693484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.22534707 meters Centerline goodness [0,1] 0.9998579343656769 Centerline is valid? [True, True] Translation: X:-26.52, Y:1.80, Z:-1.35 [[ 9.94207737e-01 5.48829838e-02 -9.24058123e-02 -2.65183385e+01] [-5.41954378e-02 9.98480917e-01 9.93539783e-03 1.80037845e+00] [ 9.28107246e-02 -4.86987594e-03 9.95671860e-01 -1.34503647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.255347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.55, Y:1.80, Z:-1.36 [[ 9.93720880e-01 5.86427124e-02 -9.52882183e-02 -2.65460565e+01] [-5.79274461e-02 9.98268096e-01 1.02576800e-02 1.80249629e+00] [ 9.57247264e-02 -4.67346765e-03 9.95396873e-01 -1.35539258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.285347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.57, Y:1.81, Z:-1.36 [[ 9.93256767e-01 6.14436536e-02 -9.83141544e-02 -2.65731076e+01] [-6.06933834e-02 9.98100099e-01 1.06068451e-02 1.80941753e+00] [ 9.87790906e-02 -4.56830200e-03 9.95098901e-01 -1.36027011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.31534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.60, Y:1.82, Z:-1.36 [[ 9.92920551e-01 6.37018283e-02 -1.00253961e-01 -2.66001357e+01] [-6.29288813e-02 9.97958961e-01 1.08567368e-02 1.81645629e+00] [ 1.00740933e-01 -4.47100752e-03 9.94902646e-01 -1.36476307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.345347070000003 meters Centerline goodness [0,1] 0.9997484457541237 Centerline is valid? [True, True] Translation: X:-26.63, Y:1.83, Z:-1.36 [[ 9.92894987e-01 6.75062374e-02 -9.79921097e-02 -2.66285452e+01] [-6.67839912e-02 9.97710770e-01 1.06356528e-02 1.82567079e+00] [ 9.84857561e-02 -4.01578217e-03 9.95130358e-01 -1.36034008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.375347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.65, Y:1.84, Z:-1.36 [[ 9.92851629e-01 6.96073407e-02 -9.69559699e-02 -2.66546848e+01] [-6.89096421e-02 9.97567330e-01 1.05301262e-02 1.83644732e+00] [ 9.74530821e-02 -3.77365174e-03 9.95232966e-01 -1.36142800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.40534707 meters Centerline goodness [0,1] 0.999465850010683 Centerline is valid? [True, True] Translation: X:-26.68, Y:1.84, Z:-1.36 [[ 9.93047531e-01 7.20387785e-02 -9.30968071e-02 -2.66842313e+01] [-7.14050880e-02 9.97396015e-01 1.01243468e-02 1.83568941e+00] [ 9.35837300e-02 -3.40637188e-03 9.95605586e-01 -1.36360162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.435347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.71, Y:1.84, Z:-1.37 [[ 9.92870197e-01 7.07050543e-02 -9.59664879e-02 -2.67116707e+01] [-7.00241760e-02 9.97490573e-01 1.04485191e-02 1.83875670e+00] [ 9.64644301e-02 -3.65404897e-03 9.95329725e-01 -1.36985312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.465347070000004 meters Centerline goodness [0,1] 0.9996442800227661 Centerline is valid? [True, True] Translation: X:-26.74, Y:1.84, Z:-1.38 [[ 9.92866367e-01 6.86639011e-02 -9.74763896e-02 -2.67402136e+01] [-6.79503956e-02 9.97632127e-01 1.06246380e-02 1.83675870e+00] [ 9.79751070e-02 -3.92528652e-03 9.95181124e-01 -1.37578815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.49534707 meters Centerline goodness [0,1] 0.9997837214332059 Centerline is valid? [True, True] Translation: X:-26.77, Y:1.84, Z:-1.38 [[ 9.92645221e-01 6.70816307e-02 -1.00774605e-01 -2.67703907e+01] [-6.63099539e-02 9.97738531e-01 1.09915475e-02 1.83817092e+00] [ 1.01284037e-01 -4.22834767e-03 9.94848564e-01 -1.37993611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.525347070000002 meters Centerline goodness [0,1] 0.9994318787061037 Centerline is valid? [True, True] Translation: X:-26.80, Y:1.84, Z:-1.38 [[ 9.92819036e-01 6.75564909e-02 -9.87242745e-02 -2.67983362e+01] [-6.68177044e-02 9.97707024e-01 1.07744182e-02 1.84098892e+00] [ 9.92257840e-02 -4.10051807e-03 9.95056496e-01 -1.37958951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.555347070000003 meters Centerline goodness [0,1] 0.9997137028951795 Centerline is valid? [True, True] Translation: X:-26.83, Y:1.84, Z:-1.38 [[ 9.93227811e-01 6.60061150e-02 -9.56122757e-02 -2.68267060e+01] [-6.53050164e-02 9.97810663e-01 1.04468462e-02 1.84192479e+00] [ 9.60925039e-02 -4.13213700e-03 9.95363831e-01 -1.38002348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.585347070000005 meters Centerline goodness [0,1] 0.9994701518897916 Centerline is valid? [True, True] Translation: X:-26.86, Y:1.84, Z:-1.38 [[ 9.93193604e-01 6.80473738e-02 -9.45305252e-02 -2.68563018e+01] [-6.73704165e-02 9.97674472e-01 1.03380465e-02 1.84483174e+00] [ 9.50141688e-02 -3.89912078e-03 9.95468284e-01 -1.38361357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.615347070000002 meters Centerline goodness [0,1] 0.9999645779462293 Centerline is valid? [True, True] Translation: X:-26.88, Y:1.85, Z:-1.39 [[ 9.92993695e-01 6.84458200e-02 -9.63259612e-02 -2.68839339e+01] [-6.77439194e-02 9.97647044e-01 1.05421750e-02 1.84823760e+00] [ 9.68208783e-02 -3.94281520e-03 9.95294013e-01 -1.38830477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.645347070000003 meters Centerline goodness [0,1] 0.9999645779462293 Centerline is valid? [True, True] Translation: X:-26.91, Y:1.85, Z:-1.39 [[ 9.92965853e-01 6.88520258e-02 -9.63234850e-02 -2.69111351e+01] [-6.81498419e-02 9.97619158e-01 1.05647561e-02 1.85098435e+00] [ 9.68215589e-02 -3.92601181e-03 9.95294013e-01 -1.38994308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.675347070000004 meters Centerline goodness [0,1] 0.9990957465307968 Centerline is valid? [True, True] Translation: X:-26.94, Y:1.85, Z:-1.39 [[ 9.93028692e-01 7.04792436e-02 -9.44811787e-02 -2.69403587e+01] [-6.98084416e-02 9.97506301e-01 1.03904721e-02 1.85404924e+00] [ 9.49778836e-02 -3.72245305e-03 9.95472423e-01 -1.38536011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.705347070000002 meters Centerline goodness [0,1] 0.999470282868948 Centerline is valid? [True, True] Translation: X:-26.97, Y:1.86, Z:-1.39 [[ 9.92688449e-01 7.18217157e-02 -9.70117787e-02 -2.69671378e+01] [-7.11196355e-02 9.97410613e-01 1.06801549e-02 1.85890284e+00] [ 9.75276447e-02 -3.70262405e-03 9.95225929e-01 -1.39142150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.735347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.99, Y:1.87, Z:-1.40 [[ 9.92342066e-01 7.31149569e-02 -9.95561474e-02 -2.69944885e+01] [-7.23805535e-02 9.97316717e-01 1.09737138e-02 1.86594613e+00] [ 1.00091353e-01 -3.68374882e-03 9.94971432e-01 -1.39550288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.765347070000004 meters Centerline goodness [0,1] 0.9995475428094112 Centerline is valid? [True, True] Translation: X:-27.03, Y:1.87, Z:-1.40 [[ 9.92343534e-01 7.70416736e-02 -9.65344008e-02 -2.70250391e+01] [-7.63690682e-02 9.97022755e-01 1.06485417e-02 1.86671953e+00] [ 9.70673757e-02 -3.19476928e-03 9.95272685e-01 -1.39771498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.795347070000002 meters Centerline goodness [0,1] 0.9993248045486851 Centerline is valid? [True, True] Translation: X:-27.05, Y:1.87, Z:-1.39 [[ 9.92382885e-01 7.91237480e-02 -9.44226761e-02 -2.70537610e+01] [-7.84894639e-02 9.96860502e-01 1.04184560e-02 1.87360475e+00] [ 9.49505836e-02 -2.92791218e-03 9.95477681e-01 -1.39081502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.825347070000003 meters Centerline goodness [0,1] 0.9996564754379939 Centerline is valid? [True, True] Translation: X:-27.08, Y:1.87, Z:-1.40 [[ 9.92440613e-01 7.96115299e-02 -9.34003948e-02 -2.70823269e+01] [-7.89914231e-02 9.96821840e-01 1.03234609e-02 1.87129802e+00] [ 9.39254199e-02 -2.86759179e-03 9.95575106e-01 -1.39963790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.855347070000004 meters Centerline goodness [0,1] 0.9999289646599183 Centerline is valid? [True, True] Translation: X:-27.11, Y:1.87, Z:-1.40 [[ 9.92254436e-01 8.11571589e-02 -9.40459948e-02 -2.71100061e+01] [-8.05327686e-02 9.96697475e-01 1.04219046e-02 1.87249400e+00] [ 9.45812178e-02 -2.76739671e-03 9.95513302e-01 -1.40434633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.88534707 meters Centerline goodness [0,1] 0.9995107632093934 Centerline is valid? [True, True] Translation: X:-27.14, Y:1.88, Z:-1.40 [[ 9.92476018e-01 7.98677085e-02 -9.28035692e-02 -2.71366780e+01] [-7.92528574e-02 9.96801354e-01 1.02978757e-02 1.87605783e+00] [ 9.33291911e-02 -2.86544668e-03 9.95631182e-01 -1.39821573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.915347070000003 meters Centerline goodness [0,1] 0.9994181469692303 Centerline is valid? [True, True] Translation: X:-27.17, Y:1.87, Z:-1.41 [[ 9.92495041e-01 7.64788734e-02 -9.54178987e-02 -2.71668582e+01] [-7.58119244e-02 9.97065782e-01 1.06008272e-02 1.87134140e+00] [ 9.59486612e-02 -3.28745394e-03 9.95380855e-01 -1.40592600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.945347070000004 meters Centerline goodness [0,1] 0.9995597995394826 Centerline is valid? [True, True] Translation: X:-27.19, Y:1.87, Z:-1.41 [[ 9.92460229e-01 7.68146776e-02 -9.55102083e-02 -2.71942760e+01] [-7.61471976e-02 9.97040038e-01 1.06192196e-02 1.87113482e+00] [ 9.60432136e-02 -3.26631841e-03 9.95371806e-01 -1.40853055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.97534707 meters Centerline goodness [0,1] 0.9994855437802243 Centerline is valid? [True, True] Translation: X:-27.22, Y:1.87, Z:-1.40 [[ 9.92497334e-01 7.80698603e-02 -9.40964315e-02 -2.72224634e+01] [-7.74262373e-02 9.96943030e-01 1.04772192e-02 1.87480557e+00] [ 9.46267366e-02 -3.11307949e-03 9.95507955e-01 -1.40396932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.005347070000003 meters Centerline goodness [0,1] 0.9997657139032063 Centerline is valid? [True, True] Translation: X:-27.25, Y:1.88, Z:-1.41 [[ 9.92407425e-01 7.84048564e-02 -9.47638156e-02 -2.72504712e+01] [-7.77514872e-02 9.96916703e-01 1.05732100e-02 1.87602850e+00] [ 9.53006217e-02 -3.12490449e-03 9.95443633e-01 -1.41102329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.035347070000004 meters Centerline goodness [0,1] 0.999425190194421 Centerline is valid? [True, True] Translation: X:-27.28, Y:1.88, Z:-1.41 [[ 9.92050253e-01 8.18672868e-02 -9.55721886e-02 -2.72777767e+01] [-8.12156422e-02 9.96639170e-01 1.06950193e-02 1.87871120e+00] [ 9.61265590e-02 -2.84803989e-03 9.95365045e-01 -1.40957069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.06534707 meters Centerline goodness [0,1] 0.9999321849993219 Centerline is valid? [True, True] Translation: X:-27.31, Y:1.88, Z:-1.42 [[ 9.91877918e-01 8.20856862e-02 -9.71603646e-02 -2.73066071e+01] [-8.14104332e-02 9.96621050e-01 1.09006573e-02 1.87783290e+00] [ 9.77268525e-02 -2.90225390e-03 9.95209043e-01 -1.42049887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.095347070000003 meters Centerline goodness [0,1] 0.9993594498010923 Centerline is valid? [True, True] Translation: X:-27.34, Y:1.88, Z:-1.42 [[ 9.92054951e-01 8.37905110e-02 -9.38409515e-02 -2.73354358e+01] [-8.31661698e-02 9.96479833e-01 1.05512988e-02 1.87970527e+00] [ 9.43947144e-02 -2.66307573e-03 9.95531288e-01 -1.41632897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.125347070000004 meters Centerline goodness [0,1] 0.9997632415612527 Centerline is valid? [True, True] Translation: X:-27.36, Y:1.88, Z:-1.42 [[ 9.91993937e-01 8.30449320e-02 -9.51397267e-02 -2.73640632e+01] [-8.23979741e-02 9.96541897e-01 1.07154325e-02 1.87854380e+00] [ 9.57005861e-02 -2.79032338e-03 9.95406255e-01 -1.42047582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.15534707 meters Centerline goodness [0,1] 0.999630202380152 Centerline is valid? [True, True] Translation: X:-27.39, Y:1.88, Z:-1.42 [[ 9.91977693e-01 8.24717514e-02 -9.58053608e-02 -2.73918026e+01] [-8.18103560e-02 9.96589203e-01 1.08178576e-02 1.88169400e+00] [ 9.63707558e-02 -2.89320279e-03 9.95341302e-01 -1.41806828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.185347070000002 meters Centerline goodness [0,1] 0.9996371672658905 Centerline is valid? [True, True] Translation: X:-27.42, Y:1.88, Z:-1.43 [[ 9.92036911e-01 8.20282670e-02 -9.55726463e-02 -2.74200754e+01] [-8.13656025e-02 9.96625624e-01 1.08168167e-02 1.87583796e+00] [ 9.61374331e-02 -2.95435551e-03 9.95363685e-01 -1.42540473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.215347070000004 meters Centerline goodness [0,1] 0.9995409535051479 Centerline is valid? [True, True] Translation: X:-27.45, Y:1.87, Z:-1.43 [[ 9.92427839e-01 8.05365256e-02 -9.27407809e-02 -2.74489497e+01] [-7.99032623e-02 9.96747030e-01 1.05274167e-02 1.87057637e+00] [ 9.32869395e-02 -3.03741044e-03 9.95634632e-01 -1.42868535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.245347070000005 meters Centerline goodness [0,1] 0.9997005988023953 Centerline is valid? [True, True] Translation: X:-27.48, Y:1.88, Z:-1.43 [[ 9.92390061e-01 8.12576961e-02 -9.25156985e-02 -2.74768417e+01] [-8.06294759e-02 9.96688686e-01 1.05142798e-02 1.87569334e+00] [ 9.30637162e-02 -2.97477446e-03 9.95655711e-01 -1.42601805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.275347070000002 meters Centerline goodness [0,1] 0.9993751438813431 Centerline is valid? [True, True] Translation: X:-27.51, Y:1.86, Z:-1.44 [[ 9.92204441e-01 8.46613941e-02 -9.14483195e-02 -2.75066847e+01] [-8.40601575e-02 9.96406269e-01 1.04133377e-02 1.86375288e+00] [ 9.20012865e-02 -2.64499977e-03 9.95755375e-01 -1.43733767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.305347070000003 meters Centerline goodness [0,1] 0.9999340456404169 Centerline is valid? [True, True] Translation: X:-27.53, Y:1.86, Z:-1.45 [[ 9.91790741e-01 8.42771839e-02 -9.61690350e-02 -2.75348732e+01] [-8.36077709e-02 9.96438286e-01 1.09765026e-02 1.86455191e+00] [ 9.67515771e-02 -2.84591504e-03 9.95304493e-01 -1.45101647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.335347070000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.56, Y:1.87, Z:-1.44 [[ 9.91726654e-01 8.70621160e-02 -9.43314962e-02 -2.75633429e+01] [-8.64301555e-02 9.96199672e-01 1.07722507e-02 1.87454574e+00] [ 9.49108605e-02 -2.53004224e-03 9.95482560e-01 -1.43995328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.365347070000002 meters Centerline goodness [0,1] 0.9998002530128504 Centerline is valid? [True, True] Translation: X:-27.59, Y:1.87, Z:-1.45 [[ 9.91709457e-01 9.00586643e-02 -9.16612735e-02 -2.75933320e+01] [-8.94741332e-02 9.95934062e-01 1.04749490e-02 1.86527063e+00] [ 9.22319443e-02 -2.18679298e-03 9.95735149e-01 -1.44853763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.395347070000003 meters Centerline goodness [0,1] 0.9992644707387273 Centerline is valid? [True, True] Translation: X:-27.62, Y:1.87, Z:-1.45 [[ 9.91634504e-01 9.05280070e-02 -9.20091917e-02 -2.76218260e+01] [-8.99394734e-02 9.95891550e-01 1.05314714e-02 1.86558613e+00] [ 9.25845697e-02 -2.16811214e-03 9.95702464e-01 -1.44969589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.425347070000004 meters Centerline goodness [0,1] 0.9994128584010177 Centerline is valid? [True, True] Translation: X:-27.65, Y:1.86, Z:-1.45 [[ 9.91755480e-01 8.97824949e-02 -9.14339782e-02 -2.76497429e+01] [-8.91957375e-02 9.95958856e-01 1.04918268e-02 1.86356475e+00] [ 9.20064627e-02 -2.24980561e-03 9.95755868e-01 -1.44912222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.455347070000002 meters Centerline goodness [0,1] 0.9991725015913431 Centerline is valid? [True, True] Translation: X:-27.68, Y:1.86, Z:-1.45 [[ 9.91813540e-01 8.99045393e-02 -9.06811720e-02 -2.76785874e+01] [-8.93267422e-02 9.95947884e-01 1.04185160e-02 1.85991753e+00] [ 9.12503933e-02 -2.23297155e-03 9.95825476e-01 -1.45052696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.485347070000003 meters Centerline goodness [0,1] 0.9995278118802531 Centerline is valid? [True, True] Translation: X:-27.71, Y:1.86, Z:-1.46 [[ 9.91750779e-01 8.90910955e-02 -9.21583885e-02 -2.77079037e+01] [-8.84895916e-02 9.96020690e-01 1.06008039e-02 1.85868694e+00] [ 9.27360990e-02 -2.35829738e-03 9.95687930e-01 -1.45691057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.515347070000004 meters Centerline goodness [0,1] 0.9999064254522769 Centerline is valid? [True, True] Translation: X:-27.74, Y:1.86, Z:-1.47 [[ 9.91651762e-01 8.79956268e-02 -9.42525977e-02 -2.77361329e+01] [-8.73601600e-02 9.96117646e-01 1.08552975e-02 1.85835104e+00] [ 9.48418944e-02 -2.53075286e-03 9.95489131e-01 -1.46524812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.545347070000002 meters Centerline goodness [0,1] 0.999571157262758 Centerline is valid? [True, True] Translation: X:-27.76, Y:1.86, Z:-1.46 [[ 9.92056586e-01 8.73128866e-02 -9.05549038e-02 -2.77644600e+01] [-8.67225099e-02 9.96177787e-01 1.04414127e-02 1.85531643e+00] [ 9.11204536e-02 -2.50532371e-03 9.95836727e-01 -1.45981206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.575347070000003 meters Centerline goodness [0,1] 0.9992995066090029 Centerline is valid? [True, True] Translation: X:-27.79, Y:1.85, Z:-1.46 [[ 9.92137167e-01 8.83441528e-02 -8.86518649e-02 -2.77930126e+01] [-8.77810800e-02 9.96087179e-01 1.02378657e-02 1.85488812e+00] [ 8.92094416e-02 -2.37541064e-03 9.96010057e-01 -1.45990648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.605347070000004 meters Centerline goodness [0,1] 0.9993030091820965 Centerline is valid? [True, True] Translation: X:-27.82, Y:1.85, Z:-1.46 [[ 9.92333629e-01 8.62939287e-02 -8.84721855e-02 -2.78207128e+01] [-8.57240632e-02 9.96266419e-01 1.02277641e-02 1.85379285e+00] [ 8.90244614e-02 -2.56515901e-03 9.96026137e-01 -1.46297609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.63534707 meters Centerline goodness [0,1] 0.9991365449889835 Centerline is valid? [True, True] Translation: X:-27.85, Y:1.85, Z:-1.47 [[ 9.92168467e-01 8.70175595e-02 -8.96084637e-02 -2.78491614e+01] [-8.64348684e-02 9.96203531e-01 1.03701045e-02 1.85200360e+00] [ 9.01706491e-02 -2.54359493e-03 9.95923081e-01 -1.46734798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.665347070000003 meters Centerline goodness [0,1] 0.9988211370133506 Centerline is valid? [True, True] Translation: X:-27.88, Y:1.85, Z:-1.47 [[ 9.92217593e-01 8.55857722e-02 -9.04396151e-02 -2.78775798e+01] [-8.49845887e-02 9.96327102e-01 1.04845681e-02 1.85230989e+00] [ 9.10047695e-02 -2.71699946e-03 9.95846750e-01 -1.46898771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.695347070000004 meters Centerline goodness [0,1] 0.9989300680595595 Centerline is valid? [True, True] Translation: X:-27.91, Y:1.85, Z:-1.47 [[ 9.92237838e-01 8.39475347e-02 -9.17435826e-02 -2.79054379e+01] [-8.33193335e-02 9.96465850e-01 1.06629396e-02 1.85255672e+00] [ 9.23144745e-02 -2.93615798e-03 9.95725573e-01 -1.47274903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.72534707 meters Centerline goodness [0,1] 0.9989737575135611 Centerline is valid? [True, True] Translation: X:-27.93, Y:1.85, Z:-1.48 [[ 9.92082048e-01 8.51359658e-02 -9.23313509e-02 -2.79332259e+01] [-8.45033467e-02 9.96365240e-01 1.07467692e-02 1.85115725e+00] [ 9.29106852e-02 -2.85936867e-03 9.95670341e-01 -1.47629734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.755347070000003 meters Centerline goodness [0,1] 0.9987715706346885 Centerline is valid? [True, True] Translation: X:-27.96, Y:1.85, Z:-1.48 [[ 9.91911514e-01 8.61409978e-02 -9.32270152e-02 -2.79601169e+01] [-8.54991093e-02 9.96279004e-01 1.08650523e-02 1.85308685e+00] [ 9.38160443e-02 -2.80634369e-03 9.95585594e-01 -1.47723774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.785347070000004 meters Centerline goodness [0,1] 0.9986229123937884 Centerline is valid? [True, True] Translation: X:-27.99, Y:1.86, Z:-1.48 [[ 9.91946603e-01 8.72433999e-02 -9.18178999e-02 -2.79886398e+01] [-8.66234117e-02 9.96183410e-01 1.07237116e-02 1.85550651e+00] [ 9.24030417e-02 -2.68376953e-03 9.95718070e-01 -1.47740339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.81534707 meters Centerline goodness [0,1] 0.9985532826017766 Centerline is valid? [True, True] Translation: X:-28.02, Y:1.86, Z:-1.48 [[ 9.92058585e-01 8.90308828e-02 -8.88440536e-02 -2.80183863e+01] [-8.84556033e-02 9.96025833e-01 1.03993293e-02 1.85786642e+00] [ 8.94168340e-02 -2.45798953e-03 9.95991259e-01 -1.47648288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.845347070000003 meters Centerline goodness [0,1] 0.9986682493268869 Centerline is valid? [True, True] Translation: X:-28.05, Y:1.86, Z:-1.48 [[ 9.91845484e-01 9.13447205e-02 -8.88745116e-02 -2.80466570e+01] [-9.07776624e-02 9.95816773e-01 1.04100759e-02 1.85879806e+00] [ 8.94536348e-02 -2.25736631e-03 9.95988429e-01 -1.47970700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.875347070000004 meters Centerline goodness [0,1] 0.9988194644399655 Centerline is valid? [True, True] Translation: X:-28.07, Y:1.86, Z:-1.48 [[ 9.91716754e-01 9.25505130e-02 -8.90633628e-02 -2.80739798e+01] [-9.19840019e-02 9.95705617e-01 1.04531188e-02 1.85924422e+00] [ 8.96483321e-02 -2.17412849e-03 9.95971109e-01 -1.48477666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.90534707 meters Centerline goodness [0,1] 0.9984933765421571 Centerline is valid? [True, True] Translation: X:-28.10, Y:1.86, Z:-1.49 [[ 9.91686565e-01 9.10093377e-02 -9.09673461e-02 -2.81033258e+01] [-9.04083736e-02 9.95847146e-01 1.07139515e-02 1.85881457e+00] [ 9.15646415e-02 -2.40067194e-03 9.95796241e-01 -1.48901933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.935347070000002 meters Centerline goodness [0,1] 0.998655989247914 Centerline is valid? [True, True] Translation: X:-28.13, Y:1.86, Z:-1.49 [[ 9.91675886e-01 9.10785690e-02 -9.10144529e-02 -2.81312620e+01] [-9.04740770e-02 9.95840744e-01 1.07542203e-02 1.85904744e+00] [ 9.16153796e-02 -2.43025231e-03 9.95791502e-01 -1.49169976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.965347070000004 meters Centerline goodness [0,1] 0.998650851649896 Centerline is valid? [True, True] Translation: X:-28.16, Y:1.86, Z:-1.49 [[ 9.91867953e-01 8.98698124e-02 -9.01186976e-02 -2.81594746e+01] [-8.92686392e-02 9.95950242e-01 1.06876701e-02 1.85594085e+00] [ 9.07142376e-02 -2.55598394e-03 9.95873684e-01 -1.49476607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.995347070000005 meters Centerline goodness [0,1] 0.997914466022047 Centerline is valid? [True, True] Translation: X:-28.19, Y:1.86, Z:-1.50 [[ 9.92145554e-01 8.83183261e-02 -8.85837080e-02 -2.81879734e+01] [-8.77278887e-02 9.96088669e-01 1.05442546e-02 1.85580021e+00] [ 8.91684787e-02 -2.69017367e-03 9.96012924e-01 -1.49562249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.025347070000002 meters Centerline goodness [0,1] 0.998137440231291 Centerline is valid? [True, True] Translation: X:-28.22, Y:1.86, Z:-1.49 [[ 9.92357712e-01 8.88239690e-02 -8.56532221e-02 -2.82153644e+01] [-8.82711737e-02 9.96043976e-01 1.02272788e-02 1.85760317e+00] [ 8.62228034e-02 -2.58840852e-03 9.96272517e-01 -1.49488925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.055347070000003 meters Centerline goodness [0,1] 0.9978283577986695 Centerline is valid? [True, True] Translation: X:-28.24, Y:1.86, Z:-1.50 [[ 9.92412395e-01 8.70857968e-02 -8.67969032e-02 -2.82442743e+01] [-8.65092245e-02 9.96196875e-01 1.03894489e-02 1.85623221e+00] [ 8.73715771e-02 -2.80188509e-03 9.96171851e-01 -1.49811139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.085347070000005 meters Centerline goodness [0,1] 0.9979348514469808 Centerline is valid? [True, True] Translation: X:-28.27, Y:1.86, Z:-1.50 [[ 9.92423261e-01 8.59737053e-02 -8.77758119e-02 -2.82727179e+01] [-8.53765888e-02 9.96292987e-01 1.05414802e-02 1.85612644e+00] [ 8.83567160e-02 -2.96761077e-03 9.96084476e-01 -1.50184057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.115347070000002 meters Centerline goodness [0,1] 0.9974319044887031 Centerline is valid? [True, True] Translation: X:-28.30, Y:1.86, Z:-1.50 [[ 9.92627975e-01 8.43242810e-02 -8.70581349e-02 -2.83007930e+01] [-8.37281700e-02 9.96433492e-01 1.04828104e-02 1.85795382e+00] [ 8.76315968e-02 -3.11631259e-03 9.96148077e-01 -1.50223390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.145347070000003 meters Centerline goodness [0,1] 0.9972600487711318 Centerline is valid? [True, True] Translation: X:-28.33, Y:1.86, Z:-1.50 [[ 9.92569616e-01 8.61372025e-02 -8.59414951e-02 -2.83288659e+01] [-8.55620147e-02 9.96278974e-01 1.03608583e-02 1.86104765e+00] [ 8.65141599e-02 -2.93054563e-03 9.96246311e-01 -1.50375146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.175347070000004 meters Centerline goodness [0,1] 0.9974271246749692 Centerline is valid? [True, True] Translation: X:-28.36, Y:1.86, Z:-1.51 [[ 9.92560242e-01 8.67546607e-02 -8.54271285e-02 -2.83575645e+01] [-8.61869394e-02 9.96225547e-01 1.03185002e-02 1.86371853e+00] [ 8.59998658e-02 -2.87903031e-03 9.96290989e-01 -1.50597872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.205347070000002 meters Centerline goodness [0,1] 0.9970215531246616 Centerline is valid? [True, True] Translation: X:-28.39, Y:1.87, Z:-1.51 [[ 9.92400612e-01 8.83637066e-02 -8.56322425e-02 -2.83857813e+01] [-8.77961491e-02 9.96084393e-01 1.03787656e-02 1.86574296e+00] [ 8.62140465e-02 -2.78171224e-03 9.96272754e-01 -1.51151302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.235347070000003 meters Centerline goodness [0,1] 0.9970386067867525 Centerline is valid? [True, True] Translation: X:-28.41, Y:1.87, Z:-1.51 [[ 9.92355613e-01 8.81696862e-02 -8.63507044e-02 -2.84135878e+01] [-8.75886794e-02 9.96101369e-01 1.05016809e-02 1.86996600e+00] [ 8.69399848e-02 -2.85805782e-03 9.96209451e-01 -1.51430891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.265347070000004 meters Centerline goodness [0,1] 0.9966729272873625 Centerline is valid? [True, True] Translation: X:-28.44, Y:1.87, Z:-1.52 [[ 9.92762250e-01 8.50952677e-02 -8.47461554e-02 -2.84427709e+01] [-8.45215390e-02 9.96367985e-01 1.03415582e-02 1.86676764e+00] [ 8.53183737e-02 -3.10383316e-03 9.96348905e-01 -1.52177300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.295347070000002 meters Centerline goodness [0,1] 0.9962982258904823 Centerline is valid? [True, True] Translation: X:-28.47, Y:1.87, Z:-1.52 [[ 9.92721193e-01 8.39384658e-02 -8.63653102e-02 -2.84703188e+01] [-8.33356254e-02 9.96465495e-01 1.05684035e-02 1.87094307e+00] [ 8.69471472e-02 -3.29417096e-03 9.96207479e-01 -1.52393869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.325347070000003 meters Centerline goodness [0,1] 0.9961123583201007 Centerline is valid? [True, True] Translation: X:-28.50, Y:1.87, Z:-1.53 [[ 9.92846268e-01 8.45001868e-02 -8.43564247e-02 -2.84975989e+01] [-8.39259998e-02 9.96418381e-01 1.03361852e-02 1.87478265e+00] [ 8.49277017e-02 -3.18254558e-03 9.96382034e-01 -1.52647926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.355347070000004 meters Centerline goodness [0,1] 0.9962577733751582 Centerline is valid? [True, True] Translation: X:-28.53, Y:1.88, Z:-1.53 [[ 9.92827694e-01 8.53498779e-02 -8.37171884e-02 -2.85260054e+01] [-8.47854577e-02 9.96346191e-01 1.02807471e-02 1.87954053e+00] [ 8.42887623e-02 -3.10901033e-03 9.96436520e-01 -1.52877647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.38534707 meters Centerline goodness [0,1] 0.995752328050972 Centerline is valid? [True, True] Translation: X:-28.55, Y:1.88, Z:-1.53 [[ 9.93152636e-01 8.56176568e-02 -7.94824461e-02 -2.85542995e+01] [-8.51073799e-02 9.96323669e-01 9.79183881e-03 1.88175440e+00] [ 8.00285967e-02 -2.96024778e-03 9.96788172e-01 -1.53330262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.415347070000003 meters Centerline goodness [0,1] 0.9951649679953848 Centerline is valid? [True, True] Translation: X:-28.58, Y:1.89, Z:-1.54 [[ 9.92912541e-01 8.90674305e-02 -7.86872237e-02 -2.85822891e+01] [-8.85760989e-02 9.96021991e-01 9.71949432e-03 1.88963199e+00] [ 7.92398956e-02 -2.68080050e-03 9.96851971e-01 -1.53649850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.445347070000004 meters Centerline goodness [0,1] 0.9945589447650454 Centerline is valid? [True, True] Translation: X:-28.61, Y:1.89, Z:-1.54 [[ 9.92739249e-01 9.11640638e-02 -7.84722637e-02 -2.86101392e+01] [-9.06809018e-02 9.95832699e-01 9.70617215e-03 1.89350931e+00] [ 7.90301003e-02 -2.51976241e-03 9.96869046e-01 -1.54381763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.47534707 meters Centerline goodness [0,1] 0.994540120606291 Centerline is valid? [True, True] Translation: X:-28.64, Y:1.90, Z:-1.55 [[ 9.92789181e-01 9.34429925e-02 -7.50869415e-02 -2.86381161e+01] [-9.30049191e-02 9.95622051e-01 9.31754947e-03 1.89746439e+00] [ 7.56288744e-02 -2.26690739e-03 9.97133459e-01 -1.54899526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.505347070000003 meters Centerline goodness [0,1] 0.9950319375443577 Centerline is valid? [True, True] Translation: X:-28.67, Y:1.90, Z:-1.55 [[ 9.92714974e-01 9.45367041e-02 -7.46980058e-02 -2.86666105e+01] [-9.41039733e-02 9.95518941e-01 9.29952614e-03 1.90400703e+00] [ 7.52424262e-02 -2.20239970e-03 9.97162839e-01 -1.55168920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.535347070000004 meters Centerline goodness [0,1] 0.9946421211704904 Centerline is valid? [True, True] Translation: X:-28.69, Y:1.91, Z:-1.55 [[ 9.92520855e-01 9.68686070e-02 -7.42887955e-02 -2.86945734e+01] [-9.64449402e-02 9.95295080e-01 9.27775761e-03 1.90912700e+00] [ 7.48379961e-02 -2.04358948e-03 9.97193611e-01 -1.55382244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.56534707 meters Centerline goodness [0,1] 0.9946421211704904 Centerline is valid? [True, True] Translation: X:-28.72, Y:1.91, Z:-1.56 [[ 9.92478026e-01 9.73092800e-02 -7.42850675e-02 -2.87217499e+01] [-9.68846189e-02 9.95252099e-01 9.30752124e-03 1.91230188e+00] [ 7.48380776e-02 -2.04042986e-03 9.97193611e-01 -1.55546404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.595347070000003 meters Centerline goodness [0,1] 0.9944710752805317 Centerline is valid? [True, True] Translation: X:-28.75, Y:1.92, Z:-1.56 [[ 9.92388864e-01 1.00850992e-01 -7.06641353e-02 -2.87499861e+01] [-1.00473869e-01 9.94900067e-01 8.88018332e-03 1.91952283e+00] [ 7.11993283e-02 -1.71269598e-03 9.97460637e-01 -1.55777002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.625347070000004 meters Centerline goodness [0,1] 0.9938641866607968 Centerline is valid? [True, True] Translation: X:-28.78, Y:1.92, Z:-1.56 [[ 9.92189689e-01 1.03218256e-01 -7.00400800e-02 -2.87783529e+01] [-1.02852994e-01 9.94657541e-01 8.81119048e-03 1.92445214e+00] [ 7.05753695e-02 -1.53854042e-03 9.97505263e-01 -1.56167366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.65534707 meters Centerline goodness [0,1] 0.993716784765279 Centerline is valid? [True, True] Translation: X:-28.81, Y:1.93, Z:-1.56 [[ 9.92223426e-01 1.04628899e-01 -6.74200730e-02 -2.88068485e+01] [-1.04291946e-01 9.94510334e-01 8.50798543e-03 1.92979619e+00] [ 6.79401405e-02 -1.41045184e-03 9.97688402e-01 -1.56310120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.685347070000002 meters Centerline goodness [0,1] 0.9931355792027348 Centerline is valid? [True, True] Translation: X:-28.83, Y:1.93, Z:-1.57 [[ 9.92175644e-01 1.07004545e-01 -6.43235416e-02 -2.88348308e+01] [-1.06701346e-01 9.94257791e-01 8.14049083e-03 1.93434289e+00] [ 6.48252519e-02 -1.21338826e-03 9.97895894e-01 -1.56669604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.715347070000004 meters Centerline goodness [0,1] 0.9923116489347302 Centerline is valid? [True, True] Translation: X:-28.86, Y:1.94, Z:-1.57 [[ 9.92503058e-01 1.06612295e-01 -5.97620232e-02 -2.88641771e+01] [-1.06349614e-01 9.94299996e-01 7.56813142e-03 1.93546789e+00] [ 6.02282354e-02 -1.15572545e-03 9.98183963e-01 -1.56987468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.745347070000005 meters Centerline goodness [0,1] 0.9922004511237329 Centerline is valid? [True, True] Translation: X:-28.89, Y:1.94, Z:-1.58 [[ 9.92677581e-01 1.05715679e-01 -5.84415577e-02 -2.88939663e+01] [-1.05462732e-01 9.94395689e-01 7.40441934e-03 1.93829352e+00] [ 5.88967963e-02 -1.18679475e-03 9.98263372e-01 -1.57599499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.775347070000002 meters Centerline goodness [0,1] 0.9915458609944452 Centerline is valid? [True, True] Translation: X:-28.92, Y:1.94, Z:-1.58 [[ 9.92953518e-01 1.04325591e-01 -5.62092651e-02 -2.89238223e+01] [-1.04089388e-01 9.94542448e-01 7.12167986e-03 1.94241990e+00] [ 5.66454735e-02 -1.22070906e-03 9.98393610e-01 -1.58005881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.805347070000003 meters Centerline goodness [0,1] 0.9914791170742263 Centerline is valid? [True, True] Translation: X:-28.96, Y:1.94, Z:-1.58 [[ 9.93258642e-01 1.02049239e-01 -5.49838367e-02 -2.89550385e+01] [-1.01819828e-01 9.94778474e-01 6.96500590e-03 1.94413807e+00] [ 5.54075106e-02 -1.31960754e-03 9.98462952e-01 -1.58212405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.835347070000005 meters Centerline goodness [0,1] 0.9907757039594347 Centerline is valid? [True, True] Translation: X:-28.98, Y:1.95, Z:-1.59 [[ 9.93690353e-01 9.86148300e-02 -5.34284391e-02 -2.89846719e+01] [-9.83934556e-02 9.95124600e-01 6.76448044e-03 1.94631124e+00] [ 5.38350322e-02 -1.46479020e-03 9.98548769e-01 -1.58517263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.865347070000002 meters Centerline goodness [0,1] 0.9901721221234661 Centerline is valid? [True, True] Translation: X:-29.02, Y:1.95, Z:-1.59 [[ 9.94000703e-01 9.73546933e-02 -4.98464273e-02 -2.90156359e+01] [-9.71603539e-02 9.95248719e-01 6.31286477e-03 1.94851104e+00] [ 5.02241800e-02 -1.43189550e-03 9.98736943e-01 -1.58721177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.895347070000003 meters Centerline goodness [0,1] 0.9893148625429553 Centerline is valid? [True, True] Translation: X:-29.05, Y:1.95, Z:-1.59 [[ 9.94149356e-01 9.69708773e-02 -4.75784211e-02 -2.90470034e+01] [-9.67934435e-02 9.95286257e-01 6.02462082e-03 1.95267289e+00] [ 4.79383614e-02 -1.38409370e-03 9.98849337e-01 -1.58939497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.925347070000004 meters Centerline goodness [0,1] 0.9890159937846599 Centerline is valid? [True, True] Translation: X:-29.08, Y:1.96, Z:-1.59 [[ 9.94257921e-01 9.64971049e-02 -4.62546723e-02 -2.90780546e+01] [-9.63290241e-02 9.95332329e-01 5.85438865e-03 1.95660508e+00] [ 4.66037023e-02 -1.36510484e-03 9.98912524e-01 -1.59135258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.955347070000002 meters Centerline goodness [0,1] 0.9893983567452955 Centerline is valid? [True, True] Translation: X:-29.11, Y:1.96, Z:-1.59 [[ 9.94343844e-01 9.61185318e-02 -4.51835003e-02 -2.91096181e+01] [-9.59578605e-02 9.95368981e-01 5.71662847e-03 1.95983494e+00] [ 4.55237286e-02 -1.34858230e-03 9.98962347e-01 -1.59463651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.985347070000003 meters Centerline goodness [0,1] 0.9896003208127255 Centerline is valid? [True, True] Translation: X:-29.14, Y:1.97, Z:-1.60 [[ 9.94165249e-01 9.81705817e-02 -4.46989281e-02 -2.91395416e+01] [-9.80156046e-02 9.95168833e-01 5.65103884e-03 1.96706162e+00] [ 4.50377459e-02 -1.23687398e-03 9.98984520e-01 -1.59740712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.015347070000004 meters Centerline goodness [0,1] 0.990812340024249 Centerline is valid? [True, True] Translation: X:-29.17, Y:1.97, Z:-1.60 [[ 9.94002039e-01 1.00277384e-01 -4.36393417e-02 -2.91706990e+01] [-1.00131768e-01 9.94958898e-01 5.51551576e-03 1.97428617e+00] [ 4.39724328e-02 -1.11274947e-03 9.99032125e-01 -1.59945523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.045347070000002 meters Centerline goodness [0,1] 0.992928284164215 Centerline is valid? [True, True] Translation: X:-29.20, Y:1.98, Z:-1.60 [[ 9.93988965e-01 1.00944121e-01 -4.23818588e-02 -2.92024287e+01] [-1.00807597e-01 9.94891546e-01 5.35165758e-03 1.97907143e+00] [ 4.27055714e-02 -1.04707523e-03 9.99087152e-01 -1.60378304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.075347070000003 meters Centerline goodness [0,1] 0.994620749310699 Centerline is valid? [True, True] Translation: X:-29.23, Y:1.98, Z:-1.61 [[ 9.94002201e-01 1.01487956e-01 -4.07408911e-02 -2.92337646e+01] [-1.01362452e-01 9.94836286e-01 5.13980786e-03 1.98321742e+00] [ 4.10521454e-02 -9.79383703e-04 9.99156525e-01 -1.60865344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.105347070000004 meters Centerline goodness [0,1] 0.9963943936888334 Centerline is valid? [True, True] Translation: X:-29.26, Y:1.99, Z:-1.61 [[ 9.94091501e-01 1.01037689e-01 -3.96670258e-02 -2.92642409e+01] [-1.00918552e-01 9.94882129e-01 4.99952746e-03 1.98747130e+00] [ 3.99691558e-02 -9.66848970e-04 9.99200446e-01 -1.61374437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.13534707 meters Centerline goodness [0,1] 0.9975326717640042 Centerline is valid? [True, True] Translation: X:-29.30, Y:1.99, Z:-1.62 [[ 9.94377125e-01 9.81451483e-02 -3.97701283e-02 -2.92965848e+01] [-9.80231945e-02 9.95171521e-01 5.00964639e-03 1.98882225e+00] [ 4.00697716e-02 -1.08308275e-03 9.99196297e-01 -1.61965760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.165347070000003 meters Centerline goodness [0,1] 0.998910527032548 Centerline is valid? [True, True] Translation: X:-29.33, Y:1.99, Z:-1.62 [[ 9.94963648e-01 9.21188451e-02 -3.95152869e-02 -2.93280667e+01] [-9.19939132e-02 9.95747155e-01 4.97221446e-03 1.99024966e+00] [ 3.98052692e-02 -1.31200676e-03 9.99206595e-01 -1.62437896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.195347070000004 meters Centerline goodness [0,1] 0.9989930328761158 Centerline is valid? [True, True] Translation: X:-29.36, Y:1.99, Z:-1.62 [[ 9.95141784e-01 9.05629279e-02 -3.86158724e-02 -2.93587922e+01] [-9.04425780e-02 9.95889834e-01 4.85579697e-03 1.99443506e+00] [ 3.88969100e-02 -1.33968740e-03 9.99242331e-01 -1.62489224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.22534707 meters Centerline goodness [0,1] 0.9998348790489033 Centerline is valid? [True, True] Translation: X:-29.39, Y:2.00, Z:-1.63 [[ 9.95498802e-01 8.73062653e-02 -3.68747947e-02 -2.93903784e+01] [-8.71944089e-02 9.96180537e-01 4.63385827e-03 1.99736859e+00] [ 3.71385176e-02 -1.39772443e-03 9.99309150e-01 -1.62655288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.255347070000003 meters Centerline goodness [0,1] 0.9999443114105919 Centerline is valid? [True, True] Translation: X:-29.42, Y:2.00, Z:-1.63 [[ 9.95944908e-01 8.17280013e-02 -3.76068409e-02 -2.94220205e+01] [-8.16078186e-02 9.96653331e-01 4.72236962e-03 1.99959712e+00] [ 3.78669331e-02 -1.63420772e-03 9.99281454e-01 -1.62733210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.285347070000004 meters Centerline goodness [0,1] 0.999800490224021 Centerline is valid? [True, True] Translation: X:-29.45, Y:2.01, Z:-1.63 [[ 9.96162856e-01 7.87233518e-02 -3.82387090e-02 -2.94521105e+01] [-7.85970657e-02 9.96894924e-01 4.79703407e-03 2.00505188e+00] [ 3.84976135e-02 -1.77317683e-03 9.99257119e-01 -1.62753968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.31534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.48, Y:2.01, Z:-1.63 [[ 9.96348120e-01 7.49679877e-02 -4.08683927e-02 -2.94832196e+01] [-7.48206023e-02 9.97183834e-01 5.12618685e-03 2.00998555e+00] [ 4.11376005e-02 -2.04966887e-03 9.99151388e-01 -1.63032607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.345347070000003 meters Centerline goodness [0,1] 0.9997344584427463 Centerline is valid? [True, True] Translation: X:-29.51, Y:2.02, Z:-1.63 [[ 9.96390750e-01 7.46140728e-02 -4.04748478e-02 -2.95134705e+01] [-7.44693608e-02 9.97210396e-01 5.07344163e-03 2.01691015e+00] [ 4.07404892e-02 -2.04099426e-03 9.99167677e-01 -1.63163233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.375347070000004 meters Centerline goodness [0,1] 0.999939226351454 Centerline is valid? [True, True] Translation: X:-29.54, Y:2.03, Z:-1.63 [[ 9.96263411e-01 7.57671731e-02 -4.14554046e-02 -2.95440333e+01] [-7.56163123e-02 9.97123443e-01 5.19737255e-03 2.02689494e+00] [ 4.17299459e-02 -2.04324729e-03 9.99126837e-01 -1.63170812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.405347070000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.57, Y:2.04, Z:-1.63 [[ 9.96202644e-01 7.61992063e-02 -4.21185701e-02 -2.95732007e+01] [-7.60439875e-02 9.97090497e-01 5.27755734e-03 2.03653735e+00] [ 4.23981717e-02 -2.05465256e-03 9.99098681e-01 -1.63225980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.435347070000002 meters Centerline goodness [0,1] 0.9999050242188242 Centerline is valid? [True, True] Translation: X:-29.60, Y:2.05, Z:-1.63 [[ 9.96061758e-01 7.81106163e-02 -4.19488556e-02 -2.96034682e+01] [-7.79583660e-02 9.96942763e-01 5.25560489e-03 2.04571231e+00] [ 4.22311265e-02 -1.96464281e-03 9.99105936e-01 -1.63136675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.465347070000004 meters Centerline goodness [0,1] 0.999777162321332 Centerline is valid? [True, True] Translation: X:-29.64, Y:2.05, Z:-1.63 [[ 9.96023612e-01 7.77273689e-02 -4.35364373e-02 -2.96351993e+01] [-7.75631200e-02 9.96972537e-01 5.45183094e-03 2.04808204e+00] [ 4.38283889e-02 -2.05333043e-03 9.99036964e-01 -1.63249690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.495347070000005 meters Centerline goodness [0,1] 0.9998052580331062 Centerline is valid? [True, True] Translation: X:-29.67, Y:2.05, Z:-1.64 [[ 9.96067885e-01 7.68962083e-02 -4.39970702e-02 -2.96665251e+01] [-7.67277532e-02 9.97036871e-01 5.50727621e-03 2.05361566e+00] [ 4.42901899e-02 -2.10982462e-03 9.99016480e-01 -1.63500349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.525347070000002 meters Centerline goodness [0,1] 0.9999008297246372 Centerline is valid? [True, True] Translation: X:-29.70, Y:2.06, Z:-1.63 [[ 9.96179656e-01 7.46581166e-02 -4.53018613e-02 -2.96965896e+01] [-7.44774113e-02 9.97206604e-01 5.66610071e-03 2.05946423e+00] [ 4.55983356e-02 -2.27048891e-03 9.98957275e-01 -1.63357258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.555347070000003 meters Centerline goodness [0,1] 0.999833787647098 Centerline is valid? [True, True] Translation: X:-29.73, Y:2.06, Z:-1.64 [[ 9.96444157e-01 7.07263783e-02 -4.57910533e-02 -2.97270882e+01] [-7.05376806e-02 9.97492683e-01 5.72568292e-03 2.06234362e+00] [ 4.60811974e-02 -2.47532860e-03 9.98934630e-01 -1.63512754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.585347070000005 meters Centerline goodness [0,1] 0.9998978097217018 Centerline is valid? [True, True] Translation: X:-29.76, Y:2.07, Z:-1.63 [[ 9.96540742e-01 6.86101979e-02 -4.68955252e-02 -2.97557500e+01] [-6.84099921e-02 9.97640066e-01 5.86277957e-03 2.06625632e+00] [ 4.71871013e-02 -2.63437620e-03 9.98882594e-01 -1.63202281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.615347070000002 meters Centerline goodness [0,1] 0.9998971510850561 Centerline is valid? [True, True] Translation: X:-29.79, Y:2.07, Z:-1.63 [[ 9.96826441e-01 6.29587577e-02 -4.87159194e-02 -2.97852758e+01] [-6.27357503e-02 9.98011563e-01 6.09479232e-03 2.06898282e+00] [ 4.90027714e-02 -3.01922038e-03 9.98794079e-01 -1.63192888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.645347070000003 meters Centerline goodness [0,1] 0.9998617877751287 Centerline is valid? [True, True] Translation: X:-29.82, Y:2.07, Z:-1.63 [[ 9.96884560e-01 5.91100223e-02 -5.22223956e-02 -2.98157096e+01] [-5.88482889e-02 9.98245536e-01 6.53676036e-03 2.07034701e+00] [ 5.25171613e-02 -3.44319686e-03 9.98614086e-01 -1.63136530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.675347070000004 meters Centerline goodness [0,1] 0.9995876997079539 Centerline is valid? [True, True] Translation: X:-29.85, Y:2.07, Z:-1.63 [[ 9.97048599e-01 5.49998163e-02 -5.35640863e-02 -2.98461315e+01] [-5.47184621e-02 9.98479302e-01 6.70621408e-03 2.06918652e+00] [ 5.38514720e-02 -3.75547693e-03 9.98541895e-01 -1.63233230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.705347070000002 meters Centerline goodness [0,1] 0.9990077667909809 Centerline is valid? [True, True] Translation: X:-29.88, Y:2.07, Z:-1.63 [[ 9.96995326e-01 5.56370332e-02 -5.38965686e-02 -2.98753153e+01] [-5.53531154e-02 9.98444041e-01 6.74749757e-03 2.06767111e+00] [ 5.41881185e-02 -3.74388056e-03 9.98523726e-01 -1.63138789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.735347070000003 meters Centerline goodness [0,1] 0.9993780879660021 Centerline is valid? [True, True] Translation: X:-29.90, Y:2.08, Z:-1.63 [[ 9.97072059e-01 5.29471967e-02 -5.51715848e-02 -2.99034837e+01] [-5.26443583e-02 9.98589285e-01 6.92901170e-03 2.07601235e+00] [ 5.54606252e-02 -4.00425128e-03 9.98452846e-01 -1.63457725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.765347070000004 meters Centerline goodness [0,1] 0.9987728388328334 Centerline is valid? [True, True] Translation: X:-29.93, Y:2.08, Z:-1.63 [[ 9.96963479e-01 5.48617068e-02 -5.52631373e-02 -2.99331909e+01] [-5.45606305e-02 9.98486319e-01 6.94328375e-03 2.07543149e+00] [ 5.55604069e-02 -3.90700870e-03 9.98447683e-01 -1.63307517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.795347070000002 meters Centerline goodness [0,1] 0.9995243434240478 Centerline is valid? [True, True] Translation: X:-29.96, Y:2.08, Z:-1.63 [[ 9.96985382e-01 5.46680431e-02 -5.50595393e-02 -2.99601266e+01] [-5.43686605e-02 9.98496939e-01 6.92185154e-03 2.08140485e+00] [ 5.53551856e-02 -3.90747140e-03 9.98459080e-01 -1.63151282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.825347070000003 meters Centerline goodness [0,1] 0.9990535424553812 Centerline is valid? [True, True] Translation: X:-29.99, Y:2.08, Z:-1.63 [[ 9.96934771e-01 5.51760024e-02 -5.54677443e-02 -2.99881848e+01] [-5.48726006e-02 9.98468972e-01 6.97924337e-03 2.08461168e+00] [ 5.57679084e-02 -3.91419101e-03 9.98436087e-01 -1.63410795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.855347070000004 meters Centerline goodness [0,1] 0.9985685071574643 Centerline is valid? [True, True] Translation: X:-30.02, Y:2.09, Z:-1.63 [[ 9.97178812e-01 5.30913765e-02 -5.30633780e-02 -3.00173386e+01] [-5.28097687e-02 9.98582140e-01 6.69610600e-03 2.09402628e+00] [ 5.33436470e-02 -3.87495031e-03 9.98568696e-01 -1.62882290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.88534707 meters Centerline goodness [0,1] 0.9994278983678277 Centerline is valid? [True, True] Translation: X:-30.04, Y:2.10, Z:-1.63 [[ 9.97179851e-01 5.33116677e-02 -5.28224504e-02 -3.00428863e+01] [-5.30328295e-02 9.98570510e-01 6.66743462e-03 2.10474271e+00] [ 5.31023933e-02 -3.84730746e-03 9.98581661e-01 -1.62978155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.915347070000003 meters Centerline goodness [0,1] 0.9998295086439117 Centerline is valid? [True, True] Translation: X:-30.07, Y:2.11, Z:-1.63 [[ 9.96875321e-01 5.83893070e-02 -5.32004119e-02 -3.00727940e+01] [-5.81130759e-02 9.98287350e-01 6.72580121e-03 2.11297997e+00] [ 5.35020131e-02 -3.61314566e-03 9.98561205e-01 -1.62817847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.945347070000004 meters Centerline goodness [0,1] 0.9994739091835728 Centerline is valid? [True, True] Translation: X:-30.10, Y:2.12, Z:-1.63 [[ 9.96774518e-01 6.10404072e-02 -5.21021039e-02 -3.01015362e+01] [-6.07790533e-02 9.98129507e-01 6.58745070e-03 2.12016829e+00] [ 5.24067479e-02 -3.39948644e-03 9.98620036e-01 -1.62919308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.97534707 meters Centerline goodness [0,1] 0.9998724937043767 Centerline is valid? [True, True] Translation: X:-30.13, Y:2.13, Z:-1.63 [[ 9.96526471e-01 6.42804368e-02 -5.29435340e-02 -3.01292701e+01] [-6.40149722e-02 9.97926471e-01 6.69647512e-03 2.12863405e+00] [ 5.32642064e-02 -3.28403585e-03 9.98575054e-01 -1.63204033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.005347070000003 meters Centerline goodness [0,1] 0.9999673884685625 Centerline is valid? [True, True] Translation: X:-30.16, Y:2.14, Z:-1.63 [[ 9.96275552e-01 6.79821132e-02 -5.30420325e-02 -3.01579207e+01] [-6.77206704e-02 9.97681737e-01 6.71287266e-03 2.13802852e+00] [ 5.33754224e-02 -3.09582891e-03 9.98569717e-01 -1.62996264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.035347070000004 meters Centerline goodness [0,1] 0.9999344262295082 Centerline is valid? [True, True] Translation: X:-30.19, Y:2.14, Z:-1.63 [[ 9.96179667e-01 7.01021929e-02 -5.20745047e-02 -3.01864549e+01] [-6.98528605e-02 9.97535506e-01 6.59491835e-03 2.14445763e+00] [ 5.24084856e-02 -2.93217045e-03 9.98621426e-01 -1.62890271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.06534707 meters Centerline goodness [0,1] 0.9999347045380346 Centerline is valid? [True, True] Translation: X:-30.22, Y:2.15, Z:-1.63 [[ 9.95930761e-01 7.30526264e-02 -5.27753143e-02 -3.02156663e+01] [-7.27994646e-02 9.97324053e-01 6.70607623e-03 2.14968740e+00] [ 5.31239868e-02 -2.83677298e-03 9.98583895e-01 -1.63092118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.095347070000003 meters Centerline goodness [0,1] 0.9998727209087727 Centerline is valid? [True, True] Translation: X:-30.25, Y:2.15, Z:-1.63 [[ 9.95567838e-01 7.55510675e-02 -5.60063945e-02 -3.02452603e+01] [-7.52696702e-02 9.97137796e-01 7.11993844e-03 2.15378774e+00] [ 5.63840117e-02 -2.87279887e-03 9.98405023e-01 -1.63156124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.125347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.27, Y:2.17, Z:-1.63 [[ 9.95210557e-01 8.14202801e-02 -5.40988547e-02 -3.02726020e+01] [-8.11662357e-02 9.96676831e-01 6.88022077e-03 2.17075015e+00] [ 5.44792645e-02 -2.45626795e-03 9.98511881e-01 -1.63161562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.155347070000005 meters Centerline goodness [0,1] 0.9995386997924149 Centerline is valid? [True, True] Translation: X:-30.30, Y:2.18, Z:-1.62 [[ 9.94505362e-01 9.11220206e-02 -5.15350587e-02 -3.03030431e+01] [-9.09043423e-02 9.95838042e-01 6.55706435e-03 2.18022249e+00] [ 5.19180649e-02 -1.83627503e-03 9.98649660e-01 -1.62066816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.185347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.33, Y:2.19, Z:-1.63 [[ 9.93954954e-01 9.59452344e-02 -5.33672241e-02 -3.03325964e+01] [-9.57186326e-02 9.95385259e-01 6.79186237e-03 2.18962243e+00] [ 5.37725950e-02 -1.64256753e-03 9.98551856e-01 -1.62911707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.215347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.36, Y:2.20, Z:-1.63 [[ 9.93777758e-01 9.76768635e-02 -5.35256791e-02 -3.03639887e+01] [-9.74514726e-02 9.95216971e-01 6.81105555e-03 2.19538211e+00] [ 5.39349468e-02 -1.55251926e-03 9.98543245e-01 -1.63021329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.245347070000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.39, Y:2.20, Z:-1.63 [[ 9.93484469e-01 1.00938285e-01 -5.29157160e-02 -3.03947835e+01] [-1.00722935e-01 9.94891768e-01 6.72762428e-03 2.20188872e+00] [ 5.33244851e-02 -1.35396399e-03 9.98576320e-01 -1.62885449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.275347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.43, Y:2.21, Z:-1.63 [[ 9.93503794e-01 1.00204645e-01 -5.39373789e-02 -3.04269850e+01] [-9.99800455e-02 9.94965841e-01 6.85321028e-03 2.20856422e+00] [ 5.43525731e-02 -1.41602881e-03 9.98520802e-01 -1.62713765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.305347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.46, Y:2.21, Z:-1.63 [[ 9.93345977e-01 1.01895827e-01 -5.36750427e-02 -3.04583734e+01] [-1.01676190e-01 9.94794210e-01 6.81404827e-03 2.21498425e+00] [ 5.40899448e-02 -1.31123360e-03 9.98535206e-01 -1.62710202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.335347070000005 meters Centerline goodness [0,1] 0.9996967348451663 Centerline is valid? [True, True] Translation: X:-30.49, Y:2.22, Z:-1.62 [[ 9.93022265e-01 1.05616058e-01 -5.24597879e-02 -3.04891627e+01] [-1.05411742e-01 9.94406399e-01 6.65417674e-03 2.22443197e+00] [ 5.28691367e-02 -1.07786802e-03 9.98600868e-01 -1.62199456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.365347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.52, Y:2.23, Z:-1.63 [[ 9.93038123e-01 1.03287216e-01 -5.66307116e-02 -3.05214264e+01] [-1.03045576e-01 9.94650732e-01 7.17842409e-03 2.22902601e+00] [ 5.70692182e-02 -1.29290446e-03 9.98369387e-01 -1.62536023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.395347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.55, Y:2.24, Z:-1.62 [[ 9.93059080e-01 1.02864737e-01 -5.70307812e-02 -3.05532391e+01] [-1.02619429e-01 9.94694479e-01 7.22119121e-03 2.23617565e+00] [ 5.74710092e-02 -1.31860330e-03 9.98346305e-01 -1.62296276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.425347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.58, Y:2.24, Z:-1.62 [[ 9.92998566e-01 1.03648901e-01 -5.66635030e-02 -3.05848119e+01] [-1.03408367e-01 9.94613151e-01 7.16863726e-03 2.24366343e+00] [ 5.71012866e-02 -1.25896620e-03 9.98367597e-01 -1.62164887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.455347070000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.62, Y:2.25, Z:-1.62 [[ 9.93009628e-01 1.03542447e-01 -5.66642729e-02 -3.06162024e+01] [-1.03302087e-01 9.94624239e-01 7.16254657e-03 2.24772739e+00] [ 5.71012869e-02 -1.25894005e-03 9.98367597e-01 -1.62354093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.485347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.65, Y:2.25, Z:-1.62 [[ 9.93074987e-01 1.01870550e-01 -5.85189025e-02 -3.06478694e+01] [-1.01611670e-01 9.94796688e-01 7.39040338e-03 2.25155559e+00] [ 5.89672748e-02 -1.39302133e-03 9.98258944e-01 -1.62458858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.515347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.68, Y:2.26, Z:-1.62 [[ 9.93289810e-01 1.01777473e-01 -5.49244933e-02 -3.06801493e+01] [-1.01549618e-01 9.94806332e-01 6.93086890e-03 2.25892686e+00] [ 5.53446401e-02 -1.30680015e-03 9.98466456e-01 -1.61888517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.545347070000002 meters Centerline goodness [0,1] 0.9999663027362178 Centerline is valid? [True, True] Translation: X:-30.71, Y:2.27, Z:-1.62 [[ 9.93425642e-01 9.89669072e-02 -5.75416884e-02 -3.07105673e+01] [-9.87124293e-02 9.95089553e-01 7.25521004e-03 2.26597107e+00] [ 5.79771586e-02 -1.52743185e-03 9.98316741e-01 -1.61840115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.575347070000003 meters Centerline goodness [0,1] 0.9998987102437706 Centerline is valid? [True, True] Translation: X:-30.74, Y:2.27, Z:-1.62 [[ 9.93549853e-01 9.66812816e-02 -5.92572248e-02 -3.07429768e+01] [-9.64076805e-02 9.95313932e-01 7.46558351e-03 2.27049897e+00] [ 5.97013237e-02 -1.70457780e-03 9.98214830e-01 -1.61883781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.605347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.77, Y:2.28, Z:-1.62 [[ 9.93651146e-01 9.50466312e-02 -6.01958220e-02 -3.07737838e+01] [-9.47617459e-02 9.95471150e-01 7.57630261e-03 2.27775487e+00] [ 6.06433062e-02 -1.82394059e-03 9.98157835e-01 -1.61949008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.63534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.80, Y:2.29, Z:-1.62 [[ 9.93825587e-01 9.44378826e-02 -5.82424977e-02 -3.08047535e+01] [-9.41704127e-02 9.95529136e-01 7.32622976e-03 2.28632930e+00] [ 5.86739770e-02 -1.79627454e-03 9.98275582e-01 -1.61744196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.665347070000003 meters Centerline goodness [0,1] 0.9997550649077994 Centerline is valid? [True, True] Translation: X:-30.84, Y:2.29, Z:-1.61 [[ 9.93771318e-01 9.52112424e-02 -5.79084309e-02 -3.08369004e+01] [-9.49483999e-02 9.95455577e-01 7.27986761e-03 2.29405324e+00] [ 5.83383957e-02 -1.73621078e-03 9.98295356e-01 -1.61253436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.695347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.87, Y:2.30, Z:-1.61 [[ 9.93705758e-01 9.37453790e-02 -6.13242990e-02 -3.08675786e+01] [-9.34481954e-02 9.95594347e-01 7.70264800e-03 2.30239938e+00] [ 6.17762130e-02 -1.92352061e-03 9.98088172e-01 -1.61493806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.72534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.90, Y:2.31, Z:-1.61 [[ 9.93652080e-01 9.45152564e-02 -6.10115587e-02 -3.08992453e+01] [-9.42228435e-02 9.95521673e-01 7.65857885e-03 2.31074235e+00] [ 6.14621816e-02 -1.86128026e-03 9.98107677e-01 -1.61233256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.755347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.93, Y:2.32, Z:-1.61 [[ 9.93539892e-01 9.62151681e-02 -6.01757772e-02 -3.09295567e+01] [-9.59342127e-02 9.95359062e-01 7.54742558e-03 2.32397486e+00] [ 6.06226820e-02 -1.72575258e-03 9.98159262e-01 -1.60986938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.785347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.96, Y:2.33, Z:-1.61 [[ 9.93388451e-01 9.66910545e-02 -6.18888083e-02 -3.09610481e+01] [-9.63950890e-02 9.95312921e-01 7.75726399e-03 2.33320292e+00] [ 6.23487887e-02 -1.74019927e-03 9.98052905e-01 -1.60961236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.815347070000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.99, Y:2.34, Z:-1.61 [[ 9.93164202e-01 9.85132729e-02 -6.26099317e-02 -3.09926915e+01] [-9.82143951e-02 9.95134389e-01 7.84099800e-03 2.34291048e+00] [ 6.30777385e-02 -1.63820195e-03 9.98007272e-01 -1.61060177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.845347070000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.02, Y:2.35, Z:-1.61 [[ 9.92968287e-01 9.94142560e-02 -6.42711929e-02 -3.10242743e+01] [-9.91016259e-02 9.95044820e-01 8.04199796e-03 2.35251895e+00] [ 6.47522068e-02 -1.61606923e-03 9.97900065e-01 -1.61065630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.875347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.05, Y:2.36, Z:-1.61 [[ 9.92911864e-01 9.81973638e-02 -6.69575050e-02 -3.10545521e+01] [-9.78557965e-02 9.95165406e-01 8.37005674e-03 2.36181736e+00] [ 6.74557102e-02 -1.75854866e-03 9.97720720e-01 -1.60933193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.905347070000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.09, Y:2.37, Z:-1.61 [[ 9.92652281e-01 1.00750856e-01 -6.70127975e-02 -3.10854920e+01] [-1.00415302e-01 9.94910440e-01 8.36557047e-03 2.37468586e+00] [ 6.75145703e-02 -1.57499233e-03 9.97717045e-01 -1.60978073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.935347070000002 meters Centerline goodness [0,1] 0.9999630368891846 Centerline is valid? [True, True] Translation: X:-31.12, Y:2.38, Z:-1.61 [[ 9.92535335e-01 1.00318784e-01 -6.93523693e-02 -3.11175066e+01] [-9.99588539e-02 9.94953974e-01 8.64971739e-03 2.38203154e+00] [ 6.98701446e-02 -1.65276679e-03 9.97554726e-01 -1.61102048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.965347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.15, Y:2.39, Z:-1.61 [[ 9.92392374e-01 1.00957543e-01 -7.04624015e-02 -3.11493499e+01] [-1.00588243e-01 9.94889409e-01 8.77893749e-03 2.38854854e+00] [ 7.09885969e-02 -1.62446144e-03 9.97475804e-01 -1.61270229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.995347070000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.18, Y:2.40, Z:-1.61 [[ 9.92134307e-01 1.03495958e-01 -7.04138046e-02 -3.11794427e+01] [-1.03134038e-01 9.94628839e-01 8.76599952e-03 2.40238464e+00] [ 7.09428463e-02 -1.43498888e-03 9.97479350e-01 -1.60779442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.02534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.21, Y:2.41, Z:-1.61 [[ 9.92005789e-01 1.04447869e-01 -7.08177764e-02 -3.12112830e+01] [-1.04084632e-01 9.94529421e-01 8.81023430e-03 2.40898640e+00] [ 7.13505723e-02 -1.36876122e-03 9.97450361e-01 -1.61038461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.055347069999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.24, Y:2.42, Z:-1.61 [[ 9.91838183e-01 1.05606861e-01 -7.14437492e-02 -3.12411826e+01] [-1.05240700e-01 9.94407124e-01 8.88069583e-03 2.42067939e+00] [ 7.19820356e-02 -1.28942302e-03 9.97405095e-01 -1.60867500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.08534707 meters Centerline goodness [0,1] 0.9996964177292046 Centerline is valid? [True, True] Translation: X:-31.27, Y:2.43, Z:-1.61 [[ 9.91473268e-01 1.08990825e-01 -7.14265933e-02 -3.12712426e+01] [-1.08634080e-01 9.94042215e-01 8.87197157e-03 2.43095260e+00] [ 7.19680125e-02 -1.03696042e-03 9.97406402e-01 -1.60582800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.11534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.30, Y:2.44, Z:-1.61 [[ 9.91375145e-01 1.08117968e-01 -7.40663621e-02 -3.13017449e+01] [-1.07732804e-01 9.94137430e-01 9.18763625e-03 2.43977174e+00] [ 7.46254915e-02 -1.12901736e-03 9.97210991e-01 -1.61426076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.14534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.33, Y:2.45, Z:-1.61 [[ 9.91104419e-01 1.10384721e-01 -7.43454416e-02 -3.13330625e+01] [-1.10003579e-01 9.93888476e-01 9.21467490e-03 2.44877369e+00] [ 7.49082369e-02 -9.54440344e-04 9.97189974e-01 -1.61382310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.17534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.36, Y:2.46, Z:-1.61 [[ 9.90915151e-01 1.11359441e-01 -7.54071507e-02 -3.13645765e+01] [-1.10970689e-01 9.93779799e-01 9.33898535e-03 2.45800450e+00] [ 7.59780873e-02 -8.86158605e-04 9.97109094e-01 -1.61420292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.20534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.40, Y:2.47, Z:-1.61 [[ 9.90597500e-01 1.14437114e-01 -7.49715898e-02 -3.13955332e+01] [-1.14062182e-01 9.93430289e-01 9.27795319e-03 2.46864675e+00] [ 7.55407903e-02 -6.39294119e-04 9.97142508e-01 -1.61483335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.23534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.43, Y:2.48, Z:-1.61 [[ 9.90363432e-01 1.16172095e-01 -7.53944116e-02 -3.14268793e+01] [-1.15798472e-01 9.93228972e-01 9.32321548e-03 2.47679365e+00] [ 7.59670114e-02 -5.02813997e-04 9.97110205e-01 -1.61397618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.26534707 meters Centerline goodness [0,1] 0.999689766161244 Centerline is valid? [True, True] Translation: X:-31.46, Y:2.49, Z:-1.61 [[ 9.90235588e-01 1.17756283e-01 -7.46119188e-02 -3.14575131e+01] [-1.17395364e-01 9.93042456e-01 9.21999367e-03 2.48841428e+00] [ 7.51785153e-02 -3.70872486e-04 9.97170022e-01 -1.60885911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.29534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.49, Y:2.50, Z:-1.62 [[ 9.90289087e-01 1.16387380e-01 -7.60361872e-02 -3.14880668e+01] [-1.16009244e-01 9.93203782e-01 9.38628439e-03 2.49571701e+00] [ 7.66118738e-02 -4.74234377e-04 9.97060879e-01 -1.61522884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.32534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.52, Y:2.50, Z:-1.62 [[ 9.90312308e-01 1.15643892e-01 -7.68636670e-02 -3.15193083e+01] [-1.15256857e-01 9.93290604e-01 9.46750702e-03 2.50300519e+00] [ 7.74428175e-02 -5.16724068e-04 9.96996661e-01 -1.61821455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.35534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.55, Y:2.51, Z:-1.62 [[ 9.90141221e-01 1.15857808e-01 -7.87231221e-02 -3.15502060e+01] [-1.15453097e-01 9.93265681e-01 9.68856500e-03 2.51348820e+00] [ 7.93154714e-02 -5.04219287e-04 9.96849438e-01 -1.61909650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.38534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.58, Y:2.53, Z:-1.62 [[ 9.89939175e-01 1.17730771e-01 -7.84850044e-02 -3.15796744e+01] [-1.17334928e-01 9.93045490e-01 9.65241879e-03 2.52500446e+00] [ 7.90755664e-02 -3.46275164e-04 9.96868565e-01 -1.62062733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.41534707 meters Centerline goodness [0,1] 0.9999598151496886 Centerline is valid? [True, True] Translation: X:-31.61, Y:2.54, Z:-1.62 [[ 9.89567992e-01 1.19967856e-01 -7.97678099e-02 -3.16099367e+01] [-1.19566763e-01 9.92777763e-01 9.80318520e-03 2.53538905e+00] [ 8.03677750e-02 -1.63339467e-04 9.96765265e-01 -1.62041528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.44534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.64, Y:2.54, Z:-1.62 [[ 9.89508105e-01 1.20810036e-01 -7.92379088e-02 -3.16406079e+01] [-1.20418020e-01 9.92675641e-01 9.72480018e-03 2.54477645e+00] [ 7.98323954e-02 -8.10965159e-05 9.96808298e-01 -1.62310113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.47534707 meters Centerline goodness [0,1] 0.9996430696014277 Centerline is valid? [True, True] Translation: X:-31.67, Y:2.56, Z:-1.63 [[ 9.89041575e-01 1.24791024e-01 -7.88920987e-02 -3.16723454e+01] [-1.24415660e-01 9.92183017e-01 9.67491192e-03 2.55892833e+00] [ 7.94827427e-02 2.46522398e-04 9.96836212e-01 -1.62617195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.50534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.70, Y:2.57, Z:-1.63 [[ 9.88614903e-01 1.27378327e-01 -8.00957830e-02 -3.17031324e+01] [-1.27001134e-01 9.91854089e-01 9.80701570e-03 2.56992081e+00] [ 8.06925312e-02 4.76893397e-04 9.96738927e-01 -1.62803299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.53534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.73, Y:2.58, Z:-1.63 [[ 9.88387202e-01 1.29048264e-01 -8.02326846e-02 -3.17327784e+01] [-1.28677264e-01 9.91638108e-01 9.79918012e-03 2.58300345e+00] [ 8.08263548e-02 6.38738150e-04 9.96727993e-01 -1.62738743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.56534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.76, Y:2.59, Z:-1.63 [[ 9.87977509e-01 1.31598747e-01 -8.11308235e-02 -3.17633380e+01] [-1.31230001e-01 9.91302675e-01 9.88403768e-03 2.59215072e+00] [ 8.17259293e-02 8.81591133e-04 9.96654451e-01 -1.62632155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.59534707 meters Centerline goodness [0,1] 0.9999195106245976 Centerline is valid? [True, True] Translation: X:-31.79, Y:2.60, Z:-1.63 [[ 9.87913167e-01 1.33618427e-01 -7.85728324e-02 -3.17944998e+01] [-1.33280987e-01 9.91032307e-01 9.54702468e-03 2.60205560e+00] [ 7.91438737e-02 1.04063323e-03 9.96862661e-01 -1.62715988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.62534707 meters Centerline goodness [0,1] 0.9999592701205604 Centerline is valid? [True, True] Translation: X:-31.83, Y:2.61, Z:-1.63 [[ 9.87688958e-01 1.34392745e-01 -8.00569253e-02 -3.18255869e+01] [-1.34047223e-01 9.90927477e-01 9.69937332e-03 2.61389346e+00] [ 8.06341323e-02 1.15144459e-03 9.96743102e-01 -1.63284147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.65534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.86, Y:2.62, Z:-1.63 [[ 9.87627665e-01 1.34531668e-01 -8.05780746e-02 -3.18566384e+01] [-1.34184176e-01 9.90908573e-01 9.73688611e-03 2.61930584e+00] [ 8.11554244e-02 1.19588442e-03 9.96700741e-01 -1.63059008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.68534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.89, Y:2.62, Z:-1.63 [[ 9.87817580e-01 1.33913362e-01 -7.92694172e-02 -3.18869302e+01] [-1.33576781e-01 9.90992379e-01 9.55764314e-03 2.62478183e+00] [ 7.98352844e-02 1.14734568e-03 9.96807409e-01 -1.63150224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.71534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.92, Y:2.63, Z:-1.63 [[ 9.87927605e-01 1.32521409e-01 -8.02316899e-02 -3.19186925e+01] [-1.32173444e-01 9.91179571e-01 9.65602693e-03 2.63020926e+00] [ 8.08036422e-02 1.06504321e-03 9.96729470e-01 -1.63165251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.74534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.95, Y:2.63, Z:-1.63 [[ 9.88323806e-01 1.29452531e-01 -8.03622838e-02 -3.19505056e+01] [-1.29095651e-01 9.91585261e-01 9.64278201e-03 2.63474678e+00] [ 8.09343387e-02 8.44230356e-04 9.96719078e-01 -1.63396521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.77534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.98, Y:2.64, Z:-1.64 [[ 9.88544901e-01 1.28664514e-01 -7.88950048e-02 -3.19826421e+01] [-1.28320181e-01 9.91687862e-01 9.44009347e-03 2.64048137e+00] [ 7.94538236e-02 7.91865005e-04 9.96838233e-01 -1.63744865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.805347069999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.01, Y:2.64, Z:-1.64 [[ 9.88763304e-01 1.27222766e-01 -7.84951995e-02 -3.20139276e+01] [-1.26879423e-01 9.91873924e-01 9.36651773e-03 2.64422171e+00] [ 7.90489758e-02 6.98156612e-04 9.96870489e-01 -1.63663754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.83534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.05, Y:2.65, Z:-1.64 [[ 9.89275364e-01 1.24070386e-01 -7.70765462e-02 -3.20462019e+01] [-1.23731604e-01 9.92273313e-01 9.17405816e-03 2.64784582e+00] [ 7.76192287e-02 4.61134972e-04 9.96982970e-01 -1.63629098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.86534707 meters Centerline goodness [0,1] 0.9999581817421487 Centerline is valid? [True, True] Translation: X:-32.08, Y:2.65, Z:-1.64 [[ 9.89362109e-01 1.22986659e-01 -7.76974799e-02 -3.20768407e+01] [-1.22640836e-01 9.92408243e-01 9.22524040e-03 2.65193975e+00] [ 7.82422010e-02 4.01780614e-04 9.96934299e-01 -1.63759371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.89534707 meters Centerline goodness [0,1] 0.9996266334785314 Centerline is valid? [True, True] Translation: X:-32.11, Y:2.65, Z:-1.64 [[ 9.89437178e-01 1.24549959e-01 -7.41712780e-02 -3.21085362e+01] [-1.24240368e-01 9.92213203e-01 8.79146627e-03 2.65496595e+00] [ 7.46886981e-02 5.16463311e-04 9.97206765e-01 -1.63553592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.92534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.14, Y:2.66, Z:-1.64 [[ 9.89889498e-01 1.21498304e-01 -7.31911515e-02 -3.21401909e+01] [-1.21190239e-01 9.92591592e-01 8.65201435e-03 2.65898568e+00] [ 7.37001267e-02 3.05514983e-04 9.97280401e-01 -1.63611047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.95534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.17, Y:2.66, Z:-1.64 [[ 9.90031764e-01 1.20448663e-01 -7.30015515e-02 -3.21726952e+01] [-1.20141129e-01 9.92719526e-01 8.60537533e-03 2.66238551e+00] [ 7.35065715e-02 2.50893880e-04 9.97294701e-01 -1.63878059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.98534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.21, Y:2.67, Z:-1.64 [[ 9.90348175e-01 1.17979981e-01 -7.27407518e-02 -3.22051857e+01] [-1.17669991e-01 9.93015969e-01 8.54740037e-03 2.66563464e+00] [ 7.32411503e-02 9.45012865e-05 9.97314256e-01 -1.64184085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.01534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.24, Y:2.67, Z:-1.64 [[ 9.90194414e-01 1.19264612e-01 -7.27390878e-02 -3.22365318e+01] [-1.18960090e-01 9.92862481e-01 8.52007178e-03 2.66985295e+00] [ 7.32360542e-02 2.16520964e-04 9.97314611e-01 -1.64426229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.04534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.27, Y:2.67, Z:-1.64 [[ 9.90131822e-01 1.20414103e-01 -7.16897462e-02 -3.22694842e+01] [-1.20123189e-01 9.92723698e-01 8.37137216e-03 2.67439346e+00] [ 7.21761412e-02 3.22838965e-04 9.97391849e-01 -1.64418637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.07534707 meters Centerline goodness [0,1] 0.9999583333333333 Centerline is valid? [True, True] Translation: X:-32.30, Y:2.68, Z:-1.65 [[ 9.90423431e-01 1.19153069e-01 -6.97421915e-02 -3.23019782e+01] [-1.18876462e-01 9.92875865e-01 8.11808679e-03 2.67747692e+00] [ 7.02126337e-02 2.50361622e-04 9.97532016e-01 -1.64546618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.10534707 meters Centerline goodness [0,1] 0.9998750208298617 Centerline is valid? [True, True] Translation: X:-32.33, Y:2.68, Z:-1.64 [[ 9.90456080e-01 1.19728698e-01 -6.82773260e-02 -3.23334148e+01] [-1.19466399e-01 9.92806600e-01 7.92678934e-03 2.68017482e+00] [ 6.87352441e-02 3.05709581e-04 9.97634890e-01 -1.64305083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.13534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.36, Y:2.68, Z:-1.65 [[ 9.90712034e-01 1.18186193e-01 -6.72435091e-02 -3.23648756e+01] [-1.17929039e-01 9.92991430e-01 7.79493907e-03 2.68233968e+00] [ 6.76934825e-02 2.07422451e-04 9.97706144e-01 -1.64545396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.16534707 meters Centerline goodness [0,1] 0.9998738965952081 Centerline is valid? [True, True] Translation: X:-32.40, Y:2.68, Z:-1.65 [[ 9.90545658e-01 1.19348690e-01 -6.76401479e-02 -3.23971859e+01] [-1.19092140e-01 9.92852355e-01 7.82709333e-03 2.68478884e+00] [ 6.80908335e-02 3.02316634e-04 9.97679080e-01 -1.64663496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.19534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.43, Y:2.69, Z:-1.65 [[ 9.90730149e-01 1.18681724e-01 -6.60940244e-02 -3.24305787e+01] [-1.18436902e-01 9.92932310e-01 7.62412596e-03 2.68759112e+00] [ 6.65317368e-02 2.74520024e-04 9.97784272e-01 -1.64878937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.22534707 meters Centerline goodness [0,1] 0.9998339835643729 Centerline is valid? [True, True] Translation: X:-32.46, Y:2.69, Z:-1.65 [[ 9.91165189e-01 1.15087232e-01 -6.59279760e-02 -3.24636859e+01] [-1.14837427e-01 9.93355387e-01 7.57891166e-03 2.68989041e+00] [ 6.63621461e-02 5.90457313e-05 9.97795601e-01 -1.65419240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.25534707 meters Centerline goodness [0,1] 0.9998316214850985 Centerline is valid? [True, True] Translation: X:-32.50, Y:2.69, Z:-1.65 [[ 9.90957803e-01 1.16928402e-01 -6.58056263e-02 -3.24959158e+01] [-1.16685303e-01 9.93140325e-01 7.53887332e-03 2.69063548e+00] [ 6.62357296e-02 2.07844077e-04 9.97803981e-01 -1.65110093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.28534707 meters Centerline goodness [0,1] 0.9999586263963591 Centerline is valid? [True, True] Translation: X:-32.53, Y:2.69, Z:-1.65 [[ 9.91226536e-01 1.15912011e-01 -6.35166201e-02 -3.25289765e+01] [-1.15684948e-01 9.93259473e-01 7.25341867e-03 2.69215760e+00] [ 6.39292430e-02 1.58135834e-04 9.97954421e-01 -1.65441606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.31534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.56, Y:2.69, Z:-1.65 [[ 9.91359100e-01 1.14676018e-01 -6.36910160e-02 -3.25618808e+01] [-1.14446808e-01 9.93402939e-01 7.24762126e-03 2.69346485e+00] [ 6.41019709e-02 1.04238226e-04 9.97943348e-01 -1.65499406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.34534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.59, Y:2.69, Z:-1.66 [[ 9.91418123e-01 1.14802058e-01 -6.25347379e-02 -3.25939516e+01] [-1.14582844e-01 9.93388378e-01 7.09241950e-03 2.69498206e+00] [ 6.29355062e-02 1.33854857e-04 9.98017587e-01 -1.65619111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.37534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.63, Y:2.70, Z:-1.66 [[ 9.91463361e-01 1.14409285e-01 -6.25373401e-02 -3.26263698e+01] [-1.14190742e-01 9.93433691e-01 7.06940156e-03 2.69887149e+00] [ 6.29355058e-02 1.32132641e-04 9.98017587e-01 -1.65813409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.40534707 meters Centerline goodness [0,1] 0.9996235884567126 Centerline is valid? [True, True] Translation: X:-32.66, Y:2.70, Z:-1.66 [[ 9.91555717e-01 1.14717233e-01 -6.04749291e-02 -3.26594674e+01] [-1.14514881e-01 9.93398172e-01 6.81282345e-03 2.69862476e+00] [ 6.08572322e-02 1.69985278e-04 9.98146466e-01 -1.66037229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.43534707 meters Centerline goodness [0,1] 0.9996627460899625 Centerline is valid? [True, True] Translation: X:-32.69, Y:2.70, Z:-1.66 [[ 9.91678810e-01 1.13634727e-01 -6.05002968e-02 -3.26923296e+01] [-1.13431671e-01 9.93522588e-01 6.79141925e-03 2.69969080e+00] [ 6.08801525e-02 1.27743211e-04 9.98145075e-01 -1.65971608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.46534707 meters Centerline goodness [0,1] 0.9998753376272596 Centerline is valid? [True, True] Translation: X:-32.73, Y:2.70, Z:-1.66 [[ 9.91825835e-01 1.12715177e-01 -5.98063657e-02 -3.27260888e+01] [-1.12516424e-01 9.93627335e-01 6.69134942e-03 2.69921361e+00] [ 6.01794563e-02 9.25451467e-05 9.98187570e-01 -1.66142111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.49534707 meters Centerline goodness [0,1] 0.9995389773679799 Centerline is valid? [True, True] Translation: X:-32.76, Y:2.70, Z:-1.66 [[ 9.91916018e-01 1.11806794e-01 -6.00154445e-02 -3.27591853e+01] [-1.11606455e-01 9.93729962e-01 6.69045424e-03 2.70169397e+00] [ 6.03871836e-02 6.17422557e-05 9.98175027e-01 -1.66485649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.52534707 meters Centerline goodness [0,1] 0.9995812746001173 Centerline is valid? [True, True] Translation: X:-32.79, Y:2.70, Z:-1.67 [[ 9.92043631e-01 1.11294963e-01 -5.88461194e-02 -3.27917372e+01] [-1.11102798e-01 9.93787416e-01 6.53756936e-03 2.70249858e+00] [ 5.92081315e-02 5.24144876e-05 9.98245658e-01 -1.66634273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.555347069999996 meters Centerline goodness [0,1] 0.9996682837832235 Centerline is valid? [True, True] Translation: X:-32.82, Y:2.70, Z:-1.67 [[ 9.92401896e-01 1.08179287e-01 -5.86150009e-02 -3.28240107e+01] [-1.07984465e-01 9.94131394e-01 6.49045006e-03 2.70224007e+00] [ 5.89731448e-02 -1.11625432e-04 9.98259563e-01 -1.66797359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.58534707 meters Centerline goodness [0,1] 0.9998771699967245 Centerline is valid? [True, True] Translation: X:-32.86, Y:2.70, Z:-1.67 [[ 9.92498533e-01 1.07991398e-01 -5.73107340e-02 -3.28568124e+01] [-1.07806072e-01 9.94151823e-01 6.32477561e-03 2.70352546e+00] [ 5.76585921e-02 -9.88854096e-05 9.98336355e-01 -1.66962539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.61534707 meters Centerline goodness [0,1] 0.9999180529378022 Centerline is valid? [True, True] Translation: X:-32.89, Y:2.70, Z:-1.67 [[ 9.92425721e-01 1.08898625e-01 -5.68531258e-02 -3.28895155e+01] [-1.08718188e-01 9.94052860e-01 6.26638371e-03 2.70381650e+00] [ 5.71974129e-02 -3.79515556e-05 9.98362887e-01 -1.66881559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.64534707 meters Centerline goodness [0,1] 0.999714542043879 Centerline is valid? [True, True] Translation: X:-32.92, Y:2.70, Z:-1.67 [[ 9.92809981e-01 1.05408565e-01 -5.67219227e-02 -3.29214168e+01] [-1.05224466e-01 9.94428975e-01 6.23094653e-03 2.70458309e+00] [ 5.70627186e-02 -2.17611906e-04 9.98370572e-01 -1.67115815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.67534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.95, Y:2.71, Z:-1.67 [[ 9.92987947e-01 1.03630080e-01 -5.68835984e-02 -3.29535237e+01] [-1.03442329e-01 9.94615859e-01 6.24318652e-03 2.70592884e+00] [ 5.72243110e-02 -3.15237075e-04 9.98361297e-01 -1.67169597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.70534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.99, Y:2.71, Z:-1.67 [[ 9.93177704e-01 1.02060995e-01 -5.64056917e-02 -3.29859627e+01] [-1.01874156e-01 9.94778063e-01 6.18552249e-03 2.70663048e+00] [ 5.67424454e-02 -3.97040768e-04 9.98388771e-01 -1.67403123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.73534707 meters Centerline goodness [0,1] 0.9998350311378728 Centerline is valid? [True, True] Translation: X:-33.02, Y:2.71, Z:-1.67 [[ 9.93004658e-01 1.03899884e-01 -5.60942290e-02 -3.30177375e+01] [-1.03718333e-01 9.94587720e-01 6.14610060e-03 2.71002004e+00] [ 5.64292105e-02 -2.85106599e-04 9.98406562e-01 -1.67271111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.76534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-33.05, Y:2.71, Z:-1.68 [[ 9.93405878e-01 9.99252970e-02 -5.62111710e-02 -3.30488515e+01] [-9.97368810e-02 9.94994813e-01 6.15444019e-03 2.71292989e+00] [ 5.65448078e-02 -5.07530195e-04 9.98399933e-01 -1.67752054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.79534707 meters Centerline goodness [0,1] 0.9996328029375765 Centerline is valid? [True, True] Translation: X:-33.08, Y:2.72, Z:-1.67 [[ 9.93310875e-01 1.01310295e-01 -5.54051432e-02 -3.30807398e+01] [-1.01130304e-01 9.94854793e-01 6.05001423e-03 2.71938813e+00] [ 5.57330010e-02 -4.06405969e-04 9.98445626e-01 -1.67279606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.82534707 meters Centerline goodness [0,1] 0.9997545108628944 Centerline is valid? [True, True] Translation: X:-33.11, Y:2.72, Z:-1.68 [[ 9.93294524e-01 1.01822366e-01 -5.47557640e-02 -3.31134165e+01] [-1.01648493e-01 9.94802534e-01 5.95837812e-03 2.72267793e+00] [ 5.50778689e-02 -3.52583448e-04 9.98482000e-01 -1.67760158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.85534707 meters Centerline goodness [0,1] 0.9999589541517876 Centerline is valid? [True, True] Translation: X:-33.15, Y:2.73, Z:-1.68 [[ 9.93269729e-01 1.01756122e-01 -5.53257319e-02 -3.31462523e+01] [-1.01578965e-01 9.94809312e-01 6.01215136e-03 2.72780378e+00] [ 5.56503265e-02 -3.51757365e-04 9.98450258e-01 -1.67824920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.88534707 meters Centerline goodness [0,1] 0.99995947807764 Centerline is valid? [True, True] Translation: X:-33.18, Y:2.73, Z:-1.68 [[ 9.93150242e-01 1.03103173e-01 -5.49757404e-02 -3.31777083e+01] [-1.02930769e-01 9.94670631e-01 5.96589015e-03 2.73270749e+00] [ 5.52978566e-02 -2.66329989e-04 9.98469867e-01 -1.67935760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.91534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-33.21, Y:2.74, Z:-1.68 [[ 9.93363213e-01 1.01064275e-01 -5.49139210e-02 -3.32091165e+01] [-1.00889391e-01 9.94879828e-01 5.95475568e-03 2.73646781e+00] [ 5.52345654e-02 -3.75003192e-04 9.98473336e-01 -1.68134775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.94534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-33.24, Y:2.74, Z:-1.68 [[ 9.93514128e-01 9.99270569e-02 -5.42610473e-02 -3.32413450e+01] [-9.97554984e-02 9.94994678e-01 5.86779737e-03 2.73848011e+00] [ 5.45758050e-02 -4.16901773e-04 9.98509543e-01 -1.68207883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.97534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-33.27, Y:2.74, Z:-1.69 [[ 9.93809524e-01 9.68837565e-02 -5.43706592e-02 -3.32731636e+01] [-9.67081559e-02 9.95295544e-01 5.85766035e-03 2.74062311e+00] [ 5.46823870e-02 -5.63312449e-04 9.98503640e-01 -1.68558442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.00534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-33.30, Y:2.74, Z:-1.69 [[ 9.94075583e-01 9.35906225e-02 -5.52678104e-02 -3.33039669e+01] [-9.34044119e-02 9.95610482e-01 5.94848107e-03 2.74303921e+00] [ 5.55819334e-02 -7.50982465e-04 9.98453847e-01 -1.68609001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.03534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-33.34, Y:2.74, Z:-1.69 [[ 9.94408248e-01 8.97291416e-02 -5.56858896e-02 -3.33360400e+01] [-8.95342826e-02 9.95965732e-01 5.98933021e-03 2.74369014e+00] [ 5.59986552e-02 -9.70043191e-04 9.98430373e-01 -1.68727268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.06534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-33.37, Y:2.75, Z:-1.69 [[ 9.94688862e-01 8.70136156e-02 -5.49790779e-02 -3.33684259e+01] [-8.68198337e-02 9.96206512e-01 5.90786387e-03 2.74648355e+00] [ 5.52845800e-02 -1.10321199e-03 9.98470029e-01 -1.69065108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.09534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-33.40, Y:2.75, Z:-1.69 [[ 9.94911958e-01 8.44241508e-02 -5.49796170e-02 -3.34009117e+01] [-8.42267817e-02 9.96429136e-01 5.90130407e-03 2.74848154e+00] [ 5.52815048e-02 -1.24052179e-03 9.98470038e-01 -1.69187420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.12534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-33.43, Y:2.75, Z:-1.69 [[ 9.95089579e-01 8.19780669e-02 -5.54646400e-02 -3.34319000e+01] [-8.17737001e-02 9.96633174e-01 5.94800943e-03 2.75253425e+00] [ 5.57655065e-02 -1.38325337e-03 9.98442935e-01 -1.69423872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.15534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-33.46, Y:2.76, Z:-1.70 [[ 9.95330118e-01 7.91612087e-02 -5.52400112e-02 -3.34642717e+01] [-7.89543669e-02 9.96860652e-01 5.92025121e-03 2.75608062e+00] [ 5.55352478e-02 -1.53116422e-03 9.98455553e-01 -1.69600058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.18534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-33.50, Y:2.76, Z:-1.70 [[ 9.95480894e-01 7.72661195e-02 -5.52063116e-02 -3.34967970e+01] [-7.70569900e-02 9.97009174e-01 5.90998787e-03 2.75861155e+00] [ 5.54978409e-02 -1.62924780e-03 9.98457478e-01 -1.69517548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.21534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-33.53, Y:2.76, Z:-1.70 [[ 9.95563826e-01 7.59469226e-02 -5.55403692e-02 -3.35280050e+01] [-7.57335066e-02 9.97110399e-01 5.94030501e-03 2.76337965e+00] [ 5.58310276e-02 -1.70768587e-03 9.98438771e-01 -1.69727976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.24534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-33.56, Y:2.77, Z:-1.70 [[ 9.95783290e-01 7.25121258e-02 -5.61928084e-02 -3.35584123e+01] [-7.22884308e-02 9.97365685e-01 6.00601034e-03 2.76699628e+00] [ 5.64802874e-02 -1.91859479e-03 9.98401871e-01 -1.69785067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.27534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-33.59, Y:2.76, Z:-1.70 [[ 9.95979034e-01 6.95662029e-02 -5.64473796e-02 -3.35901761e+01] [-6.93361207e-02 9.97575151e-01 6.02672565e-03 2.75977823e+00] [ 5.67297596e-02 -2.08865007e-03 9.98387386e-01 -1.70094609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.305347069999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-33.62, Y:2.77, Z:-1.70 [[ 9.96074288e-01 6.87716983e-02 -5.57356882e-02 -3.36195194e+01] [-6.85461025e-02 9.97630198e-01 5.95153321e-03 2.77077093e+00] [ 5.60129027e-02 -2.10770500e-03 9.98427820e-01 -1.69933505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.33534707 meters Centerline goodness [0,1] 0.9999579425495226 Centerline is valid? [True, True] Translation: X:-33.65, Y:2.78, Z:-1.70 [[ 9.96239415e-01 6.60864712e-02 -5.60321822e-02 -3.36491533e+01] [-6.58545115e-02 9.97811327e-01 5.97816215e-03 2.77549004e+00] [ 5.63046217e-02 -2.26570878e-03 9.98411066e-01 -1.70078346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.36534707 meters Centerline goodness [0,1] 0.9996259040651758 Centerline is valid? [True, True] Translation: X:-33.68, Y:2.78, Z:-1.70 [[ 9.96425738e-01 6.29541528e-02 -5.63251553e-02 -3.36789235e+01] [-6.27148582e-02 9.98013403e-01 6.00778531e-03 2.77555538e+00] [ 5.65914749e-02 -2.45388779e-03 9.98394403e-01 -1.70191160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.39534707 meters Centerline goodness [0,1] 0.9998753687009264 Centerline is valid? [True, True] Translation: X:-33.71, Y:2.78, Z:-1.70 [[ 9.96545729e-01 6.03593989e-02 -5.70381754e-02 -3.37073399e+01] [-6.01095985e-02 9.98173226e-01 6.08666599e-03 2.77990157e+00] [ 5.73013670e-02 -2.63709918e-03 9.98353444e-01 -1.70369026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.42534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-33.74, Y:2.78, Z:-1.71 [[ 9.96570365e-01 5.94075806e-02 -5.76042269e-02 -3.37365170e+01] [-5.91509926e-02 9.98230098e-01 6.15074189e-03 2.77762604e+00] [ 5.78676738e-02 -2.72229989e-03 9.98320550e-01 -1.70523417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.45534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-33.77, Y:2.78, Z:-1.71 [[ 9.96675565e-01 5.69025750e-02 -5.83087976e-02 -3.37656141e+01] [-5.66341798e-02 9.98375455e-01 6.24658969e-03 2.77886798e+00] [ 5.85695194e-02 -2.92355238e-03 9.98279051e-01 -1.70600470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.48534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-33.79, Y:2.78, Z:-1.71 [[ 9.96807531e-01 5.58443361e-02 -5.70627335e-02 -3.37925840e+01] [-5.55845869e-02 9.98435162e-01 6.13033853e-03 2.78304157e+00] [ 5.73157842e-02 -2.93895914e-03 9.98351773e-01 -1.70793920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.51534707 meters Centerline goodness [0,1] 0.9999578041267564 Centerline is valid? [True, True] Translation: X:-33.82, Y:2.78, Z:-1.71 [[ 9.96955123e-01 5.23452957e-02 -5.77966438e-02 -3.38225267e+01] [-5.20723361e-02 9.98623946e-01 6.21979828e-03 2.78439439e+00] [ 5.80426897e-02 -3.19125350e-03 9.98309001e-01 -1.70751972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.54534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-33.85, Y:2.79, Z:-1.71 [[ 9.97061455e-01 5.12406655e-02 -5.69460120e-02 -3.38505483e+01] [-5.09737846e-02 9.98681177e-01 6.13023302e-03 2.78715909e+00] [ 5.71850276e-02 -3.20946531e-03 9.98358439e-01 -1.70827651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.57534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-33.88, Y:2.79, Z:-1.71 [[ 9.97061437e-01 5.14743124e-02 -5.67352197e-02 -3.38778865e+01] [-5.12086871e-02 9.98669181e-01 6.12674511e-03 2.78875733e+00] [ 5.69750854e-02 -3.20340517e-03 9.98370461e-01 -1.70873313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.60534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-33.91, Y:2.79, Z:-1.71 [[ 9.97192242e-01 4.83177658e-02 -5.72103672e-02 -3.39078888e+01] [-4.80411350e-02 9.98826105e-01 6.20165054e-03 2.79044197e+00] [ 5.74428582e-02 -3.43578683e-03 9.98342884e-01 -1.71250605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.63534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-33.94, Y:2.79, Z:-1.71 [[ 9.97151786e-01 4.86213275e-02 -5.76565876e-02 -3.39360971e+01] [-4.83408178e-02 9.98811340e-01 6.25081048e-03 2.79086968e+00] [ 5.78919762e-02 -3.44584024e-03 9.98316906e-01 -1.71210322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.66534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-33.96, Y:2.80, Z:-1.71 [[ 9.97117255e-01 4.83630881e-02 -5.84652933e-02 -3.39633307e+01] [-4.80728181e-02 9.98823573e-01 6.36199643e-03 2.79622859e+00] [ 5.87041990e-02 -3.53306501e-03 9.98269169e-01 -1.71219158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.69534707 meters Centerline goodness [0,1] 0.9999575893803808 Centerline is valid? [True, True] Translation: X:-33.99, Y:2.80, Z:-1.71 [[ 9.97122518e-01 4.84920687e-02 -5.82683810e-02 -3.39897200e+01] [-4.82033485e-02 9.98817350e-01 6.35122046e-03 2.80062132e+00] [ 5.85074537e-02 -3.52421386e-03 9.98280751e-01 -1.71063126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.72534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.02, Y:2.80, Z:-1.71 [[ 9.97123095e-01 4.80856624e-02 -5.85943930e-02 -3.40183719e+01] [-4.77924071e-02 9.98836807e-01 6.39679886e-03 2.79874930e+00] [ 5.88338307e-02 -3.57802878e-03 9.98261378e-01 -1.71205849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.75534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.05, Y:2.80, Z:-1.71 [[ 9.97096946e-01 4.93029811e-02 -5.80249702e-02 -3.40451261e+01] [-4.90162798e-02 9.98777763e-01 6.35482138e-03 2.80378778e+00] [ 5.82673616e-02 -3.49220482e-03 9.98294906e-01 -1.71381466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.78534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.07, Y:2.81, Z:-1.71 [[ 9.97025081e-01 4.87166650e-02 -5.97300146e-02 -3.40740009e+01] [-4.84112577e-02 9.98806008e-01 6.55046900e-03 2.80558252e+00] [ 5.99778145e-02 -3.63937675e-03 9.98193076e-01 -1.71412895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.81534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.10, Y:2.80, Z:-1.71 [[ 9.96991929e-01 4.95692268e-02 -5.95817448e-02 -3.41034035e+01] [-4.92656492e-02 9.98764205e-01 6.55426852e-03 2.80431852e+00] [ 5.98330040e-02 -3.59921948e-03 9.98201912e-01 -1.71256558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.84534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.13, Y:2.81, Z:-1.71 [[ 9.97063358e-01 4.73217190e-02 -6.02105823e-02 -3.41307914e+01] [-4.70064036e-02 9.98872496e-01 6.64336658e-03 2.81251360e+00] [ 6.04570702e-02 -3.79357446e-03 9.98163590e-01 -1.71486398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.87534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.16, Y:2.82, Z:-1.71 [[ 9.96856384e-01 5.13552556e-02 -6.03323088e-02 -3.41608442e+01] [-5.10456708e-02 9.98674097e-01 6.66244397e-03 2.81505565e+00] [ 6.05944655e-02 -3.56179663e-03 9.98156112e-01 -1.71314298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.90534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.19, Y:2.82, Z:-1.71 [[ 9.96846274e-01 5.19018885e-02 -6.00308321e-02 -3.41886200e+01] [-5.15962915e-02 9.98646012e-01 6.63064266e-03 2.82035739e+00] [ 6.02936940e-02 -3.51236311e-03 9.98174501e-01 -1.71345053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.93534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.22, Y:2.82, Z:-1.71 [[ 9.96718681e-01 5.38608575e-02 -6.04225093e-02 -3.42181496e+01] [-5.35543786e-02 9.98542581e-01 6.68145236e-03 2.81525777e+00] [ 6.06943171e-02 -3.42363844e-03 9.98150529e-01 -1.71428555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.96534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.25, Y:2.83, Z:-1.72 [[ 9.96944869e-01 5.02049427e-02 -5.98363722e-02 -3.42460052e+01] [-4.98966302e-02 9.98732337e-01 6.63660478e-03 2.82526204e+00] [ 6.00937103e-02 -3.63069575e-03 9.98186137e-01 -1.71565913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.99534707 meters Centerline goodness [0,1] 0.999746878164023 Centerline is valid? [True, True] Translation: X:-34.28, Y:2.82, Z:-1.71 [[ 9.96931771e-01 5.08238025e-02 -5.95313738e-02 -3.42765837e+01] [-5.05195528e-02 9.98701226e-01 6.60570422e-03 2.81654695e+00] [ 5.97897831e-02 -3.57793803e-03 9.98204578e-01 -1.71163502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.02534707 meters Centerline goodness [0,1] 0.9999154083661126 Centerline is valid? [True, True] Translation: X:-34.30, Y:2.83, Z:-1.72 [[ 9.96873978e-01 5.07020191e-02 -6.05935381e-02 -3.43034857e+01] [-5.03852988e-02 9.98707081e-01 6.74448483e-03 2.82555800e+00] [ 6.08571546e-02 -3.67037790e-03 9.98139737e-01 -1.71522369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.05534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.33, Y:2.82, Z:-1.71 [[ 9.96810834e-01 5.27199163e-02 -5.99063613e-02 -3.43326151e+01] [-5.24135547e-02 9.98603156e-01 6.67501250e-03 2.82392806e+00] [ 6.01745875e-02 -3.51381944e-03 9.98181683e-01 -1.71397627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.08534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.36, Y:2.83, Z:-1.71 [[ 9.96564274e-01 5.59892825e-02 -6.10315369e-02 -3.43622984e+01] [-5.56761601e-02 9.98425584e-01 6.82040927e-03 2.82521924e+00] [ 6.13173177e-02 -3.39897460e-03 9.98112536e-01 -1.71459046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.11534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.39, Y:2.83, Z:-1.72 [[ 9.96623698e-01 5.43490231e-02 -6.15417618e-02 -3.43912805e+01] [-5.40273394e-02 9.98515752e-01 6.88035120e-03 2.82635391e+00] [ 6.18243589e-02 -3.53218341e-03 9.98080794e-01 -1.71733975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.14534707 meters Centerline goodness [0,1] 0.9999156723025677 Centerline is valid? [True, True] Translation: X:-34.42, Y:2.84, Z:-1.72 [[ 9.96675026e-01 5.40933164e-02 -6.09328016e-02 -3.44176553e+01] [-5.37771732e-02 9.98529687e-01 6.81762202e-03 2.83706708e+00] [ 6.12119991e-02 -3.51815978e-03 9.98118587e-01 -1.71787243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.17534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.44, Y:2.84, Z:-1.72 [[ 9.96584571e-01 5.59714510e-02 -6.07156420e-02 -3.44446534e+01] [-5.56605891e-02 9.98426588e-01 6.80056246e-03 2.84238948e+00] [ 6.10007486e-02 -3.39786723e-03 9.98131937e-01 -1.71849594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.20534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.48, Y:2.84, Z:-1.72 [[ 9.96245770e-01 6.15101229e-02 -6.09169176e-02 -3.44752126e+01] [-6.12069645e-02 9.98101714e-01 6.83192366e-03 2.84218638e+00] [ 6.12215124e-02 -3.07773544e-03 9.98119459e-01 -1.71646608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.23534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.50, Y:2.85, Z:-1.72 [[ 9.95939442e-01 6.60950486e-02 -6.11234248e-02 -3.45032316e+01] [-6.57983364e-02 9.97809383e-01 6.85663940e-03 2.85021033e+00] [ 6.14427167e-02 -2.80697796e-03 9.98106664e-01 -1.71748856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.26534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.53, Y:2.85, Z:-1.72 [[ 9.95915603e-01 6.64536151e-02 -6.11230570e-02 -3.45303936e+01] [-6.61573755e-02 9.97785620e-01 6.85991536e-03 2.85302468e+00] [ 6.14435735e-02 -2.78815571e-03 9.98106664e-01 -1.71912357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.29534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.56, Y:2.86, Z:-1.72 [[ 9.95778304e-01 6.85282815e-02 -6.10691814e-02 -3.45570754e+01] [-6.82351074e-02 9.97645575e-01 6.87576374e-03 2.86176157e+00] [ 6.13965828e-02 -2.67967421e-03 9.98109853e-01 -1.71838479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.32534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.59, Y:2.87, Z:-1.72 [[ 9.95345515e-01 7.31018717e-02 -6.27966794e-02 -3.45855401e+01] [-7.28003526e-02 9.97321409e-01 7.07931093e-03 2.86718079e+00] [ 6.31459837e-02 -2.47473998e-03 9.98001233e-01 -1.72126862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.35534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.61, Y:2.87, Z:-1.72 [[ 9.95097940e-01 7.70076111e-02 -6.20476993e-02 -3.46144336e+01] [-7.67205434e-02 9.97028067e-01 6.99937194e-03 2.87488428e+00] [ 6.24023026e-02 -2.20472739e-03 9.98048642e-01 -1.71859584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.38534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.64, Y:2.88, Z:-1.72 [[ 9.94841251e-01 7.94678412e-02 -6.30535219e-02 -3.46447276e+01] [-7.91760334e-02 9.96835243e-01 7.11713735e-03 2.87752739e+00] [ 6.34195563e-02 -2.08809408e-03 9.97984769e-01 -1.72111913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.41534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.67, Y:2.89, Z:-1.72 [[ 9.94693161e-01 8.24281435e-02 -6.15720454e-02 -3.46739219e+01] [-8.21555817e-02 9.96595285e-01 6.94964757e-03 2.88633223e+00] [ 6.19352567e-02 -1.85427971e-03 9.98078447e-01 -1.71977171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.44534707 meters Centerline goodness [0,1] 0.9996154503503675 Centerline is valid? [True, True] Translation: X:-34.71, Y:2.89, Z:-1.72 [[ 9.94563911e-01 8.39354331e-02 -6.16236122e-02 -3.47051267e+01] [-8.36657549e-02 9.96469651e-01 6.94816824e-03 2.88969279e+00] [ 6.19892568e-02 -1.75461135e-03 9.98075274e-01 -1.71642857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.47534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.74, Y:2.90, Z:-1.72 [[ 9.94609858e-01 8.22928641e-02 -6.30802305e-02 -3.47357678e+01] [-8.20071779e-02 9.96606383e-01 7.10913905e-03 2.89659329e+00] [ 6.34511917e-02 -1.89778810e-03 9.97983138e-01 -1.72405899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.50534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.77, Y:2.90, Z:-1.72 [[ 9.94245951e-01 8.62672014e-02 -6.35055887e-02 -3.47674730e+01] [-8.59860379e-02 9.96270669e-01 7.15232245e-03 2.89863878e+00] [ 6.38857661e-02 -1.65057368e-03 9.97955853e-01 -1.72368418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.53534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.80, Y:2.90, Z:-1.73 [[ 9.94242059e-01 8.67105729e-02 -6.29603479e-02 -3.47991405e+01] [-8.64353239e-02 9.96232253e-01 7.08755724e-03 2.90272720e+00] [ 6.33376954e-02 -1.60474944e-03 9.97990862e-01 -1.72554734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.56534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.83, Y:2.91, Z:-1.72 [[ 9.94077456e-01 8.80545711e-02 -6.36899049e-02 -3.48306923e+01] [-8.77760308e-02 9.96114476e-01 7.16376467e-03 2.90723438e+00] [ 6.40732385e-02 -1.53088990e-03 9.97944025e-01 -1.72419419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.59534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.86, Y:2.92, Z:-1.72 [[ 9.94004112e-01 8.91473798e-02 -6.33132613e-02 -3.48610063e+01] [-8.88746245e-02 9.96017394e-01 7.11697211e-03 2.91691498e+00] [ 6.36955689e-02 -1.44735722e-03 9.97968326e-01 -1.72242655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.62534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.89, Y:2.92, Z:-1.72 [[ 9.93779702e-01 9.15458996e-02 -6.34133445e-02 -3.48925325e+01] [-9.12774664e-02 9.95800021e-01 7.12334845e-03 2.91967029e+00] [ 6.37991232e-02 -1.29082967e-03 9.97961926e-01 -1.72457410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.65534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.92, Y:2.93, Z:-1.73 [[ 9.93841722e-01 9.06405594e-02 -6.37410491e-02 -3.49227825e+01] [-9.03678008e-02 9.95882756e-01 7.15519086e-03 2.92617919e+00] [ 6.41271621e-02 -1.35098878e-03 9.97940821e-01 -1.72593232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.68534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.96, Y:2.93, Z:-1.73 [[ 9.93707578e-01 9.28715138e-02 -6.26109562e-02 -3.49551898e+01] [-9.26130695e-02 9.95677401e-01 7.02366842e-03 2.92941019e+00] [ 6.29926129e-02 -1.18087969e-03 9.98013295e-01 -1.72630467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.71534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.99, Y:2.94, Z:-1.73 [[ 9.93594064e-01 9.35882919e-02 -6.33408815e-02 -3.49873594e+01] [-9.33256432e-02 9.95610329e-01 7.09912797e-03 2.93526997e+00] [ 6.37272311e-02 -1.14232291e-03 9.97966700e-01 -1.72615013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.74534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.02, Y:2.94, Z:-1.73 [[ 9.93600717e-01 9.34893615e-02 -6.33826017e-02 -3.50187879e+01] [-9.32265367e-02 9.95619622e-01 7.09798967e-03 2.93934324e+00] [ 6.37685484e-02 -1.14362718e-03 9.97964060e-01 -1.72769253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.77534707 meters Centerline goodness [0,1] 0.9995327698254258 Centerline is valid? [True, True] Translation: X:-35.05, Y:2.94, Z:-1.72 [[ 9.93509044e-01 9.49660504e-02 -6.26197091e-02 -3.50507504e+01] [-9.47128103e-02 9.95479978e-01 7.00686993e-03 2.94443203e+00] [ 6.30020814e-02 -1.03050002e-03 9.98012864e-01 -1.72255350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.80534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.08, Y:2.95, Z:-1.73 [[ 9.93565664e-01 9.31003571e-02 -6.44949231e-02 -3.50811217e+01] [-9.28281672e-02 9.95656034e-01 7.21068642e-03 2.95037891e+00] [ 6.48860768e-02 -1.17734493e-03 9.97891984e-01 -1.73119049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.83534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.11, Y:2.96, Z:-1.73 [[ 9.93610589e-01 9.24940941e-02 -6.46748848e-02 -3.51126929e+01] [-9.22194057e-02 9.95712491e-01 7.22609508e-03 2.95552507e+00] [ 6.50659618e-02 -1.21564515e-03 9.97880225e-01 -1.73246267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.86534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.14, Y:2.96, Z:-1.73 [[ 9.93543871e-01 9.33018452e-02 -6.45394652e-02 -3.51443921e+01] [-9.30304076e-02 9.95637200e-01 7.20484233e-03 2.96025305e+00] [ 6.49301175e-02 -1.15419419e-03 9.97889146e-01 -1.73397658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.89534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.17, Y:2.97, Z:-1.74 [[ 9.93386677e-01 9.40054648e-02 -6.59233015e-02 -3.51749049e+01] [-9.37241939e-02 9.95571044e-01 7.35329131e-03 2.97066577e+00] [ 6.63225797e-02 -1.12605333e-03 9.97797598e-01 -1.73593695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.92534707 meters Centerline goodness [0,1] 0.9996541736912635 Centerline is valid? [True, True] Translation: X:-35.21, Y:2.98, Z:-1.74 [[ 9.93178130e-01 9.62322279e-02 -6.58525670e-02 -3.52065758e+01] [-9.59567711e-02 9.95358435e-01 7.34053779e-03 2.97645981e+00] [ 6.62533043e-02 -9.71461904e-04 9.97802363e-01 -1.73727291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.95534707 meters Centerline goodness [0,1] 0.9998683402089003 Centerline is valid? [True, True] Translation: X:-35.24, Y:2.99, Z:-1.74 [[ 9.92834313e-01 9.84364143e-02 -6.77517510e-02 -3.52367987e+01] [-9.81503842e-02 9.95142987e-01 7.54575442e-03 2.98717465e+00] [ 6.81654568e-02 -8.41823517e-04 9.97673675e-01 -1.74061516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.98534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.27, Y:3.00, Z:-1.75 [[ 9.92649357e-01 9.96337129e-02 -6.87049981e-02 -3.52672026e+01] [-9.93427620e-02 9.95023888e-01 7.64712104e-03 2.99543595e+00] [ 6.91250254e-02 -7.65565507e-04 9.97607711e-01 -1.74685623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.01534707 meters Centerline goodness [0,1] 0.9996874581417154 Centerline is valid? [True, True] Translation: X:-35.30, Y:3.00, Z:-1.74 [[ 9.92394691e-01 1.01758638e-01 -6.92672859e-02 -3.52993690e+01] [-1.01468422e-01 9.94808925e-01 7.70460968e-03 3.00265788e+00] [ 6.96917248e-02 -6.17571518e-04 9.97568385e-01 -1.74221274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.04534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.33, Y:3.01, Z:-1.75 [[ 9.92036870e-01 1.04243127e-01 -7.06839438e-02 -3.53297419e+01] [-1.03947656e-01 9.94551744e-01 7.85576541e-03 3.01328587e+00] [ 7.11177492e-02 -4.45778667e-04 9.97467828e-01 -1.74821822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.07534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.36, Y:3.02, Z:-1.75 [[ 9.91624188e-01 1.08348536e-01 -7.02998237e-02 -3.53601577e+01] [-1.08066905e-01 9.94112958e-01 7.80836024e-03 3.02198301e+00] [ 7.07319901e-02 -1.45874501e-04 9.97495346e-01 -1.74938202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.10534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.39, Y:3.03, Z:-1.75 [[ 9.91283317e-01 1.10575390e-01 -7.16272943e-02 -3.53913681e+01] [-1.10289193e-01 9.93867739e-01 7.95054599e-03 3.03286944e+00] [ 7.20671918e-02 1.84728774e-05 9.97399779e-01 -1.75178279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.13534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.42, Y:3.04, Z:-1.75 [[ 9.91096545e-01 1.11996961e-01 -7.20022226e-02 -3.54216327e+01] [-1.11712083e-01 9.93708541e-01 7.98416174e-03 3.04082056e+00] [ 7.24434254e-02 1.30443141e-04 9.97372515e-01 -1.75093422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.16534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.45, Y:3.05, Z:-1.75 [[ 9.90702967e-01 1.15595412e-01 -7.17309735e-02 -3.54531283e+01] [-1.15323031e-01 9.93296299e-01 7.94114295e-03 3.05067333e+00] [ 7.21680702e-02 4.04919387e-04 9.97392403e-01 -1.75218213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.19534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.48, Y:3.06, Z:-1.75 [[ 9.90496607e-01 1.16907222e-01 -7.24511738e-02 -3.54843150e+01] [-1.16633590e-01 9.93142707e-01 8.01062459e-03 3.05802701e+00] [ 7.28908547e-02 5.15744041e-04 9.97339790e-01 -1.75262449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.22534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.52, Y:3.07, Z:-1.76 [[ 9.90313556e-01 1.18231019e-01 -7.28044389e-02 -3.55152779e+01] [-1.17959747e-01 9.92985912e-01 8.02972642e-03 3.06778505e+00] [ 7.32431449e-02 6.36046236e-04 9.97313911e-01 -1.75547956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.25534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.55, Y:3.07, Z:-1.76 [[ 9.90329601e-01 1.17099387e-01 -7.43976836e-02 -3.55456272e+01] [-1.16813690e-01 9.93120035e-01 8.19504733e-03 3.07402692e+00] [ 7.48454651e-02 5.74869984e-04 9.97194979e-01 -1.75679524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.28534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.58, Y:3.08, Z:-1.76 [[ 9.90292033e-01 1.16936449e-01 -7.51502212e-02 -3.55778823e+01] [-1.16646041e-01 9.93139225e-01 8.25718294e-03 3.08078735e+00] [ 7.56001981e-02 5.88953311e-04 9.97138036e-01 -1.75739755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.31534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.61, Y:3.09, Z:-1.76 [[ 9.90341306e-01 1.15554078e-01 -7.66247513e-02 -3.56096239e+01] [-1.15248956e-01 9.93301062e-01 8.40702685e-03 3.08671632e+00] [ 7.70829131e-02 5.05096667e-04 9.97024558e-01 -1.75971863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.34534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.64, Y:3.09, Z:-1.76 [[ 9.90364085e-01 1.15752332e-01 -7.60287845e-02 -3.56411520e+01] [-1.15453367e-01 9.93277967e-01 8.33070701e-03 3.09197191e+00] [ 7.64820152e-02 5.27346111e-04 9.97070822e-01 -1.75910755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.37534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.67, Y:3.10, Z:-1.76 [[ 9.90479446e-01 1.15129559e-01 -7.54695466e-02 -3.56730360e+01] [-1.14834805e-01 9.93350360e-01 8.24802918e-03 3.09945860e+00] [ 7.59172932e-02 4.97027316e-04 9.97113994e-01 -1.75993936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.40534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.70, Y:3.10, Z:-1.76 [[ 9.90659308e-01 1.12989573e-01 -7.63380048e-02 -3.57046176e+01] [-1.12682496e-01 9.93596113e-01 8.33185791e-03 3.10357351e+00] [ 7.67905579e-02 3.47924293e-04 9.97047185e-01 -1.76083433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.43534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.74, Y:3.11, Z:-1.76 [[ 9.90866493e-01 1.10696151e-01 -7.70061973e-02 -3.57364426e+01] [-1.10378406e-01 9.93854277e-01 8.38346790e-03 3.10824768e+00] [ 7.74609562e-02 1.92923903e-04 9.96995368e-01 -1.76311819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.46534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.77, Y:3.11, Z:-1.76 [[ 9.90988969e-01 1.10524111e-01 -7.56656048e-02 -3.57682372e+01] [-1.10217351e-01 9.93873426e-01 8.23092146e-03 3.11226465e+00] [ 7.61117492e-02 1.82910133e-04 9.97099277e-01 -1.76275550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.49534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.80, Y:3.12, Z:-1.76 [[ 9.91099606e-01 1.08912479e-01 -7.65483072e-02 -3.57996364e+01] [-1.08594206e-01 9.94051340e-01 8.32050816e-03 3.11678187e+00] [ 7.69991546e-02 6.62503180e-05 9.97031156e-01 -1.76188483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.52534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.83, Y:3.12, Z:-1.76 [[ 9.91377911e-01 1.06509314e-01 -7.63256404e-02 -3.58326753e+01] [-1.06186246e-01 9.94311698e-01 8.29024682e-03 3.12033045e+00] [ 7.67744657e-02 -1.14034327e-04 9.97048478e-01 -1.76497307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.55534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.86, Y:3.12, Z:-1.76 [[ 9.91511084e-01 1.05680914e-01 -7.57450571e-02 -3.58649117e+01] [-1.05361029e-01 9.94400079e-01 8.21811243e-03 3.12480762e+00] [ 7.61893884e-02 -1.67772399e-04 9.97093350e-01 -1.76491321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.58534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.90, Y:3.13, Z:-1.76 [[ 9.91583232e-01 1.04713045e-01 -7.61437649e-02 -3.58955704e+01] [-1.04387400e-01 9.94502449e-01 8.25522756e-03 3.12953643e+00] [ 7.65895907e-02 -2.37295584e-04 9.97062675e-01 -1.76185925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.61534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.93, Y:3.14, Z:-1.76 [[ 9.91710194e-01 1.03719070e-01 -7.58501594e-02 -3.59281727e+01] [-1.03393500e-01 9.94606586e-01 8.21727711e-03 3.13508805e+00] [ 7.62933564e-02 -3.06744023e-04 9.97085367e-01 -1.76179183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.64534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.96, Y:3.14, Z:-1.77 [[ 9.92020426e-01 1.00811550e-01 -7.57133137e-02 -3.59597291e+01] [-1.00479416e-01 9.94905403e-01 8.19304699e-03 3.13965629e+00] [ 7.61535387e-02 -5.20040403e-04 9.97095967e-01 -1.76650210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.67534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.99, Y:3.15, Z:-1.76 [[ 9.91930300e-01 1.01456846e-01 -7.60314989e-02 -3.59916200e+01] [-1.01124484e-01 9.94839833e-01 8.21859119e-03 3.14635458e+00] [ 7.64729961e-02 -4.63623533e-04 9.97071545e-01 -1.76446354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.70534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-36.02, Y:3.15, Z:-1.77 [[ 9.91904387e-01 1.01401579e-01 -7.64421845e-02 -3.60220125e+01] [-1.01066512e-01 9.94845471e-01 8.24917717e-03 3.15206968e+00] [ 7.68846407e-02 -4.56650050e-04 9.97039891e-01 -1.76505284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.73534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-36.05, Y:3.16, Z:-1.77 [[ 9.91906107e-01 1.01463576e-01 -7.63375292e-02 -3.60549130e+01] [-1.01130079e-01 9.94839155e-01 8.23179856e-03 3.15899618e+00] [ 7.67787908e-02 -4.45150904e-04 9.97048053e-01 -1.76671042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.76534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-36.09, Y:3.17, Z:-1.77 [[ 9.91932024e-01 1.01185425e-01 -7.63699586e-02 -3.60870495e+01] [-1.00851591e-01 9.94867479e-01 8.22529827e-03 3.16580407e+00] [ 7.68102685e-02 -4.56904949e-04 9.97045623e-01 -1.76619258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.79534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-36.12, Y:3.17, Z:-1.77 [[ 9.91692858e-01 1.03378366e-01 -7.65387996e-02 -3.61174533e+01] [-1.03050391e-01 9.94642065e-01 8.23288279e-03 3.17407689e+00] [ 7.69798116e-02 -2.77137849e-04 9.97032613e-01 -1.76682616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.82534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-36.15, Y:3.18, Z:-1.77 [[ 9.91633123e-01 1.03680106e-01 -7.69037375e-02 -3.61488560e+01] [-1.03350812e-01 9.94610666e-01 8.26034348e-03 3.17986675e+00] [ 7.73457109e-02 -2.43166525e-04 9.97004304e-01 -1.76969524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.85534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-36.18, Y:3.19, Z:-1.77 [[ 9.91570579e-01 1.04407534e-01 -7.67258332e-02 -3.61799910e+01] [-1.04082440e-01 9.94534582e-01 8.23475096e-03 3.18674384e+00] [ 7.71662645e-02 -1.79524865e-04 9.97018222e-01 -1.76612799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.88534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-36.21, Y:3.19, Z:-1.77 [[ 9.91387811e-01 1.06531412e-01 -7.61660509e-02 -3.62111315e+01] [-1.06217733e-01 9.94309337e-01 8.16915204e-03 3.19253932e+00] [ 7.66028869e-02 -8.61247998e-06 9.97061682e-01 -1.77060358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.91534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-36.24, Y:3.20, Z:-1.77 [[ 9.91269759e-01 1.07606379e-01 -7.61914165e-02 -3.62429262e+01] [-1.07296217e-01 9.94193573e-01 8.16463941e-03 3.19821228e+00] [ 7.66275839e-02 8.16906338e-05 9.97059781e-01 -1.76920207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.94534707 meters Centerline goodness [0,1] 0.9999501892807332 Centerline is valid? [True, True] Translation: X:-36.28, Y:3.20, Z:-1.77 [[ 9.91057902e-01 1.09907894e-01 -7.56603545e-02 -3.62752257e+01] [-1.09609396e-01 9.93941741e-01 8.09915256e-03 3.20333490e+00] [ 7.60921453e-02 2.66356646e-04 9.97100754e-01 -1.77147326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.97534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-36.31, Y:3.21, Z:-1.77 [[ 9.91084045e-01 1.08751748e-01 -7.69770942e-02 -3.63061566e+01] [-1.08440142e-01 9.94068921e-01 8.22891775e-03 3.20647696e+00] [ 7.74154462e-02 1.91857979e-04 9.96998903e-01 -1.77183040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.00534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-36.34, Y:3.21, Z:-1.77 [[ 9.90969865e-01 1.09968954e-01 -7.67173785e-02 -3.63389998e+01] [-1.09664106e-01 9.93934978e-01 8.18804086e-03 3.21108910e+00] [ 7.71525162e-02 2.99040998e-04 9.97019257e-01 -1.77197466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.03534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-36.37, Y:3.21, Z:-1.77 [[ 9.90879703e-01 1.10982468e-01 -7.64218961e-02 -3.63713460e+01] [-1.10683788e-01 9.93822289e-01 8.14599177e-03 3.21459558e+00] [ 7.68538460e-02 3.86967015e-04 9.97042294e-01 -1.77417026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.06534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-36.40, Y:3.22, Z:-1.78 [[ 9.90584073e-01 1.13967052e-01 -7.58597705e-02 -3.64036418e+01] [-1.13682229e-01 9.93484334e-01 8.07641231e-03 3.21892831e+00] [ 7.62859385e-02 6.23542425e-04 9.97085787e-01 -1.77677470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.09534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-36.43, Y:3.22, Z:-1.78 [[ 9.90673478e-01 1.12534924e-01 -7.68241601e-02 -3.64345021e+01] [-1.12239166e-01 9.93647630e-01 8.17055265e-03 3.22164868e+00] [ 7.72556171e-02 5.28329862e-04 9.97011179e-01 -1.78154238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.12534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-36.47, Y:3.22, Z:-1.78 [[ 9.90254706e-01 1.15894033e-01 -7.72281764e-02 -3.64660229e+01] [-1.15606542e-01 9.93261253e-01 8.19818015e-03 3.22413453e+00] [ 7.76578754e-02 8.09795950e-04 9.96979738e-01 -1.77864865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.15534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-36.50, Y:3.23, Z:-1.78 [[ 9.90304041e-01 1.15228509e-01 -7.75905729e-02 -3.64987320e+01] [-1.14938158e-01 9.93338701e-01 8.21253952e-03 3.22758432e+00] [ 7.80200375e-02 7.85206421e-04 9.96951482e-01 -1.78061982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.18534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-36.53, Y:3.23, Z:-1.78 [[ 9.90342846e-01 1.14892560e-01 -7.75934773e-02 -3.65311862e+01] [-1.14603335e-01 9.93377613e-01 8.18501714e-03 3.23127031e+00] [ 7.80200208e-02 7.86498083e-04 9.96951482e-01 -1.78256164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.21534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-36.56, Y:3.23, Z:-1.78 [[ 9.89909446e-01 1.19523246e-01 -7.61149271e-02 -3.65630985e+01] [-1.19260527e-01 9.92830732e-01 8.00407017e-03 3.23382764e+00] [ 7.65259112e-02 1.15420168e-03 9.97066925e-01 -1.78061540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.24534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-36.60, Y:3.24, Z:-1.78 [[ 9.89862515e-01 1.19319384e-01 -7.70395099e-02 -3.65953323e+01] [-1.19051455e-01 9.92855227e-01 8.07768699e-03 3.23782509e+00] [ 7.74529047e-02 1.17586621e-03 9.96995318e-01 -1.78422386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.27534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-36.63, Y:3.24, Z:-1.79 [[ 9.89645463e-01 1.20493512e-01 -7.79946836e-02 -3.66269435e+01] [-1.20224428e-01 9.92713254e-01 8.15372197e-03 3.24122022e+00] [ 7.84088267e-02 1.30757223e-03 9.96920431e-01 -1.78836820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.30534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-36.66, Y:3.25, Z:-1.79 [[ 9.89213613e-01 1.24309035e-01 -7.74834941e-02 -3.66580611e+01] [-1.24056971e-01 9.92242224e-01 8.07693561e-03 3.24547667e+00] [ 7.78864306e-02 1.62255290e-03 9.96960918e-01 -1.78693376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.33534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-36.69, Y:3.25, Z:-1.79 [[ 9.89232891e-01 1.23839922e-01 -7.79869322e-02 -3.66902608e+01] [-1.23585013e-01 9.92300886e-01 8.10526895e-03 3.25106900e+00] [ 7.83902579e-02 1.62001740e-03 9.96921433e-01 -1.79032320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.36534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-36.72, Y:3.25, Z:-1.79 [[ 9.89086033e-01 1.25199253e-01 -7.76786135e-02 -3.67213191e+01] [-1.24952618e-01 9.92130079e-01 8.04669556e-03 3.25240787e+00] [ 7.80747292e-02 1.74727191e-03 9.96945978e-01 -1.78891576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.39534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-36.75, Y:3.25, Z:-1.79 [[ 9.88981434e-01 1.26262853e-01 -7.72878659e-02 -3.67523807e+01] [-1.26023628e-01 9.91995107e-01 7.98449531e-03 3.25428178e+00] [ 7.76773300e-02 1.84357960e-03 9.96976847e-01 -1.78982398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.42534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-36.78, Y:3.25, Z:-1.79 [[ 9.89179717e-01 1.24172709e-01 -7.81321105e-02 -3.67847199e+01] [-1.23923515e-01 9.92259128e-01 8.04887818e-03 3.25464986e+00] [ 7.85267508e-02 1.72061877e-03 9.96910522e-01 -1.79253155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.45534707 meters Centerline goodness [0,1] 0.9998008761449622 Centerline is valid? [True, True] Translation: X:-36.82, Y:3.25, Z:-1.79 [[ 9.89144602e-01 1.25363232e-01 -7.66616985e-02 -3.68176169e+01] [-1.25128743e-01 9.92109270e-01 7.87360811e-03 3.25465969e+00] [ 7.70438428e-02 1.80444500e-03 9.97026073e-01 -1.78949584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.48534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-36.85, Y:3.26, Z:-1.79 [[ 9.89579054e-01 1.21379053e-01 -7.74623855e-02 -3.68496807e+01] [-1.21129470e-01 9.92605041e-01 7.92995405e-03 3.25618428e+00] [ 7.78520846e-02 1.53566127e-03 9.96963738e-01 -1.79253091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.51534707 meters Centerline goodness [0,1] 0.999950313027924 Centerline is valid? [True, True] Translation: X:-36.88, Y:3.26, Z:-1.79 [[ 9.89683381e-01 1.20509758e-01 -7.74868012e-02 -3.68818207e+01] [-1.20259289e-01 9.92711021e-01 7.90773038e-03 3.25686937e+00] [ 7.78749602e-02 1.49235829e-03 9.96962017e-01 -1.79306626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.54534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-36.92, Y:3.26, Z:-1.79 [[ 9.89770950e-01 1.20098904e-01 -7.70046796e-02 -3.69151979e+01] [-1.19852296e-01 9.92760834e-01 7.83285404e-03 3.25782707e+00] [ 7.73879471e-02 1.47645630e-03 9.96999963e-01 -1.79298441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.57534707 meters Centerline goodness [0,1] 0.9999012930609021 Centerline is valid? [True, True] Translation: X:-36.95, Y:3.26, Z:-1.79 [[ 9.89803469e-01 1.19560299e-01 -7.74236888e-02 -3.69486500e+01] [-1.19311490e-01 9.92825854e-01 7.84810808e-03 3.26071987e+00] [ 7.78065621e-02 1.46945104e-03 9.96967391e-01 -1.79350214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.60534707 meters Centerline goodness [0,1] 0.9998994317896113 Centerline is valid? [True, True] Translation: X:-36.98, Y:3.26, Z:-1.79 [[ 9.89884914e-01 1.19430936e-01 -7.65774722e-02 -3.69809394e+01] [-1.19189179e-01 9.92841424e-01 7.73609763e-03 3.26061593e+00] [ 7.69532159e-02 1.46935968e-03 9.97033622e-01 -1.79118178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.63534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.01, Y:3.26, Z:-1.79 [[ 9.89980623e-01 1.18222100e-01 -7.72133530e-02 -3.70133564e+01] [-1.17974360e-01 9.92986178e-01 7.77819119e-03 3.26428093e+00] [ 7.75913464e-02 1.40893738e-03 9.96984252e-01 -1.79218921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.66534707 meters Centerline goodness [0,1] 0.9998998196754157 Centerline is valid? [True, True] Translation: X:-37.05, Y:3.26, Z:-1.79 [[ 9.90171114e-01 1.16962933e-01 -7.66866223e-02 -3.70451578e+01] [-1.16715609e-01 9.93135415e-01 7.71459594e-03 3.26445990e+00] [ 7.70625222e-02 1.31175576e-03 9.97025399e-01 -1.79403847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.69534707 meters Centerline goodness [0,1] 0.9999514327343371 Centerline is valid? [True, True] Translation: X:-37.08, Y:3.27, Z:-1.80 [[ 9.90450689e-01 1.14738543e-01 -7.64362495e-02 -3.70767655e+01] [-1.14487954e-01 9.93395051e-01 7.66688486e-03 3.26820377e+00] [ 7.68110791e-02 1.15735843e-03 9.97044993e-01 -1.79558915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.72534707 meters Centerline goodness [0,1] 0.9999025436117337 Centerline is valid? [True, True] Translation: X:-37.11, Y:3.27, Z:-1.79 [[ 9.90315088e-01 1.15613105e-01 -7.68741631e-02 -3.71078473e+01] [-1.15364021e-01 9.93293529e-01 7.68811866e-03 3.27078268e+00] [ 7.72474560e-02 1.25485269e-03 9.97011161e-01 -1.79491952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.75534707 meters Centerline goodness [0,1] 0.9999504312481412 Centerline is valid? [True, True] Translation: X:-37.14, Y:3.27, Z:-1.79 [[ 9.90119869e-01 1.17837235e-01 -7.60067859e-02 -3.71397596e+01] [-1.17601674e-01 9.93031893e-01 7.58325414e-03 3.27402075e+00] [ 7.63707522e-02 1.43019464e-03 9.97078464e-01 -1.79369733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.78534707 meters Centerline goodness [0,1] 0.9999503943647998 Centerline is valid? [True, True] Translation: X:-37.17, Y:3.28, Z:-1.79 [[ 9.89902256e-01 1.19782406e-01 -7.58003851e-02 -3.71708653e+01] [-1.19554595e-01 9.92798902e-01 7.55244008e-03 3.27607743e+00] [ 7.61591885e-02 1.58610689e-03 9.97094410e-01 -1.79259279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.81534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.20, Y:3.28, Z:-1.79 [[ 9.89687784e-01 1.20967701e-01 -7.67131426e-02 -3.72027752e+01] [-1.20739469e-01 9.92654958e-01 7.62334242e-03 3.28206555e+00] [ 7.70718596e-02 1.71757525e-03 9.97024061e-01 -1.79418546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.84534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.23, Y:3.29, Z:-1.80 [[ 9.89681460e-01 1.20896538e-01 -7.69066669e-02 -3.72341783e+01] [-1.20667499e-01 9.92663617e-01 7.63534063e-03 3.28638459e+00] [ 7.72655364e-02 1.72358008e-03 9.97009060e-01 -1.79885934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.87534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.27, Y:3.29, Z:-1.80 [[ 9.89350995e-01 1.23451389e-01 -7.70996999e-02 -3.72658368e+01] [-1.23229790e-01 9.92348727e-01 7.64351926e-03 3.29225232e+00] [ 7.74533921e-02 1.93885648e-03 9.96994089e-01 -1.79824530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.90534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.30, Y:3.30, Z:-1.80 [[ 9.89213534e-01 1.25175546e-01 -7.60767206e-02 -3.72973713e+01] [-1.24966694e-01 9.92132450e-01 7.51841323e-03 3.29741469e+00] [ 7.64193047e-02 2.06974011e-03 9.97073621e-01 -1.80226155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.93534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.33, Y:3.30, Z:-1.80 [[ 9.89165496e-01 1.24554691e-01 -7.77029653e-02 -3.73299134e+01] [-1.24336798e-01 9.92210544e-01 7.65488376e-03 3.30044155e+00] [ 7.80511532e-02 2.08939101e-03 9.96947166e-01 -1.80179039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.96534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.36, Y:3.30, Z:-1.80 [[ 9.89057277e-01 1.25491379e-01 -7.75732959e-02 -3.73616137e+01] [-1.25278930e-01 9.92092308e-01 7.61852569e-03 3.30442835e+00] [ 7.79159295e-02 2.18314122e-03 9.96957543e-01 -1.80489000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.99534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.39, Y:3.31, Z:-1.80 [[ 9.89026146e-01 1.25871369e-01 -7.73542552e-02 -3.73932983e+01] [-1.25662930e-01 9.92044069e-01 7.57581180e-03 3.30571203e+00] [ 7.76924079e-02 2.22788644e-03 9.96974887e-01 -1.80330518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.02534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.43, Y:3.30, Z:-1.80 [[ 9.89042591e-01 1.25406717e-01 -7.78967764e-02 -3.74255258e+01] [-1.25195241e-01 9.92102923e-01 7.61193688e-03 3.30487456e+00] [ 7.82362076e-02 2.22377590e-03 9.96932370e-01 -1.80100846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.05534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.46, Y:3.31, Z:-1.81 [[ 9.89041307e-01 1.25119787e-01 -7.83730347e-02 -3.74572436e+01] [-1.24907029e-01 9.92139108e-01 7.63046001e-03 3.31313204e+00] [ 7.87116743e-02 2.24250279e-03 9.96894901e-01 -1.80582439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.08534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.49, Y:3.32, Z:-1.81 [[ 9.89021805e-01 1.25204260e-01 -7.84841493e-02 -3.74894781e+01] [-1.24992893e-01 9.92128379e-01 7.61941280e-03 3.31627767e+00] [ 7.88203348e-02 2.27419544e-03 9.96886244e-01 -1.80873058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.11534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.52, Y:3.32, Z:-1.81 [[ 9.88926510e-01 1.26230326e-01 -7.80401367e-02 -3.75211464e+01] [-1.26025357e-01 9.91998169e-01 7.56579637e-03 3.31803886e+00] [ 7.83707057e-02 2.35301951e-03 9.96921509e-01 -1.80841180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.14534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.55, Y:3.32, Z:-1.81 [[ 9.89060881e-01 1.24725063e-01 -7.87542586e-02 -3.75528223e+01] [-1.24513435e-01 9.92188727e-01 7.61144069e-03 3.32194685e+00] [ 7.90884250e-02 2.27778506e-03 9.96865002e-01 -1.81154676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.17534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.58, Y:3.33, Z:-1.81 [[ 9.88889978e-01 1.26482961e-01 -7.80939960e-02 -3.75844650e+01] [-1.26282270e-01 9.91965822e-01 7.52302464e-03 3.32543389e+00] [ 7.84181093e-02 2.42244342e-03 9.96917615e-01 -1.81172639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.20534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.62, Y:3.33, Z:-1.81 [[ 9.88901855e-01 1.26527121e-01 -7.78717462e-02 -3.76173567e+01] [-1.26329717e-01 9.91960136e-01 7.47599187e-03 3.32986379e+00] [ 7.81915837e-02 2.44449343e-03 9.96935354e-01 -1.81329671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.23534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.65, Y:3.33, Z:-1.82 [[ 9.88996056e-01 1.24983607e-01 -7.91574334e-02 -3.76488582e+01] [-1.24776608e-01 9.92155941e-01 7.57546931e-03 3.33365989e+00] [ 7.94833272e-02 2.38488676e-03 9.96833343e-01 -1.81719888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.26534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.68, Y:3.34, Z:-1.82 [[ 9.89097498e-01 1.23784125e-01 -7.97723671e-02 -3.76800722e+01] [-1.23570569e-01 9.92306474e-01 7.62730496e-03 3.33801278e+00] [ 8.01027757e-02 2.31336854e-03 9.96783925e-01 -1.82408317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.29534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.71, Y:3.34, Z:-1.82 [[ 9.89128926e-01 1.23946122e-01 -7.91285407e-02 -3.77122353e+01] [-1.23737420e-01 9.92286240e-01 7.55441651e-03 3.34072243e+00] [ 7.94545027e-02 2.31886960e-03 9.96835796e-01 -1.82174571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.32534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.74, Y:3.34, Z:-1.83 [[ 9.89297714e-01 1.22409159e-01 -7.94105228e-02 -3.77437061e+01] [-1.22195989e-01 9.92477221e-01 7.55679397e-03 3.34278285e+00] [ 7.97381558e-02 2.22772840e-03 9.96813355e-01 -1.82559357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.35534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.78, Y:3.34, Z:-1.82 [[ 9.89174413e-01 1.23038496e-01 -7.99719323e-02 -3.77750894e+01] [-1.22826200e-01 9.92399193e-01 7.58727836e-03 3.34301673e+00] [ 8.02976084e-02 2.31750697e-03 9.96768239e-01 -1.82313639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.38534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.81, Y:3.35, Z:-1.83 [[ 9.89394996e-01 1.20862334e-01 -8.05595288e-02 -3.78066670e+01] [-1.20641344e-01 9.92666892e-01 7.62286583e-03 3.35103129e+00] [ 8.08900944e-02 2.17678454e-03 9.96720650e-01 -1.82887133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.41534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.84, Y:3.36, Z:-1.83 [[ 9.89225246e-01 1.22838708e-01 -7.96496400e-02 -3.78386011e+01] [-1.22629658e-01 9.92423939e-01 7.52948446e-03 3.35737172e+00] [ 7.99711216e-02 2.31905203e-03 9.96794483e-01 -1.82860859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.44534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.87, Y:3.36, Z:-1.83 [[ 9.89192885e-01 1.22742246e-01 -8.01983662e-02 -3.78706669e+01] [-1.22530547e-01 9.92435838e-01 7.57445519e-03 3.36226818e+00] [ 8.05214384e-02 2.33415249e-03 9.96750144e-01 -1.83244606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.47534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.90, Y:3.37, Z:-1.83 [[ 9.89053110e-01 1.23681118e-01 -8.04793594e-02 -3.79013613e+01] [-1.23471733e-01 9.92319045e-01 7.59233996e-03 3.36667272e+00] [ 8.08002302e-02 2.42769856e-03 9.96727359e-01 -1.83216656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.50534707 meters Centerline goodness [0,1] 0.9999496551376932 Centerline is valid? [True, True] Translation: X:-37.93, Y:3.37, Z:-1.84 [[ 9.88921623e-01 1.24838112e-01 -8.03085852e-02 -3.79329036e+01] [-1.24634383e-01 9.92173902e-01 7.56432460e-03 3.37225261e+00] [ 8.06243983e-02 2.52868683e-03 9.96741347e-01 -1.83531160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.53534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.96, Y:3.37, Z:-1.84 [[ 9.89045380e-01 1.23653280e-01 -8.06170062e-02 -3.79642281e+01] [-1.23444981e-01 9.92322453e-01 7.58199928e-03 3.37204558e+00] [ 8.09356044e-02 2.45282345e-03 9.96716315e-01 -1.83581743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.56534707 meters Centerline goodness [0,1] 0.999949997499875 Centerline is valid? [True, True] Translation: X:-38.00, Y:3.38, Z:-1.84 [[ 9.89384399e-01 1.20764164e-01 -8.08364205e-02 -3.79959095e+01] [-1.20547097e-01 9.92678683e-01 7.57820136e-03 3.37828286e+00] [ 8.11597667e-02 2.24684162e-03 9.96698572e-01 -1.83813798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.59534707 meters Centerline goodness [0,1] 0.9999505977670191 Centerline is valid? [True, True] Translation: X:-38.03, Y:3.38, Z:-1.84 [[ 9.89707351e-01 1.17794683e-01 -8.12635905e-02 -3.80276169e+01] [-1.17567042e-01 9.93035887e-01 7.59727618e-03 3.38053544e+00] [ 8.15925804e-02 2.03483988e-03 9.96663690e-01 -1.84473914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.625347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.06, Y:3.38, Z:-1.85 [[ 9.89918962e-01 1.14744412e-01 -8.30311298e-02 -3.80592322e+01] [-1.14496603e-01 9.93393363e-01 7.75587417e-03 3.38241406e+00] [ 8.33725165e-02 1.82909538e-03 9.96516773e-01 -1.84707609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.65534707 meters Centerline goodness [0,1] 0.9997508347037425 Centerline is valid? [True, True] Translation: X:-38.09, Y:3.38, Z:-1.85 [[ 9.90141967e-01 1.13327032e-01 -8.23156724e-02 -3.80908881e+01] [-1.13079014e-01 9.93556286e-01 7.68392053e-03 3.38427524e+00] [ 8.26560497e-02 1.70000291e-03 9.96576684e-01 -1.84794646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.68534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.12, Y:3.39, Z:-1.85 [[ 9.90396009e-01 1.11571551e-01 -8.16549687e-02 -3.81226809e+01] [-1.11322005e-01 9.93755200e-01 7.61668081e-03 3.38572951e+00] [ 8.19948547e-02 1.54646452e-03 9.96631553e-01 -1.84939144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.71534707 meters Centerline goodness [0,1] 0.9996495970365921 Centerline is valid? [True, True] Translation: X:-38.15, Y:3.39, Z:-1.85 [[ 9.90858040e-01 1.07404709e-01 -8.16368321e-02 -3.81535929e+01] [-1.07141679e-01 9.94214650e-01 7.60859392e-03 3.38674117e+00] [ 8.19817333e-02 1.20767080e-03 9.96633100e-01 -1.85267071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.74534707 meters Centerline goodness [0,1] 0.9997990858405746 Centerline is valid? [True, True] Translation: X:-38.19, Y:3.39, Z:-1.85 [[ 9.90974312e-01 1.06153197e-01 -8.18621457e-02 -3.81853052e+01] [-1.05884916e-01 9.94349164e-01 7.62392988e-03 3.38908794e+00] [ 8.22088607e-02 1.11284774e-03 9.96614502e-01 -1.85313127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.77534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.22, Y:3.39, Z:-1.86 [[ 9.91272131e-01 1.02684362e-01 -8.26769863e-02 -3.82170300e+01] [-1.02399211e-01 9.94713635e-01 7.69320056e-03 3.38825708e+00] [ 8.30298970e-02 8.40002846e-04 9.96546703e-01 -1.85642954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.80534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.25, Y:3.39, Z:-1.86 [[ 9.91568906e-01 9.93832793e-02 -8.31508755e-02 -3.82487927e+01] [-9.90837071e-02 9.95049062e-01 7.73191935e-03 3.38897814e+00] [ 8.35076242e-02 5.72166180e-04 9.96506974e-01 -1.85756746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.83534707 meters Centerline goodness [0,1] 0.9997527078490529 Centerline is valid? [True, True] Translation: X:-38.28, Y:3.39, Z:-1.86 [[ 9.91879232e-01 9.64991339e-02 -8.28462853e-02 -3.82815364e+01] [-9.61921994e-02 9.95333012e-01 7.69773572e-03 3.38922110e+00] [ 8.32024676e-02 3.33942208e-04 9.96532608e-01 -1.85909551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.86534707 meters Centerline goodness [0,1] 0.9996021088232369 Centerline is valid? [True, True] Translation: X:-38.31, Y:3.39, Z:-1.86 [[ 9.92186284e-01 9.33713018e-02 -8.27537238e-02 -3.83123079e+01] [-9.30546636e-02 9.95631354e-01 7.68345938e-03 3.39136610e+00] [ 8.31096167e-02 7.71969206e-05 9.96540408e-01 -1.85715991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.89534707 meters Centerline goodness [0,1] 0.9998504337421478 Centerline is valid? [True, True] Translation: X:-38.34, Y:3.39, Z:-1.86 [[ 9.92098381e-01 9.34624005e-02 -8.36993539e-02 -3.83431864e+01] [-9.31388733e-02 9.95622806e-01 7.77033522e-03 3.39291470e+00] [ 8.40592198e-02 8.67265199e-05 9.96460757e-01 -1.85927324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.92534707 meters Centerline goodness [0,1] 0.9997004642803654 Centerline is valid? [True, True] Translation: X:-38.37, Y:3.40, Z:-1.86 [[ 9.92178180e-01 9.25681955e-02 -8.37471675e-02 -3.83738611e+01] [-9.22410353e-02 9.95706347e-01 7.77575222e-03 3.39617323e+00] [ 8.41073736e-02 9.99374941e-06 9.96456697e-01 -1.85882297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.95534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.40, Y:3.40, Z:-1.86 [[ 9.92172749e-01 9.29460427e-02 -8.33922607e-02 -3.84043348e+01] [-9.26229867e-02 9.95671146e-01 7.74279985e-03 3.39952635e+00] [ 8.37509304e-02 4.18452399e-05 9.96486718e-01 -1.86289353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.98534707 meters Centerline goodness [0,1] 0.9998505082718756 Centerline is valid? [True, True] Translation: X:-38.43, Y:3.40, Z:-1.87 [[ 9.92179516e-01 9.27808900e-02 -8.34955976e-02 -3.84345464e+01] [-9.24564476e-02 9.95686550e-01 7.75239446e-03 3.40374440e+00] [ 8.38547175e-02 2.79393539e-05 9.96477991e-01 -1.86603802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.01534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.47, Y:3.41, Z:-1.87 [[ 9.91990133e-01 9.36724591e-02 -8.47410583e-02 -3.84650810e+01] [-9.33416664e-02 9.95603063e-01 7.86602318e-03 3.40786700e+00] [ 8.51052870e-02 1.06854226e-04 9.96371958e-01 -1.86555604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.04534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.49, Y:3.41, Z:-1.87 [[ 9.91826683e-01 9.55722182e-02 -8.45327245e-02 -3.84941022e+01] [-9.52502935e-02 9.95422461e-01 7.84252481e-03 3.41182252e+00] [ 8.48953002e-02 2.73341455e-04 9.96389840e-01 -1.86652871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.07534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.52, Y:3.41, Z:-1.87 [[ 9.91830902e-01 9.55284376e-02 -8.45327067e-02 -3.85247802e+01] [-9.52063379e-02 9.95426665e-01 7.84271642e-03 3.41472394e+00] [ 8.48953128e-02 2.69400929e-04 9.96389840e-01 -1.86837324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.10534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.56, Y:3.42, Z:-1.87 [[ 9.91712718e-01 9.67165542e-02 -8.45682769e-02 -3.85562621e+01] [-9.63988162e-02 9.95311895e-01 7.84224004e-03 3.41878551e+00] [ 8.49302863e-02 3.75032597e-04 9.96386825e-01 -1.86995628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.13534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.59, Y:3.42, Z:-1.87 [[ 9.91602648e-01 9.78313053e-02 -8.45767354e-02 -3.85875828e+01] [-9.75179709e-02 9.95202899e-01 7.83809357e-03 3.42355978e+00] [ 8.49378232e-02 4.75477290e-04 9.96386140e-01 -1.87452019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.16534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.62, Y:3.43, Z:-1.88 [[ 9.91397532e-01 1.01031358e-01 -8.32081674e-02 -3.86192314e+01] [-1.00739956e-01 9.94882963e-01 7.70396795e-03 3.42765846e+00] [ 8.35607305e-02 7.44692325e-04 9.96502408e-01 -1.87575966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.19534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.65, Y:3.43, Z:-1.87 [[ 9.91315031e-01 1.00933955e-01 -8.43021165e-02 -3.86506358e+01] [-1.00635227e-01 9.94892842e-01 7.79643828e-03 3.43074871e+00] [ 8.46584976e-02 7.55036165e-04 9.96409739e-01 -1.87458776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.22534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.68, Y:3.43, Z:-1.88 [[ 9.91107117e-01 1.02870604e-01 -8.44056941e-02 -3.86828380e+01] [-1.02579100e-01 9.94694309e-01 7.79483571e-03 3.43452020e+00] [ 8.47597230e-02 9.32742963e-04 9.96400983e-01 -1.87772564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.25534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.71, Y:3.44, Z:-1.88 [[ 9.91336452e-01 1.00440814e-01 -8.46385403e-02 -3.87137348e+01] [-1.00139458e-01 9.94942764e-01 7.80928887e-03 3.43566829e+00] [ 8.49948746e-02 7.34024806e-04 9.96381118e-01 -1.88098198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.28534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.75, Y:3.44, Z:-1.88 [[ 9.91150777e-01 1.03141659e-01 -8.35579753e-02 -3.87458097e+01] [-1.02858031e-01 9.94666215e-01 7.70370663e-03 3.43750287e+00] [ 8.39068681e-02 9.59074040e-04 9.96473139e-01 -1.87909792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.31534707 meters Centerline goodness [0,1] 0.9997520947989489 Centerline is valid? [True, True] Translation: X:-38.78, Y:3.44, Z:-1.88 [[ 9.91249094e-01 1.02773760e-01 -8.28419492e-02 -3.87775915e+01] [-1.02494296e-01 9.94704325e-01 7.63050167e-03 3.43916558e+00] [ 8.31874606e-02 9.27099406e-04 9.96533485e-01 -1.88148846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.34534707 meters Centerline goodness [0,1] 0.999651255480271 Centerline is valid? [True, True] Translation: X:-38.81, Y:3.44, Z:-1.88 [[ 9.91613509e-01 9.87884835e-02 -8.33275685e-02 -3.88085401e+01] [-9.84924214e-02 9.95108270e-01 7.66638600e-03 3.43786195e+00] [ 8.36773032e-02 6.05042060e-04 9.96492721e-01 -1.88324522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.375347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.84, Y:3.44, Z:-1.89 [[ 9.91620986e-01 9.83469515e-02 -8.37597588e-02 -3.88396516e+01] [-9.80473046e-02 9.95152017e-01 7.69345897e-03 3.43905753e+00] [ 8.41103212e-02 5.83423212e-04 9.96456278e-01 -1.88727963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.40534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.87, Y:3.44, Z:-1.89 [[ 9.91953003e-01 9.43002546e-02 -8.44790076e-02 -3.88709317e+01] [-9.39816086e-02 9.95543770e-01 7.74976163e-03 3.43682492e+00] [ 8.48333542e-02 2.52073712e-04 9.96395122e-01 -1.88550229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.43534707 meters Centerline goodness [0,1] 0.9998529195469922 Centerline is valid? [True, True] Translation: X:-38.90, Y:3.44, Z:-1.89 [[ 9.92474507e-01 8.85772615e-02 -8.45483365e-02 -3.88998462e+01] [-8.82373699e-02 9.96069281e-01 7.75590615e-03 3.43663420e+00] [ 8.49029977e-02 -2.37216290e-04 9.96389193e-01 -1.89444159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.46534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.93, Y:3.44, Z:-1.89 [[ 9.92503249e-01 8.98494155e-02 -8.28515778e-02 -3.89275281e+01] [-8.95268473e-02 9.95955353e-01 7.60781570e-03 3.43617184e+00] [ 8.32000302e-02 -1.33341242e-04 9.96532858e-01 -1.89006932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.49534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.96, Y:3.43, Z:-1.89 [[ 9.92947441e-01 8.44879842e-02 -8.31694610e-02 -3.89564078e+01] [-8.41425025e-02 9.96424315e-01 7.65664658e-03 3.43416983e+00] [ 8.35189678e-02 -6.04561057e-04 9.96506004e-01 -1.89331887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.52534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.98, Y:3.43, Z:-1.90 [[ 9.93333294e-01 7.99850239e-02 -8.30142304e-02 -3.89849632e+01] [-7.96229266e-02 9.96795556e-01 7.66871477e-03 3.43105058e+00] [ 8.33615983e-02 -1.00775374e-03 9.96518855e-01 -1.90226201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.55534707 meters Centerline goodness [0,1] 0.9999515902599603 Centerline is valid? [True, True] Translation: X:-39.01, Y:3.43, Z:-1.91 [[ 9.93509651e-01 7.57105575e-02 -8.48910120e-02 -3.90131200e+01] [-7.53144679e-02 9.97128827e-01 7.86336125e-03 3.42995289e+00] [ 8.52426147e-02 -1.41880390e-03 9.96359214e-01 -1.90574778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.58534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.04, Y:3.43, Z:-1.90 [[ 9.93654285e-01 7.35895213e-02 -8.50631764e-02 -3.90412866e+01] [-7.31833830e-02 9.97287313e-01 7.88724175e-03 3.43210183e+00] [ 8.54128450e-02 -1.61198055e-03 9.96344342e-01 -1.90486976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.61534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.07, Y:3.43, Z:-1.91 [[ 9.93600546e-01 7.45676012e-02 -8.48388341e-02 -3.90693833e+01] [-7.41659246e-02 9.97214774e-01 7.88094820e-03 3.43347290e+00] [ 8.51902022e-02 -1.53836386e-03 9.96363519e-01 -1.91011309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.64534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.10, Y:3.44, Z:-1.91 [[ 9.93529559e-01 7.67440830e-02 -8.37219258e-02 -3.90974854e+01] [-7.63584848e-02 9.97049897e-01 7.80283498e-03 3.43755671e+00] [ 8.40737589e-02 -1.35946780e-03 9.96458607e-01 -1.91226434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.67534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.12, Y:3.44, Z:-1.91 [[ 9.93346119e-01 7.81598736e-02 -8.45844038e-02 -3.91243422e+01] [-7.77691465e-02 9.96940018e-01 7.90956565e-03 3.44441066e+00] [ 8.49437877e-02 -1.27887945e-03 9.96384924e-01 -1.91378992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.70534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.15, Y:3.45, Z:-1.92 [[ 9.93256801e-01 7.84411216e-02 -8.53693035e-02 -3.91519265e+01] [-7.80417104e-02 9.96917907e-01 8.01106683e-03 3.45120261e+00] [ 8.57345845e-02 -1.29468015e-03 9.96317171e-01 -1.91594685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.73534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.18, Y:3.46, Z:-1.92 [[ 9.93062586e-01 8.10419989e-02 -8.51991477e-02 -3.91791933e+01] [-8.06519133e-02 9.96710092e-01 8.01628509e-03 3.45761344e+00] [ 8.55685061e-02 -1.08919853e-03 9.96331694e-01 -1.91977137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.76534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.21, Y:3.46, Z:-1.93 [[ 9.93072765e-01 8.11715707e-02 -8.49568110e-02 -3.92069670e+01] [-8.07828068e-02 9.96699546e-01 8.00950970e-03 3.45942478e+00] [ 8.53265595e-02 -1.09097630e-03 9.96352442e-01 -1.92534637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.79534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.23, Y:3.46, Z:-1.92 [[ 9.93016068e-01 8.25488146e-02 -8.42898722e-02 -3.92342853e+01] [-8.21688918e-02 9.96586530e-01 7.97256893e-03 3.46457059e+00] [ 8.46602773e-02 -9.90883663e-04 9.96409382e-01 -1.92187427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.82534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.26, Y:3.47, Z:-1.93 [[ 9.93087242e-01 8.17002370e-02 -8.42781231e-02 -3.92619167e+01] [-8.13157118e-02 9.96656360e-01 7.99098131e-03 3.46516399e+00] [ 8.46491924e-02 -1.08260601e-03 9.96410228e-01 -1.93233470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.85534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.29, Y:3.47, Z:-1.93 [[ 9.93177036e-01 7.89497373e-02 -8.58272399e-02 -3.92897518e+01] [-7.85384604e-02 9.96877661e-01 8.16330787e-03 3.46930656e+00] [ 8.62037492e-02 -1.36687062e-03 9.96276591e-01 -1.92880982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.88534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.32, Y:3.47, Z:-1.94 [[ 9.93272785e-01 7.82865741e-02 -8.53251886e-02 -3.93170726e+01] [-7.78762177e-02 9.96929867e-01 8.13237334e-03 3.46782453e+00] [ 8.56998845e-02 -1.43286216e-03 9.96319967e-01 -1.93970446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.91534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.35, Y:3.47, Z:-1.94 [[ 9.93472619e-01 7.43052487e-02 -8.65499011e-02 -3.93457186e+01] [-7.38657180e-02 9.97233870e-01 8.27432887e-03 3.46826914e+00] [ 8.69253189e-02 -1.82724858e-03 9.96213155e-01 -1.94124213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.94534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.37, Y:3.47, Z:-1.94 [[ 9.93722439e-01 7.18172640e-02 -8.57787558e-02 -3.93742756e+01] [-7.13751981e-02 9.97415722e-01 8.21336527e-03 3.46785713e+00] [ 8.61469411e-02 -2.03932968e-03 9.96280355e-01 -1.94313915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.97534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.40, Y:3.47, Z:-1.95 [[ 9.93837904e-01 7.04239504e-02 -8.55960702e-02 -3.94016393e+01] [-6.99768610e-02 9.97514778e-01 8.21619986e-03 3.47038017e+00] [ 8.59619622e-02 -2.17582654e-03 9.96296044e-01 -1.94512079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.00534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.43, Y:3.47, Z:-1.95 [[ 9.94001357e-01 6.77435308e-02 -8.58610245e-02 -3.94300735e+01] [-6.72824476e-02 9.97699810e-01 8.25594181e-03 3.47031446e+00] [ 8.62228145e-02 -2.42947748e-03 9.96272916e-01 -1.94835048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.03534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.46, Y:3.47, Z:-1.95 [[ 9.94024044e-01 6.77564533e-02 -8.55877546e-02 -3.94579660e+01] [-6.72960484e-02 9.97698889e-01 8.25641554e-03 3.47153213e+00] [ 8.59502331e-02 -2.44735788e-03 9.96296426e-01 -1.95090280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.06534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.49, Y:3.47, Z:-1.95 [[ 9.94120284e-01 6.54552768e-02 -8.62581434e-02 -3.94864780e+01] [-6.49769908e-02 9.97851878e-01 8.34386609e-03 3.47281892e+00] [ 8.66190005e-02 -2.69001194e-03 9.96237880e-01 -1.95150445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.09534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.51, Y:3.48, Z:-1.95 [[ 9.94247074e-01 6.41329483e-02 -8.57888130e-02 -3.95137404e+01] [-6.36542875e-02 9.97937442e-01 8.30622555e-03 3.47598017e+00] [ 8.61445714e-02 -2.79761468e-03 9.96278719e-01 -1.95402203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.125347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.54, Y:3.48, Z:-1.96 [[ 9.94394562e-01 6.12419166e-02 -8.61909678e-02 -3.95426064e+01] [-6.07467310e-02 9.98118212e-01 8.35880343e-03 3.47707875e+00] [ 8.65406838e-02 -3.07612914e-03 9.96243568e-01 -1.96049190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.15534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.57, Y:3.48, Z:-1.96 [[ 9.94435611e-01 6.06331595e-02 -8.61477544e-02 -3.95699909e+01] [-6.01345278e-02 9.98155157e-01 8.37381029e-03 3.48035192e+00] [ 8.64965560e-02 -3.14676062e-03 9.96247180e-01 -1.96010859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.18534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.60, Y:3.48, Z:-1.96 [[ 9.94470885e-01 5.94412264e-02 -8.65701956e-02 -3.95985676e+01] [-5.89319147e-02 9.98226415e-01 8.42933248e-03 3.48120343e+00] [ 8.69177058e-02 -3.28097835e-03 9.96210092e-01 -1.96452603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.21534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.63, Y:3.48, Z:-1.97 [[ 9.94673578e-01 5.50757655e-02 -8.71271089e-02 -3.96268382e+01] [-5.45414434e-02 9.98475301e-01 8.50319620e-03 3.48221648e+00] [ 8.74625864e-02 -3.70586631e-03 9.96160912e-01 -1.96931946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.24534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.66, Y:3.48, Z:-1.97 [[ 9.94832292e-01 5.22894251e-02 -8.70317608e-02 -3.96550046e+01] [-5.17450651e-02 9.98624148e-01 8.50058516e-03 3.48313584e+00] [ 8.73565086e-02 -3.95319249e-03 9.96169269e-01 -1.96760339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.27534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.68, Y:3.48, Z:-1.97 [[ 9.95047769e-01 5.02151885e-02 -8.57809581e-02 -3.96838213e+01] [-4.96775047e-02 9.98730048e-01 8.39262480e-03 3.48202719e+00] [ 8.60934577e-02 -4.08967863e-03 9.96278671e-01 -1.97241194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.30534707 meters Centerline goodness [0,1] 0.9999513381995134 Centerline is valid? [True, True] Translation: X:-39.71, Y:3.48, Z:-1.98 [[ 9.95082475e-01 4.84006986e-02 -8.64189811e-02 -3.97128058e+01] [-4.78463753e-02 9.98818748e-01 8.47540137e-03 3.48260766e+00] [ 8.67271139e-02 -4.29888836e-03 9.96222830e-01 -1.97508301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.33534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.74, Y:3.48, Z:-1.98 [[ 9.95304355e-01 4.50291373e-02 -8.56832418e-02 -3.97426732e+01] [-4.44712789e-02 9.98975269e-01 8.40931099e-03 3.48301354e+00] [ 8.59741036e-02 -4.55938050e-03 9.96286939e-01 -1.97683501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.36534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.77, Y:3.48, Z:-1.98 [[ 9.95394944e-01 4.16329505e-02 -8.63458383e-02 -3.97721979e+01] [-4.10533702e-02 9.99120986e-01 8.47797001e-03 3.48357807e+00] [ 8.66229020e-02 -4.89414081e-03 9.96229150e-01 -1.98199463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.39534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.80, Y:3.48, Z:-1.98 [[ 9.95551629e-01 3.79044108e-02 -8.62566522e-02 -3.98020670e+01] [-3.73118436e-02 9.99267755e-01 8.47226001e-03 3.48432695e+00] [ 8.65146272e-02 -5.21617753e-03 9.96236925e-01 -1.98476379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.42534707 meters Centerline goodness [0,1] 0.9999515503875969 Centerline is valid? [True, True] Translation: X:-39.83, Y:3.49, Z:-1.98 [[ 9.95517089e-01 3.87650365e-02 -8.62728036e-02 -3.98303181e+01] [-3.81746713e-02 9.99235075e-01 8.48293326e-03 3.48622517e+00] [ 8.65356525e-02 -5.15146910e-03 9.96235436e-01 -1.98498852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.45534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.86, Y:3.49, Z:-1.99 [[ 9.95559664e-01 3.60923726e-02 -8.69384576e-02 -3.98593482e+01] [-3.54810649e-02 9.99333628e-01 8.56703247e-03 3.49036495e+00] [ 8.71897287e-02 -5.44432291e-03 9.96176847e-01 -1.98660966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.48534707 meters Centerline goodness [0,1] 0.999902657451572 Centerline is valid? [True, True] Translation: X:-39.89, Y:3.49, Z:-1.99 [[ 9.95592732e-01 3.55596972e-02 -8.67791419e-02 -3.98876763e+01] [-3.49476885e-02 9.99352466e-01 8.56203927e-03 3.49129032e+00] [ 8.70274129e-02 -5.49157366e-03 9.96190781e-01 -1.98970624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.51534707 meters Centerline goodness [0,1] 0.999853594260895 Centerline is valid? [True, True] Translation: X:-39.92, Y:3.50, Z:-1.99 [[ 9.95523637e-01 3.77511531e-02 -8.66460552e-02 -3.99159188e+01] [-3.71475722e-02 9.99273055e-01 8.56846855e-03 3.49984841e+00] [ 8.69065379e-02 -5.31142239e-03 9.96202310e-01 -1.99061299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.54534707 meters Centerline goodness [0,1] 0.9991266375545852 Centerline is valid? [True, True] Translation: X:-39.94, Y:3.50, Z:-1.99 [[ 9.95572619e-01 3.75657849e-02 -8.61624797e-02 -3.99440536e+01] [-3.69672054e-02 9.99280050e-01 8.53273841e-03 3.50375302e+00] [ 8.64209861e-02 -5.30977463e-03 9.96244558e-01 -1.98890439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.57534707 meters Centerline goodness [0,1] 0.9995625121524402 Centerline is valid? [True, True] Translation: X:-39.97, Y:3.50, Z:-2.00 [[ 9.95511376e-01 3.79719434e-02 -8.66904383e-02 -3.99715567e+01] [-3.73650798e-02 9.99264564e-01 8.61289269e-03 3.50407413e+00] [ 8.69537313e-02 -5.33503750e-03 9.96198066e-01 -1.99796910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.60534707 meters Centerline goodness [0,1] 0.9998010049251281 Centerline is valid? [True, True] Translation: X:-40.00, Y:3.52, Z:-2.00 [[ 9.95171781e-01 4.30612417e-02 -8.81978194e-02 -3.99990262e+01] [-4.24509748e-02 9.99059934e-01 8.78422070e-03 3.52011954e+00] [ 8.84931671e-02 -4.99772515e-03 9.96064246e-01 -1.99659331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.63534707 meters Centerline goodness [0,1] 0.99956052541628 Centerline is valid? [True, True] Translation: X:-40.03, Y:3.52, Z:-2.00 [[ 9.95160426e-01 4.46863876e-02 -8.75148719e-02 -4.00277402e+01] [-4.40909277e-02 9.98989410e-01 8.72630635e-03 3.51908877e+00] [ 8.78163774e-02 -4.82546286e-03 9.96124992e-01 -2.00179214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.66534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.06, Y:3.53, Z:-2.00 [[ 9.94797746e-01 5.03440475e-02 -8.85602685e-02 -4.00560101e+01] [-4.97547539e-02 9.98722250e-01 8.85050753e-03 3.53298306e+00] [ 8.88926810e-02 -4.39817057e-03 9.96031499e-01 -2.00343695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.69534707 meters Centerline goodness [0,1] 0.9997997997997998 Centerline is valid? [True, True] Translation: X:-40.08, Y:3.54, Z:-2.01 [[ 9.94661296e-01 5.24324185e-02 -8.88805269e-02 -4.00830882e+01] [-5.18467208e-02 9.98615509e-01 8.88720873e-03 3.54450956e+00] [ 8.92234505e-02 -4.23159869e-03 9.96002645e-01 -2.00535363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.72534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.11, Y:3.55, Z:-2.01 [[ 9.94210284e-01 6.06682807e-02 -8.86863642e-02 -4.01127863e+01] [-6.01171376e-02 9.98151875e-01 8.87488922e-03 3.55078651e+00] [ 8.90608850e-02 -3.49193577e-03 9.96020063e-01 -2.00807622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.75534707 meters Centerline goodness [0,1] 0.9996970462004544 Centerline is valid? [True, True] Translation: X:-40.14, Y:3.56, Z:-2.01 [[ 9.93954423e-01 6.43901147e-02 -8.89298495e-02 -4.01405048e+01] [-6.38505408e-02 9.97919769e-01 8.90185922e-03 3.56219029e+00] [ 8.93180466e-02 -3.16982336e-03 9.95998112e-01 -2.00765333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.78534707 meters Centerline goodness [0,1] 0.9996428389203531 Centerline is valid? [True, True] Translation: X:-40.17, Y:3.57, Z:-2.02 [[ 9.93627293e-01 6.93829884e-02 -8.88301994e-02 -4.01695915e+01] [-6.88640288e-02 9.97586379e-01 8.89726375e-03 3.56662610e+00] [ 8.92331157e-02 -2.72335869e-03 9.96007045e-01 -2.01538230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.81534707 meters Centerline goodness [0,1] 0.9997444938423016 Centerline is valid? [True, True] Translation: X:-40.20, Y:3.58, Z:-2.01 [[ 9.93404193e-01 7.34824718e-02 -8.80252014e-02 -4.01987320e+01] [-7.29885971e-02 9.97293769e-01 8.82057493e-03 3.57539055e+00] [ 8.84351426e-02 -2.33756015e-03 9.96079194e-01 -2.01441748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.84534707 meters Centerline goodness [0,1] 0.9995998799639892 Centerline is valid? [True, True] Translation: X:-40.23, Y:3.58, Z:-2.01 [[ 9.93355117e-01 7.60573136e-02 -8.63764836e-02 -4.02275885e+01] [-7.55905992e-02 9.97101280e-01 8.66597251e-03 3.57840230e+00] [ 8.67852129e-02 -2.07913799e-03 9.96224876e-01 -2.01490278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.875347070000004 meters Centerline goodness [0,1] 0.9990924674800847 Centerline is valid? [True, True] Translation: X:-40.26, Y:3.58, Z:-2.02 [[ 9.93301880e-01 7.60846371e-02 -8.69626483e-02 -4.02552015e+01] [-7.56093341e-02 9.97099115e-01 8.75123431e-03 3.58382531e+00] [ 8.73762141e-02 -2.11742956e-03 9.96173134e-01 -2.01811677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.90534707 meters Centerline goodness [0,1] 0.9992367965808486 Centerline is valid? [True, True] Translation: X:-40.28, Y:3.58, Z:-2.02 [[ 9.93386989e-01 7.32600460e-02 -8.84039374e-02 -4.02841333e+01] [-7.27557696e-02 9.97309920e-01 8.91742847e-03 3.58338692e+00] [ 8.88194150e-02 -2.42656092e-03 9.96044790e-01 -2.02280822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.93534707 meters Centerline goodness [0,1] 0.9994890660126712 Centerline is valid? [True, True] Translation: X:-40.31, Y:3.59, Z:-2.02 [[ 9.93402670e-01 7.36712705e-02 -8.78844700e-02 -4.03113920e+01] [-7.31737753e-02 9.97279730e-01 8.87348029e-03 3.58803489e+00] [ 8.82991211e-02 -2.38410055e-03 9.96091151e-01 -2.02228201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.96534707 meters Centerline goodness [0,1] 0.9989373545187734 Centerline is valid? [True, True] Translation: X:-40.34, Y:3.59, Z:-2.02 [[ 9.93575911e-01 7.19097199e-02 -8.73836486e-02 -4.03396357e+01] [-7.14097192e-02 9.97407906e-01 8.83856862e-03 3.58950366e+00] [ 8.77927210e-02 -2.54174706e-03 9.96135522e-01 -2.02331205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.99534707 meters Centerline goodness [0,1] 0.9989373545187734 Centerline is valid? [True, True] Translation: X:-40.37, Y:3.59, Z:-2.02 [[ 9.93549868e-01 7.22722110e-02 -8.73807063e-02 -4.03667689e+01] [-7.17710592e-02 9.97381713e-01 8.86757769e-03 3.59202327e+00] [ 8.77927979e-02 -2.53897480e-03 9.96135522e-01 -2.02495322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.02534707 meters Centerline goodness [0,1] 0.9981951268424747 Centerline is valid? [True, True] Translation: X:-40.40, Y:3.59, Z:-2.03 [[ 9.93896353e-01 6.92412388e-02 -8.58818401e-02 -4.03961108e+01] [-6.87433507e-02 9.97596050e-01 8.74481522e-03 3.58905798e+00] [ 8.62808863e-02 -2.78763450e-03 9.96266951e-01 -2.02944046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.05534707 meters Centerline goodness [0,1] 0.9982462293931954 Centerline is valid? [True, True] Translation: X:-40.42, Y:3.59, Z:-2.03 [[ 9.93956278e-01 6.91221950e-02 -8.52821185e-02 -4.04232200e+01] [-6.86290662e-02 9.97604275e-01 8.70412332e-03 3.59154713e+00] [ 8.56794541e-02 -2.79868587e-03 9.96318824e-01 -2.03260356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.08534707 meters Centerline goodness [0,1] 0.9976839031267308 Centerline is valid? [True, True] Translation: X:-40.45, Y:3.59, Z:-2.03 [[ 9.93998033e-01 6.65643264e-02 -8.68164810e-02 -4.04515354e+01] [-6.60427376e-02 9.97777373e-01 8.86960045e-03 3.59414926e+00] [ 8.72139194e-02 -3.08276733e-03 9.96184837e-01 -2.03384969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.11534707 meters Centerline goodness [0,1] 0.9971705739692805 Centerline is valid? [True, True] Translation: X:-40.48, Y:3.59, Z:-2.04 [[ 9.94115589e-01 6.42558064e-02 -8.72088734e-02 -4.04799261e+01] [-6.37199529e-02 9.97927978e-01 8.91730924e-03 3.59436258e+00] [ 8.76011636e-02 -3.30789083e-03 9.96150136e-01 -2.04003560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.14534707 meters Centerline goodness [0,1] 0.9974961189844258 Centerline is valid? [True, True] Translation: X:-40.51, Y:3.60, Z:-2.04 [[ 9.94213663e-01 6.54542846e-02 -8.51758722e-02 -4.05084529e+01] [-6.49464915e-02 9.97850629e-01 8.72207063e-03 3.59609116e+00] [ 8.55636946e-02 -3.13972773e-03 9.96327755e-01 -2.03864138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.17534707 meters Centerline goodness [0,1] 0.9976532854004394 Centerline is valid? [True, True] Translation: X:-40.54, Y:3.60, Z:-2.04 [[ 9.94259034e-01 6.55418567e-02 -8.45768229e-02 -4.05360017e+01] [-6.50393208e-02 9.97844894e-01 8.68647890e-03 3.59848752e+00] [ 8.49638788e-02 -3.13579100e-03 9.96379098e-01 -2.04061742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.20534707 meters Centerline goodness [0,1] 0.9982467564995241 Centerline is valid? [True, True] Translation: X:-40.56, Y:3.60, Z:-2.04 [[ 9.94366281e-01 6.47681613e-02 -8.39093784e-02 -4.05635985e+01] [-6.42689068e-02 9.97895211e-01 8.64032296e-03 3.60238813e+00] [ 8.42923847e-02 -3.19888178e-03 9.96435929e-01 -2.03954707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.23534707 meters Centerline goodness [0,1] 0.999047236987263 Centerline is valid? [True, True] Translation: X:-40.59, Y:3.60, Z:-2.04 [[ 9.94426838e-01 6.67508331e-02 -8.16063077e-02 -4.05929204e+01] [-6.62847086e-02 9.97765301e-01 8.41077048e-03 3.60352369e+00] [ 8.19853681e-02 -2.95464557e-03 9.96629153e-01 -2.03741577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.26534707 meters Centerline goodness [0,1] 0.9997990050751219 Centerline is valid? [True, True] Translation: X:-40.62, Y:3.60, Z:-2.04 [[ 9.94521906e-01 6.57826991e-02 -8.12330886e-02 -4.06219204e+01] [-6.53167775e-02 9.97829370e-01 8.38258232e-03 3.60447435e+00] [ 8.16081905e-02 -3.03077817e-03 9.96659881e-01 -2.03907737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.29534707 meters Centerline goodness [0,1] 0.9997994886961753 Centerline is valid? [True, True] Translation: X:-40.65, Y:3.61, Z:-2.04 [[ 9.94573024e-01 6.55566241e-02 -8.07887955e-02 -4.06485736e+01] [-6.50933760e-02 9.97844180e-01 8.35734661e-03 3.60968989e+00] [ 8.11625088e-02 -3.05317604e-03 9.96696205e-01 -2.03853648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.32534707 meters Centerline goodness [0,1] 0.9998992138681717 Centerline is valid? [True, True] Translation: X:-40.68, Y:3.61, Z:-2.04 [[ 9.94663096e-01 6.49932689e-02 -8.01323919e-02 -4.06763939e+01] [-6.45345118e-02 9.97880922e-01 8.30432882e-03 3.61370119e+00] [ 8.05023106e-02 -3.08870462e-03 9.96749637e-01 -2.04164145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.35534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.70, Y:3.62, Z:-2.04 [[ 9.94793713e-01 6.37336843e-02 -7.95203519e-02 -4.07043137e+01] [-6.32762518e-02 9.97961854e-01 8.26163616e-03 3.61736820e+00] [ 7.98848223e-02 -3.18687390e-03 9.96799006e-01 -2.04109690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.38534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.73, Y:3.62, Z:-2.04 [[ 9.94960962e-01 6.35002089e-02 -7.75912884e-02 -4.07326284e+01] [-6.30628756e-02 9.97976878e-01 8.07617530e-03 3.61613283e+00] [ 7.79471505e-02 -3.14234938e-03 9.96952540e-01 -2.04481140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.41534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.76, Y:3.62, Z:-2.05 [[ 9.94938328e-01 6.23916191e-02 -7.87718798e-02 -4.07599620e+01] [-6.19356671e-02 9.98046289e-01 8.22063415e-03 3.62062333e+00] [ 7.91308809e-02 -3.30023507e-03 9.96858772e-01 -2.04614644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.44534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.79, Y:3.63, Z:-2.05 [[ 9.94998860e-01 6.08202486e-02 -7.92348796e-02 -4.07870455e+01] [-6.03530039e-02 9.98142748e-01 8.28069634e-03 3.62919338e+00] [ 7.95913545e-02 -3.45722042e-03 9.96821581e-01 -2.04564595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.47534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.82, Y:3.63, Z:-2.05 [[ 9.95039580e-01 6.00798663e-02 -7.92883637e-02 -4.08160772e+01] [-5.96085613e-02 9.98187323e-01 8.29987080e-03 3.62684744e+00] [ 7.96432946e-02 -3.53243466e-03 9.96817169e-01 -2.04834068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.50534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.85, Y:3.62, Z:-2.05 [[ 9.95149493e-01 6.16077835e-02 -7.66939843e-02 -4.08452856e+01] [-6.11695187e-02 9.98094907e-01 8.05277502e-03 3.62458051e+00] [ 7.70439887e-02 -3.32238088e-03 9.97022159e-01 -2.04754121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.53534707 meters Centerline goodness [0,1] 0.9997509215901166 Centerline is valid? [True, True] Translation: X:-40.87, Y:3.63, Z:-2.05 [[ 9.95313951e-01 6.12561149e-02 -7.48186342e-02 -4.08728908e+01] [-6.08365840e-02 9.98116668e-01 7.87569184e-03 3.62739309e+00] [ 7.51601602e-02 -3.28707583e-03 9.97166057e-01 -2.04568386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.56534707 meters Centerline goodness [0,1] 0.9997994283708569 Centerline is valid? [True, True] Translation: X:-40.90, Y:3.63, Z:-2.05 [[ 9.95448647e-01 5.89910248e-02 -7.48468404e-02 -4.09002315e+01] [-5.85641821e-02 9.98252491e-01 7.88679406e-03 3.63179366e+00] [ 7.51812949e-02 -3.46755449e-03 9.97163853e-01 -2.04724382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.59534707 meters Centerline goodness [0,1] 0.9997526344431801 Centerline is valid? [True, True] Translation: X:-40.93, Y:3.63, Z:-2.05 [[ 9.95551638e-01 5.87751729e-02 -7.36370502e-02 -4.09285929e+01] [-5.83606131e-02 9.98265323e-01 7.77072150e-03 3.63033711e+00] [ 7.39660392e-02 -3.43865112e-03 9.97254832e-01 -2.04697025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.625347070000004 meters Centerline goodness [0,1] 0.9995607613469986 Centerline is valid? [True, True] Translation: X:-40.96, Y:3.63, Z:-2.05 [[ 9.95659048e-01 5.91520934e-02 -7.18616002e-02 -4.09580994e+01] [-5.87566063e-02 9.98243356e-01 7.60681020e-03 3.62619415e+00] [ 7.21853237e-02 -3.35144565e-03 9.97385606e-01 -2.04650543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.65534707 meters Centerline goodness [0,1] 0.9996107245389518 Centerline is valid? [True, True] Translation: X:-40.99, Y:3.62, Z:-2.05 [[ 9.95876977e-01 5.60967200e-02 -7.12895809e-02 -4.09880950e+01] [-5.56983761e-02 9.98418982e-01 7.56491424e-03 3.62223609e+00] [ 7.16012376e-02 -3.56301004e-03 9.97426974e-01 -2.04823357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.68534707 meters Centerline goodness [0,1] 0.9993173062856585 Centerline is valid? [True, True] Translation: X:-41.02, Y:3.62, Z:-2.05 [[ 9.95948983e-01 5.48733464e-02 -7.12357951e-02 -4.10158448e+01] [-5.44721787e-02 9.98486642e-01 7.56350631e-03 3.62367705e+00] [ 7.15430247e-02 -3.65249746e-03 9.97430827e-01 -2.04822655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.71534707 meters Centerline goodness [0,1] 0.9995681589175184 Centerline is valid? [True, True] Translation: X:-41.04, Y:3.62, Z:-2.05 [[ 9.96057546e-01 5.47194482e-02 -6.98222529e-02 -4.10442269e+01] [-5.43328288e-02 9.98495269e-01 7.42579855e-03 3.62361124e+00] [ 7.01235247e-02 -3.60288217e-03 9.97531809e-01 -2.04803303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.74534707 meters Centerline goodness [0,1] 0.9995187448866644 Centerline is valid? [True, True] Translation: X:-41.07, Y:3.63, Z:-2.05 [[ 9.96141385e-01 5.33410845e-02 -6.96926879e-02 -4.10719687e+01] [-5.29510728e-02 9.98569444e-01 7.43294885e-03 3.62674031e+00] [ 6.99894702e-02 -3.71396537e-03 9.97540816e-01 -2.04735622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.77534707 meters Centerline goodness [0,1] 0.9991444460288037 Centerline is valid? [True, True] Translation: X:-41.10, Y:3.62, Z:-2.05 [[ 9.96421807e-01 5.01637223e-02 -6.80233971e-02 -4.11028400e+01] [-4.97843701e-02 9.98733591e-01 7.26165473e-03 3.61925162e+00] [ 6.83015232e-02 -3.84916915e-03 9.97657299e-01 -2.04503252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.80534707 meters Centerline goodness [0,1] 0.9993763492444231 Centerline is valid? [True, True] Translation: X:-41.13, Y:3.63, Z:-2.04 [[ 9.96475071e-01 4.96197388e-02 -6.76410721e-02 -4.11299900e+01] [-4.92431281e-02 9.98760690e-01 7.22482647e-03 3.62528749e+00] [ 6.79157378e-02 -3.86850149e-03 9.97683561e-01 -2.04420547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.83534707 meters Centerline goodness [0,1] 0.9993306239540999 Centerline is valid? [True, True] Translation: X:-41.16, Y:3.62, Z:-2.04 [[ 9.96581903e-01 4.74622190e-02 -6.76154461e-02 -4.11593067e+01] [-4.70802228e-02 9.98864926e-01 7.23278178e-03 3.62046174e+00] [ 6.78819815e-02 -4.02470915e-03 9.97685240e-01 -2.04411066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.86534707 meters Centerline goodness [0,1] 0.998999475915956 Centerline is valid? [True, True] Translation: X:-41.19, Y:3.62, Z:-2.04 [[ 9.96650750e-01 4.71921563e-02 -6.67845938e-02 -4.11877987e+01] [-4.68183972e-02 9.98877818e-01 7.15146075e-03 3.62055118e+00] [ 6.70471421e-02 -4.00076108e-03 9.97741788e-01 -2.04381944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.89534707 meters Centerline goodness [0,1] 0.9989487767584098 Centerline is valid? [True, True] Translation: X:-41.22, Y:3.62, Z:-2.04 [[ 9.96700045e-01 4.55221741e-02 -6.72067815e-02 -4.12160101e+01] [-4.51386076e-02 9.98954674e-01 7.21558702e-03 3.62044295e+00] [ 6.74649978e-02 -4.15815537e-03 9.97712977e-01 -2.04374674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.92534707 meters Centerline goodness [0,1] 0.9993355481727575 Centerline is valid? [True, True] Translation: X:-41.25, Y:3.62, Z:-2.04 [[ 9.96746132e-01 4.79544868e-02 -6.47882341e-02 -4.12462442e+01] [-4.76027638e-02 9.98842080e-01 6.96250999e-03 3.62024188e+00] [ 6.50470981e-02 -3.85575591e-03 9.97874746e-01 -2.03964407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.95534707 meters Centerline goodness [0,1] 0.9996686861037486 Centerline is valid? [True, True] Translation: X:-41.27, Y:3.62, Z:-2.04 [[ 9.96819646e-01 4.76175517e-02 -6.38996268e-02 -4.12739735e+01] [-4.72745373e-02 9.98858308e-01 6.87014276e-03 3.62198772e+00] [ 6.41538125e-02 -3.82746798e-03 9.97932683e-01 -2.03961831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.98534707 meters Centerline goodness [0,1] 0.9995291902071564 Centerline is valid? [True, True] Translation: X:-41.30, Y:3.62, Z:-2.04 [[ 9.96854550e-01 4.67782335e-02 -6.39750186e-02 -4.13028246e+01] [-4.64321691e-02 9.98897709e-01 6.88630168e-03 3.62178807e+00] [ 6.42266285e-02 -3.89414228e-03 9.97927741e-01 -2.03959314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.01534707 meters Centerline goodness [0,1] 0.9996234939759037 Centerline is valid? [True, True] Translation: X:-41.33, Y:3.62, Z:-2.04 [[ 9.96874368e-01 4.66699327e-02 -6.37448918e-02 -4.13308515e+01] [-4.63249194e-02 9.98902728e-01 6.88052548e-03 3.62159383e+00] [ 6.39960600e-02 -3.90604251e-03 9.97942507e-01 -2.03539509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.04534707 meters Centerline goodness [0,1] 0.9999058336079854 Centerline is valid? [True, True] Translation: X:-41.36, Y:3.62, Z:-2.03 [[ 9.96869461e-01 4.85794701e-02 -6.23803896e-02 -4.13605216e+01] [-4.82524023e-02 9.98812435e-01 6.73982002e-03 3.62278608e+00] [ 6.26337257e-02 -3.70871709e-03 9.98029690e-01 -2.03314778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.07534707 meters Centerline goodness [0,1] 0.9999060371153394 Centerline is valid? [True, True] Translation: X:-41.39, Y:3.62, Z:-2.03 [[ 9.96802157e-01 4.96371362e-02 -6.26227967e-02 -4.13894995e+01] [-4.93093627e-02 9.98760611e-01 6.76969799e-03 3.62134530e+00] [ 6.28812111e-02 -3.66015937e-03 9.98014307e-01 -2.03342256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.10534707 meters Centerline goodness [0,1] 0.9998113741393945 Centerline is valid? [True, True] Translation: X:-41.42, Y:3.62, Z:-2.03 [[ 9.96816000e-01 5.08175711e-02 -6.14445881e-02 -4.14178762e+01] [-5.05031307e-02 9.98701691e-01 6.66072386e-03 3.62426323e+00] [ 6.17032958e-02 -3.53637205e-03 9.98088271e-01 -2.03043127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.13534707 meters Centerline goodness [0,1] 0.999812865497076 Centerline is valid? [True, True] Translation: X:-41.45, Y:3.63, Z:-2.03 [[ 9.96795742e-01 5.18317985e-02 -6.09238363e-02 -4.14455270e+01] [-5.15241501e-02 9.98649867e-01 6.61096326e-03 3.62822897e+00] [ 6.11842391e-02 -3.45073114e-03 9.98120524e-01 -2.02940762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.16534707 meters Centerline goodness [0,1] 0.9998604975587073 Centerline is valid? [True, True] Translation: X:-41.48, Y:3.62, Z:-2.03 [[ 9.96837611e-01 5.09237947e-02 -6.10044682e-02 -4.14755431e+01] [-5.06129755e-02 9.98696332e-01 6.63048810e-03 3.62130777e+00] [ 6.12625882e-02 -3.52190226e-03 9.98115470e-01 -2.02573392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.195347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.50, Y:3.62, Z:-2.03 [[ 9.96827086e-01 5.11770607e-02 -6.09644963e-02 -4.15036056e+01] [-5.08659182e-02 9.98683379e-01 6.64575265e-03 3.62272694e+00] [ 6.12243393e-02 -3.52365117e-03 9.98117811e-01 -2.02796222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.22534707 meters Centerline goodness [0,1] 0.9997663769741145 Centerline is valid? [True, True] Translation: X:-41.53, Y:3.63, Z:-2.02 [[ 9.96715762e-01 5.38298656e-02 -6.04982199e-02 -4.15318921e+01] [-5.35270817e-02 9.98544484e-01 6.61555505e-03 3.63100260e+00] [ 6.07662782e-02 -3.35553484e-03 9.98146382e-01 -2.02467855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.25534707 meters Centerline goodness [0,1] 0.9997229405245659 Centerline is valid? [True, True] Translation: X:-41.56, Y:3.63, Z:-2.03 [[ 9.96500346e-01 5.81725594e-02 -6.00251090e-02 -4.15624425e+01] [-5.78820972e-02 9.98301821e-01 6.56795290e-03 3.62735895e+00] [ 6.03052502e-02 -3.07058814e-03 9.98175259e-01 -2.02508636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.28534707 meters Centerline goodness [0,1] 0.9999073773908211 Centerline is valid? [True, True] Translation: X:-41.59, Y:3.64, Z:-2.02 [[ 9.96289282e-01 6.17419293e-02 -5.99633329e-02 -4.15899437e+01] [-6.14584198e-02 9.98088069e-01 6.56264471e-03 3.63653779e+00] [ 6.02538775e-02 -2.85304089e-03 9.98179007e-01 -2.02297619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.31534707 meters Centerline goodness [0,1] 0.9998148833765272 Centerline is valid? [True, True] Translation: X:-41.62, Y:3.64, Z:-2.02 [[ 9.96050182e-01 6.49972735e-02 -6.04928844e-02 -4.16199233e+01] [-6.47143201e-02 9.97881826e-01 6.62702160e-03 3.63779656e+00] [ 6.07954883e-02 -2.68609019e-03 9.98146629e-01 -2.01912305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.34534707 meters Centerline goodness [0,1] 0.9997681428240204 Centerline is valid? [True, True] Translation: X:-41.65, Y:3.65, Z:-2.02 [[ 9.95808880e-01 6.84284452e-02 -6.06813185e-02 -4.16472972e+01] [-6.81499027e-02 9.97652927e-01 6.65048725e-03 3.64599370e+00] [ 6.09939775e-02 -2.48718831e-03 9.98135035e-01 -2.02121471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.375347070000004 meters Centerline goodness [0,1] 0.9998116494796817 Centerline is valid? [True, True] Translation: X:-41.68, Y:3.65, Z:-2.02 [[ 9.95469461e-01 7.34674102e-02 -6.03580252e-02 -4.16756709e+01] [-7.32007479e-02 9.97295253e-01 6.62033434e-03 3.65327989e+00] [ 6.06811508e-02 -2.17208807e-03 9.98154838e-01 -2.01918681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.40534707 meters Centerline goodness [0,1] 0.9998137022029715 Centerline is valid? [True, True] Translation: X:-41.70, Y:3.66, Z:-2.02 [[ 9.95163919e-01 7.69284489e-02 -6.10801804e-02 -4.17046347e+01] [-7.66616030e-02 9.97034632e-01 6.70375378e-03 3.65628676e+00] [ 6.14147646e-02 -1.98882934e-03 9.98110350e-01 -2.01804125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.43534707 meters Centerline goodness [0,1] 0.9997623235252174 Centerline is valid? [True, True] Translation: X:-41.73, Y:3.66, Z:-2.02 [[ 9.94869694e-01 8.09703512e-02 -6.06472897e-02 -4.17321017e+01] [-8.07145185e-02 9.96715007e-01 6.66041038e-03 3.66312174e+00] [ 6.09873596e-02 -1.73112365e-03 9.98137037e-01 -2.01801199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.46534707 meters Centerline goodness [0,1] 0.9998109372784422 Centerline is valid? [True, True] Translation: X:-41.76, Y:3.66, Z:-2.02 [[ 9.94758375e-01 8.24611748e-02 -6.04642884e-02 -4.17627078e+01] [-8.22092927e-02 9.96592928e-01 6.64592699e-03 3.66125072e+00] [ 6.08063132e-02 -1.64036515e-03 9.98148236e-01 -2.01672841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.49534707 meters Centerline goodness [0,1] 0.9999055623760507 Centerline is valid? [True, True] Translation: X:-41.79, Y:3.66, Z:-2.01 [[ 9.94640675e-01 8.32971015e-02 -6.12496539e-02 -4.17918852e+01] [-8.30400319e-02 9.96523453e-01 6.73508752e-03 3.66439081e+00] [ 6.15977298e-02 -1.61281878e-03 9.98099754e-01 -2.01259070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.52534707 meters Centerline goodness [0,1] 0.9996670155075635 Centerline is valid? [True, True] Translation: X:-41.82, Y:3.66, Z:-2.01 [[ 9.94616825e-01 8.35197929e-02 -6.13336465e-02 -4.18216411e+01] [-8.32624202e-02 9.96504832e-01 6.74463672e-03 3.66463091e+00] [ 6.16825858e-02 -1.60154131e-03 9.98094531e-01 -2.01124622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.55534707 meters Centerline goodness [0,1] 0.999811320754717 Centerline is valid? [True, True] Translation: X:-41.85, Y:3.66, Z:-2.01 [[ 9.94704651e-01 8.19164207e-02 -6.20673538e-02 -4.18503437e+01] [-8.16495454e-02 9.96637711e-01 6.82825073e-03 3.66408039e+00] [ 6.24180113e-02 -1.72432154e-03 9.98048605e-01 -2.01167390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.58534707 meters Centerline goodness [0,1] 0.9998116317400518 Centerline is valid? [True, True] Translation: X:-41.88, Y:3.66, Z:-2.01 [[ 9.94773369e-01 8.11203399e-02 -6.20115629e-02 -4.18801732e+01] [-8.08520519e-02 9.96702728e-01 6.82769351e-03 3.66013537e+00] [ 6.23609587e-02 -1.77824558e-03 9.98052077e-01 -2.00981228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.61534707 meters Centerline goodness [0,1] 0.9999527186761229 Centerline is valid? [True, True] Translation: X:-41.91, Y:3.66, Z:-2.01 [[ 9.94830933e-01 8.05649375e-02 -6.18118618e-02 -4.19078452e+01] [-8.02961369e-02 9.96747690e-01 6.82449176e-03 3.66034803e+00] [ 6.21606452e-02 -1.82596178e-03 9.98064487e-01 -2.01012955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.64534707 meters Centerline goodness [0,1] 0.9998126990073047 Centerline is valid? [True, True] Translation: X:-41.94, Y:3.66, Z:-2.01 [[ 9.94798534e-01 8.04701652e-02 -6.24534206e-02 -4.19362176e+01] [-8.01950603e-02 9.96755284e-01 6.90328787e-03 3.65874542e+00] [ 6.28062858e-02 -1.85892481e-03 9.98024005e-01 -2.01021803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.67534707 meters Centerline goodness [0,1] 0.9999064765022212 Centerline is valid? [True, True] Translation: X:-41.97, Y:3.65, Z:-2.01 [[ 9.94927975e-01 7.79596627e-02 -6.35658311e-02 -4.19662067e+01] [-7.76680387e-02 9.96954351e-01 7.04970569e-03 3.65402743e+00] [ 6.39218245e-02 -2.07691598e-03 9.97952748e-01 -2.00736504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.70534707 meters Centerline goodness [0,1] 0.9998603741971517 Centerline is valid? [True, True] Translation: X:-42.00, Y:3.65, Z:-2.01 [[ 9.95088520e-01 7.55933485e-02 -6.39099628e-02 -4.19957037e+01] [-7.52924878e-02 9.97136169e-01 7.10643125e-03 3.65199577e+00] [ 6.42641344e-02 -2.25958806e-03 9.97930366e-01 -2.01027816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.73534707 meters Centerline goodness [0,1] 0.9998599897325804 Centerline is valid? [True, True] Translation: X:-42.02, Y:3.65, Z:-2.01 [[ 9.95050829e-01 7.57410519e-02 -6.43206107e-02 -4.20240097e+01] [-7.54359189e-02 9.97124925e-01 7.16282298e-03 3.65081882e+00] [ 6.46782039e-02 -2.27528857e-03 9.97903579e-01 -2.00744295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.76534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.05, Y:3.64, Z:-2.01 [[ 9.95173605e-01 7.39999074e-02 -6.44477247e-02 -4.20535095e+01] [-7.36884893e-02 9.97255324e-01 7.19904572e-03 3.64445817e+00] [ 6.48035653e-02 -2.41524481e-03 9.97895117e-01 -2.00681965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.79534707 meters Centerline goodness [0,1] 0.9998139448346435 Centerline is valid? [True, True] Translation: X:-42.08, Y:3.64, Z:-2.01 [[ 9.95296874e-01 7.15303369e-02 -6.53264437e-02 -4.20812452e+01] [-7.12038121e-02 9.97434957e-01 7.31598074e-03 3.64407449e+00] [ 6.56821931e-02 -2.63008094e-03 9.97837127e-01 -2.00816269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.82534707 meters Centerline goodness [0,1] 0.9999063538886548 Centerline is valid? [True, True] Translation: X:-42.11, Y:3.64, Z:-2.01 [[ 9.95289021e-01 7.06101584e-02 -6.64377112e-02 -4.21099393e+01] [-7.02697829e-02 9.97500209e-01 7.44914916e-03 3.64330274e+00] [ 6.67976165e-02 -2.74549283e-03 9.97762768e-01 -2.00907908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.85534707 meters Centerline goodness [0,1] 0.9998601463801221 Centerline is valid? [True, True] Translation: X:-42.14, Y:3.64, Z:-2.01 [[ 9.95478739e-01 6.91577400e-02 -6.51098074e-02 -4.21401496e+01] [-6.88264796e-02 9.97601793e-01 7.31976178e-03 3.63834220e+00] [ 6.54598787e-02 -2.80538840e-03 9.97851258e-01 -2.00570445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.88534707 meters Centerline goodness [0,1] 0.9998601463801221 Centerline is valid? [True, True] Translation: X:-42.17, Y:3.64, Z:-2.01 [[ 9.95454680e-01 6.95051663e-02 -6.51076984e-02 -4.21673123e+01] [-6.91734252e-02 9.97577658e-01 7.33847532e-03 3.64116712e+00] [ 6.54600472e-02 -2.80139710e-03 9.97851259e-01 -2.00734567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.91534707 meters Centerline goodness [0,1] 0.9999529478191315 Centerline is valid? [True, True] Translation: X:-42.20, Y:3.64, Z:-2.01 [[ 9.95453768e-01 6.95021128e-02 -6.51248943e-02 -4.21956120e+01] [-6.91686808e-02 9.97577803e-01 7.36340658e-03 3.63796542e+00] [ 6.54789214e-02 -2.82532779e-03 9.97849953e-01 -2.00865700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.945347070000004 meters Centerline goodness [0,1] 0.9997683361905203 Centerline is valid? [True, True] Translation: X:-42.22, Y:3.64, Z:-2.01 [[ 9.95579948e-01 6.73350170e-02 -6.54718457e-02 -4.22247981e+01] [-6.69919198e-02 9.97725896e-01 7.42423174e-03 3.63616480e+00] [ 6.58228667e-02 -3.00533162e-03 9.97826798e-01 -2.00881808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.97534707 meters Centerline goodness [0,1] 0.9998602766522285 Centerline is valid? [True, True] Translation: X:-42.25, Y:3.64, Z:-2.01 [[ 9.95677034e-01 6.59749615e-02 -6.53800321e-02 -4.22526767e+01] [-6.56295258e-02 9.97816474e-01 7.41957236e-03 3.63791011e+00] [ 6.57267791e-02 -3.09663729e-03 9.97832852e-01 -2.00685936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.00534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.28, Y:3.63, Z:-2.01 [[ 9.95817727e-01 6.31528391e-02 -6.60210029e-02 -4.22823338e+01] [-6.27939168e-02 9.97998336e-01 7.49962716e-03 3.63106853e+00] [ 6.63624738e-02 -3.32254432e-03 9.97790049e-01 -2.00853554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.03534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.31, Y:3.63, Z:-2.01 [[ 9.95961715e-01 6.27629693e-02 -6.41955722e-02 -4.23105941e+01] [-6.24224775e-02 9.98023133e-01 7.29797205e-03 3.62968599e+00] [ 6.45267085e-02 -3.26125410e-03 9.97910651e-01 -2.00507066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.06534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.34, Y:3.63, Z:-2.00 [[ 9.96263064e-01 5.93199598e-02 -6.27777818e-02 -4.23406890e+01] [-5.89871500e-02 9.98233185e-01 7.14318928e-03 3.62571618e+00] [ 6.30905987e-02 -3.41341321e-03 9.98001966e-01 -2.00403970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.09534707 meters Centerline goodness [0,1] 0.9999542313149343 Centerline is valid? [True, True] Translation: X:-42.37, Y:3.62, Z:-2.01 [[ 9.96538935e-01 5.34004633e-02 -6.37066853e-02 -4.23723217e+01] [-5.30454967e-02 9.98565767e-01 7.25154276e-03 3.61917591e+00] [ 6.40025508e-02 -3.84709193e-03 9.97942320e-01 -2.00667895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.125347070000004 meters Centerline goodness [0,1] 0.9999087091473434 Centerline is valid? [True, True] Translation: X:-42.40, Y:3.62, Z:-2.01 [[ 9.96770825e-01 4.88707262e-02 -6.37147985e-02 -4.24018882e+01] [-4.85064240e-02 9.98796536e-01 7.25300595e-03 3.61930461e+00] [ 6.39925797e-02 -4.13900769e-03 9.97941791e-01 -2.00755172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.15534707 meters Centerline goodness [0,1] 0.9994083109553502 Centerline is valid? [True, True] Translation: X:-42.43, Y:3.62, Z:-2.01 [[ 9.96842404e-01 4.73842732e-02 -6.37177503e-02 -4.24311922e+01] [-4.70167554e-02 9.98867748e-01 7.25585461e-03 3.61777621e+00] [ 6.39894191e-02 -4.23714167e-03 9.97941582e-01 -2.01032971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.18534707 meters Centerline goodness [0,1] 0.9996333134711464 Centerline is valid? [True, True] Translation: X:-42.46, Y:3.62, Z:-2.02 [[ 9.96779233e-01 4.77906062e-02 -6.43988956e-02 -4.24583427e+01] [-4.74155513e-02 9.98848277e-01 7.34061881e-03 3.61939403e+00] [ 6.46755385e-02 -4.26346726e-03 9.97897238e-01 -2.01509138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.21534707 meters Centerline goodness [0,1] 0.9995425434583715 Centerline is valid? [True, True] Translation: X:-42.49, Y:3.63, Z:-2.02 [[ 9.96197347e-01 5.66406008e-02 -6.62018768e-02 -4.24867771e+01] [-5.62621670e-02 9.98387344e-01 7.56832732e-03 3.63202365e+00] [ 6.65237905e-02 -3.81488655e-03 9.97777546e-01 -2.01851414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.24534707 meters Centerline goodness [0,1] 0.9992140545538604 Centerline is valid? [True, True] Translation: X:-42.52, Y:3.64, Z:-2.01 [[ 9.95840808e-01 6.66577107e-02 -6.21114677e-02 -4.25152383e+01] [-6.63439970e-02 9.97771536e-01 7.10185768e-03 3.64480674e+00] [ 6.24464481e-02 -2.95159667e-03 9.98043952e-01 -2.00723974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.27534707 meters Centerline goodness [0,1] 0.9992731897883165 Centerline is valid? [True, True] Translation: X:-42.54, Y:3.65, Z:-2.00 [[ 9.95626209e-01 6.95862459e-02 -6.23394433e-02 -4.25441690e+01] [-6.92759354e-02 9.97572070e-01 7.12804721e-03 3.65069599e+00] [ 6.26841016e-02 -2.77824738e-03 9.98029551e-01 -2.00490338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.30534707 meters Centerline goodness [0,1] 0.9997697232072952 Centerline is valid? [True, True] Translation: X:-42.57, Y:3.66, Z:-2.02 [[ 9.94908876e-01 7.39983657e-02 -6.84146963e-02 -4.25702624e+01] [-7.36345384e-02 9.97254570e-01 7.82803313e-03 3.66474200e+00] [ 6.88061302e-02 -2.75049506e-03 9.97626258e-01 -2.01647587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.33534707 meters Centerline goodness [0,1] 0.9991724898859875 Centerline is valid? [True, True] Translation: X:-42.60, Y:3.67, Z:-2.02 [[ 9.94636803e-01 7.56389328e-02 -7.05434764e-02 -4.25986920e+01] [-7.52555400e-02 9.97131540e-01 8.08063120e-03 3.66859745e+00] [ 7.09523356e-02 -2.72850577e-03 9.97475975e-01 -2.01924145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.36534707 meters Centerline goodness [0,1] 0.9992690392434557 Centerline is valid? [True, True] Translation: X:-42.63, Y:3.67, Z:-2.02 [[ 9.94689671e-01 7.53475971e-02 -7.01084740e-02 -4.26268703e+01] [-7.49666533e-02 9.97153526e-01 8.05275668e-03 3.67149706e+00] [ 7.05156679e-02 -2.75419623e-03 9.97506870e-01 -2.01988871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.39534707 meters Centerline goodness [0,1] 0.9997249094493604 Centerline is valid? [True, True] Translation: X:-42.66, Y:3.67, Z:-2.02 [[ 9.94816066e-01 7.25864635e-02 -7.12193852e-02 -4.26557011e+01] [-7.21846907e-02 9.97357555e-01 8.20236958e-03 3.67429104e+00] [ 7.16265728e-02 -3.01889974e-03 9.97426950e-01 -2.02278767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.42534707 meters Centerline goodness [0,1] 0.9996242014280345 Centerline is valid? [True, True] Translation: X:-42.68, Y:3.68, Z:-2.01 [[ 9.94985875e-01 7.33005163e-02 -6.80451588e-02 -4.26844198e+01] [-7.29343272e-02 9.97305822e-01 7.85370226e-03 3.67575531e+00] [ 6.84375135e-02 -2.85149494e-03 9.97651330e-01 -2.01424317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.45534707 meters Centerline goodness [0,1] 0.9997228893404766 Centerline is valid? [True, True] Translation: X:-42.71, Y:3.68, Z:-2.01 [[ 9.95326041e-01 6.78473343e-02 -6.87227201e-02 -4.27136649e+01] [-6.74603568e-02 9.97690370e-01 7.93889138e-03 3.67511412e+00] [ 6.91026287e-02 -3.26572611e-03 9.97604211e-01 -2.01165216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.48534707 meters Centerline goodness [0,1] 0.9999532251274615 Centerline is valid? [True, True] Translation: X:-42.74, Y:3.68, Z:-2.01 [[ 9.95532402e-01 6.67206908e-02 -6.68100682e-02 -4.27407957e+01] [-6.63522037e-02 9.97766385e-01 7.72179606e-03 3.67877665e+00] [ 6.71760438e-02 -3.25430292e-03 9.97735831e-01 -2.01410250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.51534707 meters Centerline goodness [0,1] 0.9996751137102015 Centerline is valid? [True, True] Translation: X:-42.77, Y:3.67, Z:-2.02 [[ 9.95770463e-01 6.20963344e-02 -6.77143329e-02 -4.27712792e+01] [-6.17063894e-02 9.98063575e-01 7.83718125e-03 3.67294434e+00] [ 6.80698694e-02 -3.62562660e-03 9.97673969e-01 -2.02039769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.54534707 meters Centerline goodness [0,1] 0.9998146431881372 Centerline is valid? [True, True] Translation: X:-42.80, Y:3.67, Z:-2.02 [[ 9.95856459e-01 5.81406332e-02 -6.99255266e-02 -4.28000317e+01] [-5.77147726e-02 9.98300278e-01 8.09691770e-03 3.67426924e+00] [ 7.02774326e-02 -4.02763192e-03 9.97519354e-01 -2.01672432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.57534707 meters Centerline goodness [0,1] 0.9999059575868717 Centerline is valid? [True, True] Translation: X:-42.83, Y:3.68, Z:-2.02 [[ 9.96081380e-01 5.41340592e-02 -6.99384637e-02 -4.28281291e+01] [-5.36978793e-02 9.98524350e-01 8.10310288e-03 3.67948957e+00] [ 7.02739128e-02 -4.31580272e-03 9.97518396e-01 -2.01987888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.60534707 meters Centerline goodness [0,1] 0.9996336157545226 Centerline is valid? [True, True] Translation: X:-42.86, Y:3.68, Z:-2.02 [[ 9.96154211e-01 5.16418140e-02 -7.07807300e-02 -4.28586880e+01] [-5.11884676e-02 9.98655304e-01 8.20511408e-03 3.67695333e+00] [ 7.11092785e-02 -4.55040184e-03 9.97458152e-01 -2.02493694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.63534707 meters Centerline goodness [0,1] 0.999344139417221 Centerline is valid? [True, True] Translation: X:-42.89, Y:3.69, Z:-2.02 [[ 9.96194043e-01 5.24749788e-02 -6.95974559e-02 -4.28859769e+01] [-5.20385387e-02 9.98612466e-01 8.07049204e-03 3.68713816e+00] [ 6.99243860e-02 -4.41802619e-03 9.97542511e-01 -2.02151684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.66534707 meters Centerline goodness [0,1] 0.9999062397449721 Centerline is valid? [True, True] Translation: X:-42.92, Y:3.69, Z:-2.02 [[ 9.96271945e-01 5.19238106e-02 -6.88921618e-02 -4.29150268e+01] [-5.14941912e-02 9.98641262e-01 7.99861259e-03 3.68730183e+00] [ 6.92138738e-02 -4.42124717e-03 9.97592047e-01 -2.02023583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.695347070000004 meters Centerline goodness [0,1] 0.9997660928143712 Centerline is valid? [True, True] Translation: X:-42.94, Y:3.69, Z:-2.03 [[ 9.96294736e-01 5.00867457e-02 -6.99150707e-02 -4.29424217e+01] [-4.96382966e-02 9.98734105e-01 8.13798080e-03 3.69323571e+00] [ 7.02341705e-02 -4.63736241e-03 9.97519752e-01 -2.02507001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.72534707 meters Centerline goodness [0,1] 0.9996791786974655 Centerline is valid? [True, True] Translation: X:-42.97, Y:3.69, Z:-2.03 [[ 9.96349448e-01 4.66656255e-02 -7.14849405e-02 -4.29724404e+01] [-4.61875897e-02 9.98898080e-01 8.32656805e-03 3.69114475e+00] [ 7.17947344e-02 -4.99445438e-03 9.97406924e-01 -2.02960996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.75534707 meters Centerline goodness [0,1] 0.9997696064878813 Centerline is valid? [True, True] Translation: X:-43.00, Y:3.69, Z:-2.03 [[ 9.96405841e-01 4.64569804e-02 -7.08318401e-02 -4.30018390e+01] [-4.59867992e-02 9.98907937e-01 8.25520114e-03 3.69311062e+00] [ 7.11379989e-02 -4.96820103e-03 9.97454110e-01 -2.02636750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.78534707 meters Centerline goodness [0,1] 0.9989844435212113 Centerline is valid? [True, True] Translation: X:-43.03, Y:3.70, Z:-2.03 [[ 9.96602884e-01 4.22839743e-02 -7.06735972e-02 -4.30324126e+01] [-4.18042339e-02 9.99091725e-01 8.25412633e-03 3.69525783e+00] [ 7.09584234e-02 -5.27163052e-03 9.97465344e-01 -2.02716888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.81534707 meters Centerline goodness [0,1] 0.9986114325387642 Centerline is valid? [True, True] Translation: X:-43.06, Y:3.69, Z:-2.03 [[ 9.96718721e-01 3.85062415e-02 -7.11973412e-02 -4.30634152e+01] [-3.80097045e-02 9.99242764e-01 8.31630966e-03 3.68876535e+00] [ 7.14636578e-02 -5.58283163e-03 9.97427580e-01 -2.03014270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.84534707 meters Centerline goodness [0,1] 0.9989707120800974 Centerline is valid? [True, True] Translation: X:-43.09, Y:3.69, Z:-2.02 [[ 9.96893593e-01 3.77088268e-02 -6.91462804e-02 -4.30913937e+01] [-3.72385077e-02 9.99273750e-01 8.07868517e-03 3.69088036e+00] [ 6.94007007e-02 -5.47868519e-03 9.97573820e-01 -2.02143558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.875347070000004 meters Centerline goodness [0,1] 0.9986675855731679 Centerline is valid? [True, True] Translation: X:-43.12, Y:3.70, Z:-2.01 [[ 9.97000996e-01 3.99076341e-02 -6.63053104e-02 -4.31195579e+01] [-3.94796094e-02 9.99190293e-01 7.75368678e-03 3.69688758e+00] [ 6.65610538e-02 -5.11272568e-03 9.97769255e-01 -2.01435059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.90534707 meters Centerline goodness [0,1] 0.9986635328816996 Centerline is valid? [True, True] Translation: X:-43.15, Y:3.70, Z:-2.03 [[ 9.97148418e-01 2.89117954e-02 -6.97075366e-02 -4.31488512e+01] [-2.84114733e-02 9.99563018e-01 8.15845549e-03 3.69895545e+00] [ 6.99129512e-02 -6.15469717e-03 9.97534109e-01 -2.03152777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.93534707 meters Centerline goodness [0,1] 0.9967144291320617 Centerline is valid? [True, True] Translation: X:-43.18, Y:3.69, Z:-2.04 [[ 9.97087693e-01 2.36449067e-02 -7.25055252e-02 -4.31793985e+01] [-2.30896446e-02 9.99697374e-01 8.48694892e-03 3.69032378e+00] [ 7.26842563e-02 -6.78810552e-03 9.97331901e-01 -2.03713074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.96534707 meters Centerline goodness [0,1] 0.9946890603722197 Centerline is valid? [True, True] Translation: X:-43.21, Y:3.69, Z:-2.04 [[ 9.97199244e-01 1.97906364e-02 -7.21248805e-02 -4.32098266e+01] [-1.92310462e-02 9.99779401e-01 8.44487798e-03 3.68739588e+00] [ 7.22760993e-02 -7.03418902e-03 9.97359858e-01 -2.03541241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.99534707 meters Centerline goodness [0,1] 0.9978843765809686 Centerline is valid? [True, True] Translation: X:-43.24, Y:3.69, Z:-2.03 [[ 9.97392503e-01 1.85634611e-02 -6.97394666e-02 -4.32367610e+01] [-1.80371998e-02 9.99803950e-01 8.16831512e-03 3.69406616e+00] [ 6.98774264e-02 -6.88911157e-03 9.97531797e-01 -2.03422082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.02534707 meters Centerline goodness [0,1] 0.9903353411849322 Centerline is valid? [True, True] Translation: X:-43.27, Y:3.69, Z:-2.04 [[ 9.97366119e-01 1.34145945e-02 -7.12802460e-02 -4.32673984e+01] [-1.28510470e-02 9.99882483e-01 8.35882570e-03 3.68798386e+00] [ 7.13839996e-02 -7.42078375e-03 9.97421303e-01 -2.04059920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.05534707 meters Centerline goodness [0,1] 0.9926331013287535 Centerline is valid? [True, True] Translation: X:-43.30, Y:3.69, Z:-2.04 [[ 9.97345024e-01 1.10926754e-02 -7.19712157e-02 -4.32962948e+01] [-1.05119400e-02 9.99909105e-01 8.44276632e-03 3.68895963e+00] [ 7.20583268e-02 -7.66379388e-03 9.97370976e-01 -2.04061215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.08534707 meters Centerline goodness [0,1] 0.9927601403003867 Centerline is valid? [True, True] Translation: X:-43.32, Y:3.69, Z:-2.04 [[ 9.97364727e-01 9.31554355e-03 -7.19501414e-02 -4.33247109e+01] [-8.73035643e-03 9.99926242e-01 8.44344269e-03 3.69357231e+00] [ 7.20234897e-02 -7.79304153e-03 9.97372491e-01 -2.04297510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.11534707 meters Centerline goodness [0,1] 0.9967289082731362 Centerline is valid? [True, True] Translation: X:-43.35, Y:3.70, Z:-2.05 [[ 9.97374303e-01 8.85839000e-03 -7.18750860e-02 -4.33518766e+01] [-8.27296026e-03 9.99930171e-01 8.43871618e-03 3.70000324e+00] [ 7.19448205e-02 -7.82193894e-03 9.97377942e-01 -2.04507665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.14534707 meters Centerline goodness [0,1] 0.9700913750835748 Centerline is valid? [True, True] Translation: X:-43.38, Y:3.69, Z:-2.05 [[ 9.97310018e-01 7.32803736e-03 -7.29316645e-02 -4.33828664e+01] [-6.72063475e-03 9.99940690e-01 8.57030162e-03 3.68659635e+00] [ 7.29901424e-02 -8.05710059e-03 9.97300116e-01 -2.04959305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.17534707 meters Centerline goodness [0,1] 0.9879610080409685 Centerline is valid? [True, True] Translation: X:-43.41, Y:3.70, Z:-2.04 [[ 9.97265216e-01 9.45563440e-03 -7.32985638e-02 -4.34112047e+01] [-8.84751249e-03 9.99923733e-01 8.61676917e-03 3.69837602e+00] [ 7.33744506e-02 -7.94469421e-03 9.97272817e-01 -2.04477947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.20534707 meters Centerline goodness [0,1] 0.9970699995421874 Centerline is valid? [True, True] Translation: X:-43.44, Y:3.71, Z:-2.05 [[ 9.97257201e-01 1.70506414e-02 -7.20232679e-02 -4.34387625e+01] [-1.64829380e-02 9.99828277e-01 8.46927531e-03 3.71198247e+00] [ 7.21553065e-02 -7.25889073e-03 9.97366994e-01 -2.04802970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.23534707 meters Centerline goodness [0,1] 0.9943921852387844 Centerline is valid? [True, True] Translation: X:-43.47, Y:3.71, Z:-2.05 [[ 9.97084407e-01 2.07941226e-02 -7.34185872e-02 -4.34694001e+01] [-2.02141990e-02 9.99758398e-01 8.63318272e-03 3.71089510e+00] [ 7.35803686e-02 -7.12391394e-03 9.97263846e-01 -2.05424610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.26534707 meters Centerline goodness [0,1] 0.9996809044080777 Centerline is valid? [True, True] Translation: X:-43.50, Y:3.73, Z:-2.05 [[ 9.96962138e-01 2.58201529e-02 -7.34834388e-02 -4.34966704e+01] [-2.52526098e-02 9.99643746e-01 8.64219952e-03 3.72879085e+00] [ 7.36804030e-02 -6.76029710e-03 9.97258992e-01 -2.05105087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.29534707 meters Centerline goodness [0,1] 0.9990323472491015 Centerline is valid? [True, True] Translation: X:-43.53, Y:3.73, Z:-2.05 [[ 9.96872565e-01 3.19026053e-02 -7.23001568e-02 -4.35266148e+01] [-3.13688753e-02 9.99471682e-01 8.50592107e-03 3.73374492e+00] [ 7.25333203e-02 -6.21134475e-03 9.97346648e-01 -2.05132967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.32534707 meters Centerline goodness [0,1] 0.9996349365702291 Centerline is valid? [True, True] Translation: X:-43.55, Y:3.74, Z:-2.06 [[ 9.96672242e-01 3.41488889e-02 -7.40155033e-02 -4.35543069e+01] [-3.35954440e-02 9.99397560e-01 8.70992783e-03 3.74351242e+00] [ 7.42683478e-02 -6.19435960e-03 9.97219054e-01 -2.05555346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.35534707 meters Centerline goodness [0,1] 0.9995880629805932 Centerline is valid? [True, True] Translation: X:-43.58, Y:3.75, Z:-2.06 [[ 9.96533066e-01 3.65067870e-02 -7.47603047e-02 -4.35838456e+01] [-3.59483557e-02 9.99314884e-01 8.80213710e-03 3.74741095e+00] [ 7.50304230e-02 -6.08411064e-03 9.97162684e-01 -2.05794564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.38534707 meters Centerline goodness [0,1] 0.9991735916624581 Centerline is valid? [True, True] Translation: X:-43.61, Y:3.75, Z:-2.06 [[ 9.96508682e-01 3.81156056e-02 -7.42808667e-02 -4.36134388e+01] [-3.75685246e-02 9.99255754e-01 8.74891915e-03 3.75230066e+00] [ 7.45590539e-02 -5.92775133e-03 9.97198982e-01 -2.05824552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.41534707 meters Centerline goodness [0,1] 0.9995826183740667 Centerline is valid? [True, True] Translation: X:-43.64, Y:3.76, Z:-2.06 [[ 9.96569053e-01 3.90412287e-02 -7.29787936e-02 -4.36420466e+01] [-3.85151803e-02 9.99220988e-01 8.60220164e-03 3.75531440e+00] [ 7.32577828e-02 -5.76189655e-03 9.97296394e-01 -2.06078875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.445347070000004 meters Centerline goodness [0,1] 0.9989937337053469 Centerline is valid? [True, True] Translation: X:-43.67, Y:3.76, Z:-2.06 [[ 9.96592535e-01 3.83726029e-02 -7.30127519e-02 -4.36705593e+01] [-3.78426654e-02 9.99246459e-01 8.62821533e-03 3.75729665e+00] [ 7.32888209e-02 -5.83581785e-03 9.97293684e-01 -2.05954155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.47534707 meters Centerline goodness [0,1] 0.9984012424630002 Centerline is valid? [True, True] Translation: X:-43.70, Y:3.75, Z:-2.07 [[ 9.96625679e-01 3.36949900e-02 -7.48458707e-02 -4.37009336e+01] [-3.31235382e-02 9.99411961e-01 8.86364594e-03 3.75409171e+00] [ 7.51005189e-02 -6.35457710e-03 9.97155721e-01 -2.06521076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.50534707 meters Centerline goodness [0,1] 0.9987544976473844 Centerline is valid? [True, True] Translation: X:-43.73, Y:3.76, Z:-2.07 [[ 9.96792578e-01 3.17467765e-02 -7.34622304e-02 -4.37297314e+01] [-3.11908839e-02 9.99475562e-01 8.70223665e-03 3.75668005e+00] [ 7.36999720e-02 -6.38297300e-03 9.97260032e-01 -2.06587821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.53534707 meters Centerline goodness [0,1] 0.9963763192462745 Centerline is valid? [True, True] Translation: X:-43.76, Y:3.75, Z:-2.07 [[ 9.96849624e-01 2.72006104e-02 -7.45047263e-02 -4.37608555e+01] [-2.66159759e-02 9.99606744e-01 8.82880893e-03 3.74557672e+00] [ 7.47155758e-02 -6.81797886e-03 9.97181577e-01 -2.07230522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.56534707 meters Centerline goodness [0,1] 0.9967672904430178 Centerline is valid? [True, True] Translation: X:-43.79, Y:3.75, Z:-2.07 [[ 9.97033527e-01 2.19859049e-02 -7.37615418e-02 -4.37895929e+01] [-2.13985854e-02 9.99732791e-01 8.74335107e-03 3.74640112e+00] [ 7.39340626e-02 -7.13902151e-03 9.97237579e-01 -2.07164396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.59534707 meters Centerline goodness [0,1] 0.9974852544465274 Centerline is valid? [True, True] Translation: X:-43.82, Y:3.75, Z:-2.07 [[ 9.97136130e-01 1.86276966e-02 -7.32976602e-02 -4.38187251e+01] [-1.80384977e-02 9.99799508e-01 8.69228501e-03 3.74671057e+00] [ 7.34448819e-02 -7.34521176e-03 9.97272228e-01 -2.07181299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.625347070000004 meters Centerline goodness [0,1] 0.993483709273183 Centerline is valid? [True, True] Translation: X:-43.85, Y:3.74, Z:-2.07 [[ 9.97199501e-01 1.39589958e-02 -7.34731402e-02 -4.38502723e+01] [-1.33542293e-02 9.99872840e-01 8.71597461e-03 3.73691245e+00] [ 7.35854636e-02 -7.71038837e-03 9.97259108e-01 -2.07182418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.65534707 meters Centerline goodness [0,1] 0.9826919618773602 Centerline is valid? [True, True] Translation: X:-43.88, Y:3.73, Z:-2.08 [[ 9.97263889e-01 7.79100954e-03 -7.35121437e-02 -4.38811285e+01] [-7.16882802e-03 9.99936250e-01 8.72372261e-03 3.73131628e+00] [ 7.35754239e-02 -8.17285763e-03 9.97256166e-01 -2.07606315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.68534707 meters Centerline goodness [0,1] 0.9536491336907874 Centerline is valid? [True, True] Translation: X:-43.91, Y:3.72, Z:-2.08 [[ 9.97239422e-01 2.80415397e-03 -7.42002097e-02 -4.39126768e+01] [-2.15654690e-03 9.99958896e-01 8.80651317e-03 3.72145232e+00] [ 7.42218546e-02 -8.62218587e-03 9.97204480e-01 -2.07830577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.71534707 meters Centerline goodness [0,1] 0.9926364293458619 Centerline is valid? [True, True] Translation: X:-43.94, Y:3.74, Z:-2.07 [[ 9.97396069e-01 2.46590495e-03 -7.20763496e-02 -4.39392749e+01] [-1.85389707e-03 9.99961672e-01 8.55677058e-03 3.73645054e+00] [ 7.20946872e-02 -8.40086721e-03 9.97362412e-01 -2.07460356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.74534707 meters Centerline goodness [0,1] 0.9700013157317662 Centerline is valid? [True, True] Translation: X:-43.97, Y:3.72, Z:-2.09 [[ 9.97293065e-01 -1.40624535e-03 -7.35157455e-02 -4.39699690e+01] [ 2.05393866e-03 9.99959736e-01 8.73540826e-03 3.72406377e+00] [ 7.35005014e-02 -8.86275891e-03 9.97255799e-01 -2.08537689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.77534707 meters Centerline goodness [0,1] 0.9839339800711119 Centerline is valid? [True, True] Translation: X:-44.00, Y:3.73, Z:-2.08 [[ 9.97195517e-01 2.81095985e-03 -7.47877004e-02 -4.39991934e+01] [-2.15205252e-03 9.99958172e-01 8.88949857e-03 3.72991583e+00] [ 7.48095602e-02 -8.70362106e-03 9.97159855e-01 -2.08318350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.80534707 meters Centerline goodness [0,1] 0.9839339800711119 Centerline is valid? [True, True] Translation: X:-44.03, Y:3.73, Z:-2.08 [[ 9.97194501e-01 3.17058349e-03 -7.47868660e-02 -4.40265369e+01] [-2.51215387e-03 9.99957270e-01 8.89650842e-03 3.73293808e+00] [ 7.48118775e-02 -8.68367316e-03 9.97159855e-01 -2.08482993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.83534707 meters Centerline goodness [0,1] 0.9448049101271372 Centerline is valid? [True, False] Translation: X:-44.02, Y:3.73, Z:-2.08 [[ 9.97169489e-01 5.86966470e-03 -7.49570366e-02 -4.40243678e+01] [-5.20483960e-03 9.99945396e-01 9.06168358e-03 3.73272538e+00] [ 7.50061327e-02 -8.64589503e-03 9.97145590e-01 -2.08407097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.86534707 meters Centerline goodness [0,1] 0.9912431243124312 Centerline is valid? [False, True] Translation: X:-44.02, Y:3.74, Z:-2.08 [[ 9.97163505e-01 1.07287198e-02 -7.44972393e-02 -4.40227592e+01] [-9.82162116e-03 9.99873235e-01 1.25319761e-02 3.73507968e+00] [ 7.46222477e-02 -1.17647456e-02 9.97142473e-01 -2.08495936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.89534707 meters Centerline goodness [0,1] 0.9960801585553842 Centerline is valid? [True, True] Translation: X:-44.05, Y:3.74, Z:-2.09 [[ 9.96922004e-01 1.88045272e-02 -7.61111501e-02 -4.40513510e+01] [-1.81874187e-02 9.99795929e-01 8.79308586e-03 3.74497772e+00] [ 7.62609678e-02 -7.38175543e-03 9.97060567e-01 -2.08756343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.92534707 meters Centerline goodness [0,1] 0.9977292965271594 Centerline is valid? [True, True] Translation: X:-44.08, Y:3.76, Z:-2.09 [[ 9.96555778e-01 3.03749577e-02 -7.71618041e-02 -4.40801012e+01] [-2.97748235e-02 9.99516862e-01 8.91645836e-03 3.75724640e+00] [ 7.73953613e-02 -6.58826900e-03 9.96978712e-01 -2.08872475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.95534707 meters Centerline goodness [0,1] 0.9981378851695855 Centerline is valid? [True, True] Translation: X:-44.11, Y:3.77, Z:-2.10 [[ 9.96222025e-01 3.73310764e-02 -7.84096165e-02 -4.41095070e+01] [-3.67325698e-02 9.99284042e-01 9.06207574e-03 3.76641860e+00] [ 7.86917756e-02 -6.14765273e-03 9.96880038e-01 -2.09605932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.98534707 meters Centerline goodness [0,1] 0.9979522792022792 Centerline is valid? [True, True] Translation: X:-44.14, Y:3.78, Z:-2.10 [[ 9.95871478e-01 4.58351814e-02 -7.83526340e-02 -4.41387973e+01] [-4.52636519e-02 9.98934029e-01 9.05575826e-03 3.77904567e+00] [ 7.86841848e-02 -5.47184501e-03 9.96884576e-01 -2.09756911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.01534707 meters Centerline goodness [0,1] 0.9988792755637244 Centerline is valid? [True, True] Translation: X:-44.17, Y:3.79, Z:-2.10 [[ 9.95472814e-01 5.37925758e-02 -7.83596484e-02 -4.41673842e+01] [-5.32453348e-02 9.98540379e-01 9.05792314e-03 3.78827863e+00] [ 7.87325220e-02 -4.84463052e-03 9.96884005e-01 -2.09743739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.04534707 meters Centerline goodness [0,1] 0.9987008332586685 Centerline is valid? [True, True] Translation: X:-44.20, Y:3.80, Z:-2.10 [[ 9.95080972e-01 5.94596141e-02 -7.92364344e-02 -4.41968177e+01] [-5.89177840e-02 9.98220806e-01 9.16066118e-03 3.79618086e+00] [ 7.96401468e-02 -4.44716451e-03 9.96813759e-01 -2.09992268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.07534707 meters Centerline goodness [0,1] 0.9995520315369798 Centerline is valid? [True, True] Translation: X:-44.23, Y:3.80, Z:-2.11 [[ 9.94543129e-01 6.65510700e-02 -8.03425133e-02 -4.42265180e+01] [-6.60168907e-02 9.97775260e-01 9.28980273e-03 3.80167161e+00] [ 8.07820185e-02 -3.93514655e-03 9.96724024e-01 -2.10710163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.10534707 meters Centerline goodness [0,1] 0.9999095718225799 Centerline is valid? [True, True] Translation: X:-44.26, Y:3.81, Z:-2.11 [[ 9.94223376e-01 7.14858308e-02 -8.00603234e-02 -4.42551132e+01] [-7.09712678e-02 9.97435395e-01 9.25807413e-03 3.81045029e+00] [ 8.05168214e-02 -3.52261106e-03 9.96747025e-01 -2.10650686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.13534707 meters Centerline goodness [0,1] 0.9995035653037277 Centerline is valid? [True, True] Translation: X:-44.28, Y:3.81, Z:-2.11 [[ 9.94114262e-01 7.22576319e-02 -8.07196876e-02 -4.42826361e+01] [-7.17363292e-02 9.97379867e-01 9.34343705e-03 3.81127486e+00] [ 8.11833259e-02 -3.49790995e-03 9.96693048e-01 -2.11354848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.16534707 meters Centerline goodness [0,1] 0.999591391991283 Centerline is valid? [True, True] Translation: X:-44.31, Y:3.81, Z:-2.12 [[ 9.93941637e-01 7.52445924e-02 -8.01141279e-02 -4.43120296e+01] [-7.47389001e-02 9.97159803e-01 9.29646520e-03 3.81328038e+00] [ 8.05860968e-02 -3.25250203e-03 9.96742345e-01 -2.11529211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.195347070000004 meters Centerline goodness [0,1] 0.9997736839722989 Centerline is valid? [True, True] Translation: X:-44.34, Y:3.82, Z:-2.12 [[ 9.93779560e-01 7.65565406e-02 -8.08781921e-02 -4.43392859e+01] [-7.60449162e-02 9.97060161e-01 9.39181824e-03 3.81600215e+00] [ 8.13594284e-02 -3.18302166e-03 9.96679744e-01 -2.11928992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.22534707 meters Centerline goodness [0,1] 0.999323928426556 Centerline is valid? [True, True] Translation: X:-44.37, Y:3.82, Z:-2.12 [[ 9.93659001e-01 7.82687504e-02 -8.07204543e-02 -4.43683573e+01] [-7.77633162e-02 9.96927617e-01 9.39117177e-03 3.81512362e+00] [ 8.12074854e-02 -3.05453216e-03 9.96692537e-01 -2.12069394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.25534707 meters Centerline goodness [0,1] 0.999195530726257 Centerline is valid? [True, True] Translation: X:-44.40, Y:3.82, Z:-2.12 [[ 9.93523531e-01 8.04388153e-02 -8.02532943e-02 -4.43964304e+01] [-7.99445119e-02 9.96755381e-01 9.35872166e-03 3.81713832e+00] [ 8.07457074e-02 -2.88229975e-03 9.96730567e-01 -2.12036620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.28534707 meters Centerline goodness [0,1] 0.9996843576678541 Centerline is valid? [True, True] Translation: X:-44.42, Y:3.82, Z:-2.12 [[ 9.93423672e-01 8.08197806e-02 -8.11022294e-02 -4.44238109e+01] [-8.03153918e-02 9.96724536e-01 9.46764327e-03 3.81911745e+00] [ 8.16017549e-02 -2.89162361e-03 9.96660821e-01 -2.12257320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.31534707 meters Centerline goodness [0,1] 0.9998197548666186 Centerline is valid? [True, True] Translation: X:-44.45, Y:3.81, Z:-2.13 [[ 9.93240031e-01 8.22788405e-02 -8.18806060e-02 -4.44532154e+01] [-8.17683537e-02 9.96605375e-01 9.57409385e-03 3.81281355e+00] [ 8.23903974e-02 -2.81413092e-03 9.96596158e-01 -2.13188181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.34534707 meters Centerline goodness [0,1] 0.9998234619119075 Centerline is valid? [True, True] Translation: X:-44.48, Y:3.81, Z:-2.13 [[ 9.93091494e-01 8.46612047e-02 -8.12512413e-02 -4.44822196e+01] [-8.41642358e-02 9.96406341e-01 9.52815548e-03 3.81224819e+00] [ 8.17659171e-02 -2.62388154e-03 9.96648107e-01 -2.13407913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.375347070000004 meters Centerline goodness [0,1] 0.9996058336618053 Centerline is valid? [True, True] Translation: X:-44.51, Y:3.81, Z:-2.14 [[ 9.93050270e-01 8.42199709e-02 -8.22080177e-02 -4.45102009e+01] [-8.37075426e-02 9.96443481e-01 9.66624940e-03 3.81389350e+00] [ 8.27297345e-02 -2.71764043e-03 9.96568314e-01 -2.14151547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.40534707 meters Centerline goodness [0,1] 0.9994719471947194 Centerline is valid? [True, True] Translation: X:-44.54, Y:3.82, Z:-2.14 [[ 9.92703497e-01 8.90250992e-02 -8.13283377e-02 -4.45389369e+01] [-8.85380555e-02 9.96026700e-01 9.58261787e-03 3.81900579e+00] [ 8.18582893e-02 -2.31204539e-03 9.96641297e-01 -2.13866236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.43534707 meters Centerline goodness [0,1] 0.9996468614814161 Centerline is valid? [True, True] Translation: X:-44.57, Y:3.82, Z:-2.14 [[ 9.92341457e-01 9.25966188e-02 -8.17575610e-02 -4.45674679e+01] [-9.21155251e-02 9.95701614e-01 9.64495932e-03 3.82056670e+00] [ 8.22992261e-02 -2.03995232e-03 9.96605577e-01 -2.14351927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.46534707 meters Centerline goodness [0,1] 0.9999129336990118 Centerline is valid? [True, True] Translation: X:-44.60, Y:3.82, Z:-2.14 [[ 9.92054482e-01 9.58723683e-02 -8.14640681e-02 -4.45952226e+01] [-9.54039391e-02 9.95392037e-01 9.63230377e-03 3.82396885e+00] [ 8.20121565e-02 -1.78377713e-03 9.96629733e-01 -2.14393855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.49534707 meters Centerline goodness [0,1] 0.9999126026918371 Centerline is valid? [True, True] Translation: X:-44.62, Y:3.83, Z:-2.14 [[ 9.91657141e-01 1.00560952e-01 -8.06449631e-02 -4.46231648e+01] [-1.00116517e-01 9.94929925e-01 9.54606163e-03 3.82769326e+00] [ 8.11960481e-02 -1.39252738e-03 9.96697177e-01 -2.14434047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.52534707 meters Centerline goodness [0,1] 0.9999135733114386 Centerline is valid? [True, True] Translation: X:-44.65, Y:3.83, Z:-2.15 [[ 9.91287563e-01 1.04725709e-01 -7.98842524e-02 -4.46511737e+01] [-1.04302095e-01 9.94500586e-01 9.46881047e-03 3.83092825e+00] [ 8.04365636e-02 -1.05421916e-03 9.96759172e-01 -2.14668204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.55534707 meters Centerline goodness [0,1] 0.9997408319295062 Centerline is valid? [True, True] Translation: X:-44.68, Y:3.83, Z:-2.15 [[ 9.91037579e-01 1.07127798e-01 -7.98006983e-02 -4.46796992e+01] [-1.06711741e-01 9.94244877e-01 9.47257870e-03 3.83393984e+00] [ 8.03562119e-02 -8.72009970e-04 9.96765829e-01 -2.14920287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.58534707 meters Centerline goodness [0,1] 0.9995238507488529 Centerline is valid? [True, True] Translation: X:-44.71, Y:3.84, Z:-2.15 [[ 9.90613898e-01 1.11451156e-01 -7.91375107e-02 -4.47069674e+01] [-1.11053950e-01 9.93769766e-01 9.41655710e-03 3.83826358e+00] [ 7.96939517e-02 -5.39639150e-04 9.96819233e-01 -2.15022633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.61534707 meters Centerline goodness [0,1] 0.9997017469109502 Centerline is valid? [True, True] Translation: X:-44.73, Y:3.84, Z:-2.16 [[ 9.90535215e-01 1.11623670e-01 -7.98757991e-02 -4.47349253e+01] [-1.11218131e-01 9.93750399e-01 9.52218003e-03 3.83949491e+00] [ 8.04395079e-02 -5.48417580e-04 9.96759341e-01 -2.15677084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.64534707 meters Centerline goodness [0,1] 0.9989455925769718 Centerline is valid? [True, True] Translation: X:-44.76, Y:3.84, Z:-2.16 [[ 9.90123565e-01 1.15401295e-01 -7.96107244e-02 -4.47625926e+01] [-1.15008846e-01 9.93318918e-01 9.51279169e-03 3.84291242e+00] [ 8.01766271e-02 -2.62901665e-04 9.96780638e-01 -2.15569434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.67534707 meters Centerline goodness [0,1] 0.999439461883408 Centerline is valid? [True, True] Translation: X:-44.79, Y:3.85, Z:-2.16 [[ 9.89733652e-01 1.19259215e-01 -7.87688832e-02 -4.47913610e+01] [-1.18886121e-01 9.92863152e-01 9.42612372e-03 3.84566702e+00] [ 7.93308738e-02 3.51751294e-05 9.96848339e-01 -2.15693535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.70534707 meters Centerline goodness [0,1] 0.9994874423372629 Centerline is valid? [True, True] Translation: X:-44.82, Y:3.85, Z:-2.17 [[ 9.89553503e-01 1.20795377e-01 -7.86914327e-02 -4.48188909e+01] [-1.20425636e-01 9.92677420e-01 9.44491606e-03 3.84915811e+00] [ 7.92561106e-02 1.30216022e-04 9.96854278e-01 -2.16537414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.73534707 meters Centerline goodness [0,1] 0.9994901427600272 Centerline is valid? [True, True] Translation: X:-44.85, Y:3.85, Z:-2.17 [[ 9.89485776e-01 1.21308139e-01 -7.87542706e-02 -4.48460367e+01] [-1.20937289e-01 9.92614887e-01 9.47932080e-03 3.85108015e+00] [ 7.93225802e-02 1.44674915e-04 9.96848989e-01 -2.16794349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.765347070000004 meters Centerline goodness [0,1] 0.9993975644390894 Centerline is valid? [True, True] Translation: X:-44.87, Y:3.86, Z:-2.17 [[ 9.89145690e-01 1.24651348e-01 -7.78000391e-02 -4.48731559e+01] [-1.24298769e-01 9.92200527e-01 9.37713699e-03 3.85510343e+00] [ 7.83621126e-02 3.95094485e-04 9.96924883e-01 -2.16840497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.79534707 meters Centerline goodness [0,1] 0.998979418268413 Centerline is valid? [True, True] Translation: X:-44.90, Y:3.86, Z:-2.17 [[ 9.88814512e-01 1.27357483e-01 -7.76268848e-02 -4.49006946e+01] [-1.27013588e-01 9.91856703e-01 9.37166816e-03 3.85709012e+00] [ 7.81882982e-02 5.92827728e-04 9.96938433e-01 -2.17271696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.82534707 meters Centerline goodness [0,1] 0.999104019114259 Centerline is valid? [True, True] Translation: X:-44.93, Y:3.86, Z:-2.17 [[ 9.88750559e-01 1.28020493e-01 -7.73504127e-02 -4.49277984e+01] [-1.27678902e-01 9.91771332e-01 9.36606180e-03 3.85883304e+00] [ 7.79129697e-02 6.15316927e-04 9.96959974e-01 -2.17441697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.85534707 meters Centerline goodness [0,1] 0.9988996106314542 Centerline is valid? [True, True] Translation: X:-44.96, Y:3.86, Z:-2.18 [[ 9.88506620e-01 1.29731126e-01 -7.76176407e-02 -4.49551485e+01] [-1.29390938e-01 9.91548938e-01 9.41745827e-03 3.86140049e+00] [ 7.81834267e-02 7.33799529e-04 9.96938721e-01 -2.17857546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.88534707 meters Centerline goodness [0,1] 0.9988672596073167 Centerline is valid? [True, True] Translation: X:-44.98, Y:3.87, Z:-2.19 [[ 9.88346171e-01 1.31848079e-01 -7.60784438e-02 -4.49826349e+01] [-1.31525083e-01 9.91269569e-01 9.26249163e-03 3.86555023e+00] [ 7.66354879e-02 8.51675492e-04 9.97058813e-01 -2.18592894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.91534707 meters Centerline goodness [0,1] 0.9987496874218554 Centerline is valid? [True, True] Translation: X:-45.01, Y:3.87, Z:-2.19 [[ 9.88239614e-01 1.32536566e-01 -7.62661349e-02 -4.50102755e+01] [-1.32211980e-01 9.91177725e-01 9.31181189e-03 3.86812620e+00] [ 7.68274496e-02 8.80995287e-04 9.97044014e-01 -2.18852046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.945347070000004 meters Centerline goodness [0,1] 0.9987582781456954 Centerline is valid? [True, True] Translation: X:-45.04, Y:3.87, Z:-2.19 [[ 9.88049059e-01 1.33317520e-01 -7.73659862e-02 -4.50386997e+01] [-1.32984862e-01 9.91072929e-01 9.45916802e-03 3.87158536e+00] [ 7.79364074e-02 9.42382905e-04 9.96957887e-01 -2.19275843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.97534707 meters Centerline goodness [0,1] 0.9987522874729662 Centerline is valid? [True, True] Translation: X:-45.07, Y:3.88, Z:-2.19 [[ 9.87819795e-01 1.35998663e-01 -7.56069894e-02 -4.50658073e+01] [-1.35687138e-01 9.90708404e-01 9.26603701e-03 3.87527348e+00] [ 7.61646484e-02 1.10572121e-03 9.97094641e-01 -2.19476140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.00534707 meters Centerline goodness [0,1] 0.9984666390385413 Centerline is valid? [True, True] Translation: X:-45.10, Y:3.88, Z:-2.19 [[ 9.87637531e-01 1.37296830e-01 -7.56418451e-02 -4.50957224e+01] [-1.36987869e-01 9.90529230e-01 9.28272881e-03 3.87922011e+00] [ 7.61999478e-02 1.19404382e-03 9.97091842e-01 -2.19478986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.03534707 meters Centerline goodness [0,1] 0.9982590233545647 Centerline is valid? [True, True] Translation: X:-45.12, Y:3.88, Z:-2.19 [[ 9.87310042e-01 1.40266019e-01 -7.44602205e-02 -4.51248566e+01] [-1.39974499e-01 9.90112874e-01 9.14532560e-03 3.88038113e+00] [ 7.50068013e-02 1.39326025e-03 9.97182049e-01 -2.19227256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.06534707 meters Centerline goodness [0,1] 0.9982229201967187 Centerline is valid? [True, True] Translation: X:-45.15, Y:3.89, Z:-2.20 [[ 9.87266681e-01 1.40825721e-01 -7.39771353e-02 -4.51537870e+01] [-1.40539130e-01 9.90033382e-01 9.09151578e-03 3.88549328e+00] [ 7.45201527e-02 1.42093161e-03 9.97218496e-01 -2.19597220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.09534707 meters Centerline goodness [0,1] 0.9982323439940805 Centerline is valid? [True, True] Translation: X:-45.18, Y:3.89, Z:-2.21 [[ 9.87387360e-01 1.39612778e-01 -7.46624025e-02 -4.51838028e+01] [-1.39317204e-01 9.90205271e-01 9.17815629e-03 3.89081041e+00] [ 7.52124924e-02 1.33936164e-03 9.97166630e-01 -2.20609243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.125347070000004 meters Centerline goodness [0,1] 0.9983594144371529 Centerline is valid? [True, True] Translation: X:-45.21, Y:3.89, Z:-2.21 [[ 9.87059230e-01 1.42534533e-01 -7.34709664e-02 -4.52137754e+01] [-1.42256627e-01 9.89788632e-01 9.02865044e-03 3.88986683e+00] [ 7.40076218e-02 1.53991908e-03 9.97256487e-01 -2.20595505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.15534707 meters Centerline goodness [0,1] 0.9981891348088531 Centerline is valid? [True, True] Translation: X:-45.24, Y:3.90, Z:-2.21 [[ 9.87347772e-01 1.39963641e-01 -7.45288986e-02 -4.52441647e+01] [-1.39670478e-01 9.90155698e-01 9.15700600e-03 3.89518841e+00] [ 7.50768616e-02 1.36833744e-03 9.97176811e-01 -2.21107015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.18534707 meters Centerline goodness [0,1] 0.9979870365151576 Centerline is valid? [True, True] Translation: X:-45.28, Y:3.90, Z:-2.21 [[ 9.86980300e-01 1.42939648e-01 -7.37437692e-02 -4.52751642e+01] [-1.42661232e-01 9.89730142e-01 9.05640070e-03 3.90285040e+00] [ 7.42809499e-02 1.58188786e-03 9.97236099e-01 -2.21443126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.21534707 meters Centerline goodness [0,1] 0.9986079836233367 Centerline is valid? [True, True] Translation: X:-45.31, Y:3.90, Z:-2.21 [[ 9.86685647e-01 1.44920046e-01 -7.38214960e-02 -4.53060112e+01] [-1.44646946e-01 9.89441843e-01 9.06094637e-03 3.90483393e+00] [ 7.43551898e-02 1.73774819e-03 9.97230307e-01 -2.21357802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.24534707 meters Centerline goodness [0,1] 0.997881609976418 Centerline is valid? [True, True] Translation: X:-45.34, Y:3.91, Z:-2.22 [[ 9.86744756e-01 1.44466045e-01 -7.39212262e-02 -4.53370033e+01] [-1.44191374e-01 9.89508278e-01 9.06728983e-03 3.91191898e+00] [ 7.44555807e-02 1.71170250e-03 9.97222862e-01 -2.22003280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.27534707 meters Centerline goodness [0,1] 0.998031899626881 Centerline is valid? [True, True] Translation: X:-45.37, Y:3.92, Z:-2.22 [[ 9.85878260e-01 1.51482101e-01 -7.13948891e-02 -4.53677139e+01] [-1.51244712e-01 9.88457617e-01 8.75081396e-03 3.91759554e+00] [ 7.18964136e-02 2.17086221e-03 9.97409742e-01 -2.21758073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.30534707 meters Centerline goodness [0,1] 0.9975722262685118 Centerline is valid? [True, True] Translation: X:-45.40, Y:3.92, Z:-2.22 [[ 9.85432561e-01 1.54029024e-01 -7.20952640e-02 -4.53998274e+01] [-1.53794181e-01 9.88063443e-01 8.83072975e-03 3.92269702e+00] [ 7.25948835e-02 2.38574346e-03 9.97358657e-01 -2.22102588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.33534707 meters Centerline goodness [0,1] 0.9984507501630789 Centerline is valid? [True, True] Translation: X:-45.43, Y:3.93, Z:-2.23 [[ 9.85204547e-01 1.55117502e-01 -7.28735974e-02 -4.54303528e+01] [-1.54881190e-01 9.87892860e-01 8.91708118e-03 3.92985357e+00] [ 7.33745019e-02 2.50160056e-03 9.97301321e-01 -2.22772114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.36534707 meters Centerline goodness [0,1] 0.9980335122290959 Centerline is valid? [True, True] Translation: X:-45.46, Y:3.93, Z:-2.23 [[ 9.84891257e-01 1.57096454e-01 -7.28691709e-02 -4.54608024e+01] [-1.56865973e-01 9.87579698e-01 8.91107869e-03 3.93478970e+00] [ 7.33640127e-02 2.65424991e-03 9.97301698e-01 -2.22913919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.39534707 meters Centerline goodness [0,1] 0.9985228345164334 Centerline is valid? [True, True] Translation: X:-45.49, Y:3.94, Z:-2.23 [[ 9.84137564e-01 1.62032852e-01 -7.22399412e-02 -4.54911687e+01] [-1.61819962e-01 9.86780801e-01 8.82895943e-03 3.94279059e+00] [ 7.27155685e-02 3.00095394e-03 9.97348204e-01 -2.23457285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.42534707 meters Centerline goodness [0,1] 0.998083822570124 Centerline is valid? [True, True] Translation: X:-45.52, Y:3.96, Z:-2.24 [[ 9.84026446e-01 1.62763338e-01 -7.21113651e-02 -4.55219041e+01] [-1.62553484e-01 9.86660413e-01 8.80879970e-03 3.95613103e+00] [ 7.25831789e-02 3.05386179e-03 9.97357687e-01 -2.24192738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.45534707 meters Centerline goodness [0,1] 0.9983471074380166 Centerline is valid? [True, True] Translation: X:-45.55, Y:3.95, Z:-2.24 [[ 9.82815178e-01 1.70051180e-01 -7.18117116e-02 -4.55522810e+01] [-1.69862871e-01 9.85428719e-01 8.76610611e-03 3.95401560e+00] [ 7.22560097e-02 3.58268136e-03 9.97379684e-01 -2.23828783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.48534707 meters Centerline goodness [0,1] 0.9980718447415853 Centerline is valid? [True, True] Translation: X:-45.58, Y:3.96, Z:-2.24 [[ 9.82255422e-01 1.73378505e-01 -7.15135000e-02 -4.55829927e+01] [-1.73200585e-01 9.84847888e-01 8.72900260e-03 3.96018864e+00] [ 7.19433408e-02 3.81206988e-03 9.97401436e-01 -2.23916846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.515347070000004 meters Centerline goodness [0,1] 0.998661311914324 Centerline is valid? [True, True] Translation: X:-45.61, Y:3.97, Z:-2.25 [[ 9.82082459e-01 1.74112898e-01 -7.21022996e-02 -4.56137193e+01] [-1.73934351e-01 9.84717964e-01 8.79615633e-03 3.97003563e+00] [ 7.25319540e-02 3.90251587e-03 9.97358454e-01 -2.24803296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.54534707 meters Centerline goodness [0,1] 0.9989478369956699 Centerline is valid? [True, True] Translation: X:-45.65, Y:3.98, Z:-2.25 [[ 9.81911151e-01 1.75131003e-01 -7.19696057e-02 -4.56450578e+01] [-1.74956429e-01 9.84537101e-01 8.77179135e-03 3.98050660e+00] [ 7.23929596e-02 3.97842545e-03 9.97368253e-01 -2.25350771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.57534707 meters Centerline goodness [0,1] 0.99905965084427 Centerline is valid? [True, True] Translation: X:-45.67, Y:3.99, Z:-2.25 [[ 9.80953721e-01 1.80770144e-01 -7.10770844e-02 -4.56746077e+01] [-1.80615125e-01 9.83515764e-01 8.65549196e-03 3.99030648e+00] [ 7.14700875e-02 4.34695946e-03 9.97433271e-01 -2.25266742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.60534707 meters Centerline goodness [0,1] 0.9994566580289225 Centerline is valid? [True, True] Translation: X:-45.71, Y:3.99, Z:-2.25 [[ 9.80038838e-01 1.85436430e-01 -7.16743149e-02 -4.57051090e+01] [-1.85291197e-01 9.82644895e-01 8.72825927e-03 3.98509862e+00] [ 7.20489369e-02 4.72658652e-03 9.97389899e-01 -2.25422125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.63534707 meters Centerline goodness [0,1] 0.9990576860045887 Centerline is valid? [True, True] Translation: X:-45.74, Y:3.99, Z:-2.26 [[ 9.79978258e-01 1.85925733e-01 -7.12336751e-02 -4.57362537e+01] [-1.85783913e-01 9.82552377e-01 8.66972081e-03 3.99484182e+00] [ 7.16027410e-02 4.73793298e-03 9.97421977e-01 -2.26052579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.66534707 meters Centerline goodness [0,1] 0.9994213441349095 Centerline is valid? [True, True] Translation: X:-45.77, Y:4.00, Z:-2.26 [[ 9.79472420e-01 1.88586297e-01 -7.11968225e-02 -4.57666390e+01] [-1.88453271e-01 9.82044133e-01 8.64202860e-03 3.99841072e+00] [ 7.15481900e-02 4.95264542e-03 9.97424848e-01 -2.26049950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.695347070000004 meters Centerline goodness [0,1] 0.9994213441349095 Centerline is valid? [True, True] Translation: X:-45.80, Y:4.00, Z:-2.26 [[ 9.79552064e-01 1.88171860e-01 -7.11976480e-02 -4.57990651e+01] [-1.88038239e-01 9.82123747e-01 8.63521715e-03 4.00263111e+00] [ 7.15498057e-02 4.92923558e-03 9.97424848e-01 -2.26243663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.72534707 meters Centerline goodness [0,1] 0.9989733481171205 Centerline is valid? [True, True] Translation: X:-45.83, Y:4.01, Z:-2.27 [[ 9.79521085e-01 1.88257212e-01 -7.13979406e-02 -4.58308782e+01] [-1.88125228e-01 9.82107138e-01 8.62944938e-03 4.00854870e+00] [ 7.17449832e-02 4.97902620e-03 9.97410581e-01 -2.26673779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.75534707 meters Centerline goodness [0,1] 0.9987848347375243 Centerline is valid? [True, True] Translation: X:-45.86, Y:4.00, Z:-2.27 [[ 9.78873089e-01 1.92219986e-01 -6.97061846e-02 -4.58625496e+01] [-1.92105676e-01 9.81338268e-01 8.40315073e-03 4.00223608e+00] [ 7.00205999e-02 5.16533562e-03 9.97532172e-01 -2.26531652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.78534707 meters Centerline goodness [0,1] 0.9992283323856713 Centerline is valid? [True, True] Translation: X:-45.89, Y:4.01, Z:-2.27 [[ 9.79599094e-01 1.87483587e-01 -7.23568895e-02 -4.58920108e+01] [-1.87347737e-01 9.82254943e-01 8.72075107e-03 4.01400793e+00] [ 7.27079101e-02 5.01305967e-03 9.97340679e-01 -2.27498204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.81534707 meters Centerline goodness [0,1] 0.9992762946284979 Centerline is valid? [True, True] Translation: X:-45.92, Y:4.01, Z:-2.28 [[ 9.80141914e-01 1.84716547e-01 -7.21222986e-02 -4.59226470e+01] [-1.84574311e-01 9.82780143e-01 8.68989902e-03 4.01272985e+00] [ 7.24855311e-02 4.79458934e-03 9.97357940e-01 -2.27739838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.84534707 meters Centerline goodness [0,1] 0.9992842373150946 Centerline is valid? [True, True] Translation: X:-45.95, Y:4.01, Z:-2.28 [[ 9.80759093e-01 1.81942962e-01 -7.07697651e-02 -4.59538315e+01] [-1.81799156e-01 9.83298754e-01 8.52217469e-03 4.01331082e+00] [ 7.11383716e-02 4.50768327e-03 9.97456271e-01 -2.27870265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.875347070000004 meters Centerline goodness [0,1] 0.999274661508704 Centerline is valid? [True, True] Translation: X:-45.99, Y:4.01, Z:-2.28 [[ 9.80975022e-01 1.81684403e-01 -6.84016300e-02 -4.59859525e+01] [-1.81549756e-01 9.83347303e-01 8.23213571e-03 4.01248562e+00] [ 6.87582090e-02 4.34277974e-03 9.97623902e-01 -2.27719378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.90534707 meters Centerline goodness [0,1] 0.9993521218011014 Centerline is valid? [True, True] Translation: X:-46.02, Y:4.01, Z:-2.28 [[ 9.81679475e-01 1.77837110e-01 -6.84059208e-02 -4.60168511e+01] [-1.77694568e-01 9.84051423e-01 8.21201644e-03 4.00948302e+00] [ 6.87753449e-02 4.09379255e-03 9.97623773e-01 -2.27949640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.93534707 meters Centerline goodness [0,1] 0.9991688106075599 Centerline is valid? [True, True] Translation: X:-46.05, Y:4.01, Z:-2.29 [[ 9.83067070e-01 1.70057051e-01 -6.82622550e-02 -4.60478060e+01] [-1.69896521e-01 9.85427849e-01 8.19308395e-03 4.00760578e+00] [ 6.86608188e-02 3.54316862e-03 9.97633769e-01 -2.28674679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.96534707 meters Centerline goodness [0,1] 0.9989357508868743 Centerline is valid? [True, True] Translation: X:-46.08, Y:4.01, Z:-2.29 [[ 9.83424989e-01 1.68027506e-01 -6.81325797e-02 -4.60801067e+01] [-1.67862825e-01 9.85776457e-01 8.17614599e-03 4.01045287e+00] [ 6.85373104e-02 3.39630106e-03 9.97642773e-01 -2.28645367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.99534707 meters Centerline goodness [0,1] 0.9994329917783807 Centerline is valid? [True, True] Translation: X:-46.11, Y:4.00, Z:-2.29 [[ 9.83809888e-01 1.66232100e-01 -6.69700997e-02 -4.61133677e+01] [-1.66069317e-01 9.86081390e-01 8.02960547e-03 4.00326573e+00] [ 6.73727471e-02 3.22207348e-03 9.97722672e-01 -2.28892246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.02534707 meters Centerline goodness [0,1] 0.9994127319708715 Centerline is valid? [True, True] Translation: X:-46.14, Y:4.00, Z:-2.30 [[ 9.84902082e-01 1.59221206e-01 -6.79448088e-02 -4.61441018e+01] [-1.59037501e-01 9.87238992e-01 8.13921700e-03 4.00286255e+00] [ 6.83737004e-02 2.78944081e-03 9.97655881e-01 -2.29509306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.05534707 meters Centerline goodness [0,1] 0.9993076656794492 Centerline is valid? [True, True] Translation: X:-46.18, Y:4.01, Z:-2.30 [[ 9.85496984e-01 1.55035527e-01 -6.89904396e-02 -4.61764104e+01] [-1.54836240e-01 9.87905623e-01 8.25943559e-03 4.00593838e+00] [ 6.94365492e-02 2.54257136e-03 9.97583130e-01 -2.29581650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.08534707 meters Centerline goodness [0,1] 0.9994505278857098 Centerline is valid? [True, True] Translation: X:-46.21, Y:4.01, Z:-2.30 [[ 9.85617414e-01 1.54551810e-01 -6.83524091e-02 -4.62079756e+01] [-1.54355632e-01 9.87981538e-01 8.17434287e-03 4.00630222e+00] [ 6.87942777e-02 2.49380465e-03 9.97627750e-01 -2.30099576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.11534707 meters Centerline goodness [0,1] 0.9993347941774926 Centerline is valid? [True, True] Translation: X:-46.24, Y:4.01, Z:-2.30 [[ 9.85520956e-01 1.55024068e-01 -6.86730250e-02 -4.62400479e+01] [-1.54827640e-01 9.87907415e-01 8.20617306e-03 4.01403123e+00] [ 6.91147449e-02 2.54512686e-03 9.97605470e-01 -2.30129881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.14534707 meters Centerline goodness [0,1] 0.9994136731423211 Centerline is valid? [True, True] Translation: X:-46.27, Y:4.02, Z:-2.30 [[ 9.84831580e-01 1.59352359e-01 -6.86555539e-02 -4.62705649e+01] [-1.59167228e-01 9.87217634e-01 8.19373773e-03 4.02164937e+00] [ 6.90836649e-02 2.85826255e-03 9.97606775e-01 -2.30426340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.17534707 meters Centerline goodness [0,1] 0.9991480133219736 Centerline is valid? [True, True] Translation: X:-46.30, Y:4.02, Z:-2.31 [[ 9.84663611e-01 1.60162760e-01 -6.91770485e-02 -4.63019817e+01] [-1.59977073e-01 9.87086237e-01 8.25206198e-03 4.02432266e+00] [ 6.96053855e-02 2.94123660e-03 9.97570268e-01 -2.30535557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.20534707 meters Centerline goodness [0,1] 0.999272874166835 Centerline is valid? [True, True] Translation: X:-46.33, Y:4.02, Z:-2.31 [[ 9.83225184e-01 1.69468858e-01 -6.74428949e-02 -4.63318332e+01] [-1.69314442e-01 9.85529281e-01 8.04084836e-03 4.02437116e+00] [ 6.78296212e-02 3.51309151e-03 9.97690734e-01 -2.30673205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.23534707 meters Centerline goodness [0,1] 0.9992158707755038 Centerline is valid? [True, True] Translation: X:-46.36, Y:4.03, Z:-2.31 [[ 9.83861020e-01 1.64931256e-01 -6.93914572e-02 -4.63613202e+01] [-1.64756488e-01 9.86299570e-01 8.27394392e-03 4.03464057e+00] [ 6.98053964e-02 3.29228185e-03 9.97555195e-01 -2.31103111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.265347070000004 meters Centerline goodness [0,1] 0.9989493345785664 Centerline is valid? [True, True] Translation: X:-46.39, Y:4.04, Z:-2.31 [[ 9.83984387e-01 1.64653474e-01 -6.82931872e-02 -4.63921612e+01] [-1.64483700e-01 9.86346210e-01 8.14044808e-03 4.03687636e+00] [ 6.87010794e-02 3.22304233e-03 9.97632083e-01 -2.31148425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.29534707 meters Centerline goodness [0,1] 0.9984591085943219 Centerline is valid? [True, True] Translation: X:-46.42, Y:4.04, Z:-2.31 [[ 9.84122333e-01 1.64016808e-01 -6.78359858e-02 -4.64245454e+01] [-1.63848178e-01 9.86452474e-01 8.08028541e-03 4.03988788e+00] [ 6.82422786e-02 3.16281337e-03 9.97663765e-01 -2.31154399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.32534707 meters Centerline goodness [0,1] 0.9988904193449648 Centerline is valid? [True, True] Translation: X:-46.46, Y:4.04, Z:-2.32 [[ 9.84591333e-01 1.60966030e-01 -6.83362542e-02 -4.64561756e+01] [-1.60788069e-01 9.86955448e-01 8.13273934e-03 4.04048888e+00] [ 6.87539331e-02 2.98022969e-03 9.97629197e-01 -2.31635336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.35534707 meters Centerline goodness [0,1] 0.9990874871677883 Centerline is valid? [True, True] Translation: X:-46.49, Y:4.04, Z:-2.32 [[ 9.85081407e-01 1.57279727e-01 -6.98405957e-02 -4.64879413e+01] [-1.57084999e-01 9.87550156e-01 8.30616354e-03 4.04107946e+00] [ 7.02774823e-02 2.78866261e-03 9.97523583e-01 -2.31968109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.38534707 meters Centerline goodness [0,1] 0.9990441598164786 Centerline is valid? [True, True] Translation: X:-46.52, Y:4.04, Z:-2.32 [[ 9.85362771e-01 1.55942373e-01 -6.88635271e-02 -4.65190088e+01] [-1.55750231e-01 9.87762569e-01 8.18372491e-03 4.03882960e+00] [ 6.92970039e-02 2.66157238e-03 9.97592523e-01 -2.32365603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.41534707 meters Centerline goodness [0,1] 0.9990193001726032 Centerline is valid? [True, True] Translation: X:-46.55, Y:4.03, Z:-2.32 [[ 9.85610725e-01 1.54496859e-01 -6.85727239e-02 -4.65505325e+01] [-1.54303626e-01 9.87989962e-01 8.13788801e-03 4.03488223e+00] [ 6.90064411e-02 2.56023027e-03 9.97612929e-01 -2.32428457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.445347070000004 meters Centerline goodness [0,1] 0.9990784117963291 Centerline is valid? [True, True] Translation: X:-46.58, Y:4.03, Z:-2.33 [[ 9.86794001e-01 1.46651236e-01 -6.87823755e-02 -4.65813904e+01] [-1.46438147e-01 9.89186193e-01 8.15749973e-03 4.03388123e+00] [ 6.92348836e-02 2.02259184e-03 9.97598336e-01 -2.32832270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.47534707 meters Centerline goodness [0,1] 0.9991629888905799 Centerline is valid? [True, True] Translation: X:-46.61, Y:4.03, Z:-2.33 [[ 9.87505434e-01 1.41317985e-01 -6.97298026e-02 -4.66122782e+01] [-1.41085843e-01 9.89962841e-01 8.26787635e-03 4.02983392e+00] [ 7.01983131e-02 1.67331517e-03 9.97531652e-01 -2.33120652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.50534707 meters Centerline goodness [0,1] 0.9989536230800852 Centerline is valid? [True, True] Translation: X:-46.64, Y:4.03, Z:-2.33 [[ 9.88516353e-01 1.33976722e-01 -6.98974797e-02 -4.66434398e+01] [-1.33725227e-01 9.90983805e-01 8.28624926e-03 4.02617015e+00] [ 7.03774349e-02 1.15596342e-03 9.97519764e-01 -2.33251114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.53534707 meters Centerline goodness [0,1] 0.9991282595512432 Centerline is valid? [True, True] Translation: X:-46.67, Y:4.02, Z:-2.33 [[ 9.89097896e-01 1.30271930e-01 -6.86627719e-02 -4.66717315e+01] [-1.30020167e-01 9.91477917e-01 8.14221799e-03 4.01910551e+00] [ 6.91383245e-02 8.74094408e-04 9.97606700e-01 -2.33297035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.56534707 meters Centerline goodness [0,1] 0.9988315114964191 Centerline is valid? [True, True] Translation: X:-46.70, Y:4.01, Z:-2.33 [[ 9.89939472e-01 1.24685915e-01 -6.68824736e-02 -4.67002660e+01] [-1.24433321e-01 9.92196157e-01 7.94573669e-03 4.01486133e+00] [ 6.73512547e-02 4.56609896e-04 9.97729222e-01 -2.33295683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.59534707 meters Centerline goodness [0,1] 0.9990569596378726 Centerline is valid? [True, True] Translation: X:-46.73, Y:4.01, Z:-2.33 [[ 9.90964815e-01 1.16986596e-01 -6.55962745e-02 -4.67293664e+01] [-1.16726177e-01 9.93133491e-01 7.80185678e-03 4.00973132e+00] [ 6.60585698e-02 -7.45632364e-05 9.97815744e-01 -2.33389306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.625347070000004 meters Centerline goodness [0,1] 0.9989553018431461 Centerline is valid? [True, True] Translation: X:-46.76, Y:4.01, Z:-2.33 [[ 9.91710948e-01 1.10330734e-01 -6.58523011e-02 -4.67589176e+01] [-1.10052882e-01 9.93894787e-01 7.84320620e-03 4.00587782e+00] [ 6.63156055e-02 -5.30957915e-04 9.97798556e-01 -2.33479320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.65534707 meters Centerline goodness [0,1] 0.9990942712657559 Centerline is valid? [True, True] Translation: X:-46.79, Y:4.01, Z:-2.34 [[ 9.91905807e-01 1.09295861e-01 -6.46319182e-02 -4.67859252e+01] [-1.09024544e-01 9.94009075e-01 7.72063156e-03 4.00721029e+00] [ 6.50885462e-02 -6.11673893e-04 9.97879305e-01 -2.33612835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.68534707 meters Centerline goodness [0,1] 0.9990088105726872 Centerline is valid? [True, True] Translation: X:-46.81, Y:4.00, Z:-2.34 [[ 9.92226465e-01 1.05549321e-01 -6.59240658e-02 -4.68148942e+01] [-1.05257759e-01 9.94413671e-01 7.89018743e-03 4.00365867e+00] [ 6.63885962e-02 -8.89833364e-04 9.97793447e-01 -2.33734069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.71534707 meters Centerline goodness [0,1] 0.9987877452060833 Centerline is valid? [True, True] Translation: X:-46.84, Y:4.01, Z:-2.34 [[ 9.92226626e-01 1.05608494e-01 -6.58268059e-02 -4.68416584e+01] [-1.05316245e-01 9.94407370e-01 7.90381974e-03 4.00607806e+00] [ 6.62933714e-02 -9.09748408e-04 9.97799760e-01 -2.33712106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.74534707 meters Centerline goodness [0,1] 0.9987972637750884 Centerline is valid? [True, True] Translation: X:-46.87, Y:4.01, Z:-2.34 [[ 9.91935153e-01 1.08637209e-01 -6.52886574e-02 -4.68687155e+01] [-1.08355507e-01 9.94081208e-01 7.85084891e-03 4.01103886e+00] [ 6.57551218e-02 -7.13147447e-04 9.97835535e-01 -2.34070499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.77534707 meters Centerline goodness [0,1] 0.9988603779133888 Centerline is valid? [True, True] Translation: X:-46.90, Y:4.01, Z:-2.34 [[ 9.91631504e-01 1.09857200e-01 -6.78111816e-02 -4.68964247e+01] [-1.09555238e-01 9.93947155e-01 8.16717200e-03 4.01319478e+00] [ 6.82979537e-02 -6.69754886e-04 9.97664744e-01 -2.34301184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.80534707 meters Centerline goodness [0,1] 0.9987826709631221 Centerline is valid? [True, True] Translation: X:-46.92, Y:4.02, Z:-2.34 [[ 9.91466465e-01 1.10824855e-01 -6.86447325e-02 -4.69240831e+01] [-1.10515519e-01 9.93839745e-01 8.29947266e-03 4.01707051e+00] [ 6.91416513e-02 -6.42340595e-04 9.97606646e-01 -2.34286158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.83534707 meters Centerline goodness [0,1] 0.9987899233618129 Centerline is valid? [True, True] Translation: X:-46.95, Y:4.02, Z:-2.34 [[ 9.91066774e-01 1.15291912e-01 -6.70404622e-02 -4.69514262e+01] [-1.15005363e-01 9.93331593e-01 8.13097917e-03 4.02350530e+00] [ 6.75308453e-02 -3.48330597e-04 9.97717126e-01 -2.34432307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.86534707 meters Centerline goodness [0,1] 0.9987288905029962 Centerline is valid? [True, True] Translation: X:-46.98, Y:4.03, Z:-2.34 [[ 9.90788571e-01 1.18124270e-01 -6.62167984e-02 -4.69792050e+01] [-1.17850440e-01 9.92998807e-01 8.04010971e-03 4.02790898e+00] [ 6.67029339e-02 -1.62369964e-04 9.97772866e-01 -2.34379451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.89534707 meters Centerline goodness [0,1] 0.9987358231597198 Centerline is valid? [True, True] Translation: X:-47.01, Y:4.03, Z:-2.34 [[ 9.90734191e-01 1.18546262e-01 -6.62762829e-02 -4.70065625e+01] [-1.18271862e-01 9.92948519e-01 8.06257113e-03 4.03149451e+00] [ 6.67647247e-02 -1.49245470e-04 9.97768735e-01 -2.34126017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.92534707 meters Centerline goodness [0,1] 0.998997995991984 Centerline is valid? [True, True] Translation: X:-47.03, Y:4.03, Z:-2.34 [[ 9.90737478e-01 1.19698919e-01 -6.41203362e-02 -4.70342702e+01] [-1.19442888e-01 9.92810234e-01 7.82538069e-03 4.03373198e+00] [ 6.45960156e-02 -9.41797930e-05 9.97911492e-01 -2.34475854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.95534707 meters Centerline goodness [0,1] 0.9991880121060013 Centerline is valid? [True, True] Translation: X:-47.06, Y:4.04, Z:-2.35 [[ 9.90628853e-01 1.20185819e-01 -6.48833123e-02 -4.70623283e+01] [-1.19923985e-01 9.92751411e-01 7.92933935e-03 4.03519839e+00] [ 6.53659939e-02 -7.39669716e-05 9.97861354e-01 -2.34739743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.98534707 meters Centerline goodness [0,1] 0.9990595384504087 Centerline is valid? [True, True] Translation: X:-47.09, Y:4.04, Z:-2.34 [[ 9.90802827e-01 1.19374539e-01 -6.37140247e-02 -4.70908456e+01] [-1.19118655e-01 9.92849282e-01 7.81343509e-03 4.03688926e+00] [ 6.41911488e-02 -1.52044644e-04 9.97937610e-01 -2.34379380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.015347070000004 meters Centerline goodness [0,1] 0.9993125158302276 Centerline is valid? [True, True] Translation: X:-47.12, Y:4.04, Z:-2.35 [[ 9.91061066e-01 1.16730081e-01 -6.45914243e-02 -4.71187370e+01] [-1.16460261e-01 9.93163616e-01 7.93973037e-03 4.03538136e+00] [ 6.50766579e-02 -3.46423510e-04 9.97880208e-01 -2.34597197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.04534707 meters Centerline goodness [0,1] 0.9999258077679267 Centerline is valid? [True, True] Translation: X:-47.15, Y:4.04, Z:-2.35 [[ 9.91332513e-01 1.14732012e-01 -6.40032385e-02 -4.71469175e+01] [-1.14461291e-01 9.93396354e-01 7.89276980e-03 4.03559147e+00] [ 6.44861372e-02 -4.98465981e-04 9.97918478e-01 -2.34807762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.07534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.18, Y:4.04, Z:-2.35 [[ 9.91422672e-01 1.14020943e-01 -6.38773056e-02 -4.71752928e+01] [-1.13749153e-01 9.93478192e-01 7.88747224e-03 4.03730331e+00] [ 6.43600471e-02 -5.53829378e-04 9.97926589e-01 -2.34828466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.10534707 meters Centerline goodness [0,1] 0.9999259615740569 Centerline is valid? [True, True] Translation: X:-47.20, Y:4.04, Z:-2.35 [[ 9.91547132e-01 1.13643598e-01 -6.26052558e-02 -4.72024174e+01] [-1.13380230e-01 9.93521405e-01 7.75501632e-03 4.03859138e+00] [ 6.30809697e-02 -5.91265855e-04 9.98008237e-01 -2.34935896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.13534707 meters Centerline goodness [0,1] 0.999928083423229 Centerline is valid? [True, True] Translation: X:-47.23, Y:4.04, Z:-2.35 [[ 9.91623940e-01 1.12669050e-01 -6.31478194e-02 -4.72305057e+01] [-1.12398238e-01 9.93632343e-01 7.83603609e-03 4.03815880e+00] [ 6.36285945e-02 -6.72697362e-04 9.97973421e-01 -2.34604489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.16534707 meters Centerline goodness [0,1] 0.9998915518924195 Centerline is valid? [True, True] Translation: X:-47.26, Y:4.04, Z:-2.35 [[ 9.91587589e-01 1.13256407e-01 -6.26660995e-02 -4.72582168e+01] [-1.12989092e-01 9.93565575e-01 7.80462750e-03 4.03874045e+00] [ 6.31468033e-02 -6.58386061e-04 9.98004032e-01 -2.34770526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.195347070000004 meters Centerline goodness [0,1] 0.9998184986205895 Centerline is valid? [True, True] Translation: X:-47.29, Y:4.04, Z:-2.35 [[ 9.91695193e-01 1.11921250e-01 -6.33583299e-02 -4.72858324e+01] [-1.11643549e-01 9.93716774e-01 7.91770813e-03 4.04091251e+00] [ 6.38463951e-02 -7.78404252e-04 9.97959434e-01 -2.34710190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.22534707 meters Centerline goodness [0,1] 0.9998182611224193 Centerline is valid? [True, True] Translation: X:-47.31, Y:4.04, Z:-2.34 [[ 9.91713586e-01 1.12298691e-01 -6.23952468e-02 -4.73134886e+01] [-1.12029584e-01 9.93674212e-01 7.80592269e-03 4.04286226e+00] [ 6.28771427e-02 -7.51126036e-04 9.98020992e-01 -2.34410991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.25534707 meters Centerline goodness [0,1] 0.9992405063291139 Centerline is valid? [True, True] Translation: X:-47.34, Y:4.04, Z:-2.34 [[ 9.91775735e-01 1.11912988e-01 -6.20997144e-02 -4.73411955e+01] [-1.11645052e-01 9.93717702e-01 7.77883765e-03 4.04455068e+00] [ 6.25801384e-02 -7.81736572e-04 9.98039636e-01 -2.34084459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.28534707 meters Centerline goodness [0,1] 0.9993827384626557 Centerline is valid? [True, True] Translation: X:-47.37, Y:4.05, Z:-2.34 [[ 9.91811092e-01 1.11750935e-01 -6.18262604e-02 -4.73692061e+01] [-1.11483262e-01 9.93735911e-01 7.77309828e-03 4.04563068e+00] [ 6.23076262e-02 -8.16851914e-04 9.98056658e-01 -2.33785413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.31534707 meters Centerline goodness [0,1] 0.9986144029170465 Centerline is valid? [True, True] Translation: X:-47.40, Y:4.05, Z:-2.34 [[ 9.91830160e-01 1.11936467e-01 -6.11813809e-02 -4.73967439e+01] [-1.11672964e-01 9.93715023e-01 7.72023348e-03 4.04712464e+00] [ 6.16610330e-02 -8.24854228e-04 9.98096807e-01 -2.33731139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.34534707 meters Centerline goodness [0,1] 0.9993543064174768 Centerline is valid? [True, True] Translation: X:-47.43, Y:4.05, Z:-2.34 [[ 9.91847797e-01 1.11266566e-01 -6.21103790e-02 -4.74254776e+01] [-1.10991837e-01 9.93790182e-01 7.86683163e-03 4.04671298e+00] [ 6.26000002e-02 -9.08954588e-04 9.98038283e-01 -2.33651618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.375347070000004 meters Centerline goodness [0,1] 0.9997480564353585 Centerline is valid? [True, True] Translation: X:-47.45, Y:4.05, Z:-2.34 [[ 9.92026155e-01 1.10456111e-01 -6.06923040e-02 -4.74535559e+01] [-1.10190665e-01 9.93880535e-01 7.71360632e-03 4.04753494e+00] [ 6.11729145e-02 -9.64373856e-04 9.98126718e-01 -2.33736156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.40534707 meters Centerline goodness [0,1] 0.9997431192660551 Centerline is valid? [True, True] Translation: X:-47.48, Y:4.05, Z:-2.34 [[ 9.92125252e-01 1.09955847e-01 -5.99766372e-02 -4.74808712e+01] [-1.09694126e-01 9.93935960e-01 7.64894706e-03 4.05027906e+00] [ 6.04539830e-02 -1.00962873e-03 9.98170475e-01 -2.33700392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.43534707 meters Centerline goodness [0,1] 0.9997467346864938 Centerline is valid? [True, True] Translation: X:-47.51, Y:4.05, Z:-2.34 [[ 9.91953367e-01 1.10992798e-01 -6.09025157e-02 -4.75090087e+01] [-1.10723190e-01 9.93820719e-01 7.79443918e-03 4.05126809e+00] [ 6.13913086e-02 -9.88399361e-04 9.98113285e-01 -2.33707903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.46534707 meters Centerline goodness [0,1] 0.9997045790251108 Centerline is valid? [True, True] Translation: X:-47.54, Y:4.05, Z:-2.34 [[ 9.92206728e-01 1.09142233e-01 -6.01147349e-02 -4.75365048e+01] [-1.08874572e-01 9.94025518e-01 7.71994055e-03 4.05423321e+00] [ 6.05981520e-02 -1.11481095e-03 9.98161621e-01 -2.33510359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.49534707 meters Centerline goodness [0,1] 0.9999286478772743 Centerline is valid? [True, True] Translation: X:-47.56, Y:4.06, Z:-2.33 [[ 9.91946007e-01 1.10138620e-01 -6.25508017e-02 -4.75648861e+01] [-1.09849857e-01 9.93915615e-01 8.04734187e-03 4.05555010e+00] [ 6.30565417e-02 -1.11133202e-03 9.98009337e-01 -2.33311580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.52534707 meters Centerline goodness [0,1] 0.9996417439902554 Centerline is valid? [True, True] Translation: X:-47.59, Y:4.06, Z:-2.33 [[ 9.91925665e-01 1.10504033e-01 -6.22280790e-02 -4.75915261e+01] [-1.10217217e-01 9.93875056e-01 8.03360542e-03 4.05849240e+00] [ 6.27346813e-02 -1.11013371e-03 9.98029622e-01 -2.32721767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.55534707 meters Centerline goodness [0,1] 0.9998553502332478 Centerline is valid? [True, True] Translation: X:-47.62, Y:4.06, Z:-2.33 [[ 9.91941963e-01 1.10295468e-01 -6.23382045e-02 -4.76192058e+01] [-1.10005621e-01 9.93898177e-01 8.07326962e-03 4.06119308e+00] [ 6.28482729e-02 -1.15066200e-03 9.98022430e-01 -2.32903308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.58534707 meters Centerline goodness [0,1] 0.9999636707113275 Centerline is valid? [True, True] Translation: X:-47.65, Y:4.06, Z:-2.33 [[ 9.91961669e-01 1.10274462e-01 -6.20611781e-02 -4.76473004e+01] [-1.09985452e-01 9.93900481e-01 8.06444205e-03 4.06318420e+00] [ 6.25719367e-02 -1.17379070e-03 9.98039766e-01 -2.32658967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.61534707 meters Centerline goodness [0,1] 0.9999636707113275 Centerline is valid? [True, True] Translation: X:-47.67, Y:4.07, Z:-2.33 [[ 9.91914127e-01 1.10703269e-01 -6.20576475e-02 -4.76744453e+01] [-1.10413403e-01 9.93852810e-01 8.09152207e-03 4.06649304e+00] [ 6.25719253e-02 -1.17409900e-03 9.98039767e-01 -2.32821575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.64534707 meters Centerline goodness [0,1] 0.9996802955490036 Centerline is valid? [True, True] Translation: X:-47.70, Y:4.07, Z:-2.33 [[ 9.91969234e-01 1.09383035e-01 -6.35011062e-02 -4.77031639e+01] [-1.09074999e-01 9.93998804e-01 8.30792816e-03 4.06654435e+00] [ 6.40287700e-02 -1.31482605e-03 9.97947187e-01 -2.32697836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.67534707 meters Centerline goodness [0,1] 0.999679235868558 Centerline is valid? [True, True] Translation: X:-47.73, Y:4.07, Z:-2.33 [[ 9.92070232e-01 1.08785951e-01 -6.29465796e-02 -4.77313078e+01] [-1.08480624e-01 9.94064261e-01 8.25824654e-03 4.06986834e+00] [ 6.34713264e-02 -1.36427633e-03 9.97982730e-01 -2.32684113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.70534707 meters Centerline goodness [0,1] 0.9998172381022005 Centerline is valid? [True, True] Translation: X:-47.76, Y:4.08, Z:-2.32 [[ 9.92004284e-01 1.10246784e-01 -6.14259509e-02 -4.77584283e+01] [-1.09958366e-01 9.93903461e-01 8.06646414e-03 4.07581600e+00] [ 6.19407669e-02 -1.24766982e-03 9.98079047e-01 -2.32435534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.73534707 meters Centerline goodness [0,1] 0.9999265462024387 Centerline is valid? [True, True] Translation: X:-47.79, Y:4.08, Z:-2.32 [[ 9.91731276e-01 1.12882496e-01 -6.10460379e-02 -4.77873172e+01] [-1.12602062e-01 9.93607752e-01 8.02567833e-03 4.07971469e+00] [ 6.15617750e-02 -1.08540645e-03 9.98102685e-01 -2.32454281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.765347070000004 meters Centerline goodness [0,1] 0.9998169034715102 Centerline is valid? [True, True] Translation: X:-47.81, Y:4.09, Z:-2.32 [[ 9.91575420e-01 1.13660981e-01 -6.21238066e-02 -4.78146221e+01] [-1.13370557e-01 9.93519006e-01 8.19150119e-03 4.08570654e+00] [ 6.26522366e-02 -1.07948067e-03 9.98034835e-01 -2.32261131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.79534707 meters Centerline goodness [0,1] 0.9997552789819606 Centerline is valid? [True, True] Translation: X:-47.84, Y:4.09, Z:-2.32 [[ 9.91317018e-01 1.14642527e-01 -6.44023361e-02 -4.78425498e+01] [-1.14331700e-01 9.93406238e-01 8.50344135e-03 4.08641813e+00] [ 6.49525384e-02 -1.06637755e-03 9.97887785e-01 -2.32362290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.82534707 meters Centerline goodness [0,1] 0.999856042611387 Centerline is valid? [True, True] Translation: X:-47.87, Y:4.10, Z:-2.32 [[ 9.90902562e-01 1.18493956e-01 -6.38067044e-02 -4.78689729e+01] [-1.18195025e-01 9.92954423e-01 8.45280243e-03 4.09764463e+00] [ 6.43587553e-02 -8.34268595e-04 9.97926478e-01 -2.32469549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.85534707 meters Centerline goodness [0,1] 0.9998902987530625 Centerline is valid? [True, True] Translation: X:-47.90, Y:4.10, Z:-2.32 [[ 9.90778521e-01 1.19447106e-01 -6.39555390e-02 -4.78962276e+01] [-1.19148115e-01 9.92840256e-01 8.48248369e-03 4.10368446e+00] [ 6.45108418e-02 -7.84080741e-04 9.97916698e-01 -2.32256257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.88534707 meters Centerline goodness [0,1] 0.9998191747133919 Centerline is valid? [True, True] Translation: X:-47.92, Y:4.11, Z:-2.33 [[ 9.90466832e-01 1.21488073e-01 -6.49315291e-02 -4.79233871e+01] [-1.21182408e-01 9.92592652e-01 8.64007180e-03 4.10909552e+00] [ 6.55002244e-02 -6.89145476e-04 9.97852317e-01 -2.32505735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.91534707 meters Centerline goodness [0,1] 0.9998191877915596 Centerline is valid? [True, True] Translation: X:-47.95, Y:4.11, Z:-2.33 [[ 9.90288430e-01 1.22898546e-01 -6.49982478e-02 -4.79502961e+01] [-1.22593540e-01 9.92419044e-01 8.67552273e-03 4.11470702e+00] [ 6.55717081e-02 -6.22904497e-04 9.97847665e-01 -2.32515918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.945347070000004 meters Centerline goodness [0,1] 0.9999636641110424 Centerline is valid? [True, True] Translation: X:-47.98, Y:4.12, Z:-2.32 [[ 9.90073800e-01 1.24327038e-01 -6.55488942e-02 -4.79780156e+01] [-1.24018968e-01 9.92241144e-01 8.76402505e-03 4.12091908e+00] [ 6.61299150e-02 -5.47725410e-04 9.97810871e-01 -2.32464413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.97534707 meters Centerline goodness [0,1] 0.9998532163957286 Centerline is valid? [True, True] Translation: X:-48.01, Y:4.13, Z:-2.33 [[ 9.89958061e-01 1.25428257e-01 -6.51980819e-02 -4.80056139e+01] [-1.25123973e-01 9.92102566e-01 8.74581364e-03 4.12588241e+00] [ 6.57801565e-02 -5.00145705e-04 9.97834015e-01 -2.32543477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.00534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.03, Y:4.13, Z:-2.32 [[ 9.89972826e-01 1.24754846e-01 -6.62573155e-02 -4.80332025e+01] [-1.24437073e-01 9.92187426e-01 8.91778186e-03 4.12969869e+00] [ 6.68522118e-02 -5.83495300e-04 9.97762718e-01 -2.32450226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.03534707 meters Centerline goodness [0,1] 0.9996322312529882 Centerline is valid? [True, True] Translation: X:-48.06, Y:4.13, Z:-2.33 [[ 9.90018314e-01 1.25443573e-01 -6.42467748e-02 -4.80619058e+01] [-1.25144550e-01 9.92100605e-01 8.67356187e-03 4.13431159e+00] [ 6.48273067e-02 -5.46851381e-04 9.97896348e-01 -2.32675332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.06534707 meters Centerline goodness [0,1] 0.9998561099320119 Centerline is valid? [True, True] Translation: X:-48.09, Y:4.14, Z:-2.33 [[ 9.90228707e-01 1.22071911e-01 -6.74207483e-02 -4.80905422e+01] [-1.21733110e-01 9.92520912e-01 9.12632943e-03 4.13710235e+00] [ 6.80305710e-02 -8.29815988e-04 9.97682892e-01 -2.32899182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.09534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.12, Y:4.14, Z:-2.33 [[ 9.90390219e-01 1.20388540e-01 -6.80721190e-02 -4.81184968e+01] [-1.20037622e-01 9.92726370e-01 9.23713143e-03 4.14087590e+00] [ 6.86890323e-02 -9.77149345e-04 9.97637641e-01 -2.32611835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.125347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.15, Y:4.15, Z:-2.33 [[ 9.90352788e-01 1.21699092e-01 -6.62622490e-02 -4.81467198e+01] [-1.21368847e-01 9.92566657e-01 9.00188063e-03 4.14616393e+00] [ 6.68652197e-02 -8.72864787e-04 9.97761635e-01 -2.32723367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.15534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.18, Y:4.15, Z:-2.33 [[ 9.90420415e-01 1.20493160e-01 -6.74447883e-02 -4.81756059e+01] [-1.20146414e-01 9.92713656e-01 9.18891783e-03 4.14995180e+00] [ 6.80605641e-02 -9.97642384e-04 9.97680693e-01 -2.32787527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.18534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.20, Y:4.15, Z:-2.33 [[ 9.90785484e-01 1.17469014e-01 -6.74177746e-02 -4.82039819e+01] [-1.17113757e-01 9.93075785e-01 9.21155097e-03 4.15328902e+00] [ 6.80330312e-02 -1.23112210e-03 9.97682310e-01 -2.32759069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.21534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.23, Y:4.16, Z:-2.33 [[ 9.90917695e-01 1.15667786e-01 -6.85790369e-02 -4.82321771e+01] [-1.15294012e-01 9.93286963e-01 9.39684826e-03 4.15622450e+00] [ 6.92055759e-02 -1.40475088e-03 9.97601431e-01 -2.32794969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.24534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.26, Y:4.16, Z:-2.33 [[ 9.91159009e-01 1.13630452e-01 -6.84977271e-02 -4.82598363e+01] [-1.13251125e-01 9.93521848e-01 9.40854555e-03 4.16072748e+00] [ 6.91230856e-02 -1.56792006e-03 9.97606907e-01 -2.32615353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.27534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.29, Y:4.16, Z:-2.33 [[ 9.91417028e-01 1.11216945e-01 -6.87245782e-02 -4.82879861e+01] [-1.10828513e-01 9.93794605e-01 9.45113233e-03 4.16447593e+00] [ 6.93492411e-02 -1.75337071e-03 9.97590902e-01 -2.32744916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.30534707 meters Centerline goodness [0,1] 0.9999263378881073 Centerline is valid? [True, True] Translation: X:-48.32, Y:4.17, Z:-2.33 [[ 9.91644709e-01 1.08863164e-01 -6.92068048e-02 -4.83168811e+01] [-1.08461864e-01 9.94054822e-01 9.54124518e-03 4.16999029e+00] [ 6.98340482e-02 -1.95522621e-03 9.97556707e-01 -2.32734346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.335347070000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.35, Y:4.17, Z:-2.33 [[ 9.91807258e-01 1.06400178e-01 -7.06920393e-02 -4.83457922e+01] [-1.05974085e-01 9.94320977e-01 9.76152542e-03 4.17035828e+00] [ 7.13292056e-02 -2.19002761e-03 9.97450424e-01 -2.33109380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.36534707 meters Centerline goodness [0,1] 0.999962105422714 Centerline is valid? [True, True] Translation: X:-48.37, Y:4.18, Z:-2.33 [[ 9.91901003e-01 1.05628479e-01 -7.05338495e-02 -4.83721380e+01] [-1.05200629e-01 9.94403086e-01 9.76377012e-03 4.18130679e+00] [ 7.11704098e-02 -2.26448808e-03 9.97461601e-01 -2.32700595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.39534707 meters Centerline goodness [0,1] 0.9998885545525465 Centerline is valid? [True, True] Translation: X:-48.40, Y:4.19, Z:-2.33 [[ 9.91885771e-01 1.05193372e-01 -7.13930782e-02 -4.84007573e+01] [-1.04752810e-01 9.94449036e-01 9.89766944e-03 4.18529549e+00] [ 7.20379470e-02 -2.33873190e-03 9.97399150e-01 -2.33018801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.42534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.43, Y:4.20, Z:-2.33 [[ 9.91753837e-01 1.06352113e-01 -7.15091295e-02 -4.84278378e+01] [-1.05912104e-01 9.94325935e-01 9.92780103e-03 4.19639313e+00] [ 7.21592247e-02 -2.27225239e-03 9.97390537e-01 -2.32825860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.45534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.46, Y:4.20, Z:-2.33 [[ 9.91507234e-01 1.08791678e-01 -7.12585196e-02 -4.84553867e+01] [-1.08360356e-01 9.94062359e-01 9.90247809e-03 4.20347145e+00] [ 7.19127194e-02 -2.09678013e-03 9.97408725e-01 -2.32882307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.48534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.48, Y:4.21, Z:-2.33 [[ 9.91404129e-01 1.08084012e-01 -7.37271987e-02 -4.84831959e+01] [-1.07619259e-01 9.94139248e-01 1.02591807e-02 4.20771150e+00] [ 7.44039553e-02 -2.23652756e-03 9.97225676e-01 -2.33470531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.515347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.51, Y:4.22, Z:-2.33 [[ 9.91137014e-01 1.10843516e-01 -7.32197683e-02 -4.85096612e+01] [-1.10390957e-01 9.93835781e-01 1.02115711e-02 4.21988461e+00] [ 7.39003121e-02 -2.03826585e-03 9.97263551e-01 -2.33122170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.54534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.54, Y:4.23, Z:-2.33 [[ 9.90892465e-01 1.12775710e-01 -7.35782677e-02 -4.85378779e+01] [-1.12323043e-01 9.93618622e-01 1.02746071e-02 4.22698173e+00] [ 7.42674630e-02 -1.91649577e-03 9.97236517e-01 -2.33394554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.57534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.56, Y:4.24, Z:-2.33 [[ 9.90658221e-01 1.14928105e-01 -7.34017658e-02 -4.85648547e+01] [-1.14481780e-01 9.93372228e-01 1.02731909e-02 4.23611587e+00] [ 7.40959540e-02 -1.77405619e-03 9.97249539e-01 -2.33409867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.60534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.59, Y:4.25, Z:-2.34 [[ 9.90156484e-01 1.18261216e-01 -7.48626823e-02 -4.85920445e+01] [-1.17805368e-01 9.92981280e-01 1.04915406e-02 4.24643993e+00] [ 7.55779845e-02 -1.56904111e-03 9.97138660e-01 -2.33649180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.63534707 meters Centerline goodness [0,1] 0.9998436706139837 Centerline is valid? [True, True] Translation: X:-48.62, Y:4.25, Z:-2.34 [[ 9.90013452e-01 1.19456795e-01 -7.48561213e-02 -4.86187777e+01] [-1.19002633e-01 9.92838265e-01 1.05144335e-02 4.25467549e+00] [ 7.55760421e-02 -1.50135514e-03 9.97138911e-01 -2.33517551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.66534707 meters Centerline goodness [0,1] 0.9999605070889775 Centerline is valid? [True, True] Translation: X:-48.65, Y:4.26, Z:-2.34 [[ 9.89834890e-01 1.20857386e-01 -7.49692140e-02 -4.86467530e+01] [-1.20404845e-01 9.92668880e-01 1.05436433e-02 4.26318380e+00] [ 7.56938828e-02 -1.40980937e-03 9.97130106e-01 -2.33781493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.695347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.67, Y:4.27, Z:-2.34 [[ 9.89462342e-01 1.23257077e-01 -7.59734632e-02 -4.86749063e+01] [-1.22797313e-01 9.92373963e-01 1.07115959e-02 4.27099982e+00] [ 7.67143667e-02 -1.26938357e-03 9.97052303e-01 -2.33887117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.72534707 meters Centerline goodness [0,1] 0.9998836623104665 Centerline is valid? [True, True] Translation: X:-48.70, Y:4.28, Z:-2.34 [[ 9.89274826e-01 1.23824633e-01 -7.74776012e-02 -4.87026643e+01] [-1.23345900e-01 9.92303293e-01 1.09528089e-02 4.27852498e+00] [ 7.82375063e-02 -1.27879368e-03 9.96933928e-01 -2.34433736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.75534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.73, Y:4.29, Z:-2.35 [[ 9.88993148e-01 1.25565407e-01 -7.82680167e-02 -4.87296256e+01] [-1.25080324e-01 9.92084645e-01 1.10891867e-02 4.28685985e+00] [ 7.90409158e-02 -1.17734071e-03 9.96870677e-01 -2.34661867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.78534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.76, Y:4.29, Z:-2.35 [[ 9.88860978e-01 1.26604441e-01 -7.82641773e-02 -4.87570154e+01] [-1.26121408e-01 9.91952662e-01 1.11043599e-02 4.29432644e+00] [ 7.90402203e-02 -1.10987992e-03 9.96870810e-01 -2.34958561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.81534707 meters Centerline goodness [0,1] 0.9996844554885024 Centerline is valid? [True, True] Translation: X:-48.78, Y:4.30, Z:-2.35 [[ 9.88729658e-01 1.27362479e-01 -7.86921974e-02 -4.87842723e+01] [-1.26873913e-01 9.91855642e-01 1.11979771e-02 4.29922096e+00] [ 7.94775021e-02 -1.08778507e-03 9.96836066e-01 -2.34855807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.84534707 meters Centerline goodness [0,1] 0.9997211710814579 Centerline is valid? [True, True] Translation: X:-48.81, Y:4.31, Z:-2.35 [[ 9.88601516e-01 1.28484733e-01 -7.84774828e-02 -4.88116901e+01] [-1.28000243e-01 9.91710961e-01 1.11940817e-02 4.30768391e+00] [ 7.92652485e-02 -1.02134922e-03 9.96853037e-01 -2.34783228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.875347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.84, Y:4.31, Z:-2.36 [[ 9.88277842e-01 1.30744860e-01 -7.88206100e-02 -4.88393362e+01] [-1.30262145e-01 9.91415677e-01 1.12573625e-02 4.31350508e+00] [ 7.96158308e-02 -8.58060215e-04 9.96825252e-01 -2.35684403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.90534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.87, Y:4.32, Z:-2.35 [[ 9.88088456e-01 1.32172807e-01 -7.88134073e-02 -4.88669790e+01] [-1.31692862e-01 9.91226393e-01 1.12795288e-02 4.32258057e+00] [ 7.96127765e-02 -7.66009037e-04 9.96825571e-01 -2.35043465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.93534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.89, Y:4.33, Z:-2.36 [[ 9.88043169e-01 1.32307676e-01 -7.91541226e-02 -4.88940438e+01] [-1.31822643e-01 9.91208393e-01 1.13451731e-02 4.32694330e+00] [ 7.99592841e-02 -7.75215206e-04 9.96797829e-01 -2.35526322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.96534707 meters Centerline goodness [0,1] 0.9998795229107265 Centerline is valid? [True, True] Translation: X:-48.92, Y:4.33, Z:-2.35 [[ 9.88144899e-01 1.31354429e-01 -7.94712000e-02 -4.89220933e+01] [-1.30859757e-01 9.91335072e-01 1.14236395e-02 4.33210918e+00] [ 8.02831334e-02 -8.88629119e-04 9.96771703e-01 -2.35474258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.99534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.95, Y:4.34, Z:-2.36 [[ 9.88020103e-01 1.31507005e-01 -8.07600345e-02 -4.89501950e+01] [-1.30994264e-01 9.91314815e-01 1.16378818e-02 4.33629309e+00] [ 8.15890816e-02 -9.19359877e-04 9.96665629e-01 -2.36331558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.02534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.98, Y:4.34, Z:-2.36 [[ 9.88091289e-01 1.30337858e-01 -8.17780325e-02 -4.89776897e+01] [-1.29806106e-01 9.91469079e-01 1.18084658e-02 4.34437664e+00] [ 8.26194807e-02 -1.05255423e-03 9.96580611e-01 -2.36163539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.05534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.01, Y:4.35, Z:-2.36 [[ 9.88106343e-01 1.30403191e-01 -8.14914891e-02 -4.90054587e+01] [-1.29874010e-01 9.91460480e-01 1.17837740e-02 4.34906880e+00] [ 8.23322327e-02 -1.05999539e-03 9.96604375e-01 -2.36393252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.085347070000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.03, Y:4.35, Z:-2.37 [[ 9.88106332e-01 1.30194775e-01 -8.18241904e-02 -4.90331424e+01] [-1.29657776e-01 9.91487810e-01 1.18652213e-02 4.35465205e+00] [ 8.26724772e-02 -1.11495775e-03 9.96576148e-01 -2.36547398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.11534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.06, Y:4.36, Z:-2.37 [[ 9.88131702e-01 1.30016911e-01 -8.18006305e-02 -4.90599990e+01] [-1.29476881e-01 9.91511095e-01 1.18947586e-02 4.36071313e+00] [ 8.26527525e-02 -1.16229759e-03 9.96577730e-01 -2.36754995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.14534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.09, Y:4.37, Z:-2.37 [[ 9.88222469e-01 1.28893245e-01 -8.24795973e-02 -4.90877664e+01] [-1.28337627e-01 9.91657625e-01 1.20253085e-02 4.36581874e+00] [ 8.33415027e-02 -1.29844422e-03 9.96520199e-01 -2.37195287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.17534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.12, Y:4.37, Z:-2.37 [[ 9.88115841e-01 1.29726694e-01 -8.24504054e-02 -4.91150350e+01] [-1.29172410e-01 9.91549000e-01 1.20444448e-02 4.37454506e+00] [ 8.33161030e-02 -1.25098917e-03 9.96522384e-01 -2.37118755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.20534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.14, Y:4.38, Z:-2.38 [[ 9.87975477e-01 1.30257904e-01 -8.32906615e-02 -4.91425084e+01] [-1.29692705e-01 9.91479376e-01 1.21839949e-02 4.38019139e+00] [ 8.41680347e-02 -1.23529694e-03 9.96450810e-01 -2.37717911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.23534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.17, Y:4.39, Z:-2.38 [[ 9.87981142e-01 1.30042682e-01 -8.35593465e-02 -4.91699759e+01] [-1.29470947e-01 9.91507567e-01 1.22481690e-02 4.38710625e+00] [ 8.44425092e-02 -1.28245231e-03 9.96427528e-01 -2.37775314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.265347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.20, Y:4.40, Z:-2.37 [[ 9.87614123e-01 1.33056015e-01 -8.31531135e-02 -4.91976548e+01] [-1.32499062e-01 9.91107977e-01 1.22055947e-02 4.39576992e+00] [ 8.40377419e-02 -1.03670822e-03 9.96462033e-01 -2.37407636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.29534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.23, Y:4.40, Z:-2.38 [[ 9.87526768e-01 1.33214314e-01 -8.39334756e-02 -4.92253772e+01] [-1.32644662e-01 9.91086683e-01 1.23523839e-02 4.40091223e+00] [ 8.48308642e-02 -1.06498220e-03 9.96394796e-01 -2.38191786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.32534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.25, Y:4.41, Z:-2.39 [[ 9.87573735e-01 1.32518066e-01 -8.44812359e-02 -4.92528907e+01] [-1.31935665e-01 9.91179907e-01 1.24648563e-02 4.40586203e+00] [ 8.53879222e-02 -1.16387664e-03 9.96347102e-01 -2.38777078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.35534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.28, Y:4.41, Z:-2.38 [[ 9.87418298e-01 1.33354326e-01 -8.49807595e-02 -4.92786483e+01] [-1.32765882e-01 9.91067789e-01 1.25641989e-02 4.41412650e+00] [ 8.58971837e-02 -1.12357438e-03 9.96303373e-01 -2.38453552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.38534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.31, Y:4.42, Z:-2.39 [[ 9.87266645e-01 1.34538696e-01 -8.48758592e-02 -4.93056226e+01] [-1.33954280e-01 9.90907795e-01 1.25695427e-02 4.42097786e+00] [ 8.57952403e-02 -1.04000570e-03 9.96312248e-01 -2.38854564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.41534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.33, Y:4.43, Z:-2.39 [[ 9.87235705e-01 1.34836491e-01 -8.47631020e-02 -4.93326257e+01] [-1.34251819e-01 9.90867310e-01 1.25866378e-02 4.42724488e+00] [ 8.56861249e-02 -1.04637766e-03 9.96321631e-01 -2.39277328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.445347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.36, Y:4.43, Z:-2.40 [[ 9.87060415e-01 1.36209431e-01 -8.46092709e-02 -4.93604516e+01] [-1.35629187e-01 9.90679603e-01 1.25955854e-02 4.43342653e+00] [ 8.55363164e-02 -9.57117096e-04 9.96334594e-01 -2.39653974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.47534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.39, Y:4.44, Z:-2.40 [[ 9.87195205e-01 1.34708453e-01 -8.54357043e-02 -4.93873502e+01] [-1.34109147e-01 9.90884643e-01 1.27420988e-02 4.43898742e+00] [ 8.63733957e-02 -1.12122942e-03 9.96262204e-01 -2.39865998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.50534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.41, Y:4.44, Z:-2.40 [[ 9.87143777e-01 1.35086433e-01 -8.54331323e-02 -4.94143975e+01] [-1.34487050e-01 9.90833201e-01 1.27593208e-02 4.44276556e+00] [ 8.63735951e-02 -1.10563416e-03 9.96262204e-01 -2.40028081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.53534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.44, Y:4.45, Z:-2.40 [[ 9.87057588e-01 1.35440863e-01 -8.58667024e-02 -4.94405500e+01] [-1.34834050e-01 9.90784810e-01 1.28545520e-02 4.44840301e+00] [ 8.68164561e-02 -1.11042788e-03 9.96223705e-01 -2.40188508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.56534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.47, Y:4.45, Z:-2.40 [[ 9.87088845e-01 1.34926916e-01 -8.63153469e-02 -4.94672556e+01] [-1.34310049e-01 9.90854849e-01 1.29413675e-02 4.45474151e+00] [ 8.72721188e-02 -1.18126104e-03 9.96183809e-01 -2.40229670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.59534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.50, Y:4.46, Z:-2.40 [[ 9.87131422e-01 1.34190182e-01 -8.69744291e-02 -4.94950771e+01] [-1.33559415e-01 9.90954778e-01 1.30579388e-02 4.46024727e+00] [ 8.79399733e-02 -1.27364780e-03 9.96124961e-01 -2.40326200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.625347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.52, Y:4.46, Z:-2.41 [[ 9.87338726e-01 1.32634607e-01 -8.70074809e-02 -4.95228038e+01] [-1.31994567e-01 9.91163950e-01 1.30942050e-02 4.46262704e+00] [ 8.79754232e-02 -1.44390094e-03 9.96121599e-01 -2.41348189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.65534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.55, Y:4.47, Z:-2.42 [[ 9.87335862e-01 1.32492993e-01 -8.72553877e-02 -4.95497027e+01] [-1.31845916e-01 9.91182818e-01 1.31633913e-02 4.46564221e+00] [ 8.82300983e-02 -1.49242175e-03 9.96099002e-01 -2.42290724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.68534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.58, Y:4.48, Z:-2.42 [[ 9.87087937e-01 1.34359648e-01 -8.72060120e-02 -4.95765843e+01] [-1.33718351e-01 9.90931715e-01 1.31810342e-02 4.47530200e+00] [ 8.81862021e-02 -1.34979575e-03 9.96103093e-01 -2.41571923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.71534707 meters Centerline goodness [0,1] 0.9999585526588469 Centerline is valid? [True, True] Translation: X:-49.60, Y:4.48, Z:-2.42 [[ 9.86887663e-01 1.35799799e-01 -8.72419331e-02 -4.96045458e+01] [-1.35162135e-01 9.90735526e-01 1.32028489e-02 4.47881620e+00] [ 8.82266267e-02 -1.23792272e-03 9.96099659e-01 -2.42111787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.74534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.63, Y:4.49, Z:-2.42 [[ 9.86750638e-01 1.36720229e-01 -8.73542092e-02 -4.96306636e+01] [-1.36082085e-01 9.90608993e-01 1.32472580e-02 4.48835270e+00] [ 8.83450334e-02 -1.18439739e-03 9.96089229e-01 -2.41710341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.77534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.66, Y:4.49, Z:-2.42 [[ 9.86393917e-01 1.39132961e-01 -8.75731689e-02 -4.96587509e+01] [-1.38498724e-01 9.90273207e-01 1.33070975e-02 4.49406848e+00] [ 8.85728187e-02 -9.97267875e-04 9.96069205e-01 -2.42136368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.80534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.69, Y:4.50, Z:-2.42 [[ 9.86370545e-01 1.39498355e-01 -8.72545525e-02 -4.96863254e+01] [-1.38867316e-01 9.90221805e-01 1.32908043e-02 4.49994615e+00] [ 8.82554058e-02 -9.92852381e-04 9.96097384e-01 -2.42100181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.835347070000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.71, Y:4.51, Z:-2.42 [[ 9.86262140e-01 1.40379630e-01 -8.70663637e-02 -4.97137214e+01] [-1.39752360e-01 9.90097307e-01 1.32890792e-02 4.50669554e+00] [ 8.80696883e-02 -9.38785840e-04 9.96113873e-01 -2.42356248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.86534707 meters Centerline goodness [0,1] 0.9997875324013088 Centerline is valid? [True, True] Translation: X:-49.74, Y:4.51, Z:-2.42 [[ 9.85681076e-01 1.44777767e-01 -8.64419697e-02 -4.97416148e+01] [-1.44174825e-01 9.89464040e-01 1.32111401e-02 4.51420850e+00] [ 8.74438999e-02 -5.59214952e-04 9.96169289e-01 -2.42257135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.89534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.77, Y:4.52, Z:-2.43 [[ 9.85906123e-01 1.42523592e-01 -8.76135970e-02 -4.97699518e+01] [-1.41892463e-01 9.89791081e-01 1.34218006e-02 4.51702508e+00] [ 8.86320801e-02 -8.00926314e-04 9.96064111e-01 -2.43419917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.92534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.80, Y:4.52, Z:-2.44 [[ 9.85769213e-01 1.43135321e-01 -8.81551983e-02 -4.97968128e+01] [-1.42495877e-01 9.89702818e-01 1.35372772e-02 4.52247609e+00] [ 8.91851106e-02 -7.82878708e-04 9.96014761e-01 -2.43643903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.95534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.82, Y:4.53, Z:-2.44 [[ 9.85822429e-01 1.43131392e-01 -8.75645049e-02 -4.98245582e+01] [-1.42498163e-01 9.89703369e-01 1.34727611e-02 4.52766129e+00] [ 8.85912605e-02 -8.03968944e-04 9.96067740e-01 -2.43775108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.98534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.85, Y:4.53, Z:-2.44 [[ 9.85791875e-01 1.43498451e-01 -8.73073501e-02 -4.98520997e+01] [-1.42868701e-01 9.89650228e-01 1.34521305e-02 4.53261329e+00] [ 8.83340988e-02 -7.87513306e-04 9.96090592e-01 -2.43806477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.015347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.88, Y:4.54, Z:-2.45 [[ 9.86040801e-01 1.41180338e-01 -8.82703313e-02 -4.98806443e+01] [-1.40524665e-01 9.89983353e-01 1.36300721e-02 4.53673646e+00] [ 8.93104567e-02 -1.03564843e-03 9.96003298e-01 -2.44647279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.04534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.91, Y:4.54, Z:-2.45 [[ 9.86252613e-01 1.39659466e-01 -8.83233649e-02 -4.99092858e+01] [-1.38994965e-01 9.90198871e-01 1.36600080e-02 4.54056337e+00] [ 8.93654456e-02 -1.19571557e-03 9.95998186e-01 -2.44836851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.07534707 meters Centerline goodness [0,1] 0.99991554410709 Centerline is valid? [True, True] Translation: X:-49.94, Y:4.55, Z:-2.45 [[ 9.85960866e-01 1.41376726e-01 -8.88470104e-02 -4.99363472e+01] [-1.40708349e-01 9.89955281e-01 1.37732342e-02 4.54626992e+00] [ 8.99017819e-02 -1.07835383e-03 9.95950052e-01 -2.44714577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.10534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.96, Y:4.55, Z:-2.45 [[ 9.85984407e-01 1.40309068e-01 -9.02669042e-02 -4.99637550e+01] [-1.39612225e-01 9.90107002e-01 1.40196900e-02 4.55111534e+00] [ 9.13409835e-02 -1.22083238e-03 9.95818926e-01 -2.45385549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.13534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.99, Y:4.55, Z:-2.46 [[ 9.86206303e-01 1.39578152e-01 -8.89666612e-02 -4.99920022e+01] [-1.38896644e-01 9.90210220e-01 1.38362705e-02 4.55324081e+00] [ 9.00269382e-02 -1.28824657e-03 9.95938498e-01 -2.46044879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.16534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.02, Y:4.56, Z:-2.47 [[ 9.86213050e-01 1.39652289e-01 -8.87753300e-02 -5.00193730e+01] [-1.38971047e-01 9.90199737e-01 1.38394221e-02 4.55833957e+00] [ 8.98380153e-02 -1.31141809e-03 9.95955527e-01 -2.46526920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.195347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.05, Y:4.56, Z:-2.47 [[ 9.86077015e-01 1.40891180e-01 -8.83277746e-02 -5.00471365e+01] [-1.40218865e-01 9.90024331e-01 1.38019647e-02 4.56338324e+00] [ 8.93912210e-02 -1.22457988e-03 9.95995838e-01 -2.46667544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.22534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.07, Y:4.57, Z:-2.47 [[ 9.86023853e-01 1.40912359e-01 -8.88857087e-02 -5.00741746e+01] [-1.40229490e-01 9.90021280e-01 1.39123783e-02 4.56894832e+00] [ 8.99591692e-02 -1.25353927e-03 9.95944665e-01 -2.46896623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.25534707 meters Centerline goodness [0,1] 0.9998330272165638 Centerline is valid? [True, True] Translation: X:-50.10, Y:4.57, Z:-2.47 [[ 9.86351557e-01 1.38029713e-01 -8.97686132e-02 -5.01032688e+01] [-1.37319697e-01 9.90426878e-01 1.40677262e-02 4.57090325e+00] [ 9.08510115e-02 -1.54872488e-03 9.95863291e-01 -2.47369306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.28534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.13, Y:4.58, Z:-2.47 [[ 9.86209878e-01 1.39307349e-01 -8.93506538e-02 -5.01306114e+01] [-1.38607152e-01 9.90248136e-01 1.40245212e-02 4.57571734e+00] [ 9.04330372e-02 -1.44648162e-03 9.95901488e-01 -2.47400185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.31534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.16, Y:4.58, Z:-2.48 [[ 9.86468575e-01 1.37033456e-01 -9.00087910e-02 -5.01581866e+01] [-1.36312425e-01 9.90564998e-01 1.41388557e-02 4.57922143e+00] [ 9.10970542e-02 -1.67822017e-03 9.95840605e-01 -2.47766734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.34534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.19, Y:4.58, Z:-2.48 [[ 9.86492013e-01 1.36993562e-01 -8.98124288e-02 -5.01857498e+01] [-1.36273722e-01 9.90570483e-01 1.41276784e-02 4.58302558e+00] [ 9.09009420e-02 -1.69776794e-03 9.95858492e-01 -2.47900102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.375347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.21, Y:4.59, Z:-2.48 [[ 9.86545546e-01 1.36661676e-01 -8.97299900e-02 -5.02133145e+01] [-1.35938530e-01 9.90616213e-01 1.41504624e-02 4.58526932e+00] [ 9.08218087e-02 -1.76231278e-03 9.95865600e-01 -2.48472251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.40534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.24, Y:4.59, Z:-2.48 [[ 9.86417297e-01 1.37957413e-01 -8.91553100e-02 -5.02402061e+01] [-1.37246343e-01 9.90436772e-01 1.40869631e-02 4.59238057e+00] [ 9.02460984e-02 -1.65938380e-03 9.95918113e-01 -2.48134838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.43534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.27, Y:4.60, Z:-2.49 [[ 9.86560489e-01 1.36445358e-01 -8.98947445e-02 -5.02684388e+01] [-1.35714442e-01 9.90645906e-01 1.42225068e-02 4.59553354e+00] [ 9.09944556e-02 -1.83134818e-03 9.95849715e-01 -2.48840545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.46534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.30, Y:4.60, Z:-2.49 [[ 9.86522046e-01 1.37023052e-01 -8.94367662e-02 -5.02959160e+01] [-1.36299701e-01 9.90566235e-01 1.41748019e-02 4.60143398e+00] [ 9.05353154e-02 -1.79355002e-03 9.95891631e-01 -2.49200674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.49534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.32, Y:4.60, Z:-2.50 [[ 9.86235377e-01 1.39059673e-01 -8.94549540e-02 -5.03243464e+01] [-1.38342684e-01 9.90282669e-01 1.41963582e-02 4.60471846e+00] [ 9.05598315e-02 -1.62551224e-03 9.95889690e-01 -2.50129977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.52534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.35, Y:4.61, Z:-2.50 [[ 9.86296158e-01 1.38675573e-01 -8.93810648e-02 -5.03509653e+01] [-1.37955807e-01 9.90336430e-01 1.42109457e-02 4.61107976e+00] [ 9.04880357e-02 -1.68556413e-03 9.95896116e-01 -2.50168044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.55534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.38, Y:4.61, Z:-2.51 [[ 9.86391426e-01 1.37226861e-01 -9.05579499e-02 -5.03797421e+01] [-1.36480028e-01 9.90537894e-01 1.44181298e-02 4.61378721e+00] [ 9.16796357e-02 -1.86256804e-03 9.95786812e-01 -2.50759540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.585347070000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.41, Y:4.62, Z:-2.51 [[ 9.86193984e-01 1.38833671e-01 -9.02587306e-02 -5.04062715e+01] [-1.38096444e-01 9.90314203e-01 1.43927734e-02 4.62257988e+00] [ 9.13827044e-02 -1.72965682e-03 9.95814345e-01 -2.50743043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.61534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.43, Y:4.63, Z:-2.51 [[ 9.85986015e-01 1.40097417e-01 -9.05775423e-02 -5.04340689e+01] [-1.39358381e-01 9.90136369e-01 1.44642108e-02 4.62564476e+00] [ 9.17105173e-02 -1.63876995e-03 9.95784362e-01 -2.51228120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.64534707 meters Centerline goodness [0,1] 0.9996693668374939 Centerline is valid? [True, True] Translation: X:-50.46, Y:4.63, Z:-2.51 [[ 9.86193452e-01 1.39482449e-01 -8.92587322e-02 -5.04616795e+01] [-1.38759848e-01 9.90223087e-01 1.42808162e-02 4.63205771e+00] [ 9.03779806e-02 -1.69811935e-03 9.95906088e-01 -2.51147013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.67534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.49, Y:4.64, Z:-2.52 [[ 9.86271697e-01 1.38939145e-01 -8.92415409e-02 -5.04900206e+01] [-1.38213042e-01 9.90299349e-01 1.42952900e-02 4.63548512e+00] [ 9.03620152e-02 -1.76469509e-03 9.95907421e-01 -2.52082316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.70534707 meters Centerline goodness [0,1] 0.9999584889995848 Centerline is valid? [True, True] Translation: X:-50.52, Y:4.64, Z:-2.52 [[ 9.86148623e-01 1.39810858e-01 -8.92402214e-02 -5.05177543e+01] [-1.39085620e-01 9.90176744e-01 1.43250096e-02 4.64045974e+00] [ 9.03663838e-02 -1.71455698e-03 9.95907113e-01 -2.52373338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.73534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.55, Y:4.65, Z:-2.53 [[ 9.86066734e-01 1.39568672e-01 -9.05150966e-02 -5.05452601e+01] [-1.38819429e-01 9.90210787e-01 1.45520939e-02 4.64639160e+00] [ 9.16600415e-02 -1.78408167e-03 9.95788760e-01 -2.52662160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.765347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.57, Y:4.65, Z:-2.53 [[ 9.86293496e-01 1.38432899e-01 -8.97857041e-02 -5.05736004e+01] [-1.37689634e-01 9.90370013e-01 1.44499785e-02 4.65055618e+00] [ 9.09214213e-02 -1.88935901e-03 9.95856278e-01 -2.53123509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.79534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.60, Y:4.66, Z:-2.53 [[ 9.86125946e-01 1.39671598e-01 -8.97076540e-02 -5.06009074e+01] [-1.38932404e-01 9.90196247e-01 1.44630298e-02 4.65792652e+00] [ 9.08482568e-02 -1.79906893e-03 9.95863122e-01 -2.53012913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.82534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.63, Y:4.66, Z:-2.54 [[ 9.86172481e-01 1.39203035e-01 -8.99241474e-02 -5.06288495e+01] [-1.38456291e-01 9.90262098e-01 1.45200731e-02 4.66181305e+00] [ 9.10697131e-02 -1.86873267e-03 9.95842766e-01 -2.53537192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.85534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.66, Y:4.66, Z:-2.54 [[ 9.86591605e-01 1.36189925e-01 -8.99405847e-02 -5.06574038e+01] [-1.35427510e-01 9.90680350e-01 1.45544803e-02 4.66183497e+00] [ 9.10845435e-02 -2.17889871e-03 9.95840780e-01 -2.54385542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.88534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.68, Y:4.67, Z:-2.54 [[ 9.86418640e-01 1.36769383e-01 -9.09527470e-02 -5.06846177e+01] [-1.35989824e-01 9.90600529e-01 1.47431056e-02 4.67146094e+00] [ 9.21142448e-02 -2.17422610e-03 9.95746071e-01 -2.53957752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.91534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.71, Y:4.67, Z:-2.55 [[ 9.86819333e-01 1.34808856e-01 -8.95219315e-02 -5.07123971e+01] [-1.34043828e-01 9.90868860e-01 1.45311476e-02 4.67244620e+00] [ 9.06634216e-02 -2.33975499e-03 9.95878843e-01 -2.54732360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.945347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.74, Y:4.68, Z:-2.55 [[ 9.86909229e-01 1.34079002e-01 -8.96269723e-02 -5.07406630e+01] [-1.33306043e-01 9.90967633e-01 1.45825198e-02 4.67667321e+00] [ 9.07726382e-02 -2.44380640e-03 9.95868644e-01 -2.55025049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.97534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.77, Y:4.68, Z:-2.55 [[ 9.86807014e-01 1.35328546e-01 -8.88712674e-02 -5.07680985e+01] [-1.34571397e-01 9.90798031e-01 1.44845370e-02 4.68237118e+00] [ 9.00136480e-02 -2.33391210e-03 9.95937797e-01 -2.54880834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.00534707 meters Centerline goodness [0,1] 0.9999584372402327 Centerline is valid? [True, True] Translation: X:-50.80, Y:4.69, Z:-2.56 [[ 9.87011528e-01 1.33084650e-01 -8.99817708e-02 -5.07961979e+01] [-1.32297843e-01 9.91101305e-01 1.46793468e-02 4.68646108e+00] [ 9.11346462e-02 -2.58429033e-03 9.95835226e-01 -2.55593612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.03534707 meters Centerline goodness [0,1] 0.999915697184286 Centerline is valid? [True, True] Translation: X:-50.82, Y:4.69, Z:-2.56 [[ 9.86853530e-01 1.34267139e-01 -8.99580165e-02 -5.08229611e+01] [-1.33484783e-01 9.90942060e-01 1.46849163e-02 4.69312857e+00] [ 9.11148838e-02 -2.48383514e-03 9.95837290e-01 -2.55534809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.06534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.85, Y:4.70, Z:-2.56 [[ 9.86663401e-01 1.35432672e-01 -9.02957629e-02 -5.08491718e+01] [-1.34648250e-01 9.90783654e-01 1.47512687e-02 4.70244667e+00] [ 9.14613696e-02 -2.39637044e-03 9.95805742e-01 -2.55529600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.09534707 meters Centerline goodness [0,1] 0.9999173690299125 Centerline is valid? [True, True] Translation: X:-50.88, Y:4.70, Z:-2.57 [[ 9.86678234e-01 1.35404881e-01 -9.01752729e-02 -5.08760358e+01] [-1.34620549e-01 9.90787404e-01 1.47522138e-02 4.70496377e+00] [ 9.13420463e-02 -2.41624353e-03 9.95816646e-01 -2.56795902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.125347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.91, Y:4.71, Z:-2.57 [[ 9.86582820e-01 1.36888639e-01 -8.89710030e-02 -5.09051503e+01] [-1.36128903e-01 9.90583834e-01 1.45804354e-02 4.71166151e+00] [ 9.01291333e-02 -2.27328204e-03 9.95927493e-01 -2.56874597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.15534707 meters Centerline goodness [0,1] 0.9997112806764281 Centerline is valid? [True, True] Translation: X:-50.93, Y:4.72, Z:-2.57 [[ 9.86591945e-01 1.36621415e-01 -8.92800241e-02 -5.09342060e+01] [-1.35855260e-01 9.90620649e-01 1.46313797e-02 4.72098776e+00] [ 9.04415952e-02 -2.30604049e-03 9.95899091e-01 -2.57358985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.18534707 meters Centerline goodness [0,1] 0.9998299681190224 Centerline is valid? [True, True] Translation: X:-50.96, Y:4.73, Z:-2.57 [[ 9.86546079e-01 1.37065149e-01 -8.91065643e-02 -5.09628678e+01] [-1.36304118e-01 9.90559463e-01 1.45992338e-02 4.73169907e+00] [ 9.02663967e-02 -2.25722524e-03 9.95915098e-01 -2.57154517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.21534707 meters Centerline goodness [0,1] 0.9997933884297521 Centerline is valid? [True, True] Translation: X:-50.99, Y:4.73, Z:-2.58 [[ 9.86950702e-01 1.33289628e-01 -9.03448258e-02 -5.09925638e+01] [-1.32491249e-01 9.91073609e-01 1.48044075e-02 4.73226072e+00] [ 9.15116466e-02 -2.64132155e-03 9.95800503e-01 -2.58426602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.24534707 meters Centerline goodness [0,1] 0.9996661380519155 Centerline is valid? [True, True] Translation: X:-51.02, Y:4.74, Z:-2.59 [[ 9.87033118e-01 1.32655607e-01 -9.03776131e-02 -5.10220163e+01] [-1.31853726e-01 9.91158503e-01 1.48127254e-02 4.73779269e+00] [ 9.15435308e-02 -2.70402551e-03 9.95797404e-01 -2.58612957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.27534707 meters Centerline goodness [0,1] 0.9995421054822462 Centerline is valid? [True, True] Translation: X:-51.05, Y:4.74, Z:-2.59 [[ 9.87327259e-01 1.30497310e-01 -9.03069000e-02 -5.10503034e+01] [-1.29687303e-01 9.91444405e-01 1.48052761e-02 4.74407127e+00] [ 9.14663194e-02 -2.90599436e-03 9.95803930e-01 -2.58958635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.30534707 meters Centerline goodness [0,1] 0.9993693504309439 Centerline is valid? [True, True] Translation: X:-51.08, Y:4.75, Z:-2.59 [[ 9.87285029e-01 1.31161485e-01 -8.98049859e-02 -5.10797764e+01] [-1.30362841e-01 9.91356969e-01 1.47271432e-02 4.75033815e+00] [ 9.09604326e-02 -2.83265483e-03 9.95850479e-01 -2.58858686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.335347070000005 meters Centerline goodness [0,1] 0.9993701448666806 Centerline is valid? [True, True] Translation: X:-51.11, Y:4.76, Z:-2.60 [[ 9.87455910e-01 1.29845790e-01 -8.98381701e-02 -5.11085916e+01] [-1.29040740e-01 9.91529785e-01 1.47367904e-02 4.75740188e+00] [ 9.09907317e-02 -2.95914681e-03 9.95847343e-01 -2.59500363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.36534707 meters Centerline goodness [0,1] 0.9992048212940488 Centerline is valid? [True, True] Translation: X:-51.14, Y:4.77, Z:-2.60 [[ 9.87522780e-01 1.29608049e-01 -8.94455871e-02 -5.11366354e+01] [-1.28808553e-01 9.91560846e-01 1.46780405e-02 4.76511587e+00] [ 9.05931342e-02 -2.97354275e-03 9.95883548e-01 -2.59564223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.39534707 meters Centerline goodness [0,1] 0.9990787269681742 Centerline is valid? [True, True] Translation: X:-51.16, Y:4.77, Z:-2.60 [[ 9.87497360e-01 1.29697693e-01 -8.95961632e-02 -5.11649385e+01] [-1.28895227e-01 9.91549113e-01 1.47097365e-02 4.77216985e+00] [ 9.07468151e-02 -2.97730823e-03 9.95869545e-01 -2.59860851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.42534707 meters Centerline goodness [0,1] 0.9990787269681742 Centerline is valid? [True, True] Translation: X:-51.19, Y:4.78, Z:-2.60 [[ 9.87491374e-01 1.29743737e-01 -8.95954783e-02 -5.11936862e+01] [-1.28941082e-01 9.91543089e-01 1.47139070e-02 4.77684003e+00] [ 9.07468147e-02 -2.97731833e-03 9.95869545e-01 -2.60033558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.45534707 meters Centerline goodness [0,1] 0.9989630428470696 Centerline is valid? [True, True] Translation: X:-51.22, Y:4.78, Z:-2.61 [[ 9.87271426e-01 1.30976802e-01 -9.02231048e-02 -5.12229968e+01] [-1.30167705e-01 9.91381230e-01 1.48197815e-02 4.78186590e+00] [ 9.13865402e-02 -2.88701230e-03 9.95811310e-01 -2.60632945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.48534707 meters Centerline goodness [0,1] 0.9987921699291962 Centerline is valid? [True, True] Translation: X:-51.25, Y:4.79, Z:-2.61 [[ 9.87218426e-01 1.31827174e-01 -8.95621314e-02 -5.12517369e+01] [-1.31033601e-01 9.91268802e-01 1.47091148e-02 4.79296063e+00] [ 9.07192078e-02 -2.78546057e-03 9.95872616e-01 -2.60745400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.515347070000004 meters Centerline goodness [0,1] 0.9990308444294623 Centerline is valid? [True, True] Translation: X:-51.28, Y:4.80, Z:-2.61 [[ 9.86932651e-01 1.33257617e-01 -9.05889066e-02 -5.12810478e+01] [-1.32452300e-01 9.91077815e-01 1.48712306e-02 4.80415683e+00] [ 9.17623604e-02 -2.67819402e-03 9.95777333e-01 -2.60771078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.54534707 meters Centerline goodness [0,1] 0.998744769874477 Centerline is valid? [True, True] Translation: X:-51.31, Y:4.81, Z:-2.61 [[ 9.86771278e-01 1.34960020e-01 -8.98233670e-02 -5.13113711e+01] [-1.34175885e-01 9.90847910e-01 1.47394186e-02 4.81260708e+00] [ 9.09905277e-02 -2.49230520e-03 9.95848639e-01 -2.60937057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.57534707 meters Centerline goodness [0,1] 0.9989195478723404 Centerline is valid? [True, True] Translation: X:-51.34, Y:4.82, Z:-2.62 [[ 9.86839503e-01 1.34012009e-01 -9.04907603e-02 -5.13428801e+01] [-1.33212737e-01 9.90976316e-01 1.48427964e-02 4.81883879e+00] [ 9.16633132e-02 -2.59293602e-03 9.95786681e-01 -2.61768652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.60534707 meters Centerline goodness [0,1] 0.9989993746091307 Centerline is valid? [True, True] Translation: X:-51.37, Y:4.83, Z:-2.62 [[ 9.86696652e-01 1.34513076e-01 -9.13014234e-02 -5.13727483e+01] [-1.33702286e-01 9.90908509e-01 1.49674933e-02 4.82854586e+00] [ 9.24846809e-02 -2.56116644e-03 9.95710814e-01 -2.62322803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.63534707 meters Centerline goodness [0,1] 0.9989067361870322 Centerline is valid? [True, True] Translation: X:-51.40, Y:4.84, Z:-2.62 [[ 9.86632665e-01 1.35330713e-01 -9.07831658e-02 -5.14040568e+01] [-1.34533256e-01 9.90797422e-01 1.48751889e-02 4.83548778e+00] [ 9.19607966e-02 -2.46299239e-03 9.95759582e-01 -2.62285172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.66534707 meters Centerline goodness [0,1] 0.9985754985754985 Centerline is valid? [True, True] Translation: X:-51.43, Y:4.84, Z:-2.63 [[ 9.86469526e-01 1.36284067e-01 -9.11291793e-02 -5.14346159e+01] [-1.35485382e-01 9.90666955e-01 1.49230068e-02 4.84448697e+00] [ 9.23124346e-02 -2.37441982e-03 9.95727260e-01 -2.62853454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.695347070000004 meters Centerline goodness [0,1] 0.9985984285410915 Centerline is valid? [True, True] Translation: X:-51.46, Y:4.86, Z:-2.63 [[ 9.86261732e-01 1.38300147e-01 -9.03375127e-02 -5.14646687e+01] [-1.37524483e-01 9.90388010e-01 1.47853658e-02 4.85500341e+00] [ 9.15140077e-02 -2.15862081e-03 9.95801449e-01 -2.62818064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.72534707 meters Centerline goodness [0,1] 0.9986487057134411 Centerline is valid? [True, True] Translation: X:-51.50, Y:4.86, Z:-2.64 [[ 9.86281806e-01 1.37818756e-01 -9.08525692e-02 -5.14959779e+01] [-1.37032869e-01 9.90455003e-01 1.48620061e-02 4.85964359e+00] [ 9.20336449e-02 -2.20833803e-03 9.95753449e-01 -2.63504806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.75534707 meters Centerline goodness [0,1] 0.9979822105089771 Centerline is valid? [True, True] Translation: X:-51.53, Y:4.87, Z:-2.64 [[ 9.86488013e-01 1.36553352e-01 -9.05239368e-02 -5.15271604e+01] [-1.35768661e-01 9.90630027e-01 1.47993403e-02 4.86703104e+00] [ 9.16966295e-02 -2.30905817e-03 9.95784312e-01 -2.63797103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.78534707 meters Centerline goodness [0,1] 0.9982505102678385 Centerline is valid? [True, True] Translation: X:-51.56, Y:4.88, Z:-2.64 [[ 9.86008328e-01 1.40310203e-01 -9.00034715e-02 -5.15580090e+01] [-1.39550902e-01 9.90105693e-01 1.47058756e-02 4.87508470e+00] [ 9.11763339e-02 -1.94005015e-03 9.95832874e-01 -2.64310172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.81534707 meters Centerline goodness [0,1] 0.9978964197063402 Centerline is valid? [True, True] Translation: X:-51.59, Y:4.88, Z:-2.64 [[ 9.85929367e-01 1.40333162e-01 -9.08288931e-02 -5.15888988e+01] [-1.39560710e-01 9.90102425e-01 1.48322991e-02 4.88499995e+00] [ 9.20113707e-02 -1.94745446e-03 9.95756052e-01 -2.64252133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.84534707 meters Centerline goodness [0,1] 0.9978682494566126 Centerline is valid? [True, True] Translation: X:-51.62, Y:4.89, Z:-2.65 [[ 9.85848717e-01 1.41548090e-01 -8.98133889e-02 -5.16198321e+01] [-1.40798575e-01 9.89929733e-01 1.46589339e-02 4.88926127e+00] [ 9.09838882e-02 -1.80589403e-03 9.95850727e-01 -2.65046197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.875347070000004 meters Centerline goodness [0,1] 0.9978921630622655 Centerline is valid? [True, True] Translation: X:-51.65, Y:4.90, Z:-2.65 [[ 9.85610152e-01 1.43148866e-01 -8.98945476e-02 -5.16507716e+01] [-1.42405263e-01 9.89699788e-01 1.46652866e-02 4.89708630e+00] [ 9.10679339e-02 -1.65279870e-03 9.95843311e-01 -2.65346834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.905347070000005 meters Centerline goodness [0,1] 0.9980918458211423 Centerline is valid? [True, True] Translation: X:-51.68, Y:4.91, Z:-2.66 [[ 9.85591928e-01 1.42909655e-01 -9.04730966e-02 -5.16806413e+01] [-1.42156099e-01 9.89734315e-01 1.47522967e-02 4.90503366e+00] [ 9.16525739e-02 -1.67844213e-03 9.95789631e-01 -2.65642962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.93534707 meters Centerline goodness [0,1] 0.9973437895269416 Centerline is valid? [True, True] Translation: X:-51.71, Y:4.91, Z:-2.66 [[ 9.85260781e-01 1.45847129e-01 -8.93857255e-02 -5.17118766e+01] [-1.45124280e-01 9.89306174e-01 1.45683612e-02 4.91328970e+00] [ 9.05546038e-02 -1.38159588e-03 9.95890534e-01 -2.65522327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.96534707 meters Centerline goodness [0,1] 0.9977390321318318 Centerline is valid? [True, True] Translation: X:-51.74, Y:4.92, Z:-2.65 [[ 9.84772206e-01 1.48654331e-01 -9.01420676e-02 -5.17427792e+01] [-1.47931695e-01 9.88888581e-01 1.46829266e-02 4.92387120e+00] [ 9.13231419e-02 -1.12446918e-03 9.95820676e-01 -2.65190498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.99534707 meters Centerline goodness [0,1] 0.9974179576878227 Centerline is valid? [True, True] Translation: X:-51.77, Y:4.93, Z:-2.66 [[ 9.85125898e-01 1.47137022e-01 -8.87561896e-02 -5.17738358e+01] [-1.46431196e-01 9.89115347e-01 1.44477056e-02 4.92669776e+00] [ 8.99159016e-02 -1.23613398e-03 9.95948594e-01 -2.66392922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.02534707 meters Centerline goodness [0,1] 0.997226424609178 Centerline is valid? [True, True] Translation: X:-51.80, Y:4.93, Z:-2.66 [[ 9.85063487e-01 1.47820358e-01 -8.83123394e-02 -5.18043541e+01] [-1.47125083e-01 9.89013548e-01 1.43670676e-02 4.93346291e+00] [ 8.94658452e-02 -1.15951345e-03 9.95989216e-01 -2.66462712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.05534707 meters Centerline goodness [0,1] 0.9971561969439728 Centerline is valid? [True, True] Translation: X:-51.83, Y:4.94, Z:-2.67 [[ 9.84667527e-01 1.50034901e-01 -8.89909478e-02 -5.18346424e+01] [-1.49338463e-01 9.88680235e-01 1.44712024e-02 4.94017398e+00] [ 9.01547767e-02 -9.59551733e-04 9.95927304e-01 -2.66673672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.085347070000005 meters Centerline goodness [0,1] 0.9968802698145025 Centerline is valid? [True, True] Translation: X:-51.87, Y:4.95, Z:-2.67 [[ 9.84753947e-01 1.49549846e-01 -8.88510457e-02 -5.18665590e+01] [-1.48854398e-01 9.88753688e-01 1.44399605e-02 4.94557108e+00] [ 9.00112930e-02 -9.93939122e-04 9.95940249e-01 -2.67243078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.11534707 meters Centerline goodness [0,1] 0.9971090893631493 Centerline is valid? [True, True] Translation: X:-51.90, Y:4.95, Z:-2.68 [[ 9.84512536e-01 1.50482827e-01 -8.99443431e-02 -5.18970419e+01] [-1.49775688e-01 9.88612212e-01 1.45992346e-02 4.95197827e+00] [ 9.11170101e-02 -9.01653657e-04 9.95839785e-01 -2.67609943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.14534707 meters Centerline goodness [0,1] 0.9966675211484235 Centerline is valid? [True, True] Translation: X:-51.93, Y:4.96, Z:-2.68 [[ 9.84090123e-01 1.53533568e-01 -8.94095838e-02 -5.19280205e+01] [-1.52849959e-01 9.88143258e-01 1.44841810e-02 4.95916131e+00] [ 9.05732854e-02 -5.87488184e-04 9.95889620e-01 -2.67574688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.17534707 meters Centerline goodness [0,1] 0.9969034994697773 Centerline is valid? [True, True] Translation: X:-51.96, Y:4.96, Z:-2.68 [[ 9.84072557e-01 1.54151295e-01 -8.85357644e-02 -5.19596314e+01] [-1.53486135e-01 9.88047130e-01 1.43134449e-02 4.96483525e+00] [ 8.96839440e-02 -4.96456028e-04 9.95970152e-01 -2.68049027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.20534707 meters Centerline goodness [0,1] 0.996020153266438 Centerline is valid? [True, True] Translation: X:-51.99, Y:4.97, Z:-2.68 [[ 9.83572450e-01 1.57610241e-01 -8.80014093e-02 -5.19913760e+01] [-1.56969652e-01 9.87501387e-01 1.41964315e-02 4.97136635e+00] [ 8.91390167e-02 -1.49668262e-04 9.96019183e-01 -2.68096060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.23534707 meters Centerline goodness [0,1] 0.9964725150128081 Centerline is valid? [True, True] Translation: X:-52.02, Y:4.98, Z:-2.68 [[ 9.83364305e-01 1.59550586e-01 -8.68231249e-02 -5.20227275e+01] [-1.58936865e-01 9.87189753e-01 1.39808722e-02 4.97572780e+00] [ 8.79415555e-02 5.11046900e-05 9.96125635e-01 -2.68209547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.265347070000004 meters Centerline goodness [0,1] 0.9955871228040682 Centerline is valid? [True, True] Translation: X:-52.05, Y:4.98, Z:-2.68 [[ 9.83289432e-01 1.60456878e-01 -8.59969941e-02 -5.20545589e+01] [-1.59860093e-01 9.87042840e-01 1.38269040e-02 4.98082601e+00] [ 8.71013391e-02 1.51638857e-04 9.96199445e-01 -2.68210390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.29534707 meters Centerline goodness [0,1] 0.9958376262105914 Centerline is valid? [True, True] Translation: X:-52.09, Y:4.98, Z:-2.69 [[ 9.83524915e-01 1.59252476e-01 -8.55417486e-02 -5.20867141e+01] [-1.58660226e-01 9.87237886e-01 1.37218706e-02 4.98385632e+00] [ 8.66352969e-02 7.62715642e-05 9.96240091e-01 -2.69263662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.32534707 meters Centerline goodness [0,1] 0.9949995762352741 Centerline is valid? [True, True] Translation: X:-52.12, Y:4.99, Z:-2.69 [[ 9.83209232e-01 1.60685570e-01 -8.64855666e-02 -5.21180390e+01] [-1.60088638e-01 9.87005619e-01 1.38396922e-02 4.98882966e+00] [ 8.75855790e-02 2.38043419e-04 9.96156970e-01 -2.68875055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.35534707 meters Centerline goodness [0,1] 0.9948565693735887 Centerline is valid? [True, True] Translation: X:-52.15, Y:4.99, Z:-2.69 [[ 9.83207928e-01 1.61188454e-01 -8.55596469e-02 -5.21502271e+01] [-1.60608731e-01 9.86923597e-01 1.36619377e-02 4.99110736e+00] [ 8.66429811e-02 3.09100904e-04 9.96239378e-01 -2.69285911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.38534707 meters Centerline goodness [0,1] 0.9948539176626826 Centerline is valid? [True, True] Translation: X:-52.18, Y:4.99, Z:-2.69 [[ 9.83208601e-01 1.62016413e-01 -8.39733821e-02 -5.21826213e+01] [-1.61463641e-01 9.86787980e-01 1.33781566e-02 4.99325144e+00] [ 8.50314050e-02 4.05129327e-04 9.96378189e-01 -2.69261663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.41534707 meters Centerline goodness [0,1] 0.9937661042307373 Centerline is valid? [True, True] Translation: X:-52.21, Y:5.00, Z:-2.69 [[ 9.83115530e-01 1.62914161e-01 -8.33236459e-02 -5.22141026e+01] [-1.62375357e-01 9.86640117e-01 1.32484874e-02 4.99559627e+00] [ 8.43688180e-02 5.04913014e-04 9.96434467e-01 -2.69177448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.445347070000004 meters Centerline goodness [0,1] 0.9940869423374928 Centerline is valid? [True, True] Translation: X:-52.25, Y:5.00, Z:-2.70 [[ 9.83238127e-01 1.63097682e-01 -8.14980451e-02 -5.22467543e+01] [-1.62584540e-01 9.86609784e-01 1.29383429e-02 4.99711177e+00] [ 8.25169824e-02 5.28850125e-04 9.96589518e-01 -2.69806782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.47534707 meters Centerline goodness [0,1] 0.9942000571825348 Centerline is valid? [True, True] Translation: X:-52.28, Y:5.00, Z:-2.70 [[ 9.83210982e-01 1.63474158e-01 -8.10701231e-02 -5.22786985e+01] [-1.62970147e-01 9.86547442e-01 1.28404112e-02 4.99929668e+00] [ 8.20785980e-02 5.87176651e-04 9.96625686e-01 -2.69892660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.50534707 meters Centerline goodness [0,1] 0.9937805419813416 Centerline is valid? [True, True] Translation: X:-52.31, Y:5.00, Z:-2.70 [[ 9.83204064e-01 1.63995981e-01 -8.00942308e-02 -5.23117261e+01] [-1.63508205e-01 9.86460791e-01 1.26560117e-02 4.99934410e+00] [ 8.10853533e-02 6.52621801e-04 9.96706948e-01 -2.70244859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.53534707 meters Centerline goodness [0,1] 0.9930595015829207 Centerline is valid? [True, True] Translation: X:-52.35, Y:5.00, Z:-2.70 [[ 9.83288534e-01 1.63664174e-01 -7.97351727e-02 -5.23455580e+01] [-1.63182078e-01 9.86515896e-01 1.25696561e-02 5.00072038e+00] [ 8.07172177e-02 6.51752465e-04 9.96736829e-01 -2.70378934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.56534707 meters Centerline goodness [0,1] 0.9923919169149021 Centerline is valid? [True, True] Translation: X:-52.38, Y:5.00, Z:-2.71 [[ 9.83407520e-01 1.63182173e-01 -7.92541964e-02 -5.23782783e+01] [-1.62706859e-01 9.86595748e-01 1.24623042e-02 5.00193983e+00] [ 8.02254790e-02 6.39677623e-04 9.96776536e-01 -2.70644550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.59534707 meters Centerline goodness [0,1] 0.9925886712546321 Centerline is valid? [True, True] Translation: X:-52.41, Y:5.00, Z:-2.71 [[ 9.83026951e-01 1.65868779e-01 -7.83936316e-02 -5.24093608e+01] [-1.65414391e-01 9.86147444e-01 1.23003370e-02 5.00378030e+00] [ 7.93479213e-02 8.75872054e-04 9.96846598e-01 -2.70801908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.625347070000004 meters Centerline goodness [0,1] 0.9920882282426277 Centerline is valid? [True, True] Translation: X:-52.44, Y:5.00, Z:-2.71 [[ 9.83274045e-01 1.64745596e-01 -7.76597827e-02 -5.24416402e+01] [-1.64297697e-01 9.86335771e-01 1.21660654e-02 5.00340405e+00] [ 7.86029274e-02 7.96747084e-04 9.96905685e-01 -2.71327244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.655347070000005 meters Centerline goodness [0,1] 0.992223072893581 Centerline is valid? [True, True] Translation: X:-52.47, Y:5.01, Z:-2.71 [[ 9.82883404e-01 1.67546014e-01 -7.66064408e-02 -5.24742499e+01] [-1.67120888e-01 9.85863714e-01 1.19727348e-02 5.00551403e+00] [ 7.75294942e-02 1.03473400e-03 9.96989522e-01 -2.71325048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.68534707 meters Centerline goodness [0,1] 0.9917857989100387 Centerline is valid? [True, True] Translation: X:-52.51, Y:5.01, Z:-2.71 [[ 9.82876775e-01 1.68563430e-01 -7.44285895e-02 -5.25061379e+01] [-1.68167129e-01 9.85690184e-01 1.16051260e-02 5.00795734e+00] [ 7.53197298e-02 1.11003338e-03 9.97158817e-01 -2.71487458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.71534707 meters Centerline goodness [0,1] 0.9913926460671929 Centerline is valid? [True, True] Translation: X:-52.54, Y:5.01, Z:-2.72 [[ 9.82675496e-01 1.70326441e-01 -7.30600580e-02 -5.25379466e+01] [-1.69951458e-01 9.85386901e-01 1.13647705e-02 5.01013955e+00] [ 7.39281451e-02 1.24878185e-03 9.97262789e-01 -2.71854555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.74534707 meters Centerline goodness [0,1] 0.9908406026962728 Centerline is valid? [True, True] Translation: X:-52.57, Y:5.01, Z:-2.72 [[ 9.82427558e-01 1.71978784e-01 -7.25216624e-02 -5.25704746e+01] [-1.71615749e-01 9.85099674e-01 1.12546075e-02 5.01231017e+00] [ 7.33766197e-02 1.38902282e-03 9.97303335e-01 -2.72025811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.77534707 meters Centerline goodness [0,1] 0.9906677645767165 Centerline is valid? [True, True] Translation: X:-52.60, Y:5.01, Z:-2.72 [[ 9.82481470e-01 1.71673445e-01 -7.25147523e-02 -5.26037681e+01] [-1.71311670e-01 9.85152926e-01 1.12260637e-02 5.01197436e+00] [ 7.33653374e-02 1.39322374e-03 9.97304159e-01 -2.72365271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.80534707 meters Centerline goodness [0,1] 0.9896295714341832 Centerline is valid? [True, True] Translation: X:-52.64, Y:5.01, Z:-2.72 [[ 9.82320731e-01 1.73140790e-01 -7.11916284e-02 -5.26356858e+01] [-1.72798048e-01 9.84895936e-01 1.09922411e-02 5.01421929e+00] [ 7.20195508e-02 1.50386814e-03 9.97402087e-01 -2.72430632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.835347070000005 meters Centerline goodness [0,1] 0.989095299295089 Centerline is valid? [True, True] Translation: X:-52.67, Y:5.02, Z:-2.73 [[ 9.82376029e-01 1.73584553e-01 -6.93234544e-02 -5.26675007e+01] [-1.73262461e-01 9.84817795e-01 1.06784728e-02 5.01501310e+00] [ 7.01245895e-02 1.52087664e-03 9.97537081e-01 -2.72846252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.86534707 meters Centerline goodness [0,1] 0.9892323185374545 Centerline is valid? [True, True] Translation: X:-52.70, Y:5.02, Z:-2.73 [[ 9.82577972e-01 1.72788961e-01 -6.84434342e-02 -5.27003423e+01] [-1.72474923e-01 9.84957770e-01 1.05162700e-02 5.01581978e+00] [ 6.92309877e-02 1.47172077e-03 9.97599571e-01 -2.72823039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.89534707 meters Centerline goodness [0,1] 0.9883891374787841 Centerline is valid? [True, True] Translation: X:-52.73, Y:5.02, Z:-2.73 [[ 9.82990200e-01 1.70762952e-01 -6.76038536e-02 -5.27318886e+01] [-1.70453490e-01 9.85311233e-01 1.03624919e-02 5.01546475e+00] [ 6.83803661e-02 1.33708481e-03 9.97658427e-01 -2.73011283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.92534707 meters Centerline goodness [0,1] 0.9886947584789312 Centerline is valid? [True, True] Translation: X:-52.76, Y:5.01, Z:-2.73 [[ 9.83524795e-01 1.67626653e-01 -6.76777821e-02 -5.27640848e+01] [-1.67310737e-01 9.85849886e-01 1.03499035e-02 5.01424032e+00] [ 6.84550534e-02 1.14383285e-03 9.97653546e-01 -2.73499263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.95534707 meters Centerline goodness [0,1] 0.9894566723102971 Centerline is valid? [True, True] Translation: X:-52.80, Y:5.02, Z:-2.74 [[ 9.83418723e-01 1.68531925e-01 -6.69671928e-02 -5.27955208e+01] [-1.68226229e-01 9.85695445e-01 1.02188521e-02 5.01579964e+00] [ 6.77314597e-02 1.21622784e-03 9.97702847e-01 -2.73697024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.98534707 meters Centerline goodness [0,1] 0.9933749763392012 Centerline is valid? [True, True] Translation: X:-52.83, Y:5.01, Z:-2.74 [[ 9.84054548e-01 1.65049131e-01 -6.62980481e-02 -5.28283514e+01] [-1.64742639e-01 9.86284858e-01 1.01015748e-02 5.01378978e+00] [ 6.70560171e-02 9.81614764e-04 9.97748729e-01 -2.74404346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.015347070000004 meters Centerline goodness [0,1] 0.9978030449026788 Centerline is valid? [True, True] Translation: X:-52.86, Y:5.01, Z:-2.75 [[ 9.83841313e-01 1.66469074e-01 -6.59114460e-02 -5.28599601e+01] [-1.66170980e-01 9.86046066e-01 1.00179861e-02 5.01211356e+00] [ 6.66594069e-02 1.09646101e-03 9.97775186e-01 -2.75228755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.04534707 meters Centerline goodness [0,1] 0.999154983675821 Centerline is valid? [True, True] Translation: X:-52.89, Y:5.01, Z:-2.76 [[ 9.84260236e-01 1.64582481e-01 -6.43769810e-02 -5.28918350e+01] [-1.64295526e-01 9.86362849e-01 9.76268314e-03 5.01310874e+00] [ 6.51058290e-02 9.67829118e-04 9.97877896e-01 -2.75727015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.07534707 meters Centerline goodness [0,1] 0.9991558591052107 Centerline is valid? [True, True] Translation: X:-52.92, Y:5.02, Z:-2.76 [[ 9.84176145e-01 1.65800806e-01 -6.25092637e-02 -5.29242371e+01] [-1.65534186e-01 9.86158714e-01 9.45640814e-03 5.01696907e+00] [ 6.32119353e-02 1.04064877e-03 9.97999583e-01 -2.75815980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.10534707 meters Centerline goodness [0,1] 0.9990296537804688 Centerline is valid? [True, True] Translation: X:-52.96, Y:5.02, Z:-2.76 [[ 9.84053224e-01 1.66830629e-01 -6.16992215e-02 -5.29566584e+01] [-1.66574336e-01 9.85984938e-01 9.31090757e-03 5.02038556e+00] [ 6.23878476e-02 1.11507821e-03 9.98051358e-01 -2.75716458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.13534707 meters Centerline goodness [0,1] 0.9991835465184091 Centerline is valid? [True, True] Translation: X:-52.99, Y:5.02, Z:-2.76 [[ 9.83684740e-01 1.69378213e-01 -6.06246978e-02 -5.29879921e+01] [-1.69136915e-01 9.85550300e-01 9.12740350e-03 5.02279854e+00] [ 6.12946724e-02 1.27538683e-03 9.98118899e-01 -2.75851885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.16534707 meters Centerline goodness [0,1] 0.999161329673681 Centerline is valid? [True, True] Translation: X:-53.02, Y:5.03, Z:-2.76 [[ 9.83866035e-01 1.68101539e-01 -6.12331476e-02 -5.30201876e+01] [-1.67854274e-01 9.85768918e-01 9.19686993e-03 5.02813947e+00] [ 6.19077417e-02 1.22975756e-03 9.98081119e-01 -2.75828405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.195347070000004 meters Centerline goodness [0,1] 0.9989173304462146 Centerline is valid? [True, True] Translation: X:-53.05, Y:5.03, Z:-2.76 [[ 9.83721977e-01 1.69310324e-01 -6.02086938e-02 -5.30525711e+01] [-1.69074933e-01 9.85561924e-01 9.01998722e-03 5.03319299e+00] [ 6.08665731e-02 1.30662122e-03 9.98145056e-01 -2.75867113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.22534707 meters Centerline goodness [0,1] 0.9985809074521536 Centerline is valid? [True, True] Translation: X:-53.09, Y:5.04, Z:-2.75 [[ 9.83267412e-01 1.71991006e-01 -6.00357492e-02 -5.30852726e+01] [-1.71763333e-01 9.85097392e-01 8.97137785e-03 5.03838834e+00] [ 6.06840563e-02 1.49067690e-03 9.98155911e-01 -2.75382534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.25534707 meters Centerline goodness [0,1] 0.9988919879264891 Centerline is valid? [True, True] Translation: X:-53.12, Y:5.05, Z:-2.76 [[ 9.83547262e-01 1.69598031e-01 -6.22197018e-02 -5.31166211e+01] [-1.69349419e-01 9.85512323e-01 9.28631607e-03 5.04602119e+00] [ 6.28932238e-02 1.40333960e-03 9.98019275e-01 -2.75840449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.28534707 meters Centerline goodness [0,1] 0.998878490215794 Centerline is valid? [True, True] Translation: X:-53.15, Y:5.05, Z:-2.76 [[ 9.83492937e-01 1.69664863e-01 -6.28925871e-02 -5.31479244e+01] [-1.69412536e-01 9.85500756e-01 9.36228232e-03 5.05201347e+00] [ 6.35691425e-02 1.44705413e-03 9.97976388e-01 -2.75939904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.31534707 meters Centerline goodness [0,1] 0.998878490215794 Centerline is valid? [True, True] Translation: X:-53.18, Y:5.06, Z:-2.76 [[ 9.83563099e-01 1.69256368e-01 -6.28960489e-02 -5.31801597e+01] [-1.69004697e-01 9.85571000e-01 9.33897006e-03 5.05704196e+00] [ 6.35692019e-02 1.44426137e-03 9.97976388e-01 -2.76132413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.34534707 meters Centerline goodness [0,1] 0.9990088063741375 Centerline is valid? [True, True] Translation: X:-53.21, Y:5.06, Z:-2.76 [[ 9.83797949e-01 1.67925900e-01 -6.27892358e-02 -5.32117870e+01] [-1.67674045e-01 9.85798652e-01 9.29687525e-03 5.06120749e+00] [ 6.34587302e-02 1.38187838e-03 9.97983507e-01 -2.75779294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.375347070000004 meters Centerline goodness [0,1] 0.9987225248919782 Centerline is valid? [True, True] Translation: X:-53.24, Y:5.07, Z:-2.76 [[ 9.83740772e-01 1.68305579e-01 -6.26683832e-02 -5.32429201e+01] [-1.68056848e-01 9.85733839e-01 9.25716896e-03 5.06861231e+00] [ 6.33323792e-02 1.42519640e-03 9.97991472e-01 -2.75816248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.405347070000005 meters Centerline goodness [0,1] 0.9989497768275759 Centerline is valid? [True, True] Translation: X:-53.27, Y:5.08, Z:-2.76 [[ 9.83417403e-01 1.69939241e-01 -6.33313993e-02 -5.32736325e+01] [-1.69690138e-01 9.85453291e-01 9.33106858e-03 5.07510462e+00] [ 6.39958505e-02 1.57037864e-03 9.97948929e-01 -2.75643932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.43534707 meters Centerline goodness [0,1] 0.9988485681387661 Centerline is valid? [True, True] Translation: X:-53.30, Y:5.09, Z:-2.75 [[ 9.83031347e-01 1.72274875e-01 -6.30137975e-02 -5.33046008e+01] [-1.72034408e-01 9.85047389e-01 9.26304994e-03 5.08621652e+00] [ 6.36673674e-02 1.73467291e-03 9.97969667e-01 -2.75411177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.46534707 meters Centerline goodness [0,1] 0.9983430296781796 Centerline is valid? [True, True] Translation: X:-53.34, Y:5.10, Z:-2.75 [[ 9.82912435e-01 1.72976209e-01 -6.29474116e-02 -5.33362304e+01] [-1.72739147e-01 9.84924356e-01 9.23034462e-03 5.09805823e+00] [ 6.35950689e-02 1.80086166e-03 9.97974160e-01 -2.74836277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.49534707 meters Centerline goodness [0,1] 0.9987436707655994 Centerline is valid? [True, True] Translation: X:-53.37, Y:5.10, Z:-2.75 [[ 9.83087676e-01 1.72299536e-01 -6.20603844e-02 -5.33684567e+01] [-1.72069089e-01 9.85043043e-01 9.07919996e-03 5.09666237e+00] [ 6.26964919e-02 1.75302423e-03 9.98031100e-01 -2.75208423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.52534707 meters Centerline goodness [0,1] 0.9987566875141286 Centerline is valid? [True, True] Translation: X:-53.40, Y:5.10, Z:-2.75 [[ 9.83756596e-01 1.68488447e-01 -6.19241744e-02 -5.34001423e+01] [-1.68252985e-01 9.85702440e-01 9.03506186e-03 5.09891968e+00] [ 6.25611134e-02 1.53062551e-03 9.98039961e-01 -2.74648216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.55534707 meters Centerline goodness [0,1] 0.9988220541855075 Centerline is valid? [True, True] Translation: X:-53.43, Y:5.10, Z:-2.75 [[ 9.84577243e-01 1.63578270e-01 -6.20467732e-02 -5.34325320e+01] [-1.63333495e-01 9.86529577e-01 9.03124515e-03 5.10175559e+00] [ 6.26882924e-02 1.24235788e-03 9.98032382e-01 -2.74789859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.585347070000005 meters Centerline goodness [0,1] 0.998916211973989 Centerline is valid? [True, True] Translation: X:-53.46, Y:5.10, Z:-2.75 [[ 9.85786345e-01 1.55460807e-01 -6.36963044e-02 -5.34646844e+01] [-1.55187406e-01 9.87841762e-01 9.24781024e-03 5.10108641e+00] [ 6.43595416e-02 7.68499217e-04 9.97926480e-01 -2.74719852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.61534707 meters Centerline goodness [0,1] 0.9991000112498594 Centerline is valid? [True, True] Translation: X:-53.50, Y:5.10, Z:-2.74 [[ 9.87407885e-01 1.45012642e-01 -6.32218570e-02 -5.34974600e+01] [-1.44722519e-01 9.89429798e-01 9.16885701e-03 5.09541461e+00] [ 6.38831893e-02 9.62247224e-05 9.97957378e-01 -2.74328629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.64534707 meters Centerline goodness [0,1] 0.998555407717164 Centerline is valid? [True, True] Translation: X:-53.53, Y:5.10, Z:-2.74 [[ 9.88284623e-01 1.39303652e-01 -6.23537962e-02 -5.35306198e+01] [-1.39010401e-01 9.90249677e-01 9.03800938e-03 5.09706993e+00] [ 6.30048542e-02 -2.64299462e-04 9.98013186e-01 -2.74018643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.67534707 meters Centerline goodness [0,1] 0.9987458670619086 Centerline is valid? [True, True] Translation: X:-53.56, Y:5.10, Z:-2.74 [[ 9.88614533e-01 1.36559702e-01 -6.31882383e-02 -5.35627905e+01] [-1.36253550e-01 9.90631747e-01 9.14943226e-03 5.09966516e+00] [ 6.38457187e-02 -4.35639893e-04 9.97959686e-01 -2.73835946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.70534707 meters Centerline goodness [0,1] 0.998645903859174 Centerline is valid? [True, True] Translation: X:-53.59, Y:5.10, Z:-2.73 [[ 9.89113867e-01 1.33064356e-01 -6.28302107e-02 -5.35949039e+01] [-1.32755024e-01 9.91107185e-01 9.09122721e-03 5.10212950e+00] [ 6.34811915e-02 -6.51232745e-04 9.97982823e-01 -2.73463160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.73534707 meters Centerline goodness [0,1] 0.9990447806816445 Centerline is valid? [True, True] Translation: X:-53.63, Y:5.10, Z:-2.73 [[ 9.89490419e-01 1.30359579e-01 -6.25706883e-02 -5.36273998e+01] [-1.30047792e-01 9.91466447e-01 9.04743108e-03 5.10436618e+00] [ 6.32161573e-02 -8.15166510e-04 9.97999526e-01 -2.73427934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.765347070000004 meters Centerline goodness [0,1] 0.9986994109096473 Centerline is valid? [True, True] Translation: X:-53.66, Y:5.11, Z:-2.73 [[ 9.89820916e-01 1.28163598e-01 -6.18760600e-02 -5.36590370e+01] [-1.27854783e-01 9.91752595e-01 8.94114032e-03 5.10811763e+00] [ 6.25116718e-02 -9.38977472e-04 9.98043791e-01 -2.73297630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.79534707 meters Centerline goodness [0,1] 0.9988272235463247 Centerline is valid? [True, True] Translation: X:-53.69, Y:5.11, Z:-2.73 [[ 9.90590115e-01 1.21610063e-01 -6.27870772e-02 -5.36902296e+01] [-1.21279295e-01 9.92577012e-01 9.06687773e-03 5.10877267e+00] [ 6.34236330e-02 -1.36678700e-03 9.97985759e-01 -2.73007934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.82534707 meters Centerline goodness [0,1] 0.998785071566878 Centerline is valid? [True, True] Translation: X:-53.72, Y:5.11, Z:-2.73 [[ 9.90983227e-01 1.18590433e-01 -6.23582615e-02 -5.37223735e+01] [-1.18258395e-01 9.92942052e-01 9.00189720e-03 5.11095807e+00] [ 6.29856790e-02 -1.54634123e-03 9.98013233e-01 -2.72540816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.85534707 meters Centerline goodness [0,1] 0.9987730061349693 Centerline is valid? [True, True] Translation: X:-53.75, Y:5.11, Z:-2.73 [[ 9.91197713e-01 1.16495178e-01 -6.28964853e-02 -5.37524469e+01] [-1.16153391e-01 9.93189819e-01 9.07602348e-03 5.11184658e+00] [ 6.35254618e-02 -1.69049369e-03 9.97978786e-01 -2.72954128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.88534707 meters Centerline goodness [0,1] 0.9988968770208072 Centerline is valid? [True, True] Translation: X:-53.78, Y:5.12, Z:-2.73 [[ 9.91412748e-01 1.15248432e-01 -6.17945198e-02 -5.37817178e+01] [-1.14916108e-01 9.93335177e-01 8.91709237e-03 5.11925086e+00] [ 6.24103512e-02 -1.73933334e-03 9.98049058e-01 -2.72839706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.91534707 meters Centerline goodness [0,1] 0.9988479690809766 Centerline is valid? [True, True] Translation: X:-53.81, Y:5.12, Z:-2.73 [[ 9.91605080e-01 1.12740065e-01 -6.33170028e-02 -5.38117148e+01] [-1.12385920e-01 9.93622610e-01 9.13858335e-03 5.12258382e+00] [ 6.39434901e-02 -1.94592604e-03 9.97951624e-01 -2.72534416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.945347070000004 meters Centerline goodness [0,1] 0.9992093671172019 Centerline is valid? [True, True] Translation: X:-53.84, Y:5.12, Z:-2.73 [[ 9.91490582e-01 1.14215794e-01 -6.24594135e-02 -5.38407116e+01] [-1.13873835e-01 9.93454279e-01 9.01920575e-03 5.12449331e+00] [ 6.30807073e-02 -1.82996461e-03 9.98006751e-01 -2.72543568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.97534707 meters Centerline goodness [0,1] 0.9989994070560332 Centerline is valid? [True, True] Translation: X:-53.87, Y:5.13, Z:-2.72 [[ 9.91454968e-01 1.13264808e-01 -6.47157612e-02 -5.38692048e+01] [-1.12894089e-01 9.93562858e-01 9.36867244e-03 5.12665176e+00] [ 6.53603175e-02 -1.98258992e-03 9.97859759e-01 -2.72307562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.00534707 meters Centerline goodness [0,1] 0.9988789656589814 Centerline is valid? [True, True] Translation: X:-53.90, Y:5.14, Z:-2.72 [[ 9.91346280e-01 1.14457569e-01 -6.42807784e-02 -5.38960664e+01] [-1.14093011e-01 9.93426299e-01 9.32591552e-03 5.13570710e+00] [ 6.49256374e-02 -1.91122411e-03 9.97888275e-01 -2.72436603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.03534707 meters Centerline goodness [0,1] 0.9990360144983419 Centerline is valid? [True, True] Translation: X:-53.92, Y:5.14, Z:-2.72 [[ 9.91018126e-01 1.17299837e-01 -6.42169891e-02 -5.39234333e+01] [-1.16941460e-01 9.93095037e-01 9.32431952e-03 5.14426427e+00] [ 6.48673144e-02 -1.73094123e-03 9.97892397e-01 -2.71955327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.06534707 meters Centerline goodness [0,1] 0.9990354938271605 Centerline is valid? [True, True] Translation: X:-53.95, Y:5.15, Z:-2.72 [[ 9.90979904e-01 1.17481264e-01 -6.44746649e-02 -5.39522002e+01] [-1.17119750e-01 9.93073582e-01 9.37144333e-03 5.14784111e+00] [ 6.51290555e-02 -1.73565535e-03 9.97875340e-01 -2.71972678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.09534707 meters Centerline goodness [0,1] 0.9992899585186292 Centerline is valid? [True, True] Translation: X:-53.98, Y:5.15, Z:-2.72 [[ 9.91175602e-01 1.14929796e-01 -6.60459468e-02 -5.39805575e+01] [-1.14543131e-01 9.93371655e-01 9.62427229e-03 5.15191564e+00] [ 6.67142871e-02 -1.97423432e-03 9.97770167e-01 -2.71649381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.125347070000004 meters Centerline goodness [0,1] 0.999161329673681 Centerline is valid? [True, True] Translation: X:-54.01, Y:5.16, Z:-2.72 [[ 9.91085679e-01 1.16308700e-01 -6.49727880e-02 -5.40074924e+01] [-1.15936086e-01 9.93211349e-01 9.48899991e-03 5.15882353e+00] [ 6.56353636e-02 -1.87172121e-03 9.97841919e-01 -2.71535104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.155347070000005 meters Centerline goodness [0,1] 0.9991720296563923 Centerline is valid? [True, True] Translation: X:-54.04, Y:5.16, Z:-2.71 [[ 9.91259560e-01 1.14574564e-01 -6.53999491e-02 -5.40363504e+01] [-1.14192608e-01 9.93412619e-01 9.56121203e-03 5.16077593e+00] [ 6.60646064e-02 -2.00945206e-03 9.97813324e-01 -2.71424942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.18534707 meters Centerline goodness [0,1] 0.9994590208276981 Centerline is valid? [True, True] Translation: X:-54.06, Y:5.17, Z:-2.71 [[ 9.90999699e-01 1.16591611e-01 -6.57722821e-02 -5.40623685e+01] [-1.16208259e-01 9.93178110e-01 9.63759417e-03 5.17248888e+00] [ 6.64472534e-02 -1.90757054e-03 9.97788116e-01 -2.71200778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.21534707 meters Centerline goodness [0,1] 0.9993194192377496 Centerline is valid? [True, True] Translation: X:-54.09, Y:5.18, Z:-2.71 [[ 9.91250059e-01 1.14171548e-01 -6.62433310e-02 -5.40910343e+01] [-1.13776506e-01 9.93458838e-01 9.71819423e-03 5.17644124e+00] [ 6.69195639e-02 -2.09622585e-03 9.97756172e-01 -2.70988342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.24534707 meters Centerline goodness [0,1] 0.9989254739427431 Centerline is valid? [True, True] Translation: X:-54.12, Y:5.18, Z:-2.70 [[ 9.90981851e-01 1.16724517e-01 -6.58054572e-02 -5.41192977e+01] [-1.16338774e-01 9.93162448e-01 9.67691027e-03 5.18367454e+00] [ 6.64850416e-02 -1.93391626e-03 9.97785548e-01 -2.70313579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.27534707 meters Centerline goodness [0,1] 0.9992308579779257 Centerline is valid? [True, True] Translation: X:-54.15, Y:5.19, Z:-2.71 [[ 9.91046313e-01 1.15978154e-01 -6.61534045e-02 -5.41465416e+01] [-1.15585236e-01 9.93249719e-01 9.74926552e-03 5.19095585e+00] [ 6.68375522e-02 -2.01561678e-03 9.97761835e-01 -2.70715164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.30534707 meters Centerline goodness [0,1] 0.9992945879217776 Centerline is valid? [True, True] Translation: X:-54.17, Y:5.20, Z:-2.70 [[ 9.91124007e-01 1.14860803e-01 -6.69342927e-02 -5.41736324e+01] [-1.14455226e-01 9.93379319e-01 9.87571757e-03 5.20018822e+00] [ 6.76254750e-02 -2.12708116e-03 9.97708510e-01 -2.70337780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.335347070000005 meters Centerline goodness [0,1] 0.9991500869229283 Centerline is valid? [True, True] Translation: X:-54.20, Y:5.20, Z:-2.70 [[ 9.91436874e-01 1.11769855e-01 -6.75309100e-02 -5.42022700e+01] [-1.11349277e-01 9.93731300e-01 9.97208599e-03 5.20280918e+00] [ 6.82221576e-02 -2.36717574e-03 9.97667346e-01 -2.70360910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.36534707 meters Centerline goodness [0,1] 0.9991760828625236 Centerline is valid? [True, True] Translation: X:-54.23, Y:5.21, Z:-2.70 [[ 9.91697665e-01 1.09379719e-01 -6.76152254e-02 -5.42295611e+01] [-1.08952060e-01 9.93996789e-01 9.99162346e-03 5.20924357e+00] [ 6.83021979e-02 -2.54185153e-03 9.97661440e-01 -2.70095074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.39534707 meters Centerline goodness [0,1] 0.9990740740740741 Centerline is valid? [True, True] Translation: X:-54.26, Y:5.21, Z:-2.70 [[ 9.92071380e-01 1.05537799e-01 -6.82359878e-02 -5.42593636e+01] [-1.05092444e-01 9.94411229e-01 1.00938813e-02 5.20771123e+00] [ 6.89199184e-02 -2.84276401e-03 9.97618145e-01 -2.70091003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.42534707 meters Centerline goodness [0,1] 0.9992631374830327 Centerline is valid? [True, True] Translation: X:-54.29, Y:5.21, Z:-2.70 [[ 9.92293747e-01 1.03600941e-01 -6.79703287e-02 -5.42869249e+01] [-1.03153106e-01 9.94614462e-01 1.00751697e-02 5.21233121e+00] [ 6.86480690e-02 -2.98617732e-03 9.97636470e-01 -2.70013530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.45534707 meters Centerline goodness [0,1] 0.9990067237163814 Centerline is valid? [True, True] Translation: X:-54.32, Y:5.21, Z:-2.70 [[ 9.92608174e-01 1.00210044e-01 -6.84613827e-02 -5.43172943e+01] [-9.97469037e-02 9.94960980e-01 1.01588872e-02 5.21484815e+00] [ 6.91344270e-02 -3.25498349e-03 9.97602043e-01 -2.69971049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.48534707 meters Centerline goodness [0,1] 0.9989047097480832 Centerline is valid? [True, True] Translation: X:-54.35, Y:5.22, Z:-2.70 [[ 9.92835424e-01 9.72622383e-02 -6.94109391e-02 -5.43459663e+01] [-9.67786424e-02 9.95252589e-01 1.03042839e-02 5.22224592e+00] [ 7.00836346e-02 -3.51296166e-03 9.97534933e-01 -2.69646391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.515347070000004 meters Centerline goodness [0,1] 0.9991901897269783 Centerline is valid? [True, True] Translation: X:-54.38, Y:5.22, Z:-2.70 [[ 9.93041961e-01 9.49216492e-02 -6.96960833e-02 -5.43757008e+01] [-9.44278699e-02 9.95477871e-01 1.03530090e-02 5.21918660e+00] [ 7.03636334e-02 -3.69971968e-03 9.97514547e-01 -2.69970370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.54534707 meters Centerline goodness [0,1] 0.9996556210300758 Centerline is valid? [True, True] Translation: X:-54.40, Y:5.22, Z:-2.70 [[ 9.93268129e-01 9.26623895e-02 -6.95133503e-02 -5.44049585e+01] [-9.21641617e-02 9.95690060e-01 1.03475899e-02 5.21999284e+00] [ 7.01725843e-02 -3.87129164e-03 9.97527354e-01 -2.70197429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.57534707 meters Centerline goodness [0,1] 0.9997232982844494 Centerline is valid? [True, True] Translation: X:-54.43, Y:5.23, Z:-2.70 [[ 9.93188810e-01 9.33606269e-02 -6.97121271e-02 -5.44323268e+01] [-9.28599505e-02 9.95624909e-01 1.03956363e-02 5.22950854e+00] [ 7.03776733e-02 -3.85136498e-03 9.97512982e-01 -2.69846489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.60534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.46, Y:5.23, Z:-2.70 [[ 9.93314153e-01 9.21705298e-02 -6.95096115e-02 -5.44597779e+01] [-9.16692966e-02 9.95735472e-01 1.03734760e-02 5.23416193e+00] [ 7.01693146e-02 -3.93222337e-03 9.97527345e-01 -2.70082081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.63534707 meters Centerline goodness [0,1] 0.9996849401386263 Centerline is valid? [True, True] Translation: X:-54.49, Y:5.24, Z:-2.70 [[ 9.93263705e-01 9.26183560e-02 -6.96351433e-02 -5.44873238e+01] [-9.21156173e-02 9.95693971e-01 1.04033573e-02 5.23687599e+00] [ 7.02988342e-02 -3.91879298e-03 9.97518279e-01 -2.69880504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.66534707 meters Centerline goodness [0,1] 0.9996066399181811 Centerline is valid? [True, True] Translation: X:-54.51, Y:5.24, Z:-2.70 [[ 9.93301074e-01 9.15758862e-02 -7.04757614e-02 -5.45144314e+01] [-9.10565951e-02 9.95789804e-01 1.05528486e-02 5.24292484e+00] [ 7.11454311e-02 -4.06487296e-03 9.97457670e-01 -2.70032191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.695347070000004 meters Centerline goodness [0,1] 0.999649396182314 Centerline is valid? [True, True] Translation: X:-54.54, Y:5.24, Z:-2.70 [[ 9.93165503e-01 9.24402957e-02 -7.12536057e-02 -5.45426679e+01] [-9.19110631e-02 9.95709969e-01 1.06777306e-02 5.24420519e+00] [ 7.19349781e-02 -4.05575906e-03 9.97401078e-01 -2.70337026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.72534707 meters Centerline goodness [0,1] 0.9993694829760403 Centerline is valid? [True, True] Translation: X:-54.57, Y:5.26, Z:-2.70 [[ 9.92813750e-01 9.51491151e-02 -7.25775678e-02 -5.45696707e+01] [-9.46066037e-02 9.95455235e-01 1.08841859e-02 5.25974120e+00] [ 7.32833405e-02 -3.93965223e-03 9.97303380e-01 -2.70259286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.75534707 meters Centerline goodness [0,1] 0.9995695390154183 Centerline is valid? [True, True] Translation: X:-54.60, Y:5.26, Z:-2.71 [[ 9.92478599e-01 9.82630674e-02 -7.30109599e-02 -5.45986704e+01] [-9.77220341e-02 9.95153456e-01 1.09545696e-02 5.26076794e+00] [ 7.37335387e-02 -3.73739636e-03 9.97270975e-01 -2.70720122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.78534707 meters Centerline goodness [0,1] 0.9990616569574227 Centerline is valid? [True, True] Translation: X:-54.63, Y:5.27, Z:-2.71 [[ 9.91947160e-01 1.04383457e-01 -7.17281408e-02 -5.46263835e+01] [-1.03876926e-01 9.94531884e-01 1.07664019e-02 5.27281204e+00] [ 7.24597573e-02 -3.22880300e-03 9.97366111e-01 -2.70549318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.81534707 meters Centerline goodness [0,1] 0.9993653815643344 Centerline is valid? [True, True] Translation: X:-54.65, Y:5.29, Z:-2.71 [[ 9.91231549e-01 1.09988838e-01 -7.32289000e-02 -5.46527090e+01] [-1.09475965e-01 9.93928650e-01 1.09933037e-02 5.28576768e+00] [ 7.39934424e-02 -2.88010496e-03 9.97254569e-01 -2.70645435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.84534707 meters Centerline goodness [0,1] 0.9993620414673047 Centerline is valid? [True, True] Translation: X:-54.68, Y:5.30, Z:-2.71 [[ 9.90599049e-01 1.15539794e-01 -7.32398753e-02 -5.46810379e+01] [-1.15041427e-01 9.93299776e-01 1.10011618e-02 5.29523528e+00] [ 7.40202237e-02 -2.47212066e-03 9.97253676e-01 -2.70824774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.875347070000004 meters Centerline goodness [0,1] 0.999281895795101 Centerline is valid? [True, True] Translation: X:-54.71, Y:5.31, Z:-2.71 [[ 9.89613171e-01 1.23875283e-01 -7.29430287e-02 -5.47091816e+01] [-1.23403292e-01 9.92296081e-01 1.09597174e-02 5.30841799e+00] [ 7.37387196e-02 -1.84447083e-03 9.97275889e-01 -2.71175049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.905347070000005 meters Centerline goodness [0,1] 0.9994351650125071 Centerline is valid? [True, True] Translation: X:-54.74, Y:5.33, Z:-2.71 [[ 9.88360528e-01 1.33021503e-01 -7.38156190e-02 -5.47365137e+01] [-1.32563434e-01 9.91112451e-01 1.10925462e-02 5.32581447e+00] [ 7.46351263e-02 -1.17818295e-03 9.97210213e-01 -2.71004274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.93534707 meters Centerline goodness [0,1] 0.9994344805299725 Centerline is valid? [True, True] Translation: X:-54.77, Y:5.34, Z:-2.71 [[ 9.87656316e-01 1.38228668e-01 -7.36738538e-02 -5.47673667e+01] [-1.37786819e-01 9.90400031e-01 1.10711659e-02 5.33559421e+00] [ 7.44969396e-02 -7.83220955e-04 9.97220935e-01 -2.71278826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.96534707 meters Centerline goodness [0,1] 0.9993875051041241 Centerline is valid? [True, True] Translation: X:-54.80, Y:5.35, Z:-2.71 [[ 9.86927216e-01 1.43145770e-01 -7.40537499e-02 -5.47973340e+01] [-1.42713769e-01 9.89701533e-01 1.11201068e-02 5.34527785e+00] [ 7.48829060e-02 -4.06246358e-04 9.97192251e-01 -2.71351304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.99534707 meters Centerline goodness [0,1] 0.9995083981974601 Centerline is valid? [True, True] Translation: X:-54.83, Y:5.35, Z:-2.72 [[ 9.86650324e-01 1.45186323e-01 -7.37703881e-02 -5.48292490e+01] [-1.44764114e-01 9.89404303e-01 1.10669404e-02 5.35163159e+00] [ 7.45955078e-02 -2.39895436e-04 9.97213845e-01 -2.71531836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.02534707 meters Centerline goodness [0,1] 0.9991541466951303 Centerline is valid? [True, True] Translation: X:-54.86, Y:5.36, Z:-2.71 [[ 9.86372630e-01 1.47712061e-01 -7.24581347e-02 -5.48611850e+01] [-1.47312119e-01 9.89030407e-01 1.08625141e-02 5.35742153e+00] [ 7.32678227e-02 -4.05252429e-05 9.97312300e-01 -2.71417448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.05534707 meters Centerline goodness [0,1] 0.9993790876728206 Centerline is valid? [True, True] Translation: X:-54.89, Y:5.36, Z:-2.71 [[ 9.86898572e-01 1.43889483e-01 -7.29864676e-02 -5.48926357e+01] [-1.43473950e-01 9.89593713e-01 1.09320466e-02 5.36090369e+00] [ 7.37999560e-02 -3.17164410e-04 9.97273015e-01 -2.71207697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.085347070000005 meters Centerline goodness [0,1] 0.9993131590642802 Centerline is valid? [True, True] Translation: X:-54.93, Y:5.36, Z:-2.72 [[ 9.87308532e-01 1.41678329e-01 -7.17573249e-02 -5.49252190e+01] [-1.41271758e-01 9.89912641e-01 1.07355798e-02 5.36215842e+00] [ 7.25544821e-02 -4.62046055e-04 9.97364343e-01 -2.71778455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.11534707 meters Centerline goodness [0,1] 0.999391184349379 Centerline is valid? [True, True] Translation: X:-54.96, Y:5.36, Z:-2.72 [[ 9.87919635e-01 1.37437330e-01 -7.15945124e-02 -5.49571737e+01] [-1.37022026e-01 9.90510170e-01 1.07036641e-02 5.36305948e+00] [ 7.23861756e-02 -7.64334850e-04 9.97376387e-01 -2.71833714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.14534707 meters Centerline goodness [0,1] 0.9991118646804731 Centerline is valid? [True, True] Translation: X:-54.99, Y:5.36, Z:-2.72 [[ 9.88581535e-01 1.31922952e-01 -7.28208948e-02 -5.49884305e+01] [-1.31478950e-01 9.91259271e-01 1.08785656e-02 5.36355384e+00] [ 7.36195196e-02 -1.17993432e-03 9.97285703e-01 -2.72182958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.17534707 meters Centerline goodness [0,1] 0.9989497071298727 Centerline is valid? [True, True] Translation: X:-55.02, Y:5.36, Z:-2.73 [[ 9.89248430e-01 1.26561405e-01 -7.32786093e-02 -5.50204044e+01] [-1.26097979e-01 9.91957521e-01 1.09351085e-02 5.36278037e+00] [ 7.40732303e-02 -1.57725441e-03 9.97251557e-01 -2.72505715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.20534707 meters Centerline goodness [0,1] 0.9993563699263848 Centerline is valid? [True, True] Translation: X:-55.05, Y:5.36, Z:-2.72 [[ 9.89854244e-01 1.21789671e-01 -7.31836878e-02 -5.50499797e+01] [-1.21314530e-01 9.92554054e-01 1.09195091e-02 5.36071853e+00] [ 7.39686494e-02 -1.93047775e-03 9.97258699e-01 -2.72470014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.23534707 meters Centerline goodness [0,1] 0.9993563699263848 Centerline is valid? [True, True] Translation: X:-55.08, Y:5.36, Z:-2.73 [[ 9.89809026e-01 1.22157623e-01 -7.31820175e-02 -5.50770117e+01] [-1.21682659e-01 9.92508867e-01 1.09306905e-02 5.36450954e+00] [ 7.39690684e-02 -1.91431360e-03 9.97258699e-01 -2.72632000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.265347070000004 meters Centerline goodness [0,1] 0.9991910694062449 Centerline is valid? [True, True] Translation: X:-55.10, Y:5.37, Z:-2.73 [[ 9.89979612e-01 1.21275116e-01 -7.23374988e-02 -5.51047534e+01] [-1.20806985e-01 9.92616957e-01 1.08282006e-02 5.36872783e+00] [ 7.31166192e-02 -1.98082273e-03 9.97321431e-01 -2.72737149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.29534707 meters Centerline goodness [0,1] 0.9989147909967846 Centerline is valid? [True, True] Translation: X:-55.13, Y:5.37, Z:-2.73 [[ 9.90106608e-01 1.20835390e-01 -7.13282122e-02 -5.51326459e+01] [-1.20378246e-01 9.92670550e-01 1.06891230e-02 5.37079118e+00] [ 7.20970400e-02 -1.99700624e-03 9.97395623e-01 -2.72505845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.32534707 meters Centerline goodness [0,1] 0.9996004794246903 Centerline is valid? [True, True] Translation: X:-55.16, Y:5.38, Z:-2.73 [[ 9.89896903e-01 1.21935423e-01 -7.23593443e-02 -5.51602727e+01] [-1.21465849e-01 9.92536076e-01 1.08712826e-02 5.37580161e+00] [ 7.31448542e-02 -1.97225979e-03 9.97319377e-01 -2.73344327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.35534707 meters Centerline goodness [0,1] 0.9998384164815188 Centerline is valid? [True, True] Translation: X:-55.19, Y:5.38, Z:-2.73 [[ 9.89655416e-01 1.24012128e-01 -7.21328590e-02 -5.51886590e+01] [-1.23549308e-01 9.92279004e-01 1.08603681e-02 5.38203764e+00] [ 7.29227388e-02 -1.83605735e-03 9.97335903e-01 -2.73499127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.38534707 meters Centerline goodness [0,1] 0.9999573433434288 Centerline is valid? [True, True] Translation: X:-55.22, Y:5.39, Z:-2.73 [[ 9.88997246e-01 1.28333960e-01 -7.35856108e-02 -5.52172314e+01] [-1.27862759e-01 9.91729770e-01 1.10985302e-02 5.39327110e+00] [ 7.44013592e-02 -1.56755657e-03 9.97227146e-01 -2.73220560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.41534707 meters Centerline goodness [0,1] 0.9996703070265816 Centerline is valid? [True, True] Translation: X:-55.25, Y:5.40, Z:-2.73 [[ 9.88572556e-01 1.31579686e-01 -7.35600926e-02 -5.52465499e+01] [-1.31117670e-01 9.91304712e-01 1.10961394e-02 5.40121387e+00] [ 7.43804929e-02 -1.32431093e-03 9.97229055e-01 -2.73458083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.445347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.28, Y:5.41, Z:-2.74 [[ 9.87893556e-01 1.36143673e-01 -7.43721931e-02 -5.52767366e+01] [-1.35684346e-01 9.90688608e-01 1.12178284e-02 5.41012743e+00] [ 7.52069208e-02 -9.90877997e-04 9.97167457e-01 -2.73960479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.475347070000005 meters Centerline goodness [0,1] 0.9997113163972287 Centerline is valid? [True, True] Translation: X:-55.31, Y:5.42, Z:-2.74 [[ 9.87540378e-01 1.39273595e-01 -7.32589069e-02 -5.53071842e+01] [-1.38836919e-01 9.90253666e-01 1.10447295e-02 5.41854372e+00] [ 7.40831404e-02 -7.36075444e-04 9.97251797e-01 -2.74151890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.50534707 meters Centerline goodness [0,1] 0.9996746909564086 Centerline is valid? [True, True] Translation: X:-55.34, Y:5.43, Z:-2.74 [[ 9.87172193e-01 1.42072232e-01 -7.28460233e-02 -5.53388851e+01] [-1.41648831e-01 9.89856160e-01 1.09722709e-02 5.42667831e+00] [ 7.36659399e-02 -5.12966634e-04 9.97282842e-01 -2.74443174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.53534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.37, Y:5.43, Z:-2.75 [[ 9.86862935e-01 1.44441964e-01 -7.23744916e-02 -5.53691765e+01] [-1.44030899e-01 9.89513220e-01 1.08944055e-02 5.43248115e+00] [ 7.31891256e-02 -3.27121910e-04 9.97318026e-01 -2.74528778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.56534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.40, Y:5.44, Z:-2.75 [[ 9.87196397e-01 1.41095146e-01 -7.44004997e-02 -5.54008825e+01] [-1.40651704e-01 9.89995867e-01 1.11928879e-02 5.43822672e+00] [ 7.52354494e-02 -5.85021570e-04 9.97165626e-01 -2.74882665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.59534707 meters Centerline goodness [0,1] 0.9997979716352176 Centerline is valid? [True, True] Translation: X:-55.43, Y:5.44, Z:-2.75 [[ 9.87162117e-01 1.41574560e-01 -7.39432185e-02 -5.54330822e+01] [-1.41138484e-01 9.89927449e-01 1.11163399e-02 5.44205229e+00] [ 7.47722127e-02 -5.37395849e-04 9.97200495e-01 -2.75354449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.625347070000004 meters Centerline goodness [0,1] 0.9997953252282124 Centerline is valid? [True, True] Translation: X:-55.46, Y:5.45, Z:-2.76 [[ 9.87480897e-01 1.39247975e-01 -7.41045215e-02 -5.54641636e+01] [-1.38803976e-01 9.90257290e-01 1.11335760e-02 5.44581723e+00] [ 7.49328705e-02 -7.08191451e-04 9.97188329e-01 -2.75756540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.655347070000005 meters Centerline goodness [0,1] 0.9998780388649484 Centerline is valid? [True, True] Translation: X:-55.50, Y:5.45, Z:-2.76 [[ 9.87698421e-01 1.38032122e-01 -7.34776359e-02 -5.54967798e+01] [-1.37592691e-01 9.90427439e-01 1.10335279e-02 5.44809986e+00] [ 7.42972481e-02 -7.87812422e-04 9.97235829e-01 -2.76048134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.68534707 meters Centerline goodness [0,1] 0.9997928748964374 Centerline is valid? [True, True] Translation: X:-55.53, Y:5.45, Z:-2.76 [[ 9.87952971e-01 1.35887723e-01 -7.40503472e-02 -5.55279310e+01] [-1.35435926e-01 9.90723789e-01 1.11123560e-02 5.45141819e+00] [ 7.48734733e-02 -9.49407780e-04 9.97192590e-01 -2.75931658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.71534707 meters Centerline goodness [0,1] 0.9998789883425436 Centerline is valid? [True, True] Translation: X:-55.56, Y:5.45, Z:-2.77 [[ 9.88225422e-01 1.34133873e-01 -7.36112737e-02 -5.55599993e+01] [-1.33683023e-01 9.90962643e-01 1.10403740e-02 5.45285073e+00] [ 7.44269105e-02 -1.06980065e-03 9.97225897e-01 -2.76596813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.74534707 meters Centerline goodness [0,1] 0.9998761251961351 Centerline is valid? [True, True] Translation: X:-55.59, Y:5.46, Z:-2.77 [[ 9.88623671e-01 1.31102722e-01 -7.37245763e-02 -5.55901502e+01] [-1.30642549e-01 9.91367945e-01 1.10508500e-02 5.45696323e+00] [ 7.45369782e-02 -1.29356536e-03 9.97217411e-01 -2.76544184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.77534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.62, Y:5.46, Z:-2.77 [[ 9.88836579e-01 1.29137237e-01 -7.43356849e-02 -5.56213643e+01] [-1.28663994e-01 9.91625668e-01 1.11404896e-02 5.45535964e+00] [ 7.51518253e-02 -1.45179757e-03 9.97171046e-01 -2.77216477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.80534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.65, Y:5.46, Z:-2.78 [[ 9.89195959e-01 1.25990341e-01 -7.49519086e-02 -5.56509613e+01] [-1.25500304e-01 9.92030006e-01 1.12312800e-02 5.45971703e+00] [ 7.57695752e-02 -1.70344952e-03 9.97123899e-01 -2.77502398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.835347070000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.68, Y:5.46, Z:-2.78 [[ 9.89622999e-01 1.22243462e-01 -7.55172584e-02 -5.56803105e+01] [-1.21734866e-01 9.92498112e-01 1.13190328e-02 5.45897141e+00] [ 7.63344141e-02 -2.00849184e-03 9.97080249e-01 -2.78135145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.86534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.71, Y:5.46, Z:-2.78 [[ 9.89864716e-01 1.21158998e-01 -7.40833437e-02 -5.57080479e+01] [-1.20665632e-01 9.92630967e-01 1.11161507e-02 5.46291723e+00] [ 7.48842428e-02 -2.06417188e-03 9.97190097e-01 -2.78404915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.89534707 meters Centerline goodness [0,1] 0.9999594073472702 Centerline is valid? [True, True] Translation: X:-55.73, Y:5.47, Z:-2.78 [[ 9.89918992e-01 1.21031574e-01 -7.35645835e-02 -5.57342318e+01] [-1.20544048e-01 9.92646502e-01 1.10477915e-02 5.46981944e+00] [ 7.43607581e-02 -2.06864601e-03 9.97229261e-01 -2.78191231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.92534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.76, Y:5.47, Z:-2.79 [[ 9.90403046e-01 1.16585434e-01 -7.42269734e-02 -5.57630242e+01] [-1.16075672e-01 9.93177678e-01 1.11597117e-02 5.46902789e+00] [ 7.50216329e-02 -2.43666670e-03 9.97178929e-01 -2.78970208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.95534707 meters Centerline goodness [0,1] 0.9999191036686487 Centerline is valid? [True, True] Translation: X:-55.79, Y:5.47, Z:-2.79 [[ 9.90663045e-01 1.14509727e-01 -7.39881984e-02 -5.57915244e+01] [-1.13996628e-01 9.93418733e-01 1.11350412e-02 5.47250503e+00] [ 7.47763329e-02 -2.59666876e-03 9.97196950e-01 -2.79236679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.98534707 meters Centerline goodness [0,1] 0.9997518507796022 Centerline is valid? [True, True] Translation: X:-55.82, Y:5.48, Z:-2.79 [[ 9.91039719e-01 1.10153996e-01 -7.55405326e-02 -5.58198584e+01] [-1.09604903e-01 9.93909982e-01 1.13891779e-02 5.48007564e+00] [ 7.63350529e-02 -3.00751498e-03 9.97077687e-01 -2.79291737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.015347070000004 meters Centerline goodness [0,1] 0.9998375964271214 Centerline is valid? [True, True] Translation: X:-55.85, Y:5.48, Z:-2.80 [[ 9.91345873e-01 1.08047465e-01 -7.45594065e-02 -5.58482798e+01] [-1.07505975e-01 9.94140787e-01 1.12499131e-02 5.48001669e+00] [ 7.53380717e-02 -3.13697326e-03 9.97153115e-01 -2.79668543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.04534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.88, Y:5.49, Z:-2.80 [[ 9.91659470e-01 1.03775249e-01 -7.64342387e-02 -5.58760076e+01] [-1.03191705e-01 9.94594359e-01 1.15556245e-02 5.48929066e+00] [ 7.72202505e-02 -3.57186506e-03 9.97007660e-01 -2.79589874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.07534707 meters Centerline goodness [0,1] 0.9999166458281237 Centerline is valid? [True, True] Translation: X:-55.90, Y:5.49, Z:-2.80 [[ 9.91682923e-01 1.04229818e-01 -7.55058017e-02 -5.59044945e+01] [-1.03660883e-01 9.94547066e-01 1.14260469e-02 5.49246255e+00] [ 7.62850083e-02 -3.50401750e-03 9.97079896e-01 -2.79773107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.10534707 meters Centerline goodness [0,1] 0.9997941285461358 Centerline is valid? [True, True] Translation: X:-55.93, Y:5.50, Z:-2.80 [[ 9.92080265e-01 1.00058356e-01 -7.59280779e-02 -5.59341334e+01] [-9.94691472e-02 9.94974050e-01 1.15120721e-02 5.49631899e+00] [ 7.66983462e-02 -3.86839840e-03 9.97046839e-01 -2.80492754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.13534707 meters Centerline goodness [0,1] 0.9998779743746187 Centerline is valid? [True, True] Translation: X:-55.96, Y:5.50, Z:-2.81 [[ 9.92265432e-01 9.85715784e-02 -7.54516824e-02 -5.59629367e+01] [-9.79849049e-02 9.95122062e-01 1.14473033e-02 5.49832703e+00] [ 7.62120125e-02 -3.96563746e-03 9.97083749e-01 -2.80824475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.16534707 meters Centerline goodness [0,1] 0.9999178779666584 Centerline is valid? [True, True] Translation: X:-55.99, Y:5.50, Z:-2.81 [[ 9.92356265e-01 9.71745274e-02 -7.60667812e-02 -5.59914444e+01] [-9.65721267e-02 9.95258778e-01 1.15667640e-02 5.50318854e+00] [ 7.68301265e-02 -4.13241992e-03 9.97035634e-01 -2.81291565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.195347070000004 meters Centerline goodness [0,1] 0.9996401871027066 Centerline is valid? [True, True] Translation: X:-56.02, Y:5.50, Z:-2.82 [[ 9.92470127e-01 9.65299352e-02 -7.53990609e-02 -5.60198921e+01] [-9.59344258e-02 9.95321350e-01 1.14889195e-02 5.50158779e+00] [ 7.61553198e-02 -4.16904376e-03 9.97087251e-01 -2.82127406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.225347070000005 meters Centerline goodness [0,1] 0.9999591736751857 Centerline is valid? [True, True] Translation: X:-56.05, Y:5.51, Z:-2.82 [[ 9.92630386e-01 9.44135165e-02 -7.59671318e-02 -5.60469073e+01] [-9.38011737e-02 9.95523408e-01 1.15967314e-02 5.51160811e+00] [ 7.67219461e-02 -4.38546188e-03 9.97042883e-01 -2.82404616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.25534707 meters Centerline goodness [0,1] 0.9998340524394291 Centerline is valid? [True, True] Translation: X:-56.07, Y:5.52, Z:-2.82 [[ 9.92803416e-01 9.15399059e-02 -7.72128426e-02 -5.60743954e+01] [-9.08980951e-02 9.95790363e-01 1.17935935e-02 5.52159731e+00] [ 7.79673890e-02 -4.69021957e-03 9.96944877e-01 -2.82267620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.28534707 meters Centerline goodness [0,1] 0.9997578497053838 Centerline is valid? [True, True] Translation: X:-56.10, Y:5.52, Z:-2.83 [[ 9.92924297e-01 9.11394808e-02 -7.61244784e-02 -5.61035684e+01] [-9.05137396e-02 9.95827212e-01 1.16373066e-02 5.52104195e+00] [ 7.68674452e-02 -4.66465325e-03 9.97030409e-01 -2.82791772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.31534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.13, Y:5.54, Z:-2.83 [[ 9.93161120e-01 8.64678374e-02 -7.84493702e-02 -5.61302911e+01] [-8.57870439e-02 9.96241064e-01 1.20135282e-02 5.54147019e+00] [ 7.91932679e-02 -5.20142957e-03 9.96845711e-01 -2.82808790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.34534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.16, Y:5.54, Z:-2.83 [[ 9.93349993e-01 8.50464550e-02 -7.76072895e-02 -5.61591206e+01] [-8.43752027e-02 9.96363069e-01 1.18937256e-02 5.54261568e+00] [ 7.83365564e-02 -5.26650141e-03 9.96913059e-01 -2.83171824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.375347070000004 meters Centerline goodness [0,1] 0.99955481808248 Centerline is valid? [True, True] Translation: X:-56.19, Y:5.54, Z:-2.84 [[ 9.93717706e-01 8.16087777e-02 -7.65841239e-02 -5.61893245e+01] [-8.09432817e-02 9.96649341e-01 1.17591251e-02 5.53810519e+00] [ 7.72871644e-02 -5.48628047e-03 9.96993779e-01 -2.83916959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.405347070000005 meters Centerline goodness [0,1] 0.9992207685682648 Centerline is valid? [True, True] Translation: X:-56.22, Y:5.54, Z:-2.84 [[ 9.93859276e-01 7.95960862e-02 -7.68648363e-02 -5.62175336e+01] [-7.89194152e-02 9.96811087e-01 1.18060282e-02 5.54443553e+00] [ 7.75594347e-02 -5.66740274e-03 9.96971622e-01 -2.84160052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.43534707 meters Centerline goodness [0,1] 0.998733660130719 Centerline is valid? [True, True] Translation: X:-56.25, Y:5.54, Z:-2.85 [[ 9.94000482e-01 7.77317973e-02 -7.69467925e-02 -5.62466130e+01] [-7.70477905e-02 9.96957298e-01 1.18229973e-02 5.54240045e+00] [ 7.76316892e-02 -5.82348468e-03 9.96965099e-01 -2.84720378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.46534707 meters Centerline goodness [0,1] 0.9995485142012805 Centerline is valid? [True, True] Translation: X:-56.27, Y:5.56, Z:-2.85 [[ 9.94239238e-01 7.47288365e-02 -7.68370915e-02 -5.62733375e+01] [-7.40373644e-02 9.97185503e-01 1.18127794e-02 5.55595195e+00] [ 7.75035890e-02 -6.05591306e-03 9.96973681e-01 -2.85037895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.49534707 meters Centerline goodness [0,1] 0.9986410245851007 Centerline is valid? [True, True] Translation: X:-56.30, Y:5.56, Z:-2.85 [[ 9.94310956e-01 7.39347070e-02 -7.66771288e-02 -5.63014760e+01] [-7.32430074e-02 9.97244337e-01 1.17980836e-02 5.55933855e+00] [ 7.73381203e-02 -6.11490025e-03 9.96986170e-01 -2.85073787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.52534707 meters Centerline goodness [0,1] 0.9975926617689785 Centerline is valid? [True, True] Translation: X:-56.33, Y:5.56, Z:-2.86 [[ 9.94551322e-01 7.01989194e-02 -7.70699689e-02 -5.63311445e+01] [-6.94874741e-02 9.97512111e-01 1.18776890e-02 5.56442272e+00] [ 7.77120283e-02 -6.45757380e-03 9.96954934e-01 -2.85609561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.55534707 meters Centerline goodness [0,1] 0.9979100484868751 Centerline is valid? [True, True] Translation: X:-56.36, Y:5.57, Z:-2.86 [[ 9.94771074e-01 6.60811576e-02 -7.78703444e-02 -5.63596998e+01] [-6.53422207e-02 9.97790730e-01 1.20021996e-02 5.57346068e+00] [ 7.84914270e-02 -6.85121972e-03 9.96891246e-01 -2.85925037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.585347070000005 meters Centerline goodness [0,1] 0.9958263772954925 Centerline is valid? [True, True] Translation: X:-56.39, Y:5.58, Z:-2.86 [[ 9.94903322e-01 6.39539580e-02 -7.79568598e-02 -5.63897529e+01] [-6.32067294e-02 9.97928095e-01 1.20177550e-02 5.57587096e+00] [ 7.85639236e-02 -7.02910627e-03 9.96884297e-01 -2.86311917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.61534707 meters Centerline goodness [0,1] 0.9956131275090013 Centerline is valid? [True, True] Translation: X:-56.42, Y:5.58, Z:-2.86 [[ 9.95043871e-01 6.29176724e-02 -7.70003956e-02 -5.64188228e+01] [-6.21851148e-02 9.97993961e-01 1.18770784e-02 5.57983001e+00] [ 7.75932079e-02 -7.02993558e-03 9.96960317e-01 -2.86351562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.64534707 meters Centerline goodness [0,1] 0.9953922841704017 Centerline is valid? [True, True] Translation: X:-56.45, Y:5.59, Z:-2.87 [[ 9.95227807e-01 6.03234835e-02 -7.66986971e-02 -5.64475862e+01] [-5.95876584e-02 9.98152757e-01 1.18483992e-02 5.58505690e+00] [ 7.72717526e-02 -7.22156058e-03 9.96983914e-01 -2.86873098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.67534707 meters Centerline goodness [0,1] 0.9905431416854967 Centerline is valid? [True, True] Translation: X:-56.48, Y:5.59, Z:-2.87 [[ 9.95396154e-01 5.66287869e-02 -7.73283662e-02 -5.64776424e+01] [-5.58695476e-02 9.98366580e-01 1.19484677e-02 5.58801596e+00] [ 7.78786837e-02 -7.57315795e-03 9.96934079e-01 -2.87147700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.70534707 meters Centerline goodness [0,1] 0.9847616674970935 Centerline is valid? [True, True] Translation: X:-56.51, Y:5.59, Z:-2.88 [[ 9.95674905e-01 5.28309548e-02 -7.64223405e-02 -5.65077444e+01] [-5.20783353e-02 9.98573178e-01 1.18091501e-02 5.58850256e+00] [ 7.69371881e-02 -7.77812610e-03 9.97005602e-01 -2.87808910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.73534707 meters Centerline goodness [0,1] 0.9870254886368393 Centerline is valid? [True, True] Translation: X:-56.54, Y:5.60, Z:-2.88 [[ 9.95731392e-01 5.10892270e-02 -7.68692764e-02 -5.65356489e+01] [-5.03225213e-02 9.98662365e-01 1.18795722e-02 5.59661507e+00] [ 7.73733716e-02 -7.96060716e-03 9.96970406e-01 -2.87908796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.765347070000004 meters Centerline goodness [0,1] 0.9879578315763157 Centerline is valid? [True, True] Translation: X:-56.56, Y:5.60, Z:-2.88 [[ 9.95774720e-01 5.02692282e-02 -7.68486304e-02 -5.65620731e+01] [-4.95001025e-02 9.98703441e-01 1.18818055e-02 5.60460045e+00] [ 7.73462808e-02 -8.02758642e-03 9.96971971e-01 -2.88085176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.79534707 meters Centerline goodness [0,1] 0.9909483300507061 Centerline is valid? [True, True] Translation: X:-56.59, Y:5.61, Z:-2.88 [[ 9.95730346e-01 5.09345302e-02 -7.69853984e-02 -5.65882766e+01] [-5.01637463e-02 9.98669941e-01 1.19142046e-02 5.61482025e+00] [ 7.74898476e-02 -8.00145908e-03 9.96961032e-01 -2.88321039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.82534707 meters Centerline goodness [0,1] 0.9922939373297003 Centerline is valid? [True, True] Translation: X:-56.61, Y:5.62, Z:-2.89 [[ 9.95691614e-01 5.11469346e-02 -7.73446895e-02 -5.66139873e+01] [-5.03687907e-02 9.98658838e-01 1.19795651e-02 5.62389450e+00] [ 7.78536758e-02 -8.03219405e-03 9.96932440e-01 -2.88671408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.85534707 meters Centerline goodness [0,1] 0.9954506802721088 Centerline is valid? [True, True] Translation: X:-56.64, Y:5.63, Z:-2.89 [[ 9.95552609e-01 5.49172506e-02 -7.65447468e-02 -5.66433759e+01] [-5.41654400e-02 9.98461478e-01 1.18651403e-02 5.63434632e+00] [ 7.70785820e-02 -7.66629150e-03 9.96995547e-01 -2.88907862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.88534707 meters Centerline goodness [0,1] 0.9944025924834813 Centerline is valid? [True, True] Translation: X:-56.67, Y:5.64, Z:-2.89 [[ 9.95406066e-01 5.83706399e-02 -7.58922446e-02 -5.66733972e+01] [-5.76415213e-02 9.98268028e-01 1.17643587e-02 5.63900674e+00] [ 7.64474945e-02 -7.33576962e-03 9.97046622e-01 -2.88987874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.91534707 meters Centerline goodness [0,1] 0.9966418703506907 Centerline is valid? [True, True] Translation: X:-56.70, Y:5.65, Z:-2.89 [[ 9.95228806e-01 6.01806689e-02 -7.67978624e-02 -5.67002046e+01] [-5.94391914e-02 9.98160917e-01 1.19065330e-02 5.65098579e+00] [ 7.73731679e-02 -7.28492178e-03 9.96975588e-01 -2.89348365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.945347070000004 meters Centerline goodness [0,1] 0.9971876597920573 Centerline is valid? [True, True] Translation: X:-56.73, Y:5.66, Z:-2.90 [[ 9.94898754e-01 6.58741369e-02 -7.64006998e-02 -5.67295835e+01] [-6.51566396e-02 9.97804698e-01 1.18488933e-02 5.66031076e+00] [ 7.70135129e-02 -6.81043635e-03 9.97006789e-01 -2.89566088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.975347070000005 meters Centerline goodness [0,1] 0.9957450466325697 Centerline is valid? [True, True] Translation: X:-56.76, Y:5.67, Z:-2.90 [[ 9.94719341e-01 6.81611677e-02 -7.67299723e-02 -5.67578657e+01] [-6.74441101e-02 9.97652072e-01 1.19010787e-02 5.66509261e+00] [ 7.73610073e-02 -6.66324850e-03 9.96980880e-01 -2.90369814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.00534707 meters Centerline goodness [0,1] 0.9984068205304857 Centerline is valid? [True, True] Translation: X:-56.79, Y:5.68, Z:-2.90 [[ 9.94513375e-01 7.25687049e-02 -7.53453983e-02 -5.67852843e+01] [-7.18895625e-02 9.97344083e-01 1.16906532e-02 5.68101144e+00] [ 7.59936627e-02 -6.20996328e-03 9.97088963e-01 -2.89872623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.03534707 meters Centerline goodness [0,1] 0.9993491843110032 Centerline is valid? [True, True] Translation: X:-56.81, Y:5.69, Z:-2.91 [[ 9.94216902e-01 7.56145440e-02 -7.62574145e-02 -5.68141624e+01] [-7.49275659e-02 9.97118758e-01 1.18339675e-02 5.68627090e+00] [ 7.69325185e-02 -6.05174805e-03 9.97017936e-01 -2.90717089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.06534707 meters Centerline goodness [0,1] 0.9991783783783784 Centerline is valid? [True, True] Translation: X:-56.84, Y:5.70, Z:-2.91 [[ 9.93948930e-01 7.97995846e-02 -7.54821171e-02 -5.68432730e+01] [-7.91384050e-02 9.96794798e-01 1.17150649e-02 5.69640735e+00] [ 7.61750390e-02 -5.67064191e-03 9.97078336e-01 -2.90886503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.09534707 meters Centerline goodness [0,1] 0.9993507617728532 Centerline is valid? [True, True] Translation: X:-56.87, Y:5.70, Z:-2.91 [[ 9.93565186e-01 8.41398184e-02 -7.58202619e-02 -5.68725399e+01] [-8.34851947e-02 9.96439529e-01 1.17680688e-02 5.70477732e+00] [ 7.65404692e-02 -5.36247417e-03 9.97052055e-01 -2.91161186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.125347070000004 meters Centerline goodness [0,1] 0.9993507617728532 Centerline is valid? [True, True] Translation: X:-56.90, Y:5.71, Z:-2.91 [[ 9.93536472e-01 8.44791542e-02 -7.58192043e-02 -5.68995953e+01] [-8.38249953e-02 9.96410920e-01 1.17748759e-02 5.70873980e+00] [ 7.65418147e-02 -5.34322422e-03 9.97052055e-01 -2.91323261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.155347070000005 meters Centerline goodness [0,1] 0.9997802197802198 Centerline is valid? [True, True] Translation: X:-56.93, Y:5.72, Z:-2.92 [[ 9.92921318e-01 9.07385818e-02 -7.66405044e-02 -5.69268879e+01] [-9.00870271e-02 9.95862519e-01 1.19234990e-02 5.72494243e+00] [ 7.74053272e-02 -4.93478117e-03 9.96987494e-01 -2.91610015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.18534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.95, Y:5.74, Z:-2.92 [[ 9.92561438e-01 9.51533864e-02 -7.59448771e-02 -5.69546058e+01] [-9.45263237e-02 9.95452221e-01 1.18173356e-02 5.73638639e+00] [ 7.67239561e-02 -4.55064163e-03 9.97041988e-01 -2.91777943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.21534707 meters Centerline goodness [0,1] 0.9999550642581109 Centerline is valid? [True, True] Translation: X:-56.98, Y:5.75, Z:-2.92 [[ 9.92109276e-01 9.94241081e-02 -7.63808253e-02 -5.69835977e+01] [-9.88021945e-02 9.95036083e-01 1.18878185e-02 5.74812820e+00] [ 7.71836130e-02 -4.24742189e-03 9.97007848e-01 -2.92207633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.24534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.01, Y:5.76, Z:-2.92 [[ 9.91422665e-01 1.06723764e-01 -7.54396313e-02 -5.70130679e+01] [-1.06138146e-01 9.94282070e-01 1.17413285e-02 5.75770548e+00] [ 7.62613516e-02 -3.63359657e-03 9.97081242e-01 -2.92322394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.27534707 meters Centerline goodness [0,1] 0.9996922806400562 Centerline is valid? [True, True] Translation: X:-57.04, Y:5.77, Z:-2.92 [[ 9.90786965e-01 1.12946814e-01 -7.47275550e-02 -5.70424104e+01] [-1.12389866e-01 9.93596123e-01 1.16302684e-02 5.76859270e+00] [ 7.55626106e-02 -3.12449845e-03 9.97136164e-01 -2.92430299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.30534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.07, Y:5.78, Z:-2.93 [[ 9.90068864e-01 1.18608754e-01 -7.54692567e-02 -5.70706669e+01] [-1.18057152e-01 9.92937347e-01 1.17445393e-02 5.78322331e+00] [ 7.63292487e-02 -2.71821721e-03 9.97078962e-01 -2.92778294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.335347070000005 meters Centerline goodness [0,1] 0.9998629886737304 Centerline is valid? [True, True] Translation: X:-57.10, Y:5.80, Z:-2.93 [[ 9.89595063e-01 1.22392594e-01 -7.56416880e-02 -5.70996906e+01] [-1.21849639e-01 9.92478790e-01 1.17693412e-02 5.79558302e+00] [ 7.65132512e-02 -2.42996959e-03 9.97065603e-01 -2.93039738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.36534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.13, Y:5.81, Z:-2.93 [[ 9.89169044e-01 1.25827880e-01 -7.55774294e-02 -5.71305953e+01] [-1.25296169e-01 9.92049740e-01 1.17551532e-02 5.80532143e+00] [ 7.64556952e-02 -2.15827131e-03 9.97070644e-01 -2.93223546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.39534707 meters Centerline goodness [0,1] 0.9995919292677398 Centerline is valid? [True, True] Translation: X:-57.16, Y:5.82, Z:-2.93 [[ 9.88582366e-01 1.30610128e-01 -7.51392020e-02 -5.71616579e+01] [-1.30098872e-01 9.91432225e-01 1.16801805e-02 5.81537690e+00] [ 7.60209761e-02 -1.77129505e-03 9.97104645e-01 -2.93133450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.42534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.19, Y:5.82, Z:-2.94 [[ 9.88245722e-01 1.32943983e-01 -7.54737659e-02 -5.71932180e+01] [-1.32435475e-01 9.91122274e-01 1.17252830e-02 5.82281395e+00] [ 7.63625363e-02 -1.59205673e-03 9.97078848e-01 -2.93756147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.45534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.22, Y:5.84, Z:-2.94 [[ 9.87829210e-01 1.35231933e-01 -7.68490497e-02 -5.72225097e+01] [-1.34712274e-01 9.90812935e-01 1.19302713e-02 5.83567427e+00] [ 7.77563861e-02 -1.43256024e-03 9.96971360e-01 -2.94116679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.48534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.25, Y:5.84, Z:-2.94 [[ 9.87344540e-01 1.38979463e-01 -7.63902305e-02 -5.72539725e+01] [-1.38478442e-01 9.90294636e-01 1.18429179e-02 5.84359066e+00] [ 7.72947578e-02 -1.11464022e-03 9.97007662e-01 -2.94481487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.515347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.29, Y:5.85, Z:-2.95 [[ 9.87065083e-01 1.40703897e-01 -7.68435816e-02 -5.72853851e+01] [-1.40204071e-01 9.90051257e-01 1.18881381e-02 5.85289524e+00] [ 7.77517919e-02 -9.60583024e-04 9.96972285e-01 -2.94574929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.54534707 meters Centerline goodness [0,1] 0.9999092641321115 Centerline is valid? [True, True] Translation: X:-57.32, Y:5.86, Z:-2.95 [[ 9.86272799e-01 1.46120588e-01 -7.69073500e-02 -5.73163179e+01] [-1.45638258e-01 9.89266654e-01 1.18736726e-02 5.86264755e+00] [ 7.78168649e-02 -5.10027798e-04 9.96967540e-01 -2.94942313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.57534707 meters Centerline goodness [0,1] 0.9998586971880741 Centerline is valid? [True, True] Translation: X:-57.35, Y:5.87, Z:-2.95 [[ 9.85858596e-01 1.48756290e-01 -7.71647286e-02 -5.73464711e+01] [-1.48280504e-01 9.88873848e-01 1.18913886e-02 5.87334552e+00] [ 7.80751009e-02 -2.81202892e-04 9.96947441e-01 -2.94787766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.60534707 meters Centerline goodness [0,1] 0.9999058469070708 Centerline is valid? [True, True] Translation: X:-57.38, Y:5.89, Z:-2.95 [[ 9.84687098e-01 1.56125180e-01 -7.75644766e-02 -5.73765001e+01] [-1.55668574e-01 9.87737225e-01 1.19360747e-02 5.88734490e+00] [ 7.84768426e-02 3.21052732e-04 9.96915885e-01 -2.95263601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.63534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.41, Y:5.90, Z:-2.95 [[ 9.84123093e-01 1.59181321e-01 -7.85050584e-02 -5.74075420e+01] [-1.58725333e-01 9.87249183e-01 1.20548109e-02 5.89930239e+00] [ 7.94229555e-02 5.97323720e-04 9.96840828e-01 -2.95448878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.66534707 meters Centerline goodness [0,1] 0.9998111960728783 Centerline is valid? [True, True] Translation: X:-57.44, Y:5.91, Z:-2.96 [[ 9.83152655e-01 1.65103718e-01 -7.84322532e-02 -5.74382814e+01] [-1.64669361e-01 9.86275597e-01 1.20186378e-02 5.91106110e+00] [ 7.93401391e-02 1.09923329e-03 9.96846996e-01 -2.95648944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.695347070000004 meters Centerline goodness [0,1] 0.9998566102667049 Centerline is valid? [True, True] Translation: X:-57.47, Y:5.92, Z:-2.96 [[ 9.82454257e-01 1.69201243e-01 -7.84510758e-02 -5.74683806e+01] [-1.68781646e-01 9.85580450e-01 1.19971682e-02 5.92213907e+00] [ 7.93497824e-02 1.45443277e-03 9.96845774e-01 -2.95762107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.725347070000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.50, Y:5.93, Z:-2.96 [[ 9.81714217e-01 1.73403074e-01 -7.85402483e-02 -5.74992746e+01] [-1.72997809e-01 9.84849260e-01 1.19872389e-02 5.93460602e+00] [ 7.94289295e-02 1.81924805e-03 9.96838871e-01 -2.96136615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.75534707 meters Centerline goodness [0,1] 0.9998565211153092 Centerline is valid? [True, True] Translation: X:-57.53, Y:5.95, Z:-2.96 [[ 9.80708681e-01 1.79243269e-01 -7.79893121e-02 -5.75285874e+01] [-1.78863613e-01 9.83802106e-01 1.18837788e-02 5.94560597e+00] [ 7.88561368e-02 2.29492510e-03 9.96883365e-01 -2.96249010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.78534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.56, Y:5.95, Z:-2.96 [[ 9.80495568e-01 1.80298783e-01 -7.82354728e-02 -5.75605249e+01] [-1.79920761e-01 9.83608971e-01 1.19126490e-02 5.95191741e+00] [ 7.91009490e-02 2.39588630e-03 9.96863732e-01 -2.96145673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.81534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.59, Y:5.95, Z:-2.96 [[ 9.80801554e-01 1.78417798e-01 -7.87108690e-02 -5.75917519e+01] [-1.78030854e-01 9.83952181e-01 1.19633200e-02 5.95397604e+00] [ 7.95822004e-02 2.27932034e-03 9.96825701e-01 -2.96302541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.84534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.62, Y:5.96, Z:-2.97 [[ 9.80438157e-01 1.80117353e-01 -7.93647220e-02 -5.76228777e+01] [-1.79730909e-01 9.83642066e-01 1.20451928e-02 5.96224941e+00] [ 8.02360274e-02 2.45472701e-03 9.96772870e-01 -2.96641598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.875347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.66, Y:5.97, Z:-2.97 [[ 9.80485002e-01 1.80085536e-01 -7.88565811e-02 -5.76556909e+01] [-1.79706077e-01 9.83647871e-01 1.19411841e-02 5.96796898e+00] [ 7.97175426e-02 2.46285490e-03 9.96814450e-01 -2.96945898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.905347070000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.69, Y:5.97, Z:-2.97 [[ 9.81105506e-01 1.76442430e-01 -7.93728851e-02 -5.76866077e+01] [-1.76047871e-01 9.84308496e-01 1.19971401e-02 5.96776500e+00] [ 8.02442098e-02 2.20296727e-03 9.96772799e-01 -2.97226497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.93534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.72, Y:5.97, Z:-2.98 [[ 9.81235011e-01 1.75632061e-01 -7.95690477e-02 -5.77189412e+01] [-1.75233736e-01 9.84453527e-01 1.20162920e-02 5.97261723e+00] [ 8.04424758e-02 2.15237510e-03 9.96756929e-01 -2.97788669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.96534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.75, Y:5.98, Z:-2.98 [[ 9.81596836e-01 1.73613078e-01 -7.95370961e-02 -5.77506948e+01] [-1.73210699e-01 9.84811883e-01 1.19836974e-02 5.97665267e+00] [ 8.04096040e-02 2.01351654e-03 9.96759871e-01 -2.97572720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.99534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.78, Y:5.98, Z:-2.98 [[ 9.81938631e-01 1.71817169e-01 -7.92173342e-02 -5.77831286e+01] [-1.71414062e-01 9.85127057e-01 1.19121907e-02 5.98038435e+00] [ 8.00858582e-02 1.88192482e-03 9.96786193e-01 -2.97939950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.02534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.81, Y:5.98, Z:-2.98 [[ 9.82524674e-01 1.67837165e-01 -8.04732890e-02 -5.78148786e+01] [-1.67409868e-01 9.85813422e-01 1.20761051e-02 5.98163780e+00] [ 8.13584677e-02 1.60695150e-03 9.96683609e-01 -2.98116583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.05534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.85, Y:5.98, Z:-2.98 [[ 9.83044893e-01 1.64897711e-01 -8.01965342e-02 -5.78462962e+01] [-1.64465504e-01 9.86309705e-01 1.20109815e-02 5.98310513e+00] [ 8.10792033e-02 1.38222936e-03 9.96706703e-01 -2.98207361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.085347070000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.88, Y:5.99, Z:-2.99 [[ 9.83331387e-01 1.62476357e-01 -8.16138243e-02 -5.78786617e+01] [-1.62022594e-01 9.86711670e-01 1.21966524e-02 5.98870836e+00] [ 8.25109805e-02 1.22993242e-03 9.96589397e-01 -2.98811551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.11534707 meters Centerline goodness [0,1] 0.999952340101039 Centerline is valid? [True, True] Translation: X:-57.91, Y:5.99, Z:-2.99 [[ 9.83485200e-01 1.62202654e-01 -8.02942153e-02 -5.79108253e+01] [-1.61764866e-01 9.86756719e-01 1.19710739e-02 5.99345955e+00] [ 8.11725964e-02 1.21540898e-03 9.96699319e-01 -2.99076508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.14534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.94, Y:6.00, Z:-2.99 [[ 9.83566128e-01 1.61648513e-01 -8.04203278e-02 -5.79427450e+01] [-1.61209601e-01 9.86847671e-01 1.19640864e-02 5.99550652e+00] [ 8.12965900e-02 1.19705884e-03 9.96689235e-01 -2.98971285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.17534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.97, Y:6.00, Z:-2.99 [[ 9.83937800e-01 1.59339652e-01 -8.04815562e-02 -5.79746852e+01] [-1.58894573e-01 9.87223281e-01 1.19460551e-02 6.00072352e+00] [ 8.13567463e-02 1.03390728e-03 9.96684509e-01 -2.99231880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.20534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.01, Y:6.01, Z:-3.00 [[ 9.84008200e-01 1.58892239e-01 -8.05053945e-02 -5.80061158e+01] [-1.58447543e-01 9.87295401e-01 1.19233676e-02 6.00609089e+00] [ 8.13771363e-02 1.02319040e-03 9.96682856e-01 -2.99551292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.23534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.04, Y:6.01, Z:-2.99 [[ 9.84367507e-01 1.56653432e-01 -8.05003884e-02 -5.80377458e+01] [-1.56203481e-01 9.87653257e-01 1.18961098e-02 6.00993817e+00] [ 8.13700372e-02 8.64296888e-04 9.96683586e-01 -2.99332362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.265347070000004 meters Centerline goodness [0,1] 0.9997119815668203 Centerline is valid? [True, True] Translation: X:-58.07, Y:6.02, Z:-3.00 [[ 9.84673744e-01 1.54883192e-01 -8.01798871e-02 -5.80690690e+01] [-1.54433038e-01 9.87932512e-01 1.18232044e-02 6.01759173e+00] [ 8.10435329e-02 7.40424594e-04 9.96710288e-01 -3.00132161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.29534707 meters Centerline goodness [0,1] 0.999757387549129 Centerline is valid? [True, True] Translation: X:-58.10, Y:6.02, Z:-3.00 [[ 9.84625572e-01 1.54866184e-01 -8.08019083e-02 -5.81001992e+01] [-1.54410906e-01 9.87935157e-01 1.18910664e-02 6.02240622e+00] [ 8.16685701e-02 7.68447880e-04 9.96659247e-01 -3.00266632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.32534707 meters Centerline goodness [0,1] 0.9998553938108551 Centerline is valid? [True, True] Translation: X:-58.13, Y:6.03, Z:-3.01 [[ 9.84812229e-01 1.53323740e-01 -8.14659720e-02 -5.81331187e+01] [-1.52857185e-01 9.88175789e-01 1.19704300e-02 6.02895487e+00] [ 8.23380522e-02 6.64033277e-04 9.96604237e-01 -3.00582221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.35534707 meters Centerline goodness [0,1] 0.9997125886185093 Centerline is valid? [True, True] Translation: X:-58.16, Y:6.04, Z:-3.01 [[ 9.84810865e-01 1.53163752e-01 -8.17827978e-02 -5.81649546e+01] [-1.52695396e-01 9.88200587e-01 1.19881552e-02 6.03802357e+00] [ 8.26539596e-02 6.81791154e-04 9.96578074e-01 -3.01287550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.38534707 meters Centerline goodness [0,1] 0.9999520682548052 Centerline is valid? [True, True] Translation: X:-58.20, Y:6.05, Z:-3.01 [[ 9.84513782e-01 1.55239013e-01 -8.14460658e-02 -5.81954976e+01] [-1.54783770e-01 9.87876549e-01 1.19124994e-02 6.04577043e+00] [ 8.23079431e-02 8.78509312e-04 9.96606558e-01 -3.01340510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.41534707 meters Centerline goodness [0,1] 0.9999516604630928 Centerline is valid? [True, True] Translation: X:-58.23, Y:6.05, Z:-3.02 [[ 9.84542528e-01 1.54713941e-01 -8.20951145e-02 -5.82270422e+01] [-1.54251527e-01 9.87958931e-01 1.19840461e-02 6.05451599e+00] [ 8.29607005e-02 8.64493743e-04 9.96552445e-01 -3.02018867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.445347070000004 meters Centerline goodness [0,1] 0.9999026716628546 Centerline is valid? [True, True] Translation: X:-58.26, Y:6.06, Z:-3.02 [[ 9.84110744e-01 1.57463235e-01 -8.20449472e-02 -5.82588494e+01] [-1.57012694e-01 9.87524219e-01 1.19553859e-02 6.06451833e+00] [ 8.29039061e-02 1.11667450e-03 9.96556920e-01 -3.01832067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.475347070000005 meters Centerline goodness [0,1] 0.999168500855955 Centerline is valid? [True, True] Translation: X:-58.29, Y:6.07, Z:-3.02 [[ 9.83998771e-01 1.57965510e-01 -8.24215786e-02 -5.82900729e+01] [-1.57513965e-01 9.87443924e-01 1.19936492e-02 6.07495469e+00] [ 8.32812699e-02 1.18081355e-03 9.96525381e-01 -3.02268277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.50534707 meters Centerline goodness [0,1] 0.9993045551636779 Centerline is valid? [True, True] Translation: X:-58.32, Y:6.09, Z:-3.02 [[ 9.83638463e-01 1.59951920e-01 -8.28900363e-02 -5.83204357e+01] [-1.59504371e-01 9.87123839e-01 1.20366586e-02 6.08699961e+00] [ 8.37480176e-02 1.38160273e-03 9.96486006e-01 -3.02440085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.53534707 meters Centerline goodness [0,1] 0.9990565100804449 Centerline is valid? [True, True] Translation: X:-58.35, Y:6.10, Z:-3.02 [[ 9.83445199e-01 1.61665192e-01 -8.18529536e-02 -5.83518809e+01] [-1.61236793e-01 9.86844474e-01 1.18609122e-02 6.09697791e+00] [ 8.26936315e-02 1.53315064e-03 9.96573837e-01 -3.02465452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.56534707 meters Centerline goodness [0,1] 0.9993460106650568 Centerline is valid? [True, True] Translation: X:-58.38, Y:6.11, Z:-3.03 [[ 9.83492746e-01 1.60859900e-01 -8.28620016e-02 -5.83833875e+01] [-1.60420190e-01 9.86976096e-01 1.19811564e-02 6.10679828e+00] [ 8.37101025e-02 1.50935766e-03 9.96489007e-01 -3.02696446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.59534707 meters Centerline goodness [0,1] 0.9988998349752463 Centerline is valid? [True, True] Translation: X:-58.41, Y:6.12, Z:-3.03 [[ 9.83611789e-01 1.60889690e-01 -8.13778664e-02 -5.84144511e+01] [-1.60467756e-01 9.86971241e-01 1.17417774e-02 6.11689702e+00] [ 8.22067447e-02 1.50917293e-03 9.96614155e-01 -3.02792907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.625347070000004 meters Centerline goodness [0,1] 0.9986450544487379 Centerline is valid? [True, True] Translation: X:-58.45, Y:6.13, Z:-3.03 [[ 9.83434311e-01 1.61834934e-01 -8.16480814e-02 -5.84456290e+01] [-1.61415526e-01 9.86816515e-01 1.17555672e-02 6.12534633e+00] [ 8.24741366e-02 1.61843988e-03 9.96591891e-01 -3.02989225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.655347070000005 meters Centerline goodness [0,1] 0.9991273548585802 Centerline is valid? [True, True] Translation: X:-58.48, Y:6.13, Z:-3.03 [[ 9.83789973e-01 1.58991416e-01 -8.29398562e-02 -5.84754660e+01] [-1.58550400e-01 9.87278938e-01 1.19192653e-02 6.13306854e+00] [ 8.37798340e-02 1.42409375e-03 9.96483272e-01 -3.03411314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.68534707 meters Centerline goodness [0,1] 0.9991427130610187 Centerline is valid? [True, True] Translation: X:-58.51, Y:6.14, Z:-3.04 [[ 9.84205456e-01 1.56511267e-01 -8.27275322e-02 -5.85057634e+01] [-1.56065252e-01 9.87675411e-01 1.18709881e-02 6.14457844e+00] [ 8.35658927e-02 1.22740183e-03 9.96501498e-01 -3.04018301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.71534707 meters Centerline goodness [0,1] 0.9994947708785934 Centerline is valid? [True, True] Translation: X:-58.54, Y:6.15, Z:-3.05 [[ 9.84474472e-01 1.55031510e-01 -8.23118734e-02 -5.85354849e+01] [-1.54586375e-01 9.87908897e-01 1.17925730e-02 6.15133895e+00] [ 8.31448525e-02 1.11480703e-03 9.96536849e-01 -3.04606759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.74534707 meters Centerline goodness [0,1] 0.9992339903993464 Centerline is valid? [True, True] Translation: X:-58.57, Y:6.16, Z:-3.05 [[ 9.84961522e-01 1.51530346e-01 -8.30021318e-02 -5.85674671e+01] [-1.51066131e-01 9.88452252e-01 1.18814385e-02 6.15860467e+00] [ 8.38440427e-02 8.36051184e-04 9.96478538e-01 -3.04849624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.77534707 meters Centerline goodness [0,1] 0.9993427704752275 Centerline is valid? [True, True] Translation: X:-58.60, Y:6.17, Z:-3.06 [[ 9.85703425e-01 1.46259740e-01 -8.36471492e-02 -5.85985753e+01] [-1.45771494e-01 9.89246135e-01 1.19480739e-02 6.16666317e+00] [ 8.44951412e-02 4.16112521e-04 9.96423804e-01 -3.05545335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.80534707 meters Centerline goodness [0,1] 0.9991849210392256 Centerline is valid? [True, True] Translation: X:-58.63, Y:6.17, Z:-3.06 [[ 9.85986308e-01 1.44625493e-01 -8.31532795e-02 -5.86292696e+01] [-1.44139276e-01 9.89486421e-01 1.18529138e-02 6.17175230e+00] [ 8.39932744e-02 2.98842814e-04 9.96466277e-01 -3.05717337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.835347070000005 meters Centerline goodness [0,1] 0.999334391480211 Centerline is valid? [True, True] Translation: X:-58.66, Y:6.18, Z:-3.06 [[ 9.86477573e-01 1.41113088e-01 -8.33612234e-02 -5.86608829e+01] [-1.40614002e-01 9.89993483e-01 1.18577576e-02 6.18052346e+00] [ 8.42003527e-02 2.43433678e-05 9.96448845e-01 -3.06238758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.86534707 meters Centerline goodness [0,1] 0.9992302165657395 Centerline is valid? [True, True] Translation: X:-58.69, Y:6.19, Z:-3.07 [[ 9.87072268e-01 1.36478056e-01 -8.40361731e-02 -5.86911510e+01] [-1.35956156e-01 9.90643033e-01 1.19291931e-02 6.18716823e+00] [ 8.48779225e-02 -3.49740598e-04 9.96391297e-01 -3.06774952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.89534707 meters Centerline goodness [0,1] 0.999474320559323 Centerline is valid? [True, True] Translation: X:-58.72, Y:6.19, Z:-3.07 [[ 9.87392847e-01 1.34048483e-01 -8.41805796e-02 -5.87219523e+01] [-1.33517407e-01 9.90974626e-01 1.19328340e-02 6.19435991e+00] [ 8.50203967e-02 -5.42822228e-04 9.96379063e-01 -3.07065839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.92534707 meters Centerline goodness [0,1] 0.9994065281899109 Centerline is valid? [True, True] Translation: X:-58.75, Y:6.21, Z:-3.08 [[ 9.87884469e-01 1.30160426e-01 -8.45135488e-02 -5.87516595e+01] [-1.29612963e-01 9.91492576e-01 1.19562265e-02 6.20544600e+00] [ 8.53507837e-02 -8.57319002e-04 9.96350595e-01 -3.07960547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.95534707 meters Centerline goodness [0,1] 0.9990841010721405 Centerline is valid? [True, True] Translation: X:-58.78, Y:6.21, Z:-3.08 [[ 9.88317413e-01 1.27405859e-01 -8.36447093e-02 -5.87835198e+01] [-1.26861977e-01 9.91850103e-01 1.18072473e-02 6.21412661e+00] [ 8.44673261e-02 -1.05797492e-03 9.96425688e-01 -3.08381739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.98534707 meters Centerline goodness [0,1] 0.9990280252713429 Centerline is valid? [True, True] Translation: X:-58.81, Y:6.22, Z:-3.09 [[ 9.88721149e-01 1.21638496e-01 -8.73760055e-02 -5.88140243e+01] [-1.21024480e-01 9.92573184e-01 1.23105466e-02 6.21647478e+00] [ 8.82245164e-02 -1.59706210e-03 9.96099334e-01 -3.09486571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.015347070000004 meters Centerline goodness [0,1] 0.999297866594653 Centerline is valid? [True, True] Translation: X:-58.85, Y:6.22, Z:-3.10 [[ 9.88527381e-01 1.22722423e-01 -8.80501227e-02 -5.88465693e+01] [-1.22104284e-01 9.92439902e-01 1.23929582e-02 6.22379328e+00] [ 8.89053490e-02 -1.49948132e-03 9.96038950e-01 -3.09530680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.045347070000005 meters Centerline goodness [0,1] 0.999297866594653 Centerline is valid? [True, True] Translation: X:-58.88, Y:6.23, Z:-3.10 [[ 9.88568150e-01 1.22390613e-01 -8.80542473e-02 -5.88789261e+01] [-1.21773776e-01 9.92480876e-01 1.23635950e-02 6.22857982e+00] [ 8.89053445e-02 -1.49955805e-03 9.96038951e-01 -3.09723151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.07534707 meters Centerline goodness [0,1] 0.9995098306192474 Centerline is valid? [True, True] Translation: X:-58.91, Y:6.24, Z:-3.10 [[ 9.88274124e-01 1.24208225e-01 -8.88063789e-02 -5.89110147e+01] [-1.23590840e-01 9.92255301e-01 1.24387528e-02 6.23906964e+00] [ 8.96635956e-02 -1.31724265e-03 9.95971237e-01 -3.10286044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.10534707 meters Centerline goodness [0,1] 0.9996197718631179 Centerline is valid? [True, True] Translation: X:-58.94, Y:6.25, Z:-3.11 [[ 9.87818162e-01 1.26422460e-01 -9.07339003e-02 -5.89419591e+01] [-1.25789991e-01 9.91975870e-01 1.26787412e-02 6.24821094e+00] [ 9.16087174e-02 -1.11087427e-03 9.95794461e-01 -3.10888115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.13534707 meters Centerline goodness [0,1] 0.9994487928563555 Centerline is valid? [True, True] Translation: X:-58.97, Y:6.25, Z:-3.11 [[ 9.87224375e-01 1.31358169e-01 -9.01835083e-02 -5.89727401e+01] [-1.30756324e-01 9.91334779e-01 1.25753723e-02 6.25428883e+00] [ 9.10539262e-02 -6.22650098e-04 9.95845769e-01 -3.10622084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.16534707 meters Centerline goodness [0,1] 0.9993014883670948 Centerline is valid? [True, True] Translation: X:-59.00, Y:6.26, Z:-3.11 [[ 9.87328512e-01 1.32073481e-01 -8.79716193e-02 -5.90048271e+01] [-1.31505983e-01 9.91239793e-01 1.22412622e-02 6.25832055e+00] [ 8.88177159e-02 -5.17352844e-04 9.96047763e-01 -3.10732464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.195347070000004 meters Centerline goodness [0,1] 0.9994382653634423 Centerline is valid? [True, True] Translation: X:-59.04, Y:6.27, Z:-3.10 [[ 9.86467608e-01 1.37930315e-01 -8.86390839e-02 -5.90367806e+01] [-1.37380358e-01 9.90441935e-01 1.23048924e-02 6.26592541e+00] [ 8.94890835e-02 3.88913146e-05 9.95987802e-01 -3.10143741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.225347070000005 meters Centerline goodness [0,1] 0.9994545057822387 Centerline is valid? [True, True] Translation: X:-59.07, Y:6.27, Z:-3.11 [[ 9.86034930e-01 1.42010652e-01 -8.69947795e-02 -5.90685323e+01] [-1.41499444e-01 9.89865036e-01 1.20465246e-02 6.27300814e+00] [ 8.78238253e-02 4.31418855e-04 9.96135929e-01 -3.10767337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.25534707 meters Centerline goodness [0,1] 0.9997262224169084 Centerline is valid? [True, True] Translation: X:-59.10, Y:6.28, Z:-3.11 [[ 9.84400874e-01 1.52619204e-01 -8.75345500e-02 -5.90992093e+01] [-1.52145329e-01 9.88284068e-01 1.20995976e-02 6.28345681e+00] [ 8.83556321e-02 1.40711848e-03 9.96087999e-01 -3.10955697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.28534707 meters Centerline goodness [0,1] 0.9995567867036012 Centerline is valid? [True, True] Translation: X:-59.13, Y:6.29, Z:-3.11 [[ 9.83298879e-01 1.59617257e-01 -8.74393867e-02 -5.91290712e+01] [-1.59172422e-01 9.87176872e-01 1.20815146e-02 6.29207094e+00] [ 8.82465585e-02 2.03819916e-03 9.96096577e-01 -3.11096575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.31534707 meters Centerline goodness [0,1] 0.999455159638226 Centerline is valid? [True, True] Translation: X:-59.16, Y:6.30, Z:-3.11 [[ 9.82215999e-01 1.65986414e-01 -8.77510260e-02 -5.91593751e+01] [-1.65564060e-01 9.86124551e-01 1.21207668e-02 6.30156934e+00] [ 8.85453237e-02 2.62320500e-03 9.96068695e-01 -3.11480820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.34534707 meters Centerline goodness [0,1] 0.9994355703561552 Centerline is valid? [True, True] Translation: X:-59.19, Y:6.31, Z:-3.12 [[ 9.80728032e-01 1.73544667e-01 -8.97483992e-02 -5.91884777e+01] [-1.73134581e-01 9.84820188e-01 1.23941438e-02 6.30640097e+00] [ 9.05369728e-02 3.38326730e-03 9.95887348e-01 -3.11555801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.375347070000004 meters Centerline goodness [0,1] 0.9996724890829695 Centerline is valid? [True, True] Translation: X:-59.22, Y:6.31, Z:-3.12 [[ 9.80495672e-01 1.75458718e-01 -8.85577502e-02 -5.92206007e+01] [-1.75068032e-01 9.84480492e-01 1.22206929e-02 6.30830876e+00] [ 8.93276045e-02 3.52129456e-03 9.95996074e-01 -3.11863221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.405347070000005 meters Centerline goodness [0,1] 0.9996242216018896 Centerline is valid? [True, True] Translation: X:-59.25, Y:6.30, Z:-3.12 [[ 9.80479419e-01 1.75413291e-01 -8.88272807e-02 -5.92536361e+01] [-1.75022482e-01 9.84488467e-01 1.22307013e-02 6.30295542e+00] [ 8.95948609e-02 3.55482027e-03 9.95971949e-01 -3.12262632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.43534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.29, Y:6.27, Z:-3.13 [[ 9.82852474e-01 1.60668370e-01 -9.04803220e-02 -5.92895156e+01] [-1.60202182e-01 9.87005839e-01 1.24392622e-02 6.27010275e+00] [ 9.13032021e-02 2.26918540e-03 9.95820554e-01 -3.12547304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.46534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.32, Y:6.25, Z:-3.13 [[ 9.85071235e-01 1.48268878e-01 -8.74700029e-02 -5.93234577e+01] [-1.47784561e-01 9.88946493e-01 1.20231751e-02 6.24711084e+00] [ 8.82858154e-02 1.08303200e-03 9.96094595e-01 -3.12651244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.49534707 meters Centerline goodness [0,1] 0.9999492050591761 Centerline is valid? [True, True] Translation: X:-59.36, Y:6.23, Z:-3.12 [[ 9.86394213e-01 1.40716009e-01 -8.50027130e-02 -5.93554484e+01] [-1.40230710e-01 9.90049922e-01 1.16833126e-02 6.23467559e+00] [ 8.58009585e-02 3.95638824e-04 9.96312220e-01 -3.12365240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.52534707 meters Centerline goodness [0,1] 0.9998996286259159 Centerline is valid? [True, True] Translation: X:-59.39, Y:6.23, Z:-3.13 [[ 9.86201886e-01 1.41072539e-01 -8.66278170e-02 -5.93881752e+01] [-1.40570581e-01 9.89999163e-01 1.18982893e-02 6.23385071e+00] [ 8.74399881e-02 4.43207176e-04 9.96169690e-01 -3.12806385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.55534707 meters Centerline goodness [0,1] 0.9999500748876685 Centerline is valid? [True, True] Translation: X:-59.42, Y:6.24, Z:-3.13 [[ 9.84444293e-01 1.50275489e-01 -9.10313780e-02 -5.94185618e+01] [-1.49762066e-01 9.88643249e-01 1.24840062e-02 6.23714670e+00] [ 9.18735974e-02 1.34323863e-03 9.95769771e-01 -3.13023690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.585347070000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.45, Y:6.25, Z:-3.13 [[ 9.83797130e-01 1.55567722e-01 -8.91172872e-02 -5.94495520e+01] [-1.55098271e-01 9.87823574e-01 1.22111977e-02 6.24773749e+00] [ 8.99318254e-02 1.80859589e-03 9.95946282e-01 -3.13214424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.61534707 meters Centerline goodness [0,1] 0.9998489045580459 Centerline is valid? [True, True] Translation: X:-59.48, Y:6.25, Z:-3.14 [[ 9.83089710e-01 1.59006839e-01 -9.08374802e-02 -5.94805354e+01] [-1.58535524e-01 9.87275066e-01 1.24270928e-02 6.25365986e+00] [ 9.16575719e-02 2.18402048e-03 9.95788190e-01 -3.13706819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.64534707 meters Centerline goodness [0,1] 0.999848782700741 Centerline is valid? [True, True] Translation: X:-59.51, Y:6.26, Z:-3.14 [[ 9.82478124e-01 1.63088794e-01 -9.02151898e-02 -5.95118435e+01] [-1.62642242e-01 9.86608075e-01 1.23291461e-02 6.25610065e+00] [ 9.10177803e-02 2.55968442e-03 9.95845978e-01 -3.13579164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.67534707 meters Centerline goodness [0,1] 0.9997994283708569 Centerline is valid? [True, True] Translation: X:-59.54, Y:6.26, Z:-3.14 [[ 9.82284277e-01 1.64517502e-01 -8.97306600e-02 -5.95430520e+01] [-1.64084085e-01 9.86370459e-01 1.22364797e-02 6.26244166e+00] [ 9.05207873e-02 2.70367156e-03 9.95890896e-01 -3.14089164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.70534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.58, Y:6.27, Z:-3.14 [[ 9.81951841e-01 1.66203951e-01 -9.02597831e-02 -5.95758534e+01] [-1.65774499e-01 9.86087141e-01 1.22868073e-02 6.26665347e+00] [ 9.10461274e-02 2.89771728e-03 9.95842460e-01 -3.13513176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.73534707 meters Centerline goodness [0,1] 0.9996909605974762 Centerline is valid? [True, True] Translation: X:-59.61, Y:6.27, Z:-3.13 [[ 9.81743149e-01 1.67709140e-01 -8.97442710e-02 -5.96069484e+01] [-1.67292249e-01 9.85831848e-01 1.22012460e-02 6.26952130e+00] [ 9.05190211e-02 3.03503130e-03 9.95890102e-01 -3.13199280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.765347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.64, Y:6.28, Z:-3.14 [[ 9.81912505e-01 1.67484863e-01 -8.82986604e-02 -5.96377624e+01] [-1.67082745e-01 9.85870109e-01 1.19784773e-02 6.27762374e+00] [ 8.90572236e-02 2.99136593e-03 9.96022019e-01 -3.14150519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.795347070000005 meters Centerline goodness [0,1] 0.9997464117259218 Centerline is valid? [True, True] Translation: X:-59.67, Y:6.28, Z:-3.13 [[ 9.82028232e-01 1.68484857e-01 -8.50494233e-02 -5.96706012e+01] [-1.68117783e-01 9.85699697e-01 1.15117017e-02 6.28083618e+00] [ 8.57727381e-02 2.99350441e-03 9.96310231e-01 -3.13418218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.82534707 meters Centerline goodness [0,1] 0.9997960432388334 Centerline is valid? [True, True] Translation: X:-59.70, Y:6.28, Z:-3.13 [[ 9.82882725e-01 1.63677764e-01 -8.45644028e-02 -5.97018648e+01] [-1.63298683e-01 9.86510490e-01 1.14277031e-02 6.27897442e+00] [ 8.52941313e-02 2.57716360e-03 9.96352483e-01 -3.13100665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.85534707 meters Centerline goodness [0,1] 0.9998503442083209 Centerline is valid? [True, True] Translation: X:-59.73, Y:6.28, Z:-3.14 [[ 9.83286488e-01 1.60870517e-01 -8.52546772e-02 -5.97335185e+01] [-1.60475526e-01 9.86972693e-01 1.15112886e-02 6.28335758e+00] [ 8.59958653e-02 2.36239461e-03 9.96292693e-01 -3.13751053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.88534707 meters Centerline goodness [0,1] 0.9998500449865041 Centerline is valid? [True, True] Translation: X:-59.76, Y:6.29, Z:-3.15 [[ 9.83940766e-01 1.55900968e-01 -8.69221372e-02 -5.97647412e+01] [-1.55473433e-01 9.87770679e-01 1.17088283e-02 6.28853468e+00] [ 8.76845562e-02 1.99328967e-03 9.96146297e-01 -3.14556999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.91534707 meters Centerline goodness [0,1] 0.9997504242787262 Centerline is valid? [True, True] Translation: X:-59.80, Y:6.29, Z:-3.14 [[ 9.84157506e-01 1.55638563e-01 -8.49154974e-02 -5.97955537e+01] [-1.55231216e-01 9.87812160e-01 1.14195768e-02 6.29120282e+00] [ 8.56578874e-02 1.94287372e-03 9.96322715e-01 -3.14221018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.945347070000004 meters Centerline goodness [0,1] 0.9997973246858533 Centerline is valid? [True, True] Translation: X:-59.83, Y:6.29, Z:-3.14 [[ 9.84700583e-01 1.52608542e-01 -8.41153622e-02 -5.98271770e+01] [-1.52198633e-01 9.88285300e-01 1.13022974e-02 6.29465926e+00] [ 8.48548031e-02 1.67286428e-03 9.96391923e-01 -3.13926493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.975347070000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.86, Y:6.30, Z:-3.14 [[ 9.85510316e-01 1.47399066e-01 -8.39221774e-02 -5.98593418e+01] [-1.46974220e-01 9.89076319e-01 1.12522806e-02 6.29802132e+00] [ 8.46640139e-02 1.24515789e-03 9.96408779e-01 -3.14024478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.00534707 meters Centerline goodness [0,1] 0.9999501719069211 Centerline is valid? [True, True] Translation: X:-59.89, Y:6.30, Z:-3.15 [[ 9.85872422e-01 1.45446468e-01 -8.30716097e-02 -5.98908830e+01] [-1.45025355e-01 9.89365521e-01 1.11135677e-02 6.30496516e+00] [ 8.38046156e-02 1.09092977e-03 9.96481609e-01 -3.14683604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.03534707 meters Centerline goodness [0,1] 0.999900423201394 Centerline is valid? [True, True] Translation: X:-59.92, Y:6.31, Z:-3.15 [[ 9.86018076e-01 1.44303818e-01 -8.33352438e-02 -5.99224325e+01] [-1.43878137e-01 9.89532901e-01 1.11229230e-02 6.31205793e+00] [ 8.40680458e-02 1.02271648e-03 9.96459491e-01 -3.15096302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.06534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.96, Y:6.32, Z:-3.15 [[ 9.86087433e-01 1.43559435e-01 -8.37989492e-02 -5.99553069e+01] [-1.43128698e-01 9.89641199e-01 1.11567184e-02 6.31656949e+00] [ 8.45325448e-02 9.92534757e-04 9.96420224e-01 -3.15079132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.09534707 meters Centerline goodness [0,1] 0.9998488436539528 Centerline is valid? [True, True] Translation: X:-59.99, Y:6.32, Z:-3.15 [[ 9.86197620e-01 1.43077739e-01 -8.33247588e-02 -5.99865021e+01] [-1.42652465e-01 9.89710975e-01 1.10661776e-02 6.32025906e+00] [ 8.40507520e-02 9.73044284e-04 9.96461000e-01 -3.14539782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.125347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.02, Y:6.33, Z:-3.15 [[ 9.86232333e-01 1.42914010e-01 -8.31947728e-02 -6.00177521e+01] [-1.42491305e-01 9.89734625e-01 1.10272829e-02 6.32682650e+00] [ 8.39167004e-02 9.79068790e-04 9.96472292e-01 -3.15020707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.155347070000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.05, Y:6.34, Z:-3.15 [[ 9.86216011e-01 1.42683228e-01 -8.37823121e-02 -6.00485928e+01] [-1.42255429e-01 9.89767914e-01 1.10846704e-02 6.33570296e+00] [ 8.45066408e-02 9.86609307e-04 9.96422428e-01 -3.15442951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.18534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.08, Y:6.34, Z:-3.16 [[ 9.85721887e-01 1.46330011e-01 -8.33059996e-02 -6.00796901e+01] [-1.45922201e-01 9.89234954e-01 1.09962515e-02 6.34485539e+00] [ 8.40182882e-02 1.31694909e-03 9.96463342e-01 -3.15667576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.21534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.11, Y:6.35, Z:-3.16 [[ 9.86080477e-01 1.43705378e-01 -8.36304798e-02 -6.01113584e+01] [-1.43287105e-01 9.89619878e-01 1.10137154e-02 6.35326405e+00] [ 8.43451153e-02 1.12275957e-03 9.96435969e-01 -3.16123555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.24534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.14, Y:6.36, Z:-3.16 [[ 9.85694303e-01 1.45921047e-01 -8.43432863e-02 -6.01433003e+01] [-1.45505864e-01 9.89295319e-01 1.10821835e-02 6.36104855e+00] [ 8.50575422e-02 1.34879760e-03 9.96375128e-01 -3.16019724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.27534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.17, Y:6.37, Z:-3.16 [[ 9.85448857e-01 1.47439440e-01 -8.45704586e-02 -6.01738932e+01] [-1.47029457e-01 9.89069939e-01 1.10902588e-02 6.36796131e+00] [ 8.52812400e-02 1.50546569e-03 9.96355782e-01 -3.15969375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.30534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.21, Y:6.38, Z:-3.17 [[ 9.85503044e-01 1.47014001e-01 -8.46795912e-02 -6.02065029e+01] [-1.46603029e-01 9.89133290e-01 1.10854444e-02 6.37622766e+00] [ 8.53891181e-02 1.48954532e-03 9.96346566e-01 -3.16612162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.335347070000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.24, Y:6.38, Z:-3.16 [[ 9.85234713e-01 1.48935186e-01 -8.44444787e-02 -6.02381407e+01] [-1.48535926e-01 9.88845534e-01 1.10266837e-02 6.38366371e+00] [ 8.51448068e-02 1.67916729e-03 9.96367172e-01 -3.16292822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.36534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.27, Y:6.39, Z:-3.16 [[ 9.84801414e-01 1.51836136e-01 -8.43324494e-02 -6.02702266e+01] [-1.51450680e-01 9.88403752e-01 1.09870236e-02 6.39211923e+00] [ 8.50227366e-02 1.95217043e-03 9.96377099e-01 -3.15935151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.39534707 meters Centerline goodness [0,1] 0.9996870762490873 Centerline is valid? [True, True] Translation: X:-60.30, Y:6.40, Z:-3.15 [[ 9.84812431e-01 1.52206320e-01 -8.35326948e-02 -6.03020898e+01] [-1.51831614e-01 9.88346738e-01 1.08575233e-02 6.40121965e+00] [ 8.42118501e-02 1.99027999e-03 9.96445886e-01 -3.15495127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.42534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.33, Y:6.41, Z:-3.18 [[ 9.84951957e-01 1.49700085e-01 -8.63685497e-02 -6.03328907e+01] [-1.49292304e-01 9.88729694e-01 1.11981951e-02 6.40723520e+00] [ 8.70715205e-02 1.86447556e-03 9.96200318e-01 -3.17692043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.45534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.36, Y:6.41, Z:-3.17 [[ 9.84980373e-01 1.48519167e-01 -8.80665715e-02 -6.03642907e+01] [-1.48092886e-01 9.88907851e-01 1.13912027e-02 6.40766217e+00] [ 8.87815359e-02 1.82192166e-03 9.96049456e-01 -3.17476032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.48534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.40, Y:6.41, Z:-3.18 [[ 9.85762998e-01 1.43206364e-01 -8.81093027e-02 -6.03959689e+01] [-1.42760891e-01 9.89691901e-01 1.13696904e-02 6.40999137e+00] [ 8.88292752e-02 1.37074241e-03 9.96045923e-01 -3.18092871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.515347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.43, Y:6.41, Z:-3.18 [[ 9.86043859e-01 1.41342204e-01 -8.79766450e-02 -6.04283089e+01] [-1.40893079e-01 9.89960036e-01 1.13254887e-02 6.41259454e+00] [ 8.86941322e-02 1.22787183e-03 9.96058153e-01 -3.18010248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.545347070000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.46, Y:6.42, Z:-3.18 [[ 9.86636139e-01 1.37333736e-01 -8.76845111e-02 -6.04589845e+01] [-1.36874095e-01 9.90524433e-01 1.12618803e-02 6.41648463e+00] [ 8.84002867e-02 8.90359955e-04 9.96084633e-01 -3.18443568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.57534707 meters Centerline goodness [0,1] 0.9998961686221576 Centerline is valid? [True, True] Translation: X:-60.49, Y:6.42, Z:-3.19 [[ 9.86784002e-01 1.36061849e-01 -8.80028830e-02 -6.04914271e+01] [-1.35596176e-01 9.90700017e-01 1.12762122e-02 6.42315588e+00] [ 8.87187200e-02 8.05668589e-04 9.96056394e-01 -3.18928180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.60534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.52, Y:6.43, Z:-3.19 [[ 9.86771916e-01 1.35624003e-01 -8.88105609e-02 -6.05233363e+01] [-1.35150618e-01 9.90760054e-01 1.13501129e-02 6.42905500e+00] [ 8.95293039e-02 8.02829556e-04 9.95983865e-01 -3.19108997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.63534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.56, Y:6.43, Z:-3.19 [[ 9.86816010e-01 1.35262160e-01 -8.88724404e-02 -6.05566453e+01] [-1.34789179e-01 9.90809523e-01 1.13299064e-02 6.43447484e+00] [ 8.95881679e-02 7.98510245e-04 9.95978575e-01 -3.18957221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.66534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.59, Y:6.44, Z:-3.19 [[ 9.86701379e-01 1.36033244e-01 -8.89682269e-02 -6.05877947e+01] [-1.35565016e-01 9.90703865e-01 1.13127163e-02 6.43951429e+00] [ 8.96800717e-02 8.98706297e-04 9.95970219e-01 -3.18724623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.695347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.62, Y:6.45, Z:-3.20 [[ 9.86618105e-01 1.36566817e-01 -8.90742352e-02 -6.06186993e+01] [-1.36102138e-01 9.90630381e-01 1.12984888e-02 6.44773883e+00] [ 8.97826422e-02 9.75900206e-04 9.95960905e-01 -3.19624273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.725347070000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.65, Y:6.45, Z:-3.20 [[ 9.86809815e-01 1.34840358e-01 -8.95793911e-02 -6.06510396e+01] [-1.34366032e-01 9.90866968e-01 1.13322728e-02 6.45399022e+00] [ 9.02893074e-02 8.53629334e-04 9.95915213e-01 -3.20447753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.75534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.68, Y:6.46, Z:-3.20 [[ 9.86864632e-01 1.34052985e-01 -9.01553996e-02 -6.06839890e+01] [-1.33572003e-01 9.90973829e-01 1.13749644e-02 6.45731948e+00] [ 9.08664895e-02 8.16687231e-04 9.95862749e-01 -3.20027889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.78534707 meters Centerline goodness [0,1] 0.9998958821385808 Centerline is valid? [True, True] Translation: X:-60.72, Y:6.46, Z:-3.20 [[ 9.87251756e-01 1.31424657e-01 -8.97860272e-02 -6.07164423e+01] [-1.30939150e-01 9.91325981e-01 1.13021068e-02 6.45990550e+00] [ 9.04925971e-02 5.98481292e-04 9.95896948e-01 -3.20375296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.81534707 meters Centerline goodness [0,1] 0.999947635754307 Centerline is valid? [True, True] Translation: X:-60.75, Y:6.46, Z:-3.21 [[ 9.87485804e-01 1.29806614e-01 -8.95657851e-02 -6.07472055e+01] [-1.29318874e-01 9.91539218e-01 1.12520242e-02 6.46261854e+00] [ 9.02685757e-02 4.71332250e-04 9.95917347e-01 -3.20503143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.84534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.78, Y:6.47, Z:-3.21 [[ 9.87888145e-01 1.26437752e-01 -8.99472477e-02 -6.07802493e+01] [-1.25933779e-01 9.91974526e-01 1.12792967e-02 6.46633686e+00] [ 9.06515074e-02 1.84713370e-04 9.95882659e-01 -3.20956062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.875347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.81, Y:6.47, Z:-3.21 [[ 9.88086857e-01 1.24455808e-01 -9.05268763e-02 -6.08123448e+01] [-1.23939733e-01 9.92225151e-01 1.13221825e-02 6.47056285e+00] [ 9.12321549e-02 3.25771609e-05 9.95829651e-01 -3.21228136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.905347070000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.84, Y:6.47, Z:-3.21 [[ 9.88349724e-01 1.21807502e-01 -9.12565342e-02 -6.08447067e+01] [-1.21274266e-01 9.92553725e-01 1.13866084e-02 6.47330847e+00] [ 9.19639873e-02 -1.86882096e-04 9.95762316e-01 -3.21296638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.93534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.88, Y:6.48, Z:-3.21 [[ 9.88389855e-01 1.21478844e-01 -9.12599909e-02 -6.08771197e+01] [-1.20946773e-01 9.92594003e-01 1.13588487e-02 6.47760192e+00] [ 9.19639794e-02 -1.89369456e-04 9.95762316e-01 -3.21489259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.96534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.91, Y:6.48, Z:-3.22 [[ 9.88670375e-01 1.19348909e-01 -9.10314639e-02 -6.09096241e+01] [-1.18812681e-01 9.92852308e-01 1.13066601e-02 6.48135501e+00] [ 9.17302366e-02 -3.62867649e-04 9.95783828e-01 -3.21732887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.99534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.94, Y:6.49, Z:-3.22 [[ 9.88744302e-01 1.18939153e-01 -9.07644399e-02 -6.09419077e+01] [-1.18406005e-01 9.92901472e-01 1.12554791e-02 6.48722220e+00] [ 9.14588631e-02 -3.81736107e-04 9.95808782e-01 -3.22211634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.02534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.97, Y:6.49, Z:-3.23 [[ 9.88753727e-01 1.18820106e-01 -9.08176738e-02 -6.09749954e+01] [-1.18288611e-01 9.92915732e-01 1.12318217e-02 6.49275936e+00] [ 9.15088633e-02 -3.62809101e-04 9.95804196e-01 -3.22505491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.05534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.01, Y:6.49, Z:-3.23 [[ 9.89258386e-01 1.13216323e-01 -9.24657267e-02 -6.10063733e+01] [-1.12643597e-01 9.93569983e-01 1.14065726e-02 6.49399939e+00] [ 9.31625807e-02 -8.68375548e-04 9.95650531e-01 -3.22601852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.085347070000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.04, Y:6.50, Z:-3.23 [[ 9.89584120e-01 1.10501853e-01 -9.22638068e-02 -6.10381666e+01] [-1.09921597e-01 9.93875306e-01 1.13630220e-02 6.49598824e+00] [ 9.29543542e-02 -1.10288116e-03 9.95669760e-01 -3.23083521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.11534707 meters Centerline goodness [0,1] 0.9996271637816245 Centerline is valid? [True, True] Translation: X:-61.07, Y:6.50, Z:-3.22 [[ 9.89615147e-01 1.11034304e-01 -9.12866065e-02 -6.10695620e+01] [-1.10469202e-01 9.93816036e-01 1.12357803e-02 6.50121563e+00] [ 9.19696504e-02 -1.03473981e-03 9.95761273e-01 -3.22410630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.14534707 meters Centerline goodness [0,1] 0.9995332192313676 Centerline is valid? [True, True] Translation: X:-61.10, Y:6.50, Z:-3.23 [[ 9.90011389e-01 1.08072543e-01 -9.05415687e-02 -6.11011777e+01] [-1.07504869e-01 9.94142170e-01 1.11377404e-02 6.50478653e+00] [ 9.12148755e-02 -1.29283036e-03 9.95830395e-01 -3.22711638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.17534707 meters Centerline goodness [0,1] 0.9997412677878396 Centerline is valid? [True, True] Translation: X:-61.13, Y:6.51, Z:-3.23 [[ 9.90351264e-01 1.04052725e-01 -9.15281664e-02 -6.11335933e+01] [-1.03456224e-01 9.94570375e-01 1.12506927e-02 6.50787860e+00] [ 9.22018681e-02 -1.67297924e-03 9.95738930e-01 -3.23254149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.20534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.16, Y:6.51, Z:-3.24 [[ 9.90424481e-01 1.02856260e-01 -9.20865767e-02 -6.11642099e+01] [-1.02248048e-01 9.94694624e-01 1.13110902e-02 6.51166147e+00] [ 9.27614393e-02 -1.78710792e-03 9.95686759e-01 -3.24035425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.23534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.20, Y:6.52, Z:-3.24 [[ 9.90585779e-01 1.01336751e-01 -9.20362845e-02 -6.11956728e+01] [-1.00723268e-01 9.94850325e-01 1.12984010e-02 6.51526989e+00] [ 9.27072708e-02 -1.92183994e-03 9.95691553e-01 -3.24356424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.265347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.23, Y:6.52, Z:-3.25 [[ 9.90650438e-01 1.00684875e-01 -9.20557760e-02 -6.12274287e+01] [-1.00069045e-01 9.94916405e-01 1.12930594e-02 6.52100213e+00] [ 9.27248420e-02 -1.97554071e-03 9.95689812e-01 -3.24664620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.295347070000005 meters Centerline goodness [0,1] 0.9998438638492766 Centerline is valid? [True, True] Translation: X:-61.26, Y:6.53, Z:-3.25 [[ 9.90868800e-01 9.77915416e-02 -9.28215214e-02 -6.12577783e+01] [-9.71537231e-02 9.95204367e-01 1.13764146e-02 6.52846355e+00] [ 9.34889006e-02 -2.25457794e-03 9.95617769e-01 -3.24941493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.32534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.29, Y:6.53, Z:-3.25 [[ 9.90893024e-01 9.68188797e-02 -9.35794839e-02 -6.12893139e+01] [-9.61674495e-02 9.95299235e-01 1.14565934e-02 6.53310546e+00] [ 9.42488033e-02 -2.35295815e-03 9.95545894e-01 -3.25214077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.35534707 meters Centerline goodness [0,1] 0.9997907730934198 Centerline is valid? [True, True] Translation: X:-61.32, Y:6.54, Z:-3.25 [[ 9.90960466e-01 9.68103217e-02 -9.28715046e-02 -6.13215478e+01] [-9.61694267e-02 9.95300126e-01 1.13622097e-02 6.53962337e+00] [ 9.35349995e-02 -2.32810128e-03 9.95613270e-01 -3.24848519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.38534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.35, Y:6.54, Z:-3.26 [[ 9.91173290e-01 9.42910049e-02 -9.31918254e-02 -6.13533054e+01] [-9.36352931e-02 9.95541369e-01 1.13936444e-02 6.54483855e+00] [ 9.38506356e-02 -2.56703210e-03 9.95582979e-01 -3.25519305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.41534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.38, Y:6.55, Z:-3.25 [[ 9.91295528e-01 9.14634240e-02 -9.46975124e-02 -6.13827183e+01] [-9.07739757e-02 9.95804286e-01 1.15719350e-02 6.55496743e+00] [ 9.53585975e-02 -2.87513774e-03 9.95438834e-01 -3.25355146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.445347070000004 meters Centerline goodness [0,1] 0.999946969295222 Centerline is valid? [True, True] Translation: X:-61.41, Y:6.56, Z:-3.26 [[ 9.91538422e-01 9.00483915e-02 -9.35031858e-02 -6.14149686e+01] [-8.93704393e-02 9.95932968e-01 1.14214017e-02 6.55621407e+00] [ 9.41513842e-02 -2.96833785e-03 9.95553467e-01 -3.26176648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.475347070000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.45, Y:6.56, Z:-3.26 [[ 9.91713973e-01 8.76310435e-02 -9.39371880e-02 -6.14459396e+01] [-8.69366176e-02 9.96147842e-01 1.14674113e-02 6.55947461e+00] [ 9.45802283e-02 -3.20581062e-03 9.95512081e-01 -3.26329340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.50534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.48, Y:6.56, Z:-3.26 [[ 9.91917916e-01 8.64576733e-02 -9.28650614e-02 -6.14774052e+01] [-8.57743004e-02 9.96250140e-01 1.13326136e-02 6.56198735e+00] [ 9.34966218e-02 -3.27558681e-03 9.95614209e-01 -3.26358004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.53534707 meters Centerline goodness [0,1] 0.9996811055009301 Centerline is valid? [True, True] Translation: X:-61.51, Y:6.57, Z:-3.26 [[ 9.92310987e-01 8.17631940e-02 -9.29176273e-02 -6.15074819e+01] [-8.10587642e-02 9.96644851e-01 1.13365351e-02 6.56566663e+00] [ 9.35327862e-02 -3.71758028e-03 9.95609259e-01 -3.26443629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.56534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.54, Y:6.57, Z:-3.27 [[ 9.92289942e-01 8.15008276e-02 -9.33717636e-02 -6.15354779e+01] [-8.07881053e-02 9.96666170e-01 1.13941656e-02 6.57260044e+00] [ 9.39891120e-02 -3.76298809e-03 9.95566114e-01 -3.27083412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.59534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.56, Y:6.58, Z:-3.27 [[ 9.92365456e-01 8.03857917e-02 -9.35356993e-02 -6.15630021e+01] [-7.96642437e-02 9.96756235e-01 1.14287436e-02 6.57821541e+00] [ 9.41510001e-02 -3.89003964e-03 9.95550329e-01 -3.27193291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.625347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.59, Y:6.58, Z:-3.27 [[ 9.92506904e-01 7.79941731e-02 -9.40582464e-02 -6.15915509e+01] [-7.72517738e-02 9.96945129e-01 1.15140576e-02 6.57863869e+00] [ 9.46689399e-02 -4.16161526e-03 9.95500112e-01 -3.27441352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.655347070000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.62, Y:6.58, Z:-3.27 [[ 9.92802147e-01 7.42343026e-02 -9.39849247e-02 -6.16205531e+01] [-7.34756425e-02 9.97230569e-01 1.15118487e-02 6.58387276e+00] [ 9.45792139e-02 -4.52338534e-03 9.95507062e-01 -3.27345461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.68534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.65, Y:6.59, Z:-3.28 [[ 9.92849277e-01 7.31668879e-02 -9.43234821e-02 -6.16476542e+01] [-7.23973280e-02 9.97308879e-01 1.15597108e-02 6.58973128e+00] [ 9.49154342e-02 -4.64828242e-03 9.95474487e-01 -3.27921394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.71534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.67, Y:6.60, Z:-3.28 [[ 9.92908792e-01 7.30949451e-02 -9.37510572e-02 -6.16746609e+01] [-7.23334265e-02 9.97314207e-01 1.14999459e-02 6.59962869e+00] [ 9.43398492e-02 -4.63706215e-03 9.95529251e-01 -3.27551565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.74534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.70, Y:6.59, Z:-3.29 [[ 9.93071648e-01 7.15559193e-02 -9.32118631e-02 -6.17041103e+01] [-7.07952165e-02 9.97425192e-01 1.14465491e-02 6.59371140e+00] [ 9.37909288e-02 -4.76828936e-03 9.95580497e-01 -3.28722349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.77534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.73, Y:6.60, Z:-3.29 [[ 9.93047879e-01 7.13040967e-02 -9.36570131e-02 -6.17317288e+01] [-7.05336523e-02 9.97442933e-01 1.15151393e-02 6.59894758e+00] [ 9.42386025e-02 -4.82911345e-03 9.95537928e-01 -3.28748720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.80534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.76, Y:6.61, Z:-3.29 [[ 9.92922263e-01 7.26014266e-02 -9.39915503e-02 -6.17587782e+01] [-7.18301023e-02 9.97349795e-01 1.15681691e-02 6.60767295e+00] [ 9.45823190e-02 -4.73486996e-03 9.95505784e-01 -3.28551333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.835347070000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.79, Y:6.61, Z:-3.29 [[ 9.93004328e-01 7.08026371e-02 -9.44954523e-02 -6.17856291e+01] [-7.00134211e-02 9.97478071e-01 1.16455102e-02 6.61289482e+00] [ 9.50816743e-02 -4.94809214e-03 9.95457177e-01 -3.29135559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.86534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.81, Y:6.62, Z:-3.29 [[ 9.92925982e-01 7.24223477e-02 -9.40903735e-02 -6.18122665e+01] [-7.16458554e-02 9.97362572e-01 1.16091334e-02 6.62423645e+00] [ 9.46829776e-02 -4.78582485e-03 9.95495972e-01 -3.28955455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.89534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.84, Y:6.63, Z:-3.29 [[ 9.92798833e-01 7.39807195e-02 -9.42195878e-02 -6.18408901e+01] [-7.32073101e-02 9.97248774e-01 1.16435437e-02 6.62610315e+00] [ 9.48217661e-02 -4.66213397e-03 9.95483349e-01 -3.29336526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.92534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.87, Y:6.63, Z:-3.30 [[ 9.92585339e-01 7.76319413e-02 -9.35287502e-02 -6.18699691e+01] [-7.68840541e-02 9.96972805e-01 1.15787858e-02 6.62987120e+00] [ 9.41445040e-02 -4.30206349e-03 9.95549248e-01 -3.29942220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.95534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.90, Y:6.64, Z:-3.30 [[ 9.92539580e-01 7.91700807e-02 -9.27215257e-02 -6.18973583e+01] [-7.84413376e-02 9.96852590e-01 1.14835018e-02 6.63861245e+00] [ 9.33388428e-02 -4.12462950e-03 9.95625857e-01 -3.30320591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.98534707 meters Centerline goodness [0,1] 0.99994499449945 Centerline is valid? [True, True] Translation: X:-61.93, Y:6.65, Z:-3.31 [[ 9.92343863e-01 8.02079284e-02 -9.39166984e-02 -6.19270348e+01] [-7.94645578e-02 9.96769794e-01 1.16345023e-02 6.64680305e+00] [ 9.45465075e-02 -4.08237802e-03 9.95512075e-01 -3.30944590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.015347070000004 meters Centerline goodness [0,1] 0.9997841221868422 Centerline is valid? [True, True] Translation: X:-61.96, Y:6.65, Z:-3.31 [[ 9.92328721e-01 8.18902153e-02 -9.26158831e-02 -6.19570902e+01] [-8.11747736e-02 9.96633858e-01 1.14721344e-02 6.65126273e+00] [ 9.32435804e-02 -3.86605509e-03 9.95635821e-01 -3.31334776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.045347070000005 meters Centerline goodness [0,1] 0.9996195652173913 Centerline is valid? [True, True] Translation: X:-61.99, Y:6.66, Z:-3.31 [[ 9.92047183e-01 8.52074354e-02 -9.26395165e-02 -6.19874167e+01] [-8.45060975e-02 9.96356893e-01 1.14743653e-02 6.65841366e+00] [ 9.32797221e-02 -3.55450778e-03 9.95633597e-01 -3.31346560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.07534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-62.02, Y:6.66, Z:-3.31 [[ 9.92065948e-01 8.46994724e-02 -9.29040028e-02 -6.20176931e+01] [-8.39924668e-02 9.96400016e-01 1.15010053e-02 6.66484457e+00] [ 9.35436790e-02 -3.60651940e-03 9.95608645e-01 -3.31413099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.10534707 meters Centerline goodness [0,1] 0.9997837837837837 Centerline is valid? [True, True] Translation: X:-62.05, Y:6.67, Z:-3.32 [[ 9.92045810e-01 8.57434686e-02 -9.21583873e-02 -6.20492207e+01] [-8.50533398e-02 9.96311210e-01 1.13974395e-02 6.66815590e+00] [ 9.27956903e-02 -3.46840351e-03 9.95679130e-01 -3.32242376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.13534707 meters Centerline goodness [0,1] 0.9995110821382008 Centerline is valid? [True, True] Translation: X:-62.08, Y:6.67, Z:-3.32 [[ 9.91899750e-01 8.74320976e-02 -9.21439909e-02 -6.20811167e+01] [-8.67501783e-02 9.96165009e-01 1.13877865e-02 6.67391822e+00] [ 9.27862776e-02 -3.30203489e-03 9.95680573e-01 -3.32243488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.16534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-62.11, Y:6.68, Z:-3.33 [[ 9.91900692e-01 8.71863212e-02 -9.23664609e-02 -6.21125149e+01] [-8.65007505e-02 9.96186472e-01 1.14075983e-02 6.67732567e+00] [ 9.30088053e-02 -3.32543641e-03 9.95659733e-01 -3.32672894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.195347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-62.14, Y:6.68, Z:-3.33 [[ 9.91910133e-01 8.70820344e-02 -9.23634575e-02 -6.21449997e+01] [-8.63967799e-02 9.96195587e-01 1.13994966e-02 6.68012878e+00] [ 9.30047601e-02 -3.32737086e-03 9.95660104e-01 -3.32684411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.225347070000005 meters Centerline goodness [0,1] 0.9998386836586546 Centerline is valid? [True, True] Translation: X:-62.18, Y:6.69, Z:-3.33 [[ 9.91895736e-01 8.79333343e-02 -9.17091997e-02 -6.21772312e+01] [-8.72621248e-02 9.96121168e-01 1.13110380e-02 6.68546615e+00] [ 9.23480925e-02 -3.21663077e-03 9.95721589e-01 -3.32659324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.25534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-62.21, Y:6.69, Z:-3.33 [[ 9.91750832e-01 8.94780486e-02 -9.17821693e-02 -6.22071766e+01] [-8.88130309e-02 9.95984069e-01 1.13128032e-02 6.69432302e+00] [ 9.24258260e-02 -3.06802938e-03 9.95714846e-01 -3.33081576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.28534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-62.24, Y:6.69, Z:-3.34 [[ 9.91904545e-01 8.78422241e-02 -9.17012436e-02 -6.22397869e+01] [-8.71721400e-02 9.96129229e-01 1.12949962e-02 6.69249737e+00] [ 9.23384667e-02 -3.20976446e-03 9.95722504e-01 -3.34084149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.31534707 meters Centerline goodness [0,1] 0.9996115427302996 Centerline is valid? [True, True] Translation: X:-62.27, Y:6.70, Z:-3.33 [[ 9.91889160e-01 8.87447533e-02 -9.09959457e-02 -6.22704835e+01] [-8.80895783e-02 9.96049600e-01 1.11991600e-02 6.70176803e+00] [ 9.16303420e-02 -3.09253094e-03 9.95788289e-01 -3.32949421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.34534707 meters Centerline goodness [0,1] 0.9999455011172271 Centerline is valid? [True, True] Translation: X:-62.30, Y:6.70, Z:-3.35 [[ 9.91881995e-01 8.77947260e-02 -9.19901867e-02 -6.23027164e+01] [-8.71217067e-02 9.96133422e-01 1.13143431e-02 6.69802640e+00] [ 9.26278391e-02 -3.20815112e-03 9.95695632e-01 -3.34630122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.375347070000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-62.33, Y:6.70, Z:-3.35 [[ 9.91894344e-01 8.73878250e-02 -9.22441250e-02 -6.23334713e+01] [-8.67100234e-02 9.96169072e-01 1.13380315e-02 6.70186064e+00] [ 9.28815504e-02 -3.24763910e-03 9.95671869e-01 -3.35015345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.405347070000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-62.36, Y:6.71, Z:-3.35 [[ 9.91639431e-01 9.08181983e-02 -9.16694857e-02 -6.23639418e+01] [-9.01639996e-02 9.95863260e-01 1.12614338e-02 6.71136911e+00] [ 9.23130160e-02 -2.90199436e-03 9.95725808e-01 -3.34903697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.43534707 meters Centerline goodness [0,1] 0.9996787320625402 Centerline is valid? [True, True] Translation: X:-62.40, Y:6.71, Z:-3.36 [[ 9.91501874e-01 9.35373094e-02 -9.04146275e-02 -6.23960438e+01] [-9.29128668e-02 9.95612367e-01 1.11001995e-02 6.71032138e+00] [ 9.10562041e-02 -2.60518635e-03 9.95842347e-01 -3.35707206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.46534707 meters Centerline goodness [0,1] 0.9999462654486835 Centerline is valid? [True, True] Translation: X:-62.43, Y:6.71, Z:-3.36 [[ 9.91492883e-01 9.29005910e-02 -9.11665645e-02 -6.24274481e+01] [-9.22637680e-02 9.95671788e-01 1.11842335e-02 6.71440070e+00] [ 9.18109982e-02 -2.67771719e-03 9.95772851e-01 -3.36090726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.49534707 meters Centerline goodness [0,1] 0.9997318603528718 Centerline is valid? [True, True] Translation: X:-62.46, Y:6.72, Z:-3.36 [[ 9.91214953e-01 9.70060052e-02 -8.99041272e-02 -6.24584022e+01] [-9.64041328e-02 9.95281232e-01 1.10232810e-02 6.71982673e+00] [ 9.05492149e-02 -2.25931152e-03 9.95889419e-01 -3.36179827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.52534707 meters Centerline goodness [0,1] 0.9998367791077258 Centerline is valid? [True, True] Translation: X:-62.49, Y:6.73, Z:-3.37 [[ 9.91174586e-01 9.64941969e-02 -9.08944993e-02 -6.24887664e+01] [-9.58778618e-02 9.95330843e-01 1.11332407e-02 6.72724596e+00] [ 9.15443917e-02 -2.32021502e-03 9.95798293e-01 -3.36776572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.55534707 meters Centerline goodness [0,1] 0.9993522267206477 Centerline is valid? [True, True] Translation: X:-62.52, Y:6.73, Z:-3.37 [[ 9.90945469e-01 9.78263728e-02 -9.19623778e-02 -6.25218584e+01] [-9.72030966e-02 9.95201060e-01 1.12430956e-02 6.72983879e+00] [ 9.26209272e-02 -2.20226679e-03 9.95699008e-01 -3.37295970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.585347070000005 meters Centerline goodness [0,1] 0.9991858445505862 Centerline is valid? [True, True] Translation: X:-62.55, Y:6.74, Z:-3.35 [[ 9.90692115e-01 1.02175794e-01 -8.99402006e-02 -6.25524488e+01] [-1.01598250e-01 9.94764822e-01 1.09884094e-02 6.73663459e+00] [ 9.05920970e-02 -1.74836352e-03 9.95886547e-01 -3.34862280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.615347070000006 meters Centerline goodness [0,1] 0.9995706772566276 Centerline is valid? [True, True] Translation: X:-62.58, Y:6.74, Z:-3.37 [[ 9.90519350e-01 1.03679293e-01 -9.01222556e-02 -6.25837640e+01] [-1.03105853e-01 9.94609475e-01 1.10079881e-02 6.73863807e+00] [ 9.07777497e-02 -1.61149322e-03 9.95869873e-01 -3.36947297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.64534707 meters Centerline goodness [0,1] 0.9992498928418345 Centerline is valid? [True, True] Translation: X:-62.62, Y:6.74, Z:-3.37 [[ 9.90513589e-01 1.04299688e-01 -8.94673391e-02 -6.26155344e+01] [-1.03738365e-01 9.94544738e-01 1.09139963e-02 6.74347326e+00] [ 9.01175978e-02 -1.52926618e-03 9.95929957e-01 -3.37433990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.67534707 meters Centerline goodness [0,1] 0.9996234534696073 Centerline is valid? [True, True] Translation: X:-62.65, Y:6.75, Z:-3.38 [[ 9.90368317e-01 1.04713113e-01 -9.05856555e-02 -6.26473959e+01] [-1.04141815e-01 9.94501364e-01 1.10235937e-02 6.74795117e+00] [ 9.12418728e-02 -1.48366341e-03 9.95827655e-01 -3.37810335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.70534707 meters Centerline goodness [0,1] 0.9995605602856358 Centerline is valid? [True, True] Translation: X:-62.68, Y:6.75, Z:-3.38 [[ 9.90322155e-01 1.04954352e-01 -9.08108643e-02 -6.26792815e+01] [-1.04383755e-01 9.94476002e-01 1.10233459e-02 6.75046843e+00] [ 9.14661734e-02 -1.43748466e-03 9.95807146e-01 -3.37683017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.73534707 meters Centerline goodness [0,1] 0.9993152849468029 Centerline is valid? [True, True] Translation: X:-62.71, Y:6.75, Z:-3.38 [[ 9.90035926e-01 1.07520896e-01 -9.09292188e-02 -6.27117722e+01] [-1.06962271e-01 9.94202133e-01 1.10087142e-02 6.75273477e+00] [ 9.15856901e-02 -1.17302689e-03 9.95796508e-01 -3.38262535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.765347070000004 meters Centerline goodness [0,1] 0.999570308303792 Centerline is valid? [True, True] Translation: X:-62.74, Y:6.76, Z:-3.38 [[ 9.89860004e-01 1.08899371e-01 -9.12036188e-02 -6.27445325e+01] [-1.08345859e-01 9.94052256e-01 1.10130806e-02 6.75687338e+00] [ 9.18604805e-02 -1.01987351e-03 9.95771365e-01 -3.38435066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.795347070000005 meters Centerline goodness [0,1] 0.9994560487380331 Centerline is valid? [True, True] Translation: X:-62.78, Y:6.76, Z:-3.39 [[ 9.89862629e-01 1.08925273e-01 -9.11441745e-02 -6.27769421e+01] [-1.08375372e-01 9.94049451e-01 1.09757767e-02 6.76212842e+00] [ 9.17973561e-02 -9.86727426e-04 9.95777220e-01 -3.38939065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.82534707 meters Centerline goodness [0,1] 0.9991882238337483 Centerline is valid? [True, True] Translation: X:-62.81, Y:6.77, Z:-3.39 [[ 9.89679869e-01 1.10314093e-01 -9.14579594e-02 -6.28092251e+01] [-1.09769100e-01 9.93896429e-01 1.09833518e-02 6.76912790e+00] [ 9.21113577e-02 -8.30744242e-04 9.95748366e-01 -3.39181446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.85534707 meters Centerline goodness [0,1] 0.9991882238337483 Centerline is valid? [True, True] Translation: X:-62.84, Y:6.77, Z:-3.39 [[ 9.89715925e-01 1.09987152e-01 -9.14615450e-02 -6.28416749e+01] [-1.09443531e-01 9.93932662e-01 1.09534266e-02 6.77326182e+00] [ 9.21113531e-02 -8.30906294e-04 9.95748366e-01 -3.39373920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.88534707 meters Centerline goodness [0,1] 0.9990280777537797 Centerline is valid? [True, True] Translation: X:-62.87, Y:6.78, Z:-3.40 [[ 9.89412458e-01 1.12212995e-01 -9.20392952e-02 -6.28742224e+01] [-1.11674949e-01 9.93683998e-01 1.09917388e-02 6.77923551e+00] [ 9.26913907e-02 -5.96879738e-04 9.95694707e-01 -3.39519042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.91534707 meters Centerline goodness [0,1] 0.9993483573174042 Centerline is valid? [True, True] Translation: X:-62.91, Y:6.78, Z:-3.40 [[ 9.89208781e-01 1.13556294e-01 -9.25794611e-02 -6.29065304e+01] [-1.13020552e-01 9.93531464e-01 1.10265110e-02 6.78329821e+00] [ 9.32327373e-02 -4.44139638e-04 9.95644243e-01 -3.39928874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.945347070000004 meters Centerline goodness [0,1] 0.9997877758913413 Centerline is valid? [True, True] Translation: X:-62.94, Y:6.79, Z:-3.41 [[ 9.88942763e-01 1.15700864e-01 -9.27659461e-02 -6.29385694e+01] [-1.15175068e-01 9.93284080e-01 1.10199516e-02 6.78984429e+00] [ 9.34179554e-02 -2.13777314e-04 9.95626958e-01 -3.40565271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.975347070000005 meters Centerline goodness [0,1] 0.999729758944979 Centerline is valid? [True, True] Translation: X:-62.97, Y:6.80, Z:-3.41 [[ 9.88685111e-01 1.17642736e-01 -9.30695342e-02 -6.29711925e+01] [-1.17125008e-01 9.93055984e-01 1.10247861e-02 6.79562918e+00] [ 9.37202438e-02 7.28056023e-07 9.95598572e-01 -3.40607803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.00534707 meters Centerline goodness [0,1] 0.9998376886869015 Centerline is valid? [True, True] Translation: X:-63.00, Y:6.80, Z:-3.41 [[ 9.88501872e-01 1.19270353e-01 -9.29442410e-02 -6.30033280e+01] [-1.18764032e-01 9.92861797e-01 1.09798000e-02 6.80138620e+00] [ 9.35903507e-02 1.84879958e-04 9.95610773e-01 -3.40707670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03534707000001 meters Centerline goodness [0,1] 0.9997849462365591 Centerline is valid? [True, True] Translation: X:-63.04, Y:6.81, Z:-3.41 [[ 9.88057615e-01 1.22593673e-01 -9.33431333e-02 -6.30350652e+01] [-1.22100489e-01 9.92456805e-01 1.09982067e-02 6.80755292e+00] [ 9.39873384e-02 5.30380306e-04 9.95573251e-01 -3.41282250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.06534707000002 meters Centerline goodness [0,1] 0.9998914164721212 Centerline is valid? [True, True] Translation: X:-63.07, Y:6.81, Z:-3.41 [[ 9.87876362e-01 1.23256686e-01 -9.43826406e-02 -6.30660128e+01] [-1.22757697e-01 9.92374627e-01 1.10971744e-02 6.81209939e+00] [ 9.50307387e-02 6.23559371e-04 9.95474143e-01 -3.41473702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.09534707 meters Centerline goodness [0,1] 0.9995083579154376 Centerline is valid? [True, True] Translation: X:-63.10, Y:6.82, Z:-3.42 [[ 9.87659296e-01 1.25239279e-01 -9.40438145e-02 -6.30980805e+01] [-1.24754922e-01 9.92126216e-01 1.10354199e-02 6.82110367e+00] [ 9.46854019e-02 8.33193679e-04 9.95506896e-01 -3.41832294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.12534707 meters Centerline goodness [0,1] 0.9997857295907435 Centerline is valid? [True, True] Translation: X:-63.13, Y:6.83, Z:-3.43 [[ 9.87217943e-01 1.28930187e-01 -9.36895911e-02 -6.31293752e+01] [-1.28468926e-01 9.91652931e-01 1.09635338e-02 6.82886202e+00] [ 9.43210881e-02 1.21280385e-03 9.95541090e-01 -3.42511862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.15534707 meters Centerline goodness [0,1] 0.9997259372944529 Centerline is valid? [True, True] Translation: X:-63.16, Y:6.83, Z:-3.42 [[ 9.86941764e-01 1.30110009e-01 -9.49596710e-02 -6.31605176e+01] [-1.29643863e-01 9.91498621e-01 1.10884168e-02 6.83313449e+00] [ 9.55950968e-02 1.36731689e-03 9.95419363e-01 -3.42101274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.18534707 meters Centerline goodness [0,1] 0.9998895210738552 Centerline is valid? [True, True] Translation: X:-63.19, Y:6.84, Z:-3.42 [[ 9.86965542e-01 1.28765844e-01 -9.65317345e-02 -6.31912302e+01] [-1.28279716e-01 9.91674202e-01 1.12512842e-02 6.83682627e+00] [ 9.71768119e-02 1.27843364e-03 9.95266313e-01 -3.42442196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.21534707 meters Centerline goodness [0,1] 0.9998897828722584 Centerline is valid? [True, True] Translation: X:-63.22, Y:6.84, Z:-3.43 [[ 9.86937676e-01 1.28827499e-01 -9.67341662e-02 -6.32224215e+01] [-1.28342382e-01 9.91666146e-01 1.12466661e-02 6.84322830e+00] [ 9.73768777e-02 1.31533482e-03 9.95246710e-01 -3.43252665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.24534707000001 meters Centerline goodness [0,1] 0.9998898435778806 Centerline is valid? [True, True] Translation: X:-63.25, Y:6.85, Z:-3.44 [[ 9.87080910e-01 1.27847849e-01 -9.65722795e-02 -6.32544244e+01] [-1.27362512e-01 9.91793011e-01 1.11988514e-02 6.84698138e+00] [ 9.72114609e-02 1.24551570e-03 9.95262971e-01 -3.43778567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27534707000001 meters Centerline goodness [0,1] 0.9992870070750837 Centerline is valid? [True, True] Translation: X:-63.29, Y:6.85, Z:-3.43 [[ 9.87345870e-01 1.26754576e-01 -9.52964340e-02 -6.32870544e+01] [-1.26279568e-01 9.91933443e-01 1.10234198e-02 6.85274706e+00] [ 9.59249888e-02 1.15006451e-03 9.95387901e-01 -3.43388540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.30534707000001 meters Centerline goodness [0,1] 0.9999447544334568 Centerline is valid? [True, True] Translation: X:-63.32, Y:6.85, Z:-3.44 [[ 9.87738690e-01 1.22981141e-01 -9.61660991e-02 -6.33199788e+01] [-1.22482447e-01 9.92408669e-01 1.10943253e-02 6.85155843e+00] [ 9.68004632e-02 8.20364817e-04 9.95303470e-01 -3.43867166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33534707000001 meters Centerline goodness [0,1] 0.9997821113411047 Centerline is valid? [True, True] Translation: X:-63.35, Y:6.85, Z:-3.44 [[ 9.87899066e-01 1.21664912e-01 -9.61929559e-02 -6.33533614e+01] [-1.21162850e-01 9.92570967e-01 1.10651858e-02 6.85413154e+00] [ 9.68245802e-02 7.23725978e-04 9.95301199e-01 -3.44417864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.36534707000001 meters Centerline goodness [0,1] 0.9990763379516435 Centerline is valid? [True, True] Translation: X:-63.38, Y:6.86, Z:-3.45 [[ 9.88228912e-01 1.18959349e-01 -9.61888325e-02 -6.33843713e+01] [-1.18447048e-01 9.92899007e-01 1.10389276e-02 6.85744108e+00] [ 9.68189800e-02 4.84295854e-04 9.95301889e-01 -3.44837063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39534707000001 meters Centerline goodness [0,1] 0.9997818618094563 Centerline is valid? [True, True] Translation: X:-63.42, Y:6.86, Z:-3.46 [[ 9.88401510e-01 1.16774270e-01 -9.70887439e-02 -6.34151059e+01] [-1.16243769e-01 9.93158439e-01 1.11221342e-02 6.85778504e+00] [ 9.77232844e-02 2.92827340e-04 9.95213582e-01 -3.45568974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.42534707000002 meters Centerline goodness [0,1] 0.9996755178194797 Centerline is valid? [True, True] Translation: X:-63.45, Y:6.86, Z:-3.46 [[ 9.88803083e-01 1.13111287e-01 -9.73360111e-02 -6.34475242e+01] [-1.12563176e-01 9.93582324e-01 1.11218859e-02 6.86033195e+00] [ 9.79693510e-02 -4.09045272e-05 9.95189432e-01 -3.45749341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45534707000002 meters Centerline goodness [0,1] 0.9998907641050849 Centerline is valid? [True, True] Translation: X:-63.48, Y:6.86, Z:-3.46 [[ 9.89286748e-01 1.08614547e-01 -9.75428697e-02 -6.34793409e+01] [-1.08045296e-01 9.94083835e-01 1.11149666e-02 6.86289297e+00] [ 9.81730371e-02 -4.56840915e-04 9.95169255e-01 -3.46036202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.48534707 meters Centerline goodness [0,1] 0.9998385447500134 Centerline is valid? [True, True] Translation: X:-63.51, Y:6.87, Z:-3.46 [[ 9.89566175e-01 1.06304100e-01 -9.72533937e-02 -6.35123914e+01] [-1.05730107e-01 9.94333451e-01 1.10513926e-02 6.86665005e+00] [ 9.78771109e-02 -6.53472548e-04 9.95198294e-01 -3.46299342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.51534707 meters Centerline goodness [0,1] 0.9998905429071804 Centerline is valid? [True, True] Translation: X:-63.54, Y:6.87, Z:-3.47 [[ 9.89682207e-01 1.04601895e-01 -9.79161507e-02 -6.35429693e+01] [-1.04014761e-01 9.94513855e-01 1.10959803e-02 6.87242814e+00] [ 9.85396292e-02 -7.96769233e-04 9.95132809e-01 -3.46709698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.54534707 meters Centerline goodness [0,1] 0.9999456374014678 Centerline is valid? [True, True] Translation: X:-63.58, Y:6.88, Z:-3.48 [[ 9.89838839e-01 1.03144316e-01 -9.78791269e-02 -6.35752115e+01] [-1.02553478e-01 9.94665984e-01 1.10618740e-02 6.87708552e+00] [ 9.84980074e-02 -9.11627633e-04 9.95136831e-01 -3.47522290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.57534707 meters Centerline goodness [0,1] 0.9998339881578219 Centerline is valid? [True, True] Translation: X:-63.61, Y:6.88, Z:-3.47 [[ 9.90053987e-01 1.00302098e-01 -9.86539037e-02 -6.36064918e+01] [-9.96909188e-02 9.94956338e-01 1.11178212e-02 6.88238740e+00] [ 9.92714676e-02 -1.17234491e-03 9.95059697e-01 -3.47263731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.60534707000001 meters Centerline goodness [0,1] 0.9999431882740598 Centerline is valid? [True, True] Translation: X:-63.64, Y:6.89, Z:-3.47 [[ 9.90289027e-01 9.72751031e-02 -9.93237042e-02 -6.36367846e+01] [-9.66432178e-02 9.95256464e-01 1.11650799e-02 6.89046334e+00] [ 9.99386429e-02 -1.45769368e-03 9.94992534e-01 -3.47423472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.63534707000001 meters Centerline goodness [0,1] 0.9997712455678829 Centerline is valid? [True, True] Translation: X:-63.67, Y:6.89, Z:-3.49 [[ 9.90591129e-01 9.36810297e-02 -9.97651264e-02 -6.36675654e+01] [-9.30274131e-02 9.95600621e-01 1.11939037e-02 6.89455001e+00] [ 1.00374878e-01 -1.80769010e-03 9.94948047e-01 -3.49134809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.66534707000001 meters Centerline goodness [0,1] 0.999712792233902 Centerline is valid? [True, True] Translation: X:-63.70, Y:6.90, Z:-3.49 [[ 9.90886982e-01 9.19544987e-02 -9.84243821e-02 -6.36983824e+01] [-9.13106544e-02 9.95761304e-01 1.10358099e-02 6.89803844e+00] [ 9.90219835e-02 -1.94804565e-03 9.95083339e-01 -3.49087478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69534707000001 meters Centerline goodness [0,1] 0.9990594874206442 Centerline is valid? [True, True] Translation: X:-63.73, Y:6.90, Z:-3.48 [[ 9.90998647e-01 8.89336315e-02 -1.00062436e-01 -6.37305803e+01] [-8.82533881e-02 9.96034941e-01 1.12131615e-02 6.90097621e+00] [ 1.00662910e-01 -2.28137891e-03 9.94917973e-01 -3.48482174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.72534707000001 meters Centerline goodness [0,1] 0.9992556541654738 Centerline is valid? [True, True] Translation: X:-63.76, Y:6.90, Z:-3.49 [[ 9.90981118e-01 8.08394375e-02 -1.06870988e-01 -6.37620424e+01] [-8.00166927e-02 9.96721635e-01 1.19713003e-02 6.89951842e+00] [ 1.07488379e-01 -3.31186949e-03 9.94200825e-01 -3.48761874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-63.79, Y:6.91, Z:-3.49 [[ 9.90895991e-01 8.64607944e-02 -1.03197216e-01 -6.37897887e+01] [-8.57242491e-02 9.96251841e-01 1.15595249e-02 6.91419111e+00] [ 1.03809862e-01 -2.60778305e-03 9.94593742e-01 -3.49247796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.78534707000001 meters Centerline goodness [0,1] 0.999833582958895 Centerline is valid? [True, True] Translation: X:-63.82, Y:6.91, Z:-3.51 [[ 9.91314022e-01 8.45195541e-02 -1.00761873e-01 -6.38211751e+01] [-8.38078105e-02 9.96418051e-01 1.12835507e-02 6.91319633e+00] [ 1.01354630e-01 -2.74091003e-03 9.94846584e-01 -3.50916654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.81534707000002 meters Centerline goodness [0,1] 0.9994409034999441 Centerline is valid? [True, True] Translation: X:-63.85, Y:6.92, Z:-3.51 [[ 9.91356479e-01 8.31142310e-02 -1.01510370e-01 -6.38521947e+01] [-8.23854694e-02 9.96535817e-01 1.13578460e-02 6.92050254e+00] [ 1.02102718e-01 -2.89669475e-03 9.94769644e-01 -3.51292650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.84534707 meters Centerline goodness [0,1] 0.9989804587935429 Centerline is valid? [True, True] Translation: X:-63.88, Y:6.93, Z:-3.52 [[ 9.91328432e-01 8.14416174e-02 -1.03127116e-01 -6.38827554e+01] [-8.06810627e-02 9.96673257e-01 1.15318913e-02 6.92706724e+00] [ 1.03723215e-01 -3.11148636e-03 9.94601334e-01 -3.52018323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.87534707 meters Centerline goodness [0,1] 0.9997203423010236 Centerline is valid? [True, True] Translation: X:-63.91, Y:6.93, Z:-3.51 [[ 9.91622710e-01 8.07078107e-02 -1.00849642e-01 -6.39149016e+01] [-7.99773611e-02 9.96732946e-01 1.12718928e-02 6.92827911e+00] [ 1.01429891e-01 -3.11177666e-03 9.94837823e-01 -3.50517434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.90534707 meters Centerline goodness [0,1] 0.9998900796922231 Centerline is valid? [True, True] Translation: X:-63.95, Y:6.92, Z:-3.52 [[ 9.91868475e-01 7.90236910e-02 -9.97606353e-02 -6.39472539e+01] [-7.83012896e-02 9.96867472e-01 1.11423334e-02 6.92360586e+00] [ 1.00328641e-01 -3.24034288e-03 9.94949076e-01 -3.51550784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.93534707 meters Centerline goodness [0,1] 0.9997239551703196 Centerline is valid? [True, True] Translation: X:-63.98, Y:6.93, Z:-3.52 [[ 9.91979907e-01 7.85760291e-02 -9.90033935e-02 -6.39790895e+01] [-7.78632481e-02 9.96902821e-01 1.10489888e-02 6.92674877e+00] [ 9.95649480e-02 -3.25164908e-03 9.95025752e-01 -3.51786976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.96534707 meters Centerline goodness [0,1] 0.9999440120933878 Centerline is valid? [True, True] Translation: X:-64.01, Y:6.93, Z:-3.51 [[ 9.92021786e-01 7.57714276e-02 -1.00754485e-01 -6.40091792e+01] [-7.50193010e-02 9.97118749e-01 1.12385084e-02 6.93260199e+00] [ 1.01315744e-01 -3.59031413e-03 9.94847842e-01 -3.51365328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.99534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-64.04, Y:6.93, Z:-3.51 [[ 9.92272019e-01 7.48998399e-02 -9.89255015e-02 -6.40408786e+01] [-7.41708718e-02 9.97184532e-01 1.10313423e-02 6.92947054e+00] [ 9.94732257e-02 -3.60870161e-03 9.95033695e-01 -3.51373776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.02534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-64.07, Y:6.94, Z:-3.51 [[ 9.92118372e-01 7.40224715e-02 -1.01102966e-01 -6.40714072e+01] [-7.32568818e-02 9.97249432e-01 1.12693958e-02 6.93507821e+00] [ 1.01659064e-01 -3.77408655e-03 9.94812139e-01 -3.51437261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-64.10, Y:6.93, Z:-3.53 [[ 9.92517316e-01 7.17528170e-02 -9.87973221e-02 -6.41018984e+01] [-7.10109450e-02 9.97414775e-01 1.10096841e-02 6.92885125e+00] [ 9.93318846e-02 -3.91161089e-03 9.95046670e-01 -3.52789323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.08534707000001 meters Centerline goodness [0,1] 0.9998903568883285 Centerline is valid? [True, True] Translation: X:-64.13, Y:6.93, Z:-3.53 [[ 9.92675718e-01 6.78842012e-02 -9.99332522e-02 -6.41326077e+01] [-6.71055797e-02 9.97683730e-01 1.11362688e-02 6.92603976e+00] [ 1.00457756e-01 -4.34862480e-03 9.94931821e-01 -3.53079944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11534707000001 meters Centerline goodness [0,1] 0.9998910912655194 Centerline is valid? [True, True] Translation: X:-64.16, Y:6.93, Z:-3.52 [[ 9.92893920e-01 6.56515307e-02 -9.92549210e-02 -6.41608592e+01] [-6.48719298e-02 9.97832248e-01 1.10651422e-02 6.92545741e+00] [ 9.97662045e-02 -4.54765414e-03 9.95000514e-01 -3.52346937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.14534707000001 meters Centerline goodness [0,1] 0.999735113371477 Centerline is valid? [True, True] Translation: X:-64.19, Y:6.92, Z:-3.52 [[ 9.93243638e-01 6.40645264e-02 -9.67616299e-02 -6.41904335e+01] [-6.33144806e-02 9.97935129e-01 1.08052791e-02 6.91927219e+00] [ 9.72540648e-02 -4.60586237e-03 9.95248930e-01 -3.52208256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.17534707000002 meters Centerline goodness [0,1] 0.9998927556437343 Centerline is valid? [True, True] Translation: X:-64.22, Y:6.93, Z:-3.52 [[ 9.93244820e-01 6.20578451e-02 -9.80487222e-02 -6.42181636e+01] [-6.12758159e-02 9.98060585e-01 1.09700821e-02 6.92629405e+00] [ 9.85393447e-02 -4.88796174e-03 9.95121151e-01 -3.52402431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.20534707000002 meters Centerline goodness [0,1] 0.9997848884108631 Centerline is valid? [True, True] Translation: X:-64.25, Y:6.93, Z:-3.53 [[ 9.93465054e-01 5.94049164e-02 -9.74589265e-02 -6.42462436e+01] [-5.86188669e-02 9.98220801e-01 1.09115451e-02 6.93003211e+00] [ 9.79337270e-02 -5.12730694e-03 9.95179730e-01 -3.52575802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.23534707 meters Centerline goodness [0,1] 0.9995821145006268 Centerline is valid? [True, True] Translation: X:-64.27, Y:6.92, Z:-3.53 [[ 9.93610211e-01 5.89942076e-02 -9.62207503e-02 -6.42739070e+01] [-5.82242961e-02 9.98245191e-01 1.07921520e-02 6.92442604e+00] [ 9.66885757e-02 -5.12080694e-03 9.95301510e-01 -3.53379882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.26534707 meters Centerline goodness [0,1] 0.999681545565522 Centerline is valid? [True, True] Translation: X:-64.30, Y:6.93, Z:-3.53 [[ 9.93343215e-01 6.42404984e-02 -9.56159800e-02 -6.43028478e+01] [-6.35022684e-02 9.97923828e-01 1.07469120e-02 6.93260888e+00] [ 9.61078517e-02 -4.60354049e-03 9.95360281e-01 -3.53022267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.29534707 meters Centerline goodness [0,1] 0.9993900889453622 Centerline is valid? [True, True] Translation: X:-64.33, Y:6.93, Z:-3.53 [[ 9.93610777e-01 6.81166461e-02 -8.99874800e-02 -6.43337246e+01] [-6.74787473e-02 9.97669430e-01 1.01156850e-02 6.93349976e+00] [ 9.04668044e-02 -3.97881119e-03 9.95891523e-01 -3.53018890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.32534707 meters Centerline goodness [0,1] 0.9996837611342434 Centerline is valid? [True, True] Translation: X:-64.36, Y:6.94, Z:-3.54 [[ 9.93245554e-01 7.00424374e-02 -9.25058222e-02 -6.43627946e+01] [-6.93765961e-02 9.97536349e-01 1.03980663e-02 6.94259473e+00] [ 9.30062261e-02 -3.91009407e-03 9.95657849e-01 -3.53553797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.35534707000001 meters Centerline goodness [0,1] 0.9991263233631411 Centerline is valid? [True, True] Translation: X:-64.39, Y:6.94, Z:-3.54 [[ 9.93470925e-01 7.18082501e-02 -8.86515504e-02 -6.43928994e+01] [-7.12039589e-02 9.97412006e-01 9.96426870e-03 6.94369254e+00] [ 8.91376374e-02 -3.58686988e-03 9.96012859e-01 -3.53550162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.38534707000001 meters Centerline goodness [0,1] 0.9989311671654553 Centerline is valid? [True, True] Translation: X:-64.43, Y:6.95, Z:-3.54 [[ 9.93184356e-01 7.28663030e-02 -9.09688771e-02 -6.44250051e+01] [-7.22344469e-02 9.97335283e-01 1.02234113e-02 6.94863833e+00] [ 9.14714130e-02 -3.58264569e-03 9.95801258e-01 -3.53746948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41534707000001 meters Centerline goodness [0,1] 0.9988576769302664 Centerline is valid? [True, True] Translation: X:-64.46, Y:6.96, Z:-3.54 [[ 9.93167347e-01 7.78536215e-02 -8.69335108e-02 -6.44550030e+01] [-7.72961853e-02 9.96960350e-01 9.76523880e-03 6.95745414e+00] [ 8.74295226e-02 -2.97888754e-03 9.96166254e-01 -3.53535624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.44534707000001 meters Centerline goodness [0,1] 0.9988305337018925 Centerline is valid? [True, True] Translation: X:-64.48, Y:6.97, Z:-3.54 [[ 9.92590726e-01 8.46804089e-02 -8.71371291e-02 -6.44841824e+01] [-8.41466364e-02 9.96405315e-01 9.78731533e-03 6.96784405e+00] [ 8.76526925e-02 -2.38250211e-03 9.96148247e-01 -3.54297374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47534707000001 meters Centerline goodness [0,1] 0.99850422942026 Centerline is valid? [True, True] Translation: X:-64.51, Y:6.98, Z:-3.54 [[ 9.92358205e-01 9.00077893e-02 -8.44025494e-02 -6.45149931e+01] [-8.95264811e-02 9.95939345e-01 9.47792023e-03 6.97678046e+00] [ 8.49129064e-02 -1.84922867e-03 9.96386661e-01 -3.53996881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.50534707000001 meters Centerline goodness [0,1] 0.9985445528542936 Centerline is valid? [True, True] Translation: X:-64.55, Y:6.99, Z:-3.54 [[ 9.91687399e-01 9.54402006e-02 -8.62975706e-02 -6.45456760e+01] [-9.49583721e-02 9.95434173e-01 9.68064560e-03 6.98618298e+00] [ 8.68274736e-02 -1.40549744e-03 9.96222372e-01 -3.54262662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53534707000001 meters Centerline goodness [0,1] 0.9986720492935303 Centerline is valid? [True, True] Translation: X:-64.58, Y:6.99, Z:-3.54 [[ 9.91323113e-01 1.00714496e-01 -8.44693809e-02 -6.45771615e+01] [-1.00273549e-01 9.94914956e-01 9.45753637e-03 6.99406833e+00] [ 8.49923614e-02 -9.05429791e-04 9.96381191e-01 -3.54148552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.56534707000002 meters Centerline goodness [0,1] 0.9984430366154837 Centerline is valid? [True, True] Translation: X:-64.61, Y:7.00, Z:-3.54 [[ 9.90787987e-01 1.06421340e-01 -8.37476187e-02 -6.46075423e+01] [-1.06009270e-01 9.94321044e-01 9.36465265e-03 7.00372964e+00] [ 8.42686185e-02 -4.00361454e-04 9.96442994e-01 -3.54316624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.59534707 meters Centerline goodness [0,1] 0.9976386629584929 Centerline is valid? [True, True] Translation: X:-64.64, Y:7.01, Z:-3.55 [[ 9.90765410e-01 1.08787147e-01 -8.09274866e-02 -6.46393119e+01] [-1.08412164e-01 9.94065052e-01 9.02633962e-03 7.00836305e+00] [ 8.14291359e-02 -1.69461135e-04 9.96679119e-01 -3.54958518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.62534707 meters Centerline goodness [0,1] 0.9975058456742011 Centerline is valid? [True, True] Translation: X:-64.67, Y:7.01, Z:-3.55 [[ 9.90829585e-01 1.09131352e-01 -7.96685752e-02 -6.46719135e+01] [-1.08770991e-01 9.94027331e-01 8.86210057e-03 7.00790488e+00] [ 8.01598741e-02 -1.15201567e-04 9.96782013e-01 -3.54727140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.65534707 meters Centerline goodness [0,1] 0.9971546818416969 Centerline is valid? [True, True] Translation: X:-64.70, Y:7.01, Z:-3.55 [[ 9.90706670e-01 1.11365886e-01 -7.80892626e-02 -6.47044918e+01] [-1.11028353e-01 9.93779469e-01 8.66445042e-03 7.01002088e+00] [ 7.85684301e-02 8.61934007e-05 9.96908719e-01 -3.55036767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.68534707 meters Centerline goodness [0,1] 0.9974763745704467 Centerline is valid? [True, True] Translation: X:-64.74, Y:7.01, Z:-3.55 [[ 9.90391206e-01 1.13486351e-01 -7.90323128e-02 -6.47363597e+01] [-1.13149142e-01 9.93539516e-01 8.74653113e-03 7.01167412e+00] [ 7.95143377e-02 2.79950867e-04 9.96833683e-01 -3.54901351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.71534707 meters Centerline goodness [0,1] 0.9964700465544585 Centerline is valid? [True, True] Translation: X:-64.77, Y:7.01, Z:-3.54 [[ 9.90574750e-01 1.13802626e-01 -7.62274721e-02 -6.47680562e+01] [-1.13491133e-01 9.93503330e-01 8.42002011e-03 7.01214375e+00] [ 7.66904677e-02 3.10482873e-04 9.97054901e-01 -3.53661968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.74534707000001 meters Centerline goodness [0,1] 0.9964700465544585 Centerline is valid? [True, True] Translation: X:-64.80, Y:7.02, Z:-3.54 [[ 9.90612872e-01 1.13469690e-01 -7.62283878e-02 -6.48005374e+01] [-1.13157852e-01 9.93541415e-01 8.41171889e-03 7.01598277e+00] [ 7.66905354e-02 2.93083580e-04 9.97054901e-01 -3.53855606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77534707000001 meters Centerline goodness [0,1] 0.9961654057415276 Centerline is valid? [True, True] Translation: X:-64.83, Y:7.02, Z:-3.54 [[ 9.89808798e-01 1.21088999e-01 -7.49399622e-02 -6.48315589e+01] [-1.20811238e-01 9.92641254e-01 8.24539295e-03 7.02186936e+00] [ 7.53869244e-02 8.92227155e-04 9.97153958e-01 -3.53897851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.80534707000001 meters Centerline goodness [0,1] 0.9963244810270746 Centerline is valid? [True, True] Translation: X:-64.86, Y:7.03, Z:-3.55 [[ 9.89551920e-01 1.24123744e-01 -7.33504853e-02 -6.48628090e+01] [-1.23867482e-01 9.92266115e-01 8.05011218e-03 7.02750097e+00] [ 7.37824111e-02 1.11973598e-03 9.97273735e-01 -3.54734106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83534707000001 meters Centerline goodness [0,1] 0.9961542513960594 Centerline is valid? [True, True] Translation: X:-64.89, Y:7.03, Z:-3.55 [[ 9.88751872e-01 1.30556107e-01 -7.29714895e-02 -6.48934691e+01] [-1.30321312e-01 9.91439616e-01 7.99018094e-03 7.03401330e+00] [ 7.33899924e-02 1.60943391e-03 9.97302020e-01 -3.54700290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.86534707000001 meters Centerline goodness [0,1] 0.9961562763268744 Centerline is valid? [True, True] Translation: X:-64.92, Y:7.04, Z:-3.55 [[ 9.88327788e-01 1.34715113e-01 -7.11338288e-02 -6.49249662e+01] [-1.34503201e-01 9.90882596e-01 7.78263947e-03 7.03939906e+00] [ 7.15337121e-02 1.87592885e-03 9.97436418e-01 -3.54854217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89534707000001 meters Centerline goodness [0,1] 0.9963301776406766 Centerline is valid? [True, True] Translation: X:-64.96, Y:7.05, Z:-3.55 [[ 9.87444913e-01 1.40728285e-01 -7.17502213e-02 -6.49562376e+01] [-1.40529898e-01 9.90045466e-01 7.83089004e-03 7.04586875e+00] [ 7.21380090e-02 2.35047872e-03 9.97391890e-01 -3.55004134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.92534707000002 meters Centerline goodness [0,1] 0.9955606029320669 Centerline is valid? [True, True] Translation: X:-64.99, Y:7.05, Z:-3.55 [[ 9.86383348e-01 1.48802115e-01 -7.00415687e-02 -6.49855263e+01] [-1.48633614e-01 9.88862817e-01 7.64055969e-03 7.05223423e+00] [ 7.03984344e-02 2.87401062e-03 9.97514812e-01 -3.55104482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95534707000002 meters Centerline goodness [0,1] 0.9945040834146592 Centerline is valid? [True, True] Translation: X:-65.02, Y:7.06, Z:-3.55 [[ 9.85737934e-01 1.53400341e-01 -6.92030386e-02 -6.50170707e+01] [-1.53247171e-01 9.88159058e-01 7.54861149e-03 7.05517281e+00] [ 6.95415690e-02 3.16421717e-03 9.97574036e-01 -3.54675109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.98534707 meters Centerline goodness [0,1] 0.9944461428717009 Centerline is valid? [True, True] Translation: X:-65.05, Y:7.06, Z:-3.55 [[ 9.85775245e-01 1.53580117e-01 -6.82664921e-02 -6.50487025e+01] [-1.53431885e-01 9.88131212e-01 7.44074090e-03 7.05838922e+00] [ 6.85990015e-02 3.13935841e-03 9.97639374e-01 -3.55286914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.01534707 meters Centerline goodness [0,1] 0.9947111472742066 Centerline is valid? [True, True] Translation: X:-65.08, Y:7.06, Z:-3.56 [[ 9.85391871e-01 1.56175666e-01 -6.79118637e-02 -6.50797288e+01] [-1.56036431e-01 9.87723710e-01 7.38277139e-03 7.05968371e+00] [ 6.82311672e-02 3.32180191e-03 9.97664008e-01 -3.55692700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.04534707 meters Centerline goodness [0,1] 0.9951350529569756 Centerline is valid? [True, True] Translation: X:-65.11, Y:7.06, Z:-3.56 [[ 9.85235156e-01 1.57146444e-01 -6.79461777e-02 -6.51113513e+01] [-1.57009758e-01 9.87569471e-01 7.38080483e-03 7.06398968e+00] [ 6.82614380e-02 3.39638451e-03 9.97661686e-01 -3.56036609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.07534707 meters Centerline goodness [0,1] 0.9952284263959391 Centerline is valid? [True, True] Translation: X:-65.14, Y:7.06, Z:-3.56 [[ 9.85114995e-01 1.58342993e-01 -6.69024874e-02 -6.51438277e+01] [-1.58214654e-01 9.87378153e-01 7.24611313e-03 7.05925129e+00] [ 6.72054257e-02 3.44669922e-03 9.97733206e-01 -3.55923726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.10534707000001 meters Centerline goodness [0,1] 0.9950063694267516 Centerline is valid? [True, True] Translation: X:-65.18, Y:7.05, Z:-3.55 [[ 9.85389990e-01 1.56224172e-01 -6.78275396e-02 -6.51768377e+01] [-1.56088684e-01 9.87715880e-01 7.32546889e-03 7.05364888e+00] [ 6.81387533e-02 3.36866769e-03 9.97670167e-01 -3.55354152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.13534707000001 meters Centerline goodness [0,1] 0.9949040767386091 Centerline is valid? [True, True] Translation: X:-65.21, Y:7.05, Z:-3.56 [[ 9.86453716e-01 1.50051211e-01 -6.62849909e-02 -6.52078829e+01] [-1.49909096e-01 9.88673995e-01 7.14106571e-03 7.04749764e+00] [ 6.66057723e-02 2.89239225e-03 9.97775178e-01 -3.56307643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.16534707000001 meters Centerline goodness [0,1] 0.9950052444932821 Centerline is valid? [True, True] Translation: X:-65.24, Y:7.04, Z:-3.56 [[ 9.87125680e-01 1.45884679e-01 -6.55786028e-02 -6.52401994e+01] [-1.45736504e-01 9.89298226e-01 7.06339915e-03 7.04070553e+00] [ 6.59072371e-02 2.58473365e-03 9.97822407e-01 -3.56435550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19534707000001 meters Centerline goodness [0,1] 0.995575221238938 Centerline is valid? [True, True] Translation: X:-65.27, Y:7.03, Z:-3.57 [[ 9.88972530e-01 1.32617657e-01 -6.59233761e-02 -6.52730772e+01] [-1.32438657e-01 9.91165792e-01 7.09750875e-03 7.02553548e+00] [ 6.62822503e-02 1.71156221e-03 9.97799446e-01 -3.56760938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.22534707000001 meters Centerline goodness [0,1] 0.9946374220976859 Centerline is valid? [True, True] Translation: X:-65.31, Y:7.01, Z:-3.57 [[ 9.90310639e-01 1.22792636e-01 -6.48598987e-02 -6.53052069e+01] [-1.22598429e-01 9.92431806e-01 6.98103268e-03 7.01459263e+00] [ 6.52262459e-02 1.03833078e-03 9.97869961e-01 -3.56645848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25534707000001 meters Centerline goodness [0,1] 0.9944367837953497 Centerline is valid? [True, True] Translation: X:-65.34, Y:7.01, Z:-3.57 [[ 9.91449711e-01 1.13952161e-01 -6.35796794e-02 -6.53378689e+01] [-1.13747510e-01 9.93486136e-01 6.84112624e-03 7.00632640e+00] [ 6.39450911e-02 4.49397585e-04 9.97953317e-01 -3.57030340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.28534707000001 meters Centerline goodness [0,1] 0.9945425822203073 Centerline is valid? [True, True] Translation: X:-65.37, Y:7.00, Z:-3.57 [[ 9.92166256e-01 1.07716791e-01 -6.32709528e-02 -6.53696039e+01] [-1.07502052e-01 9.94181618e-01 6.79845322e-03 6.99831049e+00] [ 6.36351258e-02 5.65613963e-05 9.97973230e-01 -3.57196770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31534707000002 meters Centerline goodness [0,1] 0.9932699002088652 Centerline is valid? [True, True] Translation: X:-65.40, Y:6.98, Z:-3.58 [[ 9.93539162e-01 9.47596581e-02 -6.24543050e-02 -6.54034007e+01] [-9.45250752e-02 9.95499889e-01 6.70674583e-03 6.98292714e+00] [ 6.28087826e-02 -7.59916763e-04 9.98025290e-01 -3.58061849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.34534707 meters Centerline goodness [0,1] 0.99368214152003 Centerline is valid? [True, True] Translation: X:-65.44, Y:6.98, Z:-3.58 [[ 9.93710723e-01 9.29899924e-02 -6.23847764e-02 -6.54350545e+01] [-9.27537446e-02 9.95666680e-01 6.67865496e-03 6.98419977e+00] [ 6.27354913e-02 -8.50229435e-04 9.98029827e-01 -3.58165093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.37534707 meters Centerline goodness [0,1] 0.9926093583999261 Centerline is valid? [True, True] Translation: X:-65.47, Y:6.98, Z:-3.58 [[ 9.94332511e-01 8.68217517e-02 -6.13582944e-02 -6.54669324e+01] [-8.65825925e-02 9.96223138e-01 6.55088849e-03 6.97870004e+00] [ 6.16953122e-02 -1.20120121e-03 9.98094307e-01 -3.58112242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.40534707 meters Centerline goodness [0,1] 0.9922057677318784 Centerline is valid? [True, True] Translation: X:-65.50, Y:6.98, Z:-3.58 [[ 9.94458884e-01 8.60672097e-02 -6.03652468e-02 -6.54997923e+01] [-8.58354690e-02 9.96288599e-01 6.42646487e-03 6.97684206e+00] [ 6.06943151e-02 -1.20937581e-03 9.98155668e-01 -3.58363521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.43534707 meters Centerline goodness [0,1] 0.99140348457684 Centerline is valid? [True, True] Translation: X:-65.53, Y:6.98, Z:-3.59 [[ 9.94494568e-01 8.59990909e-02 -5.98724591e-02 -6.55326364e+01] [-8.57713536e-02 9.96294496e-01 6.36813186e-03 6.97777129e+00] [ 6.01982550e-02 -1.19773068e-03 9.98185722e-01 -3.58622865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.46534707 meters Centerline goodness [0,1] 0.9906377998829725 Centerline is valid? [True, True] Translation: X:-65.56, Y:6.98, Z:-3.59 [[ 9.94394527e-01 8.72962261e-02 -5.96564695e-02 -6.55644810e+01] [-8.70729529e-02 9.96181782e-01 6.33698930e-03 6.97936417e+00] [ 5.99818833e-02 -1.10700253e-03 9.98198852e-01 -3.58710031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.49534707000001 meters Centerline goodness [0,1] 0.9903823816382474 Centerline is valid? [True, True] Translation: X:-65.59, Y:6.99, Z:-3.59 [[ 9.93945830e-01 9.31267181e-02 -5.83018202e-02 -6.55949268e+01] [-9.29237896e-02 9.95653995e-01 6.18806913e-03 6.98755241e+00] [ 5.86247147e-02 -7.32979432e-04 9.98279823e-01 -3.58738549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.52534707000001 meters Centerline goodness [0,1] 0.9897036315569778 Centerline is valid? [True, True] Translation: X:-65.63, Y:6.99, Z:-3.59 [[ 9.93390112e-01 9.96958941e-02 -5.68930078e-02 -6.56274339e+01] [-9.95144402e-02 9.95017903e-01 6.02075051e-03 6.99240682e+00] [ 5.72098054e-02 -3.19278198e-04 9.98362127e-01 -3.58507193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55534707000001 meters Centerline goodness [0,1] 0.9898961549256244 Centerline is valid? [True, True] Translation: X:-65.66, Y:7.00, Z:-3.59 [[ 9.92821535e-01 1.05969015e-01 -5.54613977e-02 -6.56593367e+01] [-1.05807415e-01 9.94369430e-01 5.85036532e-03 6.99814802e+00] [ 5.57690759e-02 5.98584215e-05 9.98443692e-01 -3.58790522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.58534707000001 meters Centerline goodness [0,1] 0.9896297686640702 Centerline is valid? [True, True] Translation: X:-65.69, Y:7.00, Z:-3.59 [[ 9.92468173e-01 1.09080473e-01 -5.57528026e-02 -6.56919068e+01] [-1.08923206e-01 9.94032889e-01 5.86092783e-03 7.00400844e+00] [ 5.60594322e-02 2.55989641e-04 9.98427401e-01 -3.58999127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61534707000001 meters Centerline goodness [0,1] 0.9889049461563564 Centerline is valid? [True, True] Translation: X:-65.72, Y:7.01, Z:-3.59 [[ 9.91967337e-01 1.13451834e-01 -5.59417803e-02 -6.57228477e+01] [-1.13301711e-01 9.93543358e-01 5.85821751e-03 7.00844500e+00] [ 5.62452098e-02 5.27139001e-04 9.98416846e-01 -3.58921911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.64534707000001 meters Centerline goodness [0,1] 0.9892250505810944 Centerline is valid? [True, True] Translation: X:-65.75, Y:7.01, Z:-3.59 [[ 9.91310119e-01 1.19193658e-01 -5.56517648e-02 -6.57549521e+01] [-1.19054681e-01 9.92870654e-01 5.81787256e-03 7.01333405e+00] [ 5.59484576e-02 8.58287190e-04 9.98433289e-01 -3.59219548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.67534707000002 meters Centerline goodness [0,1] 0.9890412236523036 Centerline is valid? [True, True] Translation: X:-65.79, Y:7.02, Z:-3.60 [[ 9.91036892e-01 1.21074274e-01 -5.64526193e-02 -6.57870039e+01] [-1.20935410e-01 9.92642949e-01 5.88230560e-03 7.01772323e+00] [ 5.67494904e-02 9.97538822e-04 9.98387951e-01 -3.59706430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.70534707000002 meters Centerline goodness [0,1] 0.9884401179388778 Centerline is valid? [True, True] Translation: X:-65.82, Y:7.02, Z:-3.60 [[ 9.90963051e-01 1.21907709e-01 -5.59530306e-02 -6.58188975e+01] [-1.21773681e-01 9.92540880e-01 5.81140885e-03 7.01883832e+00] [ 5.62441258e-02 1.05471504e-03 9.98416489e-01 -3.59901992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.73534707 meters Centerline goodness [0,1] 0.987672698516072 Centerline is valid? [True, True] Translation: X:-65.85, Y:7.02, Z:-3.60 [[ 9.90844909e-01 1.22814216e-01 -5.60627822e-02 -6.58513243e+01] [-1.22682164e-01 9.92429039e-01 5.80415446e-03 7.02124278e+00] [ 5.63511658e-02 1.12688655e-03 9.98410375e-01 -3.60068758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.76534707 meters Centerline goodness [0,1] 0.9859704543342934 Centerline is valid? [True, True] Translation: X:-65.88, Y:7.02, Z:-3.61 [[ 9.91263168e-01 1.18681855e-01 -5.75495412e-02 -6.58829426e+01] [-1.18536893e-01 9.92931892e-01 5.93823228e-03 7.01747704e+00] [ 5.78475353e-02 9.35392885e-04 9.98324991e-01 -3.60577284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.79534707 meters Centerline goodness [0,1] 0.9842246484085863 Centerline is valid? [True, True] Translation: X:-65.91, Y:7.01, Z:-3.61 [[ 9.91766869e-01 1.13754876e-01 -5.88073642e-02 -6.59148083e+01] [-1.13595911e-01 9.93508614e-01 6.05005241e-03 7.01047729e+00] [ 5.91138458e-02 6.80034593e-04 9.98251016e-01 -3.61278181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.82534707 meters Centerline goodness [0,1] 0.9831020744607776 Centerline is valid? [True, True] Translation: X:-65.95, Y:7.01, Z:-3.62 [[ 9.92488872e-01 1.06719610e-01 -5.98060545e-02 -6.59470660e+01] [-1.06543568e-01 9.94289115e-01 6.13385249e-03 7.00550438e+00] [ 6.01191113e-02 2.84170065e-04 9.98191170e-01 -3.61974150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.85534707000001 meters Centerline goodness [0,1] 0.9812921271034893 Centerline is valid? [True, True] Translation: X:-65.98, Y:7.00, Z:-3.62 [[ 9.92791459e-01 1.03309762e-01 -6.07635833e-02 -6.59800070e+01] [-1.03122842e-01 9.94649226e-01 6.21257013e-03 7.00028880e+00] [ 6.10802703e-02 9.83268254e-05 9.98132852e-01 -3.62250643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.88534707000001 meters Centerline goodness [0,1] 0.9807969498302878 Centerline is valid? [True, True] Translation: X:-66.01, Y:7.00, Z:-3.62 [[ 9.93202399e-01 9.94250711e-02 -6.05280972e-02 -6.60131152e+01] [-9.92337029e-02 9.95045045e-01 6.16693021e-03 6.99651029e+00] [ 6.08413307e-02 -1.18582658e-04 9.98147443e-01 -3.62393622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91534707000001 meters Centerline goodness [0,1] 0.9798556399490495 Centerline is valid? [True, True] Translation: X:-66.05, Y:6.99, Z:-3.63 [[ 9.93541583e-01 9.52779932e-02 -6.16216406e-02 -6.60456423e+01] [-9.50731124e-02 9.95450640e-01 6.25508687e-03 6.99119421e+00] [ 6.19372737e-02 -3.56127753e-04 9.98079980e-01 -3.62605912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.94534707000001 meters Centerline goodness [0,1] 0.9860103381230142 Centerline is valid? [True, True] Translation: X:-66.08, Y:6.98, Z:-3.62 [[ 9.93528287e-01 9.52227615e-02 -6.19206659e-02 -6.60810038e+01] [-9.50171007e-02 9.95455931e-01 6.26423243e-03 6.97866401e+00] [ 6.22357916e-02 -3.40169974e-04 9.98061416e-01 -3.61915520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97534707000001 meters Centerline goodness [0,1] 0.9898385565052231 Centerline is valid? [True, True] Translation: X:-66.11, Y:6.97, Z:-3.62 [[ 9.93217288e-01 9.73813084e-02 -6.35318835e-02 -6.61147013e+01] [-9.71698334e-02 9.95247125e-01 6.41739010e-03 6.97436208e+00] [ 6.38548583e-02 -2.00480256e-04 9.97959176e-01 -3.61644313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.00534707000001 meters Centerline goodness [0,1] 0.992619926199262 Centerline is valid? [True, True] Translation: X:-66.15, Y:6.97, Z:-3.62 [[ 9.93083460e-01 9.90814936e-02 -6.29928495e-02 -6.61473938e+01] [-9.88775937e-02 9.95079319e-01 6.35377261e-03 6.96970285e+00] [ 6.33124231e-02 -8.12451074e-05 9.97993753e-01 -3.61522930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03534707000001 meters Centerline goodness [0,1] 0.9931073025335321 Centerline is valid? [True, True] Translation: X:-66.18, Y:6.97, Z:-3.61 [[ 9.92940350e-01 1.00116296e-01 -6.36096578e-02 -6.61797511e+01] [-9.99109836e-02 9.94975742e-01 6.40844995e-03 6.96807356e+00] [ 6.39316568e-02 -7.90505459e-06 9.97954279e-01 -3.61413178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.06534707000002 meters Centerline goodness [0,1] 0.9931404279986474 Centerline is valid? [True, True] Translation: X:-66.21, Y:6.97, Z:-3.61 [[ 9.92912296e-01 1.01142385e-01 -6.24130556e-02 -6.62118218e+01] [-1.00948054e-01 9.94871958e-01 6.26724115e-03 6.96599820e+00] [ 6.27268825e-02 7.76557401e-05 9.98030727e-01 -3.61326839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.09534707 meters Centerline goodness [0,1] 0.9924903100775194 Centerline is valid? [True, True] Translation: X:-66.25, Y:6.96, Z:-3.61 [[ 9.92822898e-01 1.02148054e-01 -6.21970077e-02 -6.62454278e+01] [-1.01957358e-01 9.94769196e-01 6.24045321e-03 6.96267475e+00] [ 6.25091175e-02 1.45777740e-04 9.98044382e-01 -3.61028499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.12534707 meters Centerline goodness [0,1] 0.9918002408968776 Centerline is valid? [True, True] Translation: X:-66.28, Y:6.96, Z:-3.61 [[ 9.92544170e-01 1.03902380e-01 -6.37209994e-02 -6.62776640e+01] [-1.03706468e-01 9.94587463e-01 6.38336362e-03 6.96259369e+00] [ 6.40393538e-02 2.72509413e-04 9.97947337e-01 -3.61237993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.15534707 meters Centerline goodness [0,1] 0.9914149297585162 Centerline is valid? [True, True] Translation: X:-66.31, Y:6.96, Z:-3.61 [[ 9.92568345e-01 1.03446502e-01 -6.40851160e-02 -6.63105660e+01] [-1.03247835e-01 9.94634987e-01 6.41299577e-03 6.95942252e+00] [ 6.44047005e-02 2.51312862e-04 9.97923830e-01 -3.61262044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.18534707 meters Centerline goodness [0,1] 0.9906944762777905 Centerline is valid? [True, True] Translation: X:-66.34, Y:6.96, Z:-3.61 [[ 9.92579770e-01 1.03433913e-01 -6.39282839e-02 -6.63428512e+01] [-1.03236687e-01 9.94636295e-01 6.38961064e-03 6.95593934e+00] [ 6.42462939e-02 2.57545990e-04 9.97934040e-01 -3.61250274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.21534707 meters Centerline goodness [0,1] 0.9905307300356225 Centerline is valid? [True, True] Translation: X:-66.38, Y:6.95, Z:-3.61 [[ 9.92771527e-01 1.02347573e-01 -6.26870770e-02 -6.63765524e+01] [-1.02156260e-01 9.94748681e-01 6.25786043e-03 6.94964073e+00] [ 6.29983640e-02 1.91251701e-04 9.98013612e-01 -3.60952766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.24534707000001 meters Centerline goodness [0,1] 0.989943986239139 Centerline is valid? [True, True] Translation: X:-66.41, Y:6.95, Z:-3.61 [[ 9.92719139e-01 1.02686591e-01 -6.29616896e-02 -6.64097678e+01] [-1.02494699e-01 9.94713735e-01 6.27862707e-03 6.94814688e+00] [ 6.32735883e-02 2.20326191e-04 9.97996195e-01 -3.60885850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27534707000001 meters Centerline goodness [0,1] 0.9892505743140739 Centerline is valid? [True, True] Translation: X:-66.44, Y:6.95, Z:-3.61 [[ 9.92670133e-01 1.03184706e-01 -6.29199736e-02 -6.64432896e+01] [-1.02994648e-01 9.94662178e-01 6.26531210e-03 6.94572550e+00] [ 6.32306023e-02 2.61032323e-04 9.97998909e-01 -3.60895606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.30534707000001 meters Centerline goodness [0,1] 0.9890899756128867 Centerline is valid? [True, True] Translation: X:-66.47, Y:6.94, Z:-3.61 [[ 9.92578673e-01 1.03791089e-01 -6.33639336e-02 -6.64749321e+01] [-1.03600118e-01 9.94599072e-01 6.30094944e-03 6.94383773e+00] [ 6.36756920e-02 3.10322963e-04 9.97970596e-01 -3.60902995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33534707000001 meters Centerline goodness [0,1] 0.9873793935217091 Centerline is valid? [True, True] Translation: X:-66.51, Y:6.94, Z:-3.61 [[ 9.92609503e-01 1.03974507e-01 -6.25753733e-02 -6.65072234e+01] [-1.03788941e-01 9.94579910e-01 6.21757425e-03 6.94095876e+00] [ 6.28826783e-02 3.23008425e-04 9.98020874e-01 -3.60898035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.36534707000001 meters Centerline goodness [0,1] 0.9868706182281708 Centerline is valid? [True, True] Translation: X:-66.54, Y:6.94, Z:-3.61 [[ 9.92282569e-01 1.06474628e-01 -6.35488482e-02 -6.65394414e+01] [-1.06289341e-01 9.94315292e-01 6.29894010e-03 6.94173319e+00] [ 6.38582688e-02 5.04236732e-04 9.97958850e-01 -3.60839863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39534707000001 meters Centerline goodness [0,1] 0.9860374315664389 Centerline is valid? [True, True] Translation: X:-66.57, Y:6.94, Z:-3.61 [[ 9.92025467e-01 1.08838150e-01 -6.35588717e-02 -6.65710325e+01] [-1.08658085e-01 9.94059262e-01 6.29312347e-03 6.94169897e+00] [ 6.38662170e-02 6.63246537e-04 9.97958249e-01 -3.60793016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.42534707000002 meters Centerline goodness [0,1] 0.9851097178683386 Centerline is valid? [True, True] Translation: X:-66.60, Y:6.94, Z:-3.61 [[ 9.91589750e-01 1.12597937e-01 -6.38080877e-02 -6.66028700e+01] [-1.12424976e-01 9.93640205e-01 6.30615074e-03 6.94218401e+00] [ 6.41123409e-02 9.20508271e-04 9.97942263e-01 -3.60765425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45534707000002 meters Centerline goodness [0,1] 0.9841616828212002 Centerline is valid? [True, True] Translation: X:-66.64, Y:6.94, Z:-3.61 [[ 9.91394651e-01 1.14405071e-01 -6.36248875e-02 -6.66353810e+01] [-1.14237212e-01 9.93433640e-01 6.28190357e-03 6.94239840e+00] [ 6.39257852e-02 1.04048417e-03 9.97954113e-01 -3.60889459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.48534707 meters Centerline goodness [0,1] 0.9830874714315396 Centerline is valid? [True, True] Translation: X:-66.67, Y:6.94, Z:-3.61 [[ 9.91279330e-01 1.15562540e-01 -6.33292087e-02 -6.66681294e+01] [-1.15398991e-01 9.93299579e-01 6.24653281e-03 6.94288156e+00] [ 6.36267415e-02 1.11606790e-03 9.97973142e-01 -3.60725211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.51534707 meters Centerline goodness [0,1] 0.9816633098355153 Centerline is valid? [True, True] Translation: X:-66.70, Y:6.94, Z:-3.61 [[ 9.90984400e-01 1.18241242e-01 -6.29994257e-02 -6.66997560e+01] [-1.18085244e-01 9.92984063e-01 6.20694419e-03 6.94103388e+00] [ 6.32913425e-02 1.28831771e-03 9.97994262e-01 -3.60860374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.54534707 meters Centerline goodness [0,1] 0.9806044203879116 Centerline is valid? [True, True] Translation: X:-66.73, Y:6.94, Z:-3.61 [[ 9.90783554e-01 1.20009425e-01 -6.28147019e-02 -6.67317803e+01] [-1.19859120e-01 9.92771742e-01 6.16927262e-03 6.94195189e+00] [ 6.31010319e-02 1.41650101e-03 9.98006139e-01 -3.60818568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.57534707 meters Centerline goodness [0,1] 0.9792083333333333 Centerline is valid? [True, True] Translation: X:-66.76, Y:6.94, Z:-3.61 [[ 9.90600019e-01 1.21949004e-01 -6.19680735e-02 -6.67637206e+01] [-1.21806921e-01 9.92535195e-01 6.07960018e-03 6.94162237e+00] [ 6.22468951e-02 1.52568815e-03 9.98059616e-01 -3.60784200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.60534707000001 meters Centerline goodness [0,1] 0.9773893060856006 Centerline is valid? [True, True] Translation: X:-66.80, Y:6.94, Z:-3.61 [[ 9.90423214e-01 1.23328101e-01 -6.20647742e-02 -6.67957379e+01] [-1.23189074e-01 9.92364616e-01 6.07630209e-03 6.94461527e+00] [ 6.23402646e-02 1.62759144e-03 9.98053627e-01 -3.60895804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.63534707000001 meters Centerline goodness [0,1] 0.9767289144264314 Centerline is valid? [True, True] Translation: X:-66.83, Y:6.95, Z:-3.61 [[ 9.90356160e-01 1.23234110e-01 -6.33090013e-02 -6.68275690e+01] [-1.23089766e-01 9.92376235e-01 6.19018667e-03 6.94540898e+00] [ 6.35891905e-02 1.66220062e-03 9.97974775e-01 -3.60992069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.66534707000001 meters Centerline goodness [0,1] 0.9767289144264314 Centerline is valid? [True, True] Translation: X:-66.86, Y:6.95, Z:-3.61 [[ 9.90375133e-01 1.23080533e-01 -6.33109648e-02 -6.68599281e+01] [-1.22937162e-01 9.92395276e-01 6.17004048e-03 6.94870833e+00] [ 6.35889143e-02 1.67261569e-03 9.97974775e-01 -3.61183969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69534707000001 meters Centerline goodness [0,1] 0.9756176985386901 Centerline is valid? [True, True] Translation: X:-66.89, Y:6.95, Z:-3.61 [[ 9.89884451e-01 1.27041113e-01 -6.31611368e-02 -6.68918683e+01] [-1.26907073e-01 9.91895571e-01 6.14585465e-03 6.95117989e+00] [ 6.34300281e-02 1.93190902e-03 9.97984418e-01 -3.61291520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.72534707000001 meters Centerline goodness [0,1] 0.9734262866516301 Centerline is valid? [True, True] Translation: X:-66.92, Y:6.95, Z:-3.61 [[ 9.89368203e-01 1.30733816e-01 -6.37120663e-02 -6.69231502e+01] [-1.30605475e-01 9.91415078e-01 6.19304341e-03 6.95387135e+00] [ 6.39747433e-02 2.19394447e-03 9.97949106e-01 -3.61220174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75534707000001 meters Centerline goodness [0,1] 0.9718236472945891 Centerline is valid? [True, True] Translation: X:-66.95, Y:6.96, Z:-3.62 [[ 9.89499235e-01 1.29596635e-01 -6.39998063e-02 -6.69544168e+01] [-1.29465070e-01 9.91564498e-01 6.21618640e-03 6.95987213e+00] [ 6.42655327e-02 2.13482773e-03 9.97930551e-01 -3.61500407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.78534707000001 meters Centerline goodness [0,1] 0.9706418303300264 Centerline is valid? [True, True] Translation: X:-66.99, Y:6.96, Z:-3.61 [[ 9.89196102e-01 1.31696520e-01 -6.43979667e-02 -6.69863325e+01] [-1.31569178e-01 9.91287397e-01 6.23284078e-03 6.95970900e+00] [ 6.46577363e-02 2.30728575e-03 9.97904832e-01 -3.61456876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.81534707000002 meters Centerline goodness [0,1] 0.9683261560751801 Centerline is valid? [True, True] Translation: X:-67.02, Y:6.96, Z:-3.62 [[ 9.89169407e-01 1.31880917e-01 -6.44306443e-02 -6.70185056e+01] [-1.31755160e-01 9.91262803e-01 6.21558146e-03 6.96489638e+00] [ 6.46874177e-02 2.34080681e-03 9.97902830e-01 -3.61752150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.84534707 meters Centerline goodness [0,1] 0.967618356319058 Centerline is valid? [True, True] Translation: X:-67.05, Y:6.97, Z:-3.62 [[ 9.88994682e-01 1.33118095e-01 -6.45685034e-02 -6.70512976e+01] [-1.32994898e-01 9.91097194e-01 6.22166277e-03 6.96710414e+00] [ 6.48218784e-02 2.43409012e-03 9.97893882e-01 -3.61727345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.87534707 meters Centerline goodness [0,1] 0.9658388855239249 Centerline is valid? [True, True] Translation: X:-67.08, Y:6.97, Z:-3.62 [[ 9.89083596e-01 1.32468074e-01 -6.45433947e-02 -6.70837231e+01] [-1.32344334e-01 9.91184362e-01 6.20782259e-03 6.96977421e+00] [ 6.47967418e-02 2.40189711e-03 9.97895592e-01 -3.61931584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.90534707 meters Centerline goodness [0,1] 0.9633689413265306 Centerline is valid? [True, True] Translation: X:-67.12, Y:6.97, Z:-3.62 [[ 9.89526972e-01 1.28440565e-01 -6.58740630e-02 -6.71153509e+01] [-1.28303303e-01 9.91714789e-01 6.32765615e-03 6.97287641e+00] [ 6.61410103e-02 2.19047346e-03 9.97807882e-01 -3.62371321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.93534707 meters Centerline goodness [0,1] 0.9683911645580191 Centerline is valid? [True, True] Translation: X:-67.15, Y:6.97, Z:-3.62 [[ 9.88906901e-01 1.33579908e-01 -6.49580608e-02 -6.71461803e+01] [-1.33458689e-01 9.91034850e-01 6.22133802e-03 6.96843170e+00] [ 6.52067478e-02 2.51689352e-03 9.97868601e-01 -3.62136571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.96534707 meters Centerline goodness [0,1] 0.9679455031761952 Centerline is valid? [True, True] Translation: X:-67.18, Y:6.97, Z:-3.63 [[ 9.89070306e-01 1.32814687e-01 -6.40327126e-02 -6.71781151e+01] [-1.32695432e-01 9.91137901e-01 6.13060545e-03 6.96983610e+00] [ 6.42794828e-02 2.43324862e-03 9.97928969e-01 -3.62572122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.99534707000001 meters Centerline goodness [0,1] 0.9683920237590157 Centerline is valid? [True, True] Translation: X:-67.21, Y:6.97, Z:-3.63 [[ 9.89186100e-01 1.32019418e-01 -6.38884401e-02 -6.72096209e+01] [-1.31899572e-01 9.91244263e-01 6.10858051e-03 6.96892193e+00] [ 6.41355009e-02 2.38433497e-03 9.97938351e-01 -3.62611558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.02534707000001 meters Centerline goodness [0,1] 0.9701205437291613 Centerline is valid? [True, True] Translation: X:-67.24, Y:6.97, Z:-3.63 [[ 9.89122720e-01 1.32305399e-01 -6.42769534e-02 -6.72414874e+01] [-1.32186164e-01 9.91205996e-01 6.12298626e-03 6.97325305e+00] [ 6.45218057e-02 2.44013910e-03 9.97913314e-01 -3.63017854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05534707000001 meters Centerline goodness [0,1] 0.9681657402728651 Centerline is valid? [True, True] Translation: X:-67.27, Y:6.98, Z:-3.63 [[ 9.89311058e-01 1.30939098e-01 -6.41761885e-02 -6.72729628e+01] [-1.30817847e-01 9.91387617e-01 6.10597515e-03 6.97628488e+00] [ 6.44229895e-02 2.35468205e-03 9.97919904e-01 -3.63491390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.08534707000001 meters Centerline goodness [0,1] 0.9678750368405541 Centerline is valid? [True, True] Translation: X:-67.30, Y:6.98, Z:-3.64 [[ 9.89501384e-01 1.28848069e-01 -6.54613309e-02 -6.73046457e+01] [-1.28717827e-01 9.91661747e-01 6.22096363e-03 6.98007673e+00] [ 6.57170569e-02 2.27038817e-03 9.97835715e-01 -3.63593323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11534707000001 meters Centerline goodness [0,1] 0.9691324277724043 Centerline is valid? [True, True] Translation: X:-67.34, Y:6.98, Z:-3.64 [[ 9.89347874e-01 1.30162125e-01 -6.51813306e-02 -6.73367814e+01] [-1.30036298e-01 9.91489928e-01 6.18737232e-03 6.98246384e+00] [ 6.54319943e-02 2.35447526e-03 9.97854253e-01 -3.63682686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.14534707000001 meters Centerline goodness [0,1] 0.9642857142857143 Centerline is valid? [True, True] Translation: X:-67.37, Y:6.99, Z:-3.64 [[ 9.90243696e-01 1.22366314e-01 -6.66626338e-02 -6.73676757e+01] [-1.22217514e-01 9.92483210e-01 6.32122757e-03 6.98912092e+00] [ 6.69350501e-02 1.88778561e-03 9.97755549e-01 -3.63892533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.17534707000002 meters Centerline goodness [0,1] 0.9683711565082428 Centerline is valid? [True, True] Translation: X:-67.40, Y:6.99, Z:-3.64 [[ 9.89742437e-01 1.26861161e-01 -6.56974502e-02 -6.73984576e+01] [-1.26726732e-01 9.91918125e-01 6.22643495e-03 6.98741781e+00] [ 6.59563844e-02 2.16305626e-03 9.97820162e-01 -3.64108856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.20534707000002 meters Centerline goodness [0,1] 0.9699703462389843 Centerline is valid? [True, True] Translation: X:-67.43, Y:6.99, Z:-3.64 [[ 9.89785978e-01 1.26940542e-01 -6.48830914e-02 -6.74310611e+01] [-1.26809759e-01 9.91908011e-01 6.14673793e-03 6.99433533e+00] [ 6.51383284e-02 2.14385417e-03 9.97873941e-01 -3.64140442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.23534707 meters Centerline goodness [0,1] 0.968024107479178 Centerline is valid? [True, True] Translation: X:-67.46, Y:6.99, Z:-3.64 [[ 9.89863363e-01 1.26117797e-01 -6.53056220e-02 -6.74619455e+01] [-1.25984180e-01 9.92013021e-01 6.17669008e-03 6.99475922e+00] [ 6.55630179e-02 2.11339605e-03 9.97846193e-01 -3.64385733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.26534707 meters Centerline goodness [0,1] 0.9708614327522586 Centerline is valid? [True, True] Translation: X:-67.49, Y:7.00, Z:-3.64 [[ 9.89544668e-01 1.28976342e-01 -6.45480770e-02 -6.74931788e+01] [-1.28852288e-01 9.91645045e-01 6.09864516e-03 6.99689423e+00] [ 6.47953616e-02 2.28228560e-03 9.97895963e-01 -3.64384442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.29534707 meters Centerline goodness [0,1] 0.9690328528327188 Centerline is valid? [True, True] Translation: X:-67.53, Y:7.00, Z:-3.65 [[ 9.89917894e-01 1.26084453e-01 -6.45389354e-02 -6.75251362e+01] [-1.25955665e-01 9.92017260e-01 6.07674235e-03 7.00072007e+00] [ 6.47899205e-02 2.11356854e-03 9.97896688e-01 -3.64578318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.32534707 meters Centerline goodness [0,1] 0.9675997171733977 Centerline is valid? [True, True] Translation: X:-67.56, Y:7.00, Z:-3.65 [[ 9.90160392e-01 1.24552398e-01 -6.37894833e-02 -6.75570720e+01] [-1.24423847e-01 9.92211023e-01 5.99938965e-03 7.00281346e+00] [ 6.40398669e-02 1.99657488e-03 9.97945344e-01 -3.64655666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.35534707000001 meters Centerline goodness [0,1] 0.9689665186906194 Centerline is valid? [True, True] Translation: X:-67.59, Y:7.01, Z:-3.65 [[ 9.90685375e-01 1.20180920e-01 -6.40236963e-02 -6.75889738e+01] [-1.20042742e-01 9.92750504e-01 6.01465595e-03 7.00561241e+00] [ 6.42824037e-02 1.72694835e-03 9.97930253e-01 -3.64756869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.38534707000001 meters Centerline goodness [0,1] 0.9722963527767188 Centerline is valid? [True, True] Translation: X:-67.62, Y:7.01, Z:-3.65 [[ 9.90496413e-01 1.22466900e-01 -6.25996389e-02 -6.76204115e+01] [-1.22339761e-01 9.92470893e-01 5.87446838e-03 7.00773042e+00] [ 6.28477474e-02 1.83978500e-03 9.98021431e-01 -3.65016131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41534707000001 meters Centerline goodness [0,1] 0.9728928420160948 Centerline is valid? [True, True] Translation: X:-67.65, Y:7.01, Z:-3.65 [[ 9.90655379e-01 1.21787849e-01 -6.13973985e-02 -6.76519043e+01] [-1.21664547e-01 9.92554582e-01 5.75674986e-03 7.00810758e+00] [ 6.16413713e-02 1.76693145e-03 9.98096799e-01 -3.65028163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.44534707000001 meters Centerline goodness [0,1] 0.9714489950382642 Centerline is valid? [True, True] Translation: X:-67.68, Y:7.01, Z:-3.65 [[ 9.90423552e-01 1.23191863e-01 -6.23293909e-02 -6.76832972e+01] [-1.23068001e-01 9.92381073e-01 5.83716091e-03 7.01450657e+00] [ 6.25735985e-02 1.88949192e-03 9.98038564e-01 -3.65066208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47534707000001 meters Centerline goodness [0,1] 0.9751926170519007 Centerline is valid? [True, True] Translation: X:-67.71, Y:7.01, Z:-3.65 [[ 9.90312839e-01 1.23978692e-01 -6.25281054e-02 -6.77148284e+01] [-1.23856132e-01 9.92282957e-01 5.84736406e-03 7.01389454e+00] [ 6.27705219e-02 1.95376960e-03 9.98026074e-01 -3.65419440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.50534707000001 meters Centerline goodness [0,1] 0.9791145943656006 Centerline is valid? [True, True] Translation: X:-67.75, Y:7.02, Z:-3.65 [[ 9.89760502e-01 1.28342644e-01 -6.24685055e-02 -6.77461306e+01] [-1.28229389e-01 9.91727368e-01 5.83539866e-03 7.01806441e+00] [ 6.27006570e-02 2.23465116e-03 9.98029876e-01 -3.65478450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53534707000001 meters Centerline goodness [0,1] 0.9829740837037658 Centerline is valid? [True, True] Translation: X:-67.78, Y:7.02, Z:-3.66 [[ 9.89765941e-01 1.27327636e-01 -6.44286796e-02 -6.77783769e+01] [-1.27205260e-01 9.91858178e-01 6.01475993e-03 7.02224533e+00] [ 6.46699579e-02 2.24246243e-03 9.97904188e-01 -3.65623626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.56534707000002 meters Centerline goodness [0,1] 0.9897765197921508 Centerline is valid? [True, True] Translation: X:-67.81, Y:7.02, Z:-3.66 [[ 9.89026912e-01 1.33046378e-01 -6.42217209e-02 -6.78099730e+01] [-1.32937225e-01 9.91106365e-01 5.98893421e-03 7.02469186e+00] [ 6.44473624e-02 2.61424023e-03 9.97917684e-01 -3.65991583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.59534707 meters Centerline goodness [0,1] 0.9958387625572696 Centerline is valid? [True, True] Translation: X:-67.84, Y:7.03, Z:-3.66 [[ 9.87963024e-01 1.39659287e-01 -6.65157574e-02 -6.78401870e+01] [-1.39557591e-01 9.90194571e-01 6.19595176e-03 7.03342686e+00] [ 6.67288641e-02 3.16140763e-03 9.97766137e-01 -3.66285022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.62534707 meters Centerline goodness [0,1] 0.998721881390593 Centerline is valid? [True, True] Translation: X:-67.87, Y:7.04, Z:-3.66 [[ 9.86954054e-01 1.46494665e-01 -6.67907824e-02 -6.78698801e+01] [-1.46407802e-01 9.89204764e-01 6.22012240e-03 7.03526829e+00] [ 6.69809749e-02 3.63971666e-03 9.97747614e-01 -3.66285528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.65534707 meters Centerline goodness [0,1] 0.9994982858098503 Centerline is valid? [True, True] Translation: X:-67.90, Y:7.05, Z:-3.67 [[ 9.87040921e-01 1.45333357e-01 -6.80326046e-02 -6.79012295e+01] [-1.45240697e-01 9.89376084e-01 6.33278569e-03 7.04658639e+00] [ 6.82301969e-02 3.63038432e-03 9.97662999e-01 -3.66809661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.68534707 meters Centerline goodness [0,1] 0.9996218646275367 Centerline is valid? [True, True] Translation: X:-67.93, Y:7.05, Z:-3.67 [[ 9.86607664e-01 1.48504807e-01 -6.74658347e-02 -6.79315584e+01] [-1.48422586e-01 9.88904231e-01 6.25755863e-03 7.04815933e+00] [ 6.76465270e-02 3.83969835e-03 9.97701962e-01 -3.66840902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.71534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-67.96, Y:7.06, Z:-3.67 [[ 9.86056658e-01 1.52385439e-01 -6.68651227e-02 -6.79622198e+01] [-1.52313685e-01 9.88312756e-01 6.19979929e-03 7.05585138e+00] [ 6.70284128e-02 4.07111987e-03 9.97742761e-01 -3.67004506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.74534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-67.99, Y:7.06, Z:-3.67 [[ 9.85544908e-01 1.55971437e-01 -6.61373162e-02 -6.79935033e+01] [-1.55909513e-01 9.87752330e-01 6.12850545e-03 7.06068331e+00] [ 6.62831599e-02 4.27151943e-03 9.97791710e-01 -3.67239709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-68.02, Y:7.06, Z:-3.68 [[ 9.85495840e-01 1.55907975e-01 -6.70123289e-02 -6.80247940e+01] [-1.55844797e-01 9.87762086e-01 6.20164814e-03 7.05852763e+00] [ 6.71591242e-02 4.33182437e-03 9.97732874e-01 -3.67581142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.80534707000001 meters Centerline goodness [0,1] 0.9997439399112324 Centerline is valid? [True, True] Translation: X:-68.06, Y:7.06, Z:-3.68 [[ 9.85062040e-01 1.58631112e-01 -6.69996157e-02 -6.80557674e+01] [-1.58575762e-01 9.87327487e-01 6.17755066e-03 7.06493909e+00] [ 6.71305139e-02 4.53924445e-03 9.97733877e-01 -3.67544368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83534707000001 meters Centerline goodness [0,1] 0.9995782726045884 Centerline is valid? [True, True] Translation: X:-68.09, Y:7.07, Z:-3.68 [[ 9.85084908e-01 1.58841916e-01 -6.61586750e-02 -6.80872433e+01] [-1.58788831e-01 9.87293763e-01 6.09372121e-03 7.07130891e+00] [ 6.62859855e-02 4.50242587e-03 9.97790507e-01 -3.67656243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.86534707000001 meters Centerline goodness [0,1] 0.9994886218358476 Centerline is valid? [True, True] Translation: X:-68.12, Y:7.07, Z:-3.68 [[ 9.84870493e-01 1.59733914e-01 -6.71951609e-02 -6.81201339e+01] [-1.59682890e-01 9.87149114e-01 6.16450275e-03 7.07043607e+00] [ 6.73163237e-02 4.65868066e-03 9.97720807e-01 -3.67948663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89534707000001 meters Centerline goodness [0,1] 0.9999159522608841 Centerline is valid? [True, True] Translation: X:-68.15, Y:7.08, Z:-3.69 [[ 9.84932291e-01 1.59216855e-01 -6.75157384e-02 -6.81519257e+01] [-1.59164960e-01 9.87232648e-01 6.18179683e-03 7.08429224e+00] [ 6.76379874e-02 4.65748848e-03 9.97699058e-01 -3.68537830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.92534707000002 meters Centerline goodness [0,1] 0.9998380829015544 Centerline is valid? [True, True] Translation: X:-68.18, Y:7.09, Z:-3.69 [[ 9.85068791e-01 1.57861731e-01 -6.86960717e-02 -6.81829528e+01] [-1.57806740e-01 9.87450168e-01 6.26087728e-03 7.09103707e+00] [ 6.88223005e-02 4.67330834e-03 9.97617989e-01 -3.68990865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95534707000002 meters Centerline goodness [0,1] 0.9998303215406804 Centerline is valid? [True, True] Translation: X:-68.21, Y:7.09, Z:-3.69 [[ 9.84295246e-01 1.63014724e-01 -6.77426600e-02 -6.82137243e+01] [-1.62974077e-01 9.86611100e-01 6.16341773e-03 7.08725545e+00] [ 6.78403881e-02 4.97367473e-03 9.97683790e-01 -3.68956879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.98534707 meters Centerline goodness [0,1] 0.9999571054776305 Centerline is valid? [True, True] Translation: X:-68.24, Y:7.09, Z:-3.69 [[ 9.83450390e-01 1.67902147e-01 -6.80749549e-02 -6.82441731e+01] [-1.67872709e-01 9.85789222e-01 6.19385309e-03 7.09460406e+00] [ 6.81475180e-02 5.33657984e-03 9.97660983e-01 -3.69134979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.01534707 meters Centerline goodness [0,1] 0.9998724001531198 Centerline is valid? [True, True] Translation: X:-68.28, Y:7.10, Z:-3.69 [[ 9.83109778e-01 1.69697157e-01 -6.85422420e-02 -6.82753039e+01] [-1.69671774e-01 9.85480908e-01 6.23451586e-03 7.09787598e+00] [ 6.86050505e-02 5.50047031e-03 9.97628734e-01 -3.69495915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.04534707 meters Centerline goodness [0,1] 0.9999147884623578 Centerline is valid? [True, True] Translation: X:-68.31, Y:7.10, Z:-3.70 [[ 9.82990571e-01 1.70424064e-01 -6.84483437e-02 -6.83070928e+01] [-1.70400956e-01 9.85355182e-01 6.21929798e-03 7.10257173e+00] [ 6.85058482e-02 5.55015195e-03 9.97635276e-01 -3.69631095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.07534707 meters Centerline goodness [0,1] 0.9998707899043845 Centerline is valid? [True, True] Translation: X:-68.34, Y:7.10, Z:-3.70 [[ 9.82793904e-01 1.71529385e-01 -6.85113987e-02 -6.83378891e+01] [-1.71510560e-01 9.85162767e-01 6.20086644e-03 7.10272340e+00] [ 6.85585099e-02 5.65625465e-03 9.97631063e-01 -3.70115929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.10534707000001 meters Centerline goodness [0,1] 0.9998293151269468 Centerline is valid? [True, True] Translation: X:-68.37, Y:7.11, Z:-3.70 [[ 9.82571167e-01 1.72494122e-01 -6.92797201e-02 -6.83700656e+01] [-1.72478429e-01 9.84993444e-01 6.25360789e-03 7.10646795e+00] [ 6.93187807e-02 5.80464246e-03 9.97577673e-01 -3.70193465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.13534707000001 meters Centerline goodness [0,1] 0.9997026843357119 Centerline is valid? [True, True] Translation: X:-68.40, Y:7.11, Z:-3.70 [[ 9.82038225e-01 1.75111700e-01 -7.02624827e-02 -6.84009535e+01] [-1.75103876e-01 9.84529688e-01 6.31870954e-03 7.10717054e+00] [ 7.02819802e-02 6.09801874e-03 9.97508525e-01 -3.70326144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.16534707000001 meters Centerline goodness [0,1] 0.9995756418417144 Centerline is valid? [True, True] Translation: X:-68.43, Y:7.11, Z:-3.70 [[ 9.81829167e-01 1.76939874e-01 -6.85840136e-02 -6.84324189e+01] [-1.76937066e-01 9.84202865e-01 6.16410267e-03 7.10555018e+00] [ 6.85912582e-02 6.08295835e-03 9.97626301e-01 -3.70098728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19534707000001 meters Centerline goodness [0,1] 0.9998718824735224 Centerline is valid? [True, True] Translation: X:-68.46, Y:7.11, Z:-3.71 [[ 9.81800933e-01 1.76555209e-01 -6.99656104e-02 -6.84642616e+01] [-1.76551890e-01 9.84271297e-01 6.28043921e-03 7.10656527e+00] [ 6.99739863e-02 6.18641964e-03 9.97529633e-01 -3.70782523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.22534707000001 meters Centerline goodness [0,1] 0.9980081334550586 Centerline is valid? [True, True] Translation: X:-68.50, Y:7.12, Z:-3.71 [[ 9.82047066e-01 1.75314015e-01 -6.96315787e-02 -6.84955869e+01] [-1.75309578e-01 9.84493693e-01 6.22255020e-03 7.11572382e+00] [ 6.96427504e-02 6.09624549e-03 9.97553369e-01 -3.71029217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25534707000001 meters Centerline goodness [0,1] 0.9993195832447374 Centerline is valid? [True, True] Translation: X:-68.53, Y:7.11, Z:-3.71 [[ 9.81449175e-01 1.78872554e-01 -6.90081605e-02 -6.85259844e+01] [-1.78878524e-01 9.83851988e-01 6.14329503e-03 7.11052706e+00] [ 6.89926827e-02 6.31474608e-03 9.97597180e-01 -3.71081460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.28534707000001 meters Centerline goodness [0,1] 0.9974735778348562 Centerline is valid? [True, True] Translation: X:-68.56, Y:7.11, Z:-3.71 [[ 9.81283760e-01 1.79850769e-01 -6.88177507e-02 -6.85582862e+01] [-1.79859349e-01 9.83673284e-01 6.12251586e-03 7.11279995e+00] [ 6.87953220e-02 6.36959047e-03 9.97610461e-01 -3.71430767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31534707000002 meters Centerline goodness [0,1] 0.9964165087733751 Centerline is valid? [True, True] Translation: X:-68.59, Y:7.11, Z:-3.72 [[ 9.81719008e-01 1.77452872e-01 -6.88350759e-02 -6.85897788e+01] [-1.77457225e-01 9.84109605e-01 6.10072966e-03 7.11445706e+00] [ 6.88238514e-02 6.22607931e-03 9.97609399e-01 -3.71664860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.34534707000002 meters Centerline goodness [0,1] 0.9970417847898435 Centerline is valid? [True, True] Translation: X:-68.62, Y:7.11, Z:-3.72 [[ 9.81552540e-01 1.78529694e-01 -6.84233820e-02 -6.86212795e+01] [-1.78537028e-01 9.83914546e-01 6.05771241e-03 7.11133546e+00] [ 6.84042424e-02 6.27014430e-03 9.97637983e-01 -3.71666349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.37534707 meters Centerline goodness [0,1] 0.9981762413993203 Centerline is valid? [True, True] Translation: X:-68.65, Y:7.11, Z:-3.72 [[ 9.81223228e-01 1.80656999e-01 -6.75575727e-02 -6.86518484e+01] [-1.80670541e-01 9.83525613e-01 5.96016652e-03 7.10709259e+00] [ 6.75213489e-02 6.35740934e-03 9.97697575e-01 -3.71782719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.40534707 meters Centerline goodness [0,1] 0.9988763109705344 Centerline is valid? [True, True] Translation: X:-68.68, Y:7.10, Z:-3.72 [[ 9.81166398e-01 1.80800066e-01 -6.79987928e-02 -6.86842340e+01] [-1.80814485e-01 9.83498955e-01 5.99390839e-03 7.09857053e+00] [ 6.79604407e-02 6.41414523e-03 9.97667398e-01 -3.71921590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.43534707 meters Centerline goodness [0,1] 0.9974175274908363 Centerline is valid? [True, True] Translation: X:-68.72, Y:7.11, Z:-3.72 [[ 9.80889020e-01 1.82276709e-01 -6.80583016e-02 -6.87154259e+01] [-1.82296299e-01 9.83225486e-01 5.97528845e-03 7.10637988e+00] [ 6.80058125e-02 6.54568166e-03 9.97663452e-01 -3.72140786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.46534707 meters Centerline goodness [0,1] 0.9975727139568947 Centerline is valid? [True, True] Translation: X:-68.75, Y:7.10, Z:-3.72 [[ 9.81075083e-01 1.81525612e-01 -6.73805148e-02 -6.87466565e+01] [-1.81543529e-01 9.83365158e-01 5.90866839e-03 7.10491760e+00] [ 6.73322252e-02 6.43564912e-03 9.97709855e-01 -3.72390720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.49534707000001 meters Centerline goodness [0,1] 0.9919903718459495 Centerline is valid? [True, True] Translation: X:-68.78, Y:7.11, Z:-3.73 [[ 9.80586861e-01 1.84029872e-01 -6.76935277e-02 -6.87776237e+01] [-1.84054753e-01 9.82898146e-01 5.92297469e-03 7.10924620e+00] [ 6.76258472e-02 6.65132437e-03 9.97688581e-01 -3.72736827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.52534707000001 meters Centerline goodness [0,1] 0.9964903588091993 Centerline is valid? [True, True] Translation: X:-68.81, Y:7.10, Z:-3.73 [[ 9.80574084e-01 1.84132959e-01 -6.75982199e-02 -6.88091425e+01] [-1.84158459e-01 9.82878811e-01 5.90801863e-03 7.10490785e+00] [ 6.75287189e-02 6.65553405e-03 9.97695132e-01 -3.72688292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55534707000001 meters Centerline goodness [0,1] 0.9964903588091993 Centerline is valid? [True, True] Translation: X:-68.84, Y:7.11, Z:-3.73 [[ 9.80659781e-01 1.83675168e-01 -6.76004855e-02 -6.88418009e+01] [-1.83701369e-01 9.82964500e-01 5.88198761e-03 7.10802509e+00] [ 6.75292525e-02 6.65007307e-03 9.97695132e-01 -3.72881806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.58534707000001 meters Centerline goodness [0,1] 0.987389659520807 Centerline is valid? [True, True] Translation: X:-68.87, Y:7.11, Z:-3.73 [[ 9.80371992e-01 1.85327938e-01 -6.72630160e-02 -6.88729109e+01] [-1.85359605e-01 9.82653495e-01 5.82460290e-03 7.11262909e+00] [ 6.71756994e-02 6.75756856e-03 9.97718277e-01 -3.73227957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61534707000001 meters Centerline goodness [0,1] 0.9910417511147143 Centerline is valid? [True, True] Translation: X:-68.90, Y:7.11, Z:-3.74 [[ 9.80342832e-01 1.85534661e-01 -6.71179603e-02 -6.89044494e+01] [-1.85567097e-01 9.82614445e-01 5.80566047e-03 7.11116548e+00] [ 6.70282285e-02 6.76334743e-03 9.97728156e-01 -3.73520522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.64534707000001 meters Centerline goodness [0,1] 0.9946948527922893 Centerline is valid? [True, True] Translation: X:-68.94, Y:7.11, Z:-3.74 [[ 9.80214702e-01 1.86356417e-01 -6.67114996e-02 -6.89369995e+01] [-1.86391955e-01 9.82458661e-01 5.74625573e-03 7.10554289e+00] [ 6.66121422e-02 6.80192249e-03 9.97755760e-01 -3.73548892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67534707000002 meters Centerline goodness [0,1] 0.991879025483058 Centerline is valid? [True, True] Translation: X:-68.97, Y:7.11, Z:-3.74 [[ 9.80445412e-01 1.84691659e-01 -6.79395741e-02 -6.89694274e+01] [-1.84726494e-01 9.82772712e-01 5.82398042e-03 7.10786879e+00] [ 6.78448001e-02 6.84014446e-03 9.97672439e-01 -3.73895866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.70534707000002 meters Centerline goodness [0,1] 0.9926215627771954 Centerline is valid? [True, True] Translation: X:-69.00, Y:7.10, Z:-3.74 [[ 9.79925406e-01 1.87588714e-01 -6.75031336e-02 -6.89996840e+01] [-1.87631512e-01 9.82222586e-01 5.76249831e-03 7.10452173e+00] [ 6.73840821e-02 7.01889652e-03 9.97702421e-01 -3.74064909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.73534707 meters Centerline goodness [0,1] 0.99736 Centerline is valid? [True, True] Translation: X:-69.03, Y:7.10, Z:-3.74 [[ 9.80072592e-01 1.86904529e-01 -6.72637409e-02 -6.90318555e+01] [-1.86945552e-01 9.82353506e-01 5.74019619e-03 7.09897660e+00] [ 6.71496404e-02 6.94884822e-03 9.97718718e-01 -3.74183003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.76534707 meters Centerline goodness [0,1] 0.9957242547698761 Centerline is valid? [True, True] Translation: X:-69.06, Y:7.10, Z:-3.75 [[ 9.79691617e-01 1.88814539e-01 -6.74789188e-02 -6.90634807e+01] [-1.88861251e-01 9.81986980e-01 5.74452725e-03 7.09944628e+00] [ 6.73480699e-02 7.11628783e-03 9.97704163e-01 -3.74620241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.79534707 meters Centerline goodness [0,1] 0.8021506239216788 Centerline is valid? [True, False] Translation: X:-69.07, Y:7.10, Z:-3.74 [[ 9.80676275e-01 1.82839093e-01 -6.95982090e-02 -6.90672877e+01] [-1.83239453e-01 9.83068101e-01 6.42197564e-04 7.09779625e+00] [ 6.85371979e-02 1.21233498e-02 9.97574898e-01 -3.74291722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.82534707 meters Centerline goodness [0,1] 0.9895622494741437 Centerline is valid? [False, True] Translation: X:-69.07, Y:7.10, Z:-3.74 [[ 9.81631105e-01 1.76931232e-01 -7.13842554e-02 -6.90707357e+01] [-1.77701930e-01 9.84073869e-01 -4.54357052e-03 7.09631133e+00] [ 6.94434809e-02 1.71452301e-02 9.97438541e-01 -3.74002471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.85534707000001 meters Centerline goodness [0,1] 0.7861395570373899 Centerline is valid? [True, False] Translation: X:-69.07, Y:7.09, Z:-3.74 [[ 9.82530050e-01 1.70875647e-01 -7.37306904e-02 -6.90743781e+01] [-1.72083549e-01 9.85028443e-01 -1.03062419e-02 7.09351007e+00] [ 7.08657414e-02 2.28140313e-02 9.97224933e-01 -3.73621486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.88534707000001 meters Centerline goodness [0,1] 0.7794346070208139 Centerline is valid? [False, False] Translation: X:-69.08, Y:7.09, Z:-3.73 [[ 9.83035704e-01 1.67381478e-01 -7.49949758e-02 -6.90766930e+01] [-1.68850111e-01 9.85547283e-01 -1.36452748e-02 7.09093330e+00] [ 7.16271283e-02 2.60767023e-02 9.97090548e-01 -3.73413436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91534707000001 meters Centerline goodness [0,1] 0.9561634158784977 Centerline is valid? [False, True] Translation: X:-69.08, Y:7.09, Z:-3.73 [[ 9.83791423e-01 1.62087886e-01 -7.66938982e-02 -6.90800898e+01] [-1.63919299e-01 9.86306261e-01 -1.81775108e-02 7.09003792e+00] [ 7.26973177e-02 3.04544893e-02 9.96888973e-01 -3.73128505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.94534707000001 meters Centerline goodness [0,1] 0.9812382739212008 Centerline is valid? [True, True] Translation: X:-69.11, Y:7.09, Z:-3.74 [[ 9.83187960e-01 1.66537360e-01 -7.48781905e-02 -6.91088856e+01] [-1.66726548e-01 9.85996000e-01 3.76126176e-03 7.09430539e+00] [ 7.44559869e-02 8.78615496e-03 9.97185594e-01 -3.74345786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97534707000001 meters Centerline goodness [0,1] 0.7663569568090813 Centerline is valid? [True, False] Translation: X:-69.11, Y:7.09, Z:-3.74 [[ 9.83700608e-01 1.62708895e-01 -7.65436493e-02 -6.91114337e+01] [-1.63198811e-01 9.86593192e-01 -1.47388330e-04 7.09181389e+00] [ 7.54934618e-02 1.26368186e-02 9.97066220e-01 -3.74055942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.00534707000001 meters Centerline goodness [0,1] 0.7595821491666026 Centerline is valid? [False, False] Translation: X:-69.11, Y:7.09, Z:-3.74 [[ 9.84243617e-01 1.58724324e-01 -7.79172125e-02 -6.91139308e+01] [-1.59499440e-01 9.87190753e-01 -3.78762112e-03 7.09010477e+00] [ 7.63179641e-02 1.61556937e-02 9.96952638e-01 -3.73831521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03534707000001 meters Centerline goodness [0,1] 0.746015898006989 Centerline is valid? [False, False] Translation: X:-69.12, Y:7.09, Z:-3.74 [[ 9.84792405e-01 1.54475161e-01 -7.95068760e-02 -6.91162175e+01] [-1.55576421e-01 9.87792980e-01 -7.81062660e-03 7.08829051e+00] [ 7.73297862e-02 2.00612410e-02 9.96803717e-01 -3.73592065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.06534707000002 meters Centerline goodness [0,1] 0.7490958408679927 Centerline is valid? [False, False] Translation: X:-69.12, Y:7.09, Z:-3.73 [[ 9.85190403e-01 1.50985098e-01 -8.12611253e-02 -6.91181445e+01] [-1.52384744e-01 9.88256976e-01 -1.12712038e-02 7.08552166e+00] [ 7.86050901e-02 2.34872376e-02 9.96629113e-01 -3.73343440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.09534707000002 meters Centerline goodness [0,1] 0.7452895220588236 Centerline is valid? [False, False] Translation: X:-69.12, Y:7.08, Z:-3.73 [[ 9.85787349e-01 1.46190710e-01 -8.27742580e-02 -6.91213970e+01] [-1.47942590e-01 9.88875905e-01 -1.54089226e-02 7.08327180e+00] [ 7.96008279e-02 2.74357590e-02 9.96449190e-01 -3.73061427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.12534707 meters Centerline goodness [0,1] 0.7417943107221007 Centerline is valid? [False, False] Translation: X:-69.12, Y:7.08, Z:-3.73 [[ 9.86209378e-01 1.42436912e-01 -8.42780424e-02 -6.91236719e+01] [-1.44529341e-01 9.89313462e-01 -1.92391332e-02 7.07942891e+00] [ 8.06370391e-02 3.11544635e-02 9.96256527e-01 -3.72829151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.15534707 meters Centerline goodness [0,1] 0.7523661694555918 Centerline is valid? [False, False] Translation: X:-69.13, Y:7.08, Z:-3.73 [[ 9.86728803e-01 1.37926675e-01 -8.56883933e-02 -6.91256304e+01] [-1.40389265e-01 9.89820269e-01 -2.33813780e-02 7.07690020e+00] [ 8.15911928e-02 3.51008097e-02 9.96047594e-01 -3.72627826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.18534707 meters Centerline goodness [0,1] 0.7425794588915156 Centerline is valid? [False, False] Translation: X:-69.13, Y:7.07, Z:-3.72 [[ 9.87036697e-01 1.34874125e-01 -8.69915516e-02 -6.91275199e+01] [-1.37621010e-01 9.90134004e-01 -2.63649768e-02 7.07373783e+00] [ 8.25773401e-02 3.79950648e-02 9.95860110e-01 -3.72432962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.21534707 meters Centerline goodness [0,1] 0.7603619707295275 Centerline is valid? [False, False] Translation: X:-69.13, Y:7.07, Z:-3.72 [[ 9.87474826e-01 1.30708267e-01 -8.83675133e-02 -6.91304490e+01] [-1.33769233e-01 9.90569529e-01 -2.96276804e-02 7.07085442e+00] [ 8.36615834e-02 4.10774431e-02 9.95647218e-01 -3.72208511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.24534707000001 meters Centerline goodness [0,1] 0.7601315590503553 Centerline is valid? [False, False] Translation: X:-69.13, Y:7.07, Z:-3.72 [[ 9.87840262e-01 1.26561617e-01 -9.02982530e-02 -6.91325063e+01] [-1.30008654e-01 9.90951880e-01 -3.33484839e-02 7.06579796e+00] [ 8.52605855e-02 4.46825293e-02 9.95356270e-01 -3.71969309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27534707000001 meters Centerline goodness [0,1] 0.7558312286435893 Centerline is valid? [False, False] Translation: X:-69.14, Y:7.06, Z:-3.72 [[ 9.88377527e-01 1.21702142e-01 -9.10958391e-02 -6.91352223e+01] [-1.25536039e-01 9.91376648e-01 -3.75904934e-02 7.06431795e+00] [ 8.57354440e-02 4.85894097e-02 9.95132405e-01 -3.71797660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.30534707000001 meters Centerline goodness [0,1] 0.7529999254676902 Centerline is valid? [False, False] Translation: X:-69.14, Y:7.06, Z:-3.72 [[ 9.88764372e-01 1.17778915e-01 -9.20496856e-02 -6.91378088e+01] [-1.21928018e-01 9.91699495e-01 -4.08126324e-02 7.05837197e+00] [ 8.64787592e-02 5.15775125e-02 9.94917677e-01 -3.71643039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33534707000001 meters Centerline goodness [0,1] 0.7658566572647718 Centerline is valid? [False, False] Translation: X:-69.14, Y:7.05, Z:-3.71 [[ 9.89161186e-01 1.13365494e-01 -9.33188793e-02 -6.91407623e+01] [-1.17844134e-01 9.92058942e-01 -4.39524296e-02 7.05463475e+00] [ 8.75951397e-02 5.44731199e-02 9.94665658e-01 -3.71446013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.36534707000001 meters Centerline goodness [0,1] 0.7856143193871539 Centerline is valid? [False, False] Translation: X:-69.14, Y:7.05, Z:-3.71 [[ 9.89632839e-01 1.07848206e-01 -9.48451811e-02 -6.91441142e+01] [-1.12797235e-01 9.92436004e-01 -4.84516487e-02 7.05161923e+00] [ 8.89023491e-02 5.86476169e-02 9.94312239e-01 -3.71202633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39534707000001 meters Centerline goodness [0,1] 0.7892342683851403 Centerline is valid? [False, False] Translation: X:-69.15, Y:7.05, Z:-3.71 [[ 9.89920334e-01 1.03766954e-01 -9.63854329e-02 -6.91463441e+01] [-1.09097773e-01 9.92681626e-01 -5.17770707e-02 7.04608018e+00] [ 9.03072993e-02 6.17706112e-02 9.93996470e-01 -3.71011085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.42534707000002 meters Centerline goodness [0,1] 0.7988137690124445 Centerline is valid? [False, False] Translation: X:-69.15, Y:7.04, Z:-3.71 [[ 9.90402906e-01 9.81563347e-02 -9.73006608e-02 -6.91503299e+01] [-1.03856278e-01 9.93051149e-01 -5.53469893e-02 7.04359985e+00] [ 9.11918754e-02 6.49211035e-02 9.93714895e-01 -3.70815860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45534707000002 meters Centerline goodness [0,1] 0.8193280346820809 Centerline is valid? [False, False] Translation: X:-69.15, Y:7.04, Z:-3.71 [[ 9.90644807e-01 9.51052274e-02 -9.78665514e-02 -6.91533095e+01] [-1.01022991e-01 9.93227301e-01 -5.73923621e-02 7.04067261e+00] [ 9.17454171e-02 6.67422172e-02 9.93543283e-01 -3.70668076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.48534707 meters Centerline goodness [0,1] 0.846898736455596 Centerline is valid? [False, False] Translation: X:-69.16, Y:7.04, Z:-3.71 [[ 9.91017233e-01 9.06309377e-02 -9.83406170e-02 -6.91561898e+01] [-9.68661762e-02 9.93451354e-01 -6.05916688e-02 7.03825391e+00] [ 9.22051394e-02 6.95732675e-02 9.93306485e-01 -3.70549054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.51534707 meters Centerline goodness [0,1] 0.8895644444444445 Centerline is valid? [False, False] Translation: X:-69.16, Y:7.04, Z:-3.70 [[ 9.91341851e-01 8.54097006e-02 -9.97322321e-02 -6.91598339e+01] [-9.20880319e-02 9.93666685e-01 -6.43918800e-02 7.03508256e+00] [ 9.36009052e-02 7.30185104e-02 9.92928581e-01 -3.70311997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.54534707 meters Centerline goodness [0,1] 0.9045650547022558 Centerline is valid? [False, False] Translation: X:-69.16, Y:7.03, Z:-3.70 [[ 9.91624653e-01 8.18189911e-02 -9.99309741e-02 -6.91633374e+01] [-8.86758315e-02 9.93857348e-01 -6.62130560e-02 7.03254365e+00] [ 9.38996475e-02 7.45199609e-02 9.92788815e-01 -3.70212861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.57534707 meters Centerline goodness [0,1] 0.9094833687190376 Centerline is valid? [False, False] Translation: X:-69.17, Y:7.03, Z:-3.70 [[ 9.91857273e-01 7.84137185e-02 -1.00351578e-01 -6.91667165e+01] [-8.54801487e-02 9.94005382e-01 -6.81648362e-02 7.03017225e+00] [ 9.44049505e-02 7.61878564e-02 9.92614284e-01 -3.70063358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.60534707000001 meters Centerline goodness [0,1] 0.9176274433289581 Centerline is valid? [False, False] Translation: X:-69.17, Y:7.03, Z:-3.70 [[ 0.99208366 0.07497677 -0.1007397 -69.16990489] [ -0.08225935 0.9941361 -0.0701912 7.02796069] [ 0.09488626 0.07792233 0.99243373 -3.69925119] [ 0. 0. 0. 1. ]] SLAMing on 70.63534707000001 meters Centerline goodness [0,1] 0.9488163124243996 Centerline is valid? [False, False] Translation: X:-69.17, Y:7.02, Z:-3.70 [[ 9.91939198e-01 7.63825566e-02 -1.01105553e-01 -6.91701071e+01] [-8.35131858e-02 9.94164901e-01 -6.82766224e-02 7.02430988e+00] [ 9.53004487e-02 7.61699049e-02 9.92530085e-01 -3.69925821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.66534707000001 meters Centerline goodness [0,1] 0.9484826614427604 Centerline is valid? [False, False] Translation: X:-69.17, Y:7.02, Z:-3.70 [[ 9.92113765e-01 7.42692093e-02 -1.00967134e-01 -6.91733242e+01] [-8.14422507e-02 9.94295186e-01 -6.88784593e-02 7.02151729e+00] [ 9.52755862e-02 7.65582582e-02 9.92502592e-01 -3.69859290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69534707000001 meters Centerline goodness [0,1] 0.9694217168215227 Centerline is valid? [False, True] Translation: X:-69.18, Y:7.02, Z:-3.70 [[ 0.9923681 0.07028104 -0.10132188 -69.17703641] [ -0.07768357 0.9944422 -0.07106322 7.01890443] [ 0.09576436 0.07839192 0.9923124 -3.69718001] [ 0. 0. 0. 1. ]] SLAMing on 70.72534707000001 meters Centerline goodness [0,1] 0.9765475486273009 Centerline is valid? [True, True] Translation: X:-69.21, Y:7.05, Z:-3.71 [[ 9.91442808e-01 7.78578286e-02 -1.04782236e-01 -6.92062881e+01] [-7.89535145e-02 9.96858116e-01 -6.34349762e-03 7.05255891e+00] [ 1.03959131e-01 1.45621409e-02 9.94474958e-01 -3.71406511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75534707000001 meters Centerline goodness [0,1] 0.9838670840356369 Centerline is valid? [True, True] Translation: X:-69.23, Y:7.05, Z:-3.72 [[ 9.91675034e-01 7.62938544e-02 -1.03729817e-01 -6.92342165e+01] [-7.73546479e-02 9.96984135e-01 -6.23649688e-03 7.04537534e+00] [ 1.02941175e-01 1.42085617e-02 9.94585960e-01 -3.72164322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.78534707000001 meters Centerline goodness [0,1] 0.9898768058748841 Centerline is valid? [True, True] Translation: X:-69.26, Y:7.03, Z:-3.72 [[ 9.91651523e-01 7.67947567e-02 -1.03584859e-01 -6.92609511e+01] [-7.78542965e-02 9.96945353e-01 -6.21862942e-03 7.03468518e+00] [ 1.02790886e-01 1.42312397e-02 9.94601179e-01 -3.72340063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81534707000002 meters Centerline goodness [0,1] 0.9919600776268367 Centerline is valid? [True, True] Translation: X:-69.29, Y:7.03, Z:-3.73 [[ 9.91690354e-01 7.76297762e-02 -1.02585869e-01 -6.92888064e+01] [-7.86717083e-02 9.96881645e-01 -6.14387915e-03 7.02838455e+00] [ 1.01789022e-01 1.41634312e-02 9.94705179e-01 -3.72692249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.84534707000002 meters Centerline goodness [0,1] 0.9824849296718018 Centerline is valid? [True, True] Translation: X:-69.32, Y:7.03, Z:-3.73 [[ 9.91565931e-01 7.69953595e-02 -1.04253151e-01 -6.93175468e+01] [-7.80634382e-02 9.96929129e-01 -6.19769304e-03 7.03288801e+00] [ 1.03455810e-01 1.42837807e-02 9.94531482e-01 -3.72865077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.87534707 meters Centerline goodness [0,1] 0.9918110449377369 Centerline is valid? [True, True] Translation: X:-69.34, Y:7.02, Z:-3.73 [[ 9.91563834e-01 7.82092719e-02 -1.03365725e-01 -6.93444525e+01] [-7.92608962e-02 9.96835245e-01 -6.09950139e-03 7.01722177e+00] [ 1.02561560e-01 1.42409050e-02 9.94624715e-01 -3.73267315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.90534707 meters Centerline goodness [0,1] 0.9919844464151716 Centerline is valid? [True, True] Translation: X:-69.37, Y:7.01, Z:-3.74 [[ 9.91702904e-01 7.86112545e-02 -1.01713422e-01 -6.93719230e+01] [-7.96292869e-02 9.96806602e-01 -5.98129134e-03 7.01283709e+00] [ 1.00918413e-01 1.40310312e-02 9.94795760e-01 -3.73554491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.93534707 meters Centerline goodness [0,1] 0.9891444467060181 Centerline is valid? [True, True] Translation: X:-69.40, Y:7.02, Z:-3.74 [[ 9.91670622e-01 8.01673429e-02 -1.00809594e-01 -6.94006939e+01] [-8.11697625e-02 9.96682976e-01 -5.87486679e-03 7.01565584e+00] [ 1.00004234e-01 1.40086236e-02 9.94888392e-01 -3.74040684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.96534707 meters Centerline goodness [0,1] 0.9894165349460519 Centerline is valid? [True, True] Translation: X:-69.43, Y:7.01, Z:-3.74 [[ 9.91761336e-01 8.07173322e-02 -9.94694116e-02 -6.94279760e+01] [-8.16948038e-02 9.96640595e-01 -5.78648049e-03 7.01343613e+00] [ 9.86681843e-02 1.38649417e-02 9.95023795e-01 -3.74250926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.99534707000001 meters Centerline goodness [0,1] 0.9926922551563994 Centerline is valid? [True, True] Translation: X:-69.46, Y:7.00, Z:-3.75 [[ 9.91665758e-01 8.21093196e-02 -9.92828491e-02 -6.94551388e+01] [-8.30849346e-02 9.96526024e-01 -5.72516630e-03 7.00074371e+00] [ 9.84678534e-02 1.39263604e-02 9.95042782e-01 -3.74574921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.02534707000001 meters Centerline goodness [0,1] 0.9878748548398114 Centerline is valid? [True, True] Translation: X:-69.48, Y:7.01, Z:-3.75 [[ 9.91758793e-01 8.20760710e-02 -9.83769039e-02 -6.94839243e+01] [-8.30323977e-02 9.96530777e-01 -5.65965915e-03 7.00646049e+00] [ 9.75710899e-02 1.37814869e-02 9.95133133e-01 -3.75019892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05534707000001 meters Centerline goodness [0,1] 0.9879357484620642 Centerline is valid? [True, True] Translation: X:-69.51, Y:7.00, Z:-3.75 [[ 9.91606162e-01 8.38393168e-02 -9.84286001e-02 -6.95126574e+01] [-8.48005326e-02 9.96382123e-01 -5.61558454e-03 7.00205623e+00] [ 9.76016908e-02 1.39152459e-02 9.95128271e-01 -3.75325302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.08534707000001 meters Centerline goodness [0,1] 0.9880383597428934 Centerline is valid? [True, True] Translation: X:-69.54, Y:7.00, Z:-3.76 [[ 9.91514001e-01 8.50128531e-02 -9.83503962e-02 -6.95413564e+01] [-8.59776358e-02 9.96281297e-01 -5.60561125e-03 7.00092173e+00] [ 9.75081114e-02 1.40139766e-02 9.95136059e-01 -3.75577511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11534707000001 meters Centerline goodness [0,1] 0.9637401319162024 Centerline is valid? [True, True] Translation: X:-69.57, Y:7.01, Z:-3.76 [[ 9.91329636e-01 8.74455536e-02 -9.80756257e-02 -6.95719462e+01] [-8.84152970e-02 9.96068086e-01 -5.57711446e-03 7.01120147e+00] [ 9.72023069e-02 1.42001444e-02 9.95163337e-01 -3.75958119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.14534707000001 meters Centerline goodness [0,1] 0.9618568691844553 Centerline is valid? [True, True] Translation: X:-69.60, Y:7.01, Z:-3.76 [[ 9.91420644e-01 8.76122345e-02 -9.70010488e-02 -6.96006170e+01] [-8.85615267e-02 9.96055434e-01 -5.51626607e-03 7.00971333e+00] [ 9.61351293e-02 1.40595010e-02 9.95268992e-01 -3.76304701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17534707000002 meters Centerline goodness [0,1] 0.9880796976983854 Centerline is valid? [True, True] Translation: X:-69.63, Y:6.99, Z:-3.77 [[ 9.91479168e-01 8.90028748e-02 -9.51185959e-02 -6.96270858e+01] [-8.99180620e-02 9.95934687e-01 -5.37050696e-03 6.98639386e+00] [ 9.42539184e-02 1.38776256e-02 9.95451461e-01 -3.76691401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.20534707000002 meters Centerline goodness [0,1] 0.9849435813012313 Centerline is valid? [True, True] Translation: X:-69.66, Y:6.99, Z:-3.77 [[ 9.91369953e-01 9.08084543e-02 -9.45486191e-02 -6.96570279e+01] [-9.17184831e-02 9.95770791e-01 -5.31516903e-03 6.98765164e+00] [ 9.36660910e-02 1.39411548e-02 9.95506056e-01 -3.77176709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.23534707 meters Centerline goodness [0,1] 0.9814254124851165 Centerline is valid? [True, True] Translation: X:-69.69, Y:6.98, Z:-3.77 [[ 9.91358718e-01 9.08215628e-02 -9.46537725e-02 -6.96854924e+01] [-9.17338226e-02 9.95769339e-01 -5.32252591e-03 6.98472144e+00] [ 9.37699243e-02 1.39594848e-02 9.95496024e-01 -3.77244020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.26534707 meters Centerline goodness [0,1] 0.9801121876593575 Centerline is valid? [True, True] Translation: X:-69.71, Y:6.99, Z:-3.78 [[ 9.91184907e-01 9.22795147e-02 -9.50629908e-02 -6.97139907e+01] [-9.32020077e-02 9.95633110e-01 -5.30051725e-03 6.98599789e+00] [ 9.41587320e-02 1.41138543e-02 9.95457147e-01 -3.77753950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.29534707 meters Centerline goodness [0,1] 0.97931081035472 Centerline is valid? [True, True] Translation: X:-69.74, Y:6.98, Z:-3.78 [[ 9.91127850e-01 9.22008411e-02 -9.57318673e-02 -6.97408953e+01] [-9.31349699e-02 9.95639246e-01 -5.32619374e-03 6.97659098e+00] [ 9.48233247e-02 1.41949235e-02 9.95392908e-01 -3.78053605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.32534707 meters Centerline goodness [0,1] 0.9823545442158332 Centerline is valid? [True, True] Translation: X:-69.77, Y:6.97, Z:-3.79 [[ 9.91269591e-01 9.08356815e-02 -9.55692293e-02 -6.97694827e+01] [-9.17589637e-02 9.95767133e-01 -5.30175090e-03 6.97211389e+00] [ 9.46831093e-02 1.40247979e-02 9.95408667e-01 -3.78560922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.35534707000001 meters Centerline goodness [0,1] 0.9751885601174022 Centerline is valid? [True, True] Translation: X:-69.80, Y:6.98, Z:-3.79 [[ 9.91298225e-01 9.19418481e-02 -9.42046969e-02 -6.97982385e+01] [-9.28432341e-02 9.95667049e-01 -5.22123245e-03 6.97601200e+00] [ 9.33164628e-02 1.39220672e-02 9.95539157e-01 -3.78782073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.38534707000001 meters Centerline goodness [0,1] 0.9606352424396013 Centerline is valid? [True, True] Translation: X:-69.83, Y:6.98, Z:-3.79 [[ 9.91123260e-01 9.27595263e-02 -9.52384017e-02 -6.98273979e+01] [-9.36805214e-02 9.95588544e-01 -5.23551459e-03 6.97893646e+00] [ 9.43326178e-02 1.41110234e-02 9.95440725e-01 -3.79128362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41534707000001 meters Centerline goodness [0,1] 0.9282593469632792 Centerline is valid? [True, False] Translation: X:-69.83, Y:6.98, Z:-3.79 [[ 9.91579146e-01 8.64203093e-02 -9.64485698e-02 -6.98327185e+01] [-8.77879217e-02 9.96088796e-01 -1.00195428e-02 6.97797774e+00] [ 9.52054478e-02 1.84021892e-02 9.95287537e-01 -3.78863154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.44534707000001 meters Centerline goodness [0,1] 0.9695008930677721 Centerline is valid? [False, True] Translation: X:-69.84, Y:6.98, Z:-3.79 [[ 9.91993846e-01 8.12712768e-02 -9.66601775e-02 -6.98380801e+01] [-8.29384188e-02 9.96465253e-01 -1.33498370e-02 6.97713416e+00] [ 9.52335499e-02 2.12597984e-02 9.95227910e-01 -3.78668094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47534707000001 meters Centerline goodness [0,1] 0.9695008930677721 Centerline is valid? [True, True] Translation: X:-69.87, Y:6.98, Z:-3.79 [[ 9.91845226e-01 8.25292324e-02 -9.71183485e-02 -6.98656213e+01] [-8.35159204e-02 9.96487577e-01 -6.13181825e-03 6.97953875e+00] [ 9.62711735e-02 1.41927429e-02 9.95253951e-01 -3.79124540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.50534707000001 meters Centerline goodness [0,1] 0.9740004739496936 Centerline is valid? [True, True] Translation: X:-69.89, Y:6.96, Z:-3.79 [[ 9.91793553e-01 8.27590494e-02 -9.74499247e-02 -6.98932914e+01] [-8.37487950e-02 9.96468209e-01 -6.10316826e-03 6.96145258e+00] [ 9.66006595e-02 1.42143967e-02 9.95221716e-01 -3.79225267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.53534707000001 meters Centerline goodness [0,1] 0.9452151898734177 Centerline is valid? [True, False] Translation: X:-69.90, Y:6.96, Z:-3.79 [[ 9.92124267e-01 7.77238913e-02 -9.82264529e-02 -6.98988512e+01] [-7.90513089e-02 9.96823461e-01 -9.68907562e-03 6.96038934e+00] [ 9.71613601e-02 1.73776967e-02 9.95116921e-01 -3.78969906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.56534707000002 meters Centerline goodness [0,1] 0.9676762189325003 Centerline is valid? [False, True] Translation: X:-69.90, Y:6.96, Z:-3.79 [[ 9.92380173e-01 7.33148767e-02 -9.90278820e-02 -6.99048374e+01] [-7.49227755e-02 9.97109584e-01 -1.26117069e-02 6.95933444e+00] [ 9.78170245e-02 1.99350517e-02 9.95004735e-01 -3.78696731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.59534707000002 meters Centerline goodness [0,1] 0.9391812076006615 Centerline is valid? [True, False] Translation: X:-69.91, Y:6.96, Z:-3.78 [[ 9.92648408e-01 6.91348045e-02 -9.93454404e-02 -6.99102925e+01] [-7.10006077e-02 9.97357917e-01 -1.53655328e-02 6.95788254e+00] [ 9.80206684e-02 2.23061583e-02 9.94934362e-01 -3.78490034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.62534707 meters Centerline goodness [0,1] 0.9427205209075186 Centerline is valid? [False, False] Translation: X:-69.92, Y:6.96, Z:-3.78 [[ 9.92903610e-01 6.35004913e-02 -1.00549037e-01 -6.99216018e+01] [-6.54442937e-02 9.97725533e-01 -1.61494732e-02 6.95735118e+00] [ 9.92948418e-02 2.26152309e-02 9.94801028e-01 -3.78233759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.65534707 meters Centerline goodness [0,1] 0.9490889237698765 Centerline is valid? [False, False] Translation: X:-69.93, Y:6.96, Z:-3.78 [[ 9.93053438e-01 5.96594196e-02 -1.01418062e-01 -6.99266911e+01] [-6.17947972e-02 9.97925780e-01 -1.80427719e-02 6.95632557e+00] [ 1.00131277e-01 2.41845452e-02 9.94680268e-01 -3.78017879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.68534707 meters Centerline goodness [0,1] 0.9383945449635431 Centerline is valid? [False, False] Translation: X:-69.93, Y:6.95, Z:-3.78 [[ 9.93254061e-01 5.46976261e-02 -1.02247446e-01 -6.99320236e+01] [-5.71786345e-02 9.98132621e-01 -2.14912556e-02 6.95376470e+00] [ 1.00880991e-01 2.71926463e-02 9.94526815e-01 -3.77806652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.71534707 meters Centerline goodness [0,1] 0.942186333717853 Centerline is valid? [False, False] Translation: X:-69.94, Y:6.95, Z:-3.78 [[ 9.93268316e-01 5.17840359e-02 -1.03616920e-01 -6.99377983e+01] [-5.44283455e-02 9.98256069e-01 -2.28555619e-02 6.95225936e+00] [ 1.02252666e-01 2.83414030e-02 9.94354644e-01 -3.77523975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.74534707000001 meters Centerline goodness [0,1] 0.9348107298474946 Centerline is valid? [False, False] Translation: X:-69.95, Y:6.95, Z:-3.77 [[ 9.93419821e-01 4.58088508e-02 -1.04969563e-01 -6.99482017e+01] [-4.85780344e-02 9.98531574e-01 -2.39764580e-02 6.94970014e+00] [ 1.03717089e-01 2.89179037e-02 9.94186361e-01 -3.77257970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77534707000001 meters Centerline goodness [0,1] 0.9583802408487702 Centerline is valid? [False, True] Translation: X:-69.95, Y:6.95, Z:-3.77 [[ 9.93434887e-01 4.19332093e-02 -1.06436511e-01 -6.99539865e+01] [-4.49450036e-02 9.98649594e-01 -2.60563986e-02 6.94695898e+00] [ 1.05200150e-01 3.06691248e-02 9.93978035e-01 -3.77008192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.80534707000001 meters Centerline goodness [0,1] 0.9465184278525772 Centerline is valid? [True, False] Translation: X:-69.96, Y:6.94, Z:-3.77 [[ 9.93482915e-01 3.88336881e-02 -1.07161759e-01 -6.99594912e+01] [-4.19801858e-02 9.98746400e-01 -2.72633742e-02 6.94494358e+00] [ 1.05968684e-01 3.15843670e-02 9.93867731e-01 -3.76804474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83534707000001 meters Centerline goodness [0,1] 0.9493349375041775 Centerline is valid? [False, False] Translation: X:-69.96, Y:6.94, Z:-3.77 [[ 9.93524852e-01 3.46458131e-02 -1.08203680e-01 -6.99646854e+01] [-3.80417916e-02 9.98841217e-01 -2.94795816e-02 6.94254906e+00] [ 1.07056951e-01 3.34049588e-02 9.93691561e-01 -3.76590479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.86534707000001 meters Centerline goodness [0,1] 0.9518864425638086 Centerline is valid? [False, True] Translation: X:-69.98, Y:6.94, Z:-3.77 [[ 9.94007728e-01 2.25767887e-02 -1.06952912e-01 -6.99829421e+01] [-2.53437472e-02 9.99376504e-01 -2.45824860e-02 6.94478812e+00] [ 1.06331234e-01 2.71457687e-02 9.93960148e-01 -3.76903078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89534707000001 meters Centerline goodness [0,1] 0.9658338960162053 Centerline is valid? [True, True] Translation: X:-70.01, Y:6.94, Z:-3.77 [[ 9.93714374e-01 2.21857822e-02 -1.09724806e-01 -7.00122991e+01] [-2.34906658e-02 9.99667712e-01 -1.06138457e-02 6.94100731e+00] [ 1.09452870e-01 1.31246398e-02 9.93905334e-01 -3.77153029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.92534707000002 meters Centerline goodness [0,1] 0.9608836643696798 Centerline is valid? [True, True] Translation: X:-70.04, Y:6.94, Z:-3.78 [[ 9.93481176e-01 2.14619971e-02 -1.11957741e-01 -7.00396134e+01] [-2.28159049e-02 9.99681069e-01 -1.08256904e-02 6.94207267e+00] [ 1.11689693e-01 1.33095368e-02 9.93653998e-01 -3.77660891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95534707000002 meters Centerline goodness [0,1] 0.9528279507946729 Centerline is valid? [True, True] Translation: X:-70.07, Y:6.95, Z:-3.78 [[ 9.93144355e-01 2.10123038e-02 -1.14990321e-01 -7.00685507e+01] [-2.24358269e-02 9.99686672e-01 -1.10991496e-02 6.94732084e+00] [ 1.14721073e-01 1.36029607e-02 9.93304603e-01 -3.78195297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.98534707 meters Centerline goodness [0,1] 0.9428444838280904 Centerline is valid? [True, False] Translation: X:-70.07, Y:6.95, Z:-3.78 [[ 9.92940266e-01 2.38183031e-02 -1.16199472e-01 -7.00729694e+01] [-2.51291526e-02 9.99635893e-01 -9.82893251e-03 6.95003364e+00] [ 1.15923054e-01 1.26795371e-02 9.93177263e-01 -3.78044600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.01534707 meters Centerline goodness [0,1] 0.9174748783305906 Centerline is valid? [False, False] Translation: X:-70.08, Y:6.95, Z:-3.78 [[ 9.92873405e-01 2.44477695e-02 -1.16639226e-01 -7.00760698e+01] [-2.56599419e-02 9.99631093e-01 -8.90200794e-03 6.95195860e+00] [ 1.16378563e-01 1.18315227e-02 9.93134455e-01 -3.77922147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.04534707 meters Centerline goodness [0,1] 0.8946310651737008 Centerline is valid? [False, False] Translation: X:-70.08, Y:6.96, Z:-3.78 [[ 9.92709069e-01 2.48659870e-02 -1.17942301e-01 -7.00793888e+01] [-2.62315215e-02 9.99605479e-01 -1.00395908e-02 6.95554032e+00] [ 1.17646126e-01 1.30601988e-02 9.92969697e-01 -3.77831266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.07534707 meters Centerline goodness [0,1] 0.8455687950454529 Centerline is valid? [False, False] Translation: X:-70.08, Y:6.96, Z:-3.78 [[ 9.92660025e-01 2.44939093e-02 -1.18431933e-01 -7.00816307e+01] [-2.59765949e-02 9.99602121e-01 -1.09916605e-02 6.95749533e+00] [ 1.18115583e-01 1.39874403e-02 9.92901335e-01 -3.77765997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.10534707000001 meters Centerline goodness [0,1] 0.769875097290686 Centerline is valid? [False, False] Translation: X:-70.08, Y:6.96, Z:-3.78 [[ 9.92691578e-01 2.31300784e-02 -1.18441671e-01 -7.00840549e+01] [-2.47709472e-02 9.99616243e-01 -1.24002694e-02 6.95831393e+00] [ 1.18109399e-01 1.52435554e-02 9.92883580e-01 -3.77745433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13534707000001 meters Centerline goodness [0,1] 0.8199873544835794 Centerline is valid? [False, False] Translation: X:-70.09, Y:6.96, Z:-3.78 [[ 9.92729841e-01 2.14750098e-02 -1.18432622e-01 -7.00869597e+01] [-2.32103694e-02 9.99642226e-01 -1.32927883e-02 6.95914225e+00] [ 1.18104787e-01 1.59450125e-02 9.92873112e-01 -3.77682538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.16534707000001 meters Centerline goodness [0,1] 0.9051980851144031 Centerline is valid? [False, False] Translation: X:-70.09, Y:6.96, Z:-3.78 [[ 9.92701138e-01 1.73735253e-02 -1.19342414e-01 -7.00910098e+01] [-1.94499545e-02 9.99678667e-01 -1.62561599e-02 6.95792738e+00] [ 1.19021639e-01 1.84587130e-02 9.92720064e-01 -3.77536435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19534707000001 meters Centerline goodness [0,1] 0.94064297301283 Centerline is valid? [False, False] Translation: X:-70.09, Y:6.96, Z:-3.78 [[ 9.92747573e-01 1.47693412e-02 -1.19306847e-01 -7.00920400e+01] [-1.70874755e-02 9.99684119e-01 -1.84304091e-02 6.95528821e+00] [ 1.18996955e-01 2.03353967e-02 9.92686353e-01 -3.77566712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.22534707000001 meters Centerline goodness [0,1] 0.7850877192982456 Centerline is valid? [False, False] Translation: X:-70.10, Y:6.95, Z:-3.77 [[ 9.92755436e-01 1.14608295e-02 -1.19604740e-01 -7.00967363e+01] [-1.39747802e-02 9.99698262e-01 -2.02012710e-02 6.95398310e+00] [ 1.19337127e-01 2.17263715e-02 9.92616046e-01 -3.77456840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25534707000001 meters Centerline goodness [0,1] 0.8167321894404233 Centerline is valid? [False, False] Translation: X:-70.10, Y:6.95, Z:-3.77 [[ 9.92732095e-01 7.69218181e-03 -1.20099201e-01 -7.01008699e+01] [-1.04758610e-02 9.99690512e-01 -2.25640327e-02 6.95122699e+00] [ 1.19888465e-01 2.36581820e-02 9.92505439e-01 -3.77349363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.28534707000001 meters Centerline goodness [0,1] 0.8226760969976905 Centerline is valid? [False, False] Translation: X:-70.10, Y:6.95, Z:-3.77 [[ 9.92803278e-01 6.29303787e-03 -1.19591172e-01 -7.01032698e+01] [-9.10977419e-03 9.99693476e-01 -2.30209700e-02 6.94859716e+00] [ 1.19409642e-01 2.39447431e-02 9.92556289e-01 -3.77380769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31534707000002 meters Centerline goodness [0,1] 0.9347694714016566 Centerline is valid? [False, False] Translation: X:-70.11, Y:6.94, Z:-3.77 [[ 9.92893028e-01 4.04224652e-03 -1.18941563e-01 -7.01067576e+01] [-6.92785093e-03 9.99691371e-01 -2.38572275e-02 6.94499488e+00] [ 1.18808417e-01 2.45116843e-02 9.92614597e-01 -3.77401619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.34534707000002 meters Centerline goodness [0,1] 0.9571377587437545 Centerline is valid? [False, True] Translation: X:-70.11, Y:6.94, Z:-3.77 [[ 9.92861979e-01 9.19504983e-04 -1.19265437e-01 -7.01100119e+01] [-3.99559413e-03 9.99665422e-01 -2.55554018e-02 6.94308255e+00] [ 1.19202035e-01 2.58495231e-02 9.92533464e-01 -3.77314406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.37534707 meters Centerline goodness [0,1] 0.9831468434866695 Centerline is valid? [True, True] Translation: X:-70.14, Y:6.94, Z:-3.78 [[ 9.92804313e-01 -6.29962181e-04 -1.19746394e-01 -7.01390172e+01] [-1.18996134e-03 9.99884887e-01 -1.51260372e-02 6.93531478e+00] [ 1.19742139e-01 1.51596886e-02 9.92689279e-01 -3.77722553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.40534707 meters Centerline goodness [0,1] 0.9592618144187651 Centerline is valid? [True, True] Translation: X:-70.17, Y:6.94, Z:-3.78 [[ 9.92910458e-01 -1.69364269e-03 -1.18852656e-01 -7.01696489e+01] [-9.14157122e-05 9.99887309e-01 -1.50120284e-02 6.94020316e+00] [ 1.18864687e-01 1.49164650e-02 9.92798411e-01 -3.78079218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.43534707 meters Centerline goodness [0,1] 0.9390561129691565 Centerline is valid? [True, False] Translation: X:-70.17, Y:6.94, Z:-3.78 [[ 9.92975812e-01 -1.83409357e-04 -1.18317379e-01 -7.01698589e+01] [-1.41737731e-03 9.99908603e-01 -1.34453112e-02 6.93974893e+00] [ 1.18309031e-01 1.35185691e-02 9.92884798e-01 -3.78112138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.46534707 meters Centerline goodness [0,1] 0.9454071051047033 Centerline is valid? [False, False] Translation: X:-70.17, Y:6.94, Z:-3.78 [[ 9.93087969e-01 -4.87813586e-04 -1.17371413e-01 -7.01697712e+01] [-1.08464879e-03 9.99910522e-01 -1.33330728e-02 6.93935275e+00] [ 1.17367415e-01 1.33682209e-02 9.92998580e-01 -3.78199382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.49534707000001 meters Centerline goodness [0,1] 0.972066847397138 Centerline is valid? [False, True] Translation: X:-70.17, Y:6.94, Z:-3.78 [[ 9.93089823e-01 -3.39759598e-03 -1.17307539e-01 -7.01721199e+01] [ 1.57309663e-03 9.99876416e-01 -1.56422156e-02 6.93823253e+00] [ 1.17346188e-01 1.53495891e-02 9.92972438e-01 -3.78135793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.52534707000001 meters Centerline goodness [0,1] 0.9851308828106089 Centerline is valid? [True, True] Translation: X:-70.20, Y:6.93, Z:-3.78 [[ 9.93105452e-01 -3.75354421e-03 -1.17164297e-01 -7.01984949e+01] [ 2.03618326e-03 9.99888786e-01 -1.47739722e-02 6.92984262e+00] [ 1.17206721e-01 1.44335444e-02 9.93002647e-01 -3.78481092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55534707000001 meters Centerline goodness [0,1] 0.9854803722622629 Centerline is valid? [True, True] Translation: X:-70.23, Y:6.93, Z:-3.79 [[ 9.93229341e-01 -4.03962571e-03 -1.16099777e-01 -7.02267360e+01] [ 2.35796845e-03 9.99890367e-01 -1.46182829e-02 6.92515235e+00] [ 1.16146101e-01 1.42455479e-02 9.93129975e-01 -3.78926779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.58534707000001 meters Centerline goodness [0,1] 0.9856285801443921 Centerline is valid? [True, True] Translation: X:-70.26, Y:6.92, Z:-3.79 [[ 9.93308662e-01 -2.74743824e-03 -1.15457150e-01 -7.02553659e+01] [ 1.08081702e-03 9.99894356e-01 -1.44951012e-02 6.92088037e+00] [ 1.15484777e-01 1.42733216e-02 9.93206695e-01 -3.79320191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61534707000001 meters Centerline goodness [0,1] 0.9838122893094357 Centerline is valid? [True, True] Translation: X:-70.28, Y:6.92, Z:-3.80 [[ 9.93267067e-01 -1.60620932e-03 -1.15835896e-01 -7.02835930e+01] [-7.59689526e-05 9.99894631e-01 -1.45162044e-02 6.91787325e+00] [ 1.15847006e-01 1.44272677e-02 9.93162285e-01 -3.80100228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.64534707000001 meters Centerline goodness [0,1] 0.997351731828002 Centerline is valid? [True, True] Translation: X:-70.31, Y:6.90, Z:-3.80 [[ 9.93358558e-01 -3.19669153e-03 -1.15015465e-01 -7.03107457e+01] [ 1.55348908e-03 9.99895488e-01 -1.43735954e-02 6.90097629e+00] [ 1.15049393e-01 1.40994587e-02 9.93259705e-01 -3.79732806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67534707000002 meters Centerline goodness [0,1] 0.9967424476219867 Centerline is valid? [True, True] Translation: X:-70.34, Y:6.90, Z:-3.80 [[ 9.93458509e-01 -3.07198611e-03 -1.14152331e-01 -7.03391581e+01] [ 1.45458084e-03 9.99897414e-01 -1.42494266e-02 6.89962694e+00] [ 1.14184394e-01 1.39901703e-02 9.93361062e-01 -3.80411880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.70534707000002 meters Centerline goodness [0,1] 0.9977317249200949 Centerline is valid? [True, True] Translation: X:-70.37, Y:6.89, Z:-3.81 [[ 9.93499590e-01 -2.87151268e-03 -1.13799468e-01 -7.03671522e+01] [ 1.26840933e-03 9.99898980e-01 -1.41569946e-02 6.89260584e+00] [ 1.13828624e-01 1.39206240e-02 9.93402869e-01 -3.80507979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.73534707 meters Centerline goodness [0,1] 0.9969715740931929 Centerline is valid? [True, True] Translation: X:-70.40, Y:6.89, Z:-3.81 [[ 9.93469347e-01 -2.96118278e-03 -1.14060897e-01 -7.03954907e+01] [ 1.35668999e-03 9.99899076e-01 -1.41420421e-02 6.88895786e+00] [ 1.14091263e-01 1.38949401e-02 9.93373099e-01 -3.80816050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.76534707 meters Centerline goodness [0,1] 0.9960888827357054 Centerline is valid? [True, True] Translation: X:-70.42, Y:6.88, Z:-3.81 [[ 9.93547482e-01 -2.11601946e-03 -1.13397193e-01 -7.04231517e+01] [ 5.30257975e-04 9.99901680e-01 -1.40124715e-02 6.88379789e+00] [ 1.13415695e-01 1.38619260e-02 9.93450918e-01 -3.81400602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.79534707 meters Centerline goodness [0,1] 0.9948336017176597 Centerline is valid? [True, True] Translation: X:-70.45, Y:6.88, Z:-3.82 [[ 9.93450132e-01 -2.87981575e-03 -1.14230215e-01 -7.04516296e+01] [ 1.28093696e-03 9.99900221e-01 -1.40679190e-02 6.88281345e+00] [ 1.14259330e-01 1.38294543e-02 9.93354696e-01 -3.82030469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.82534707 meters Centerline goodness [0,1] 0.9949729840640175 Centerline is valid? [True, True] Translation: X:-70.48, Y:6.87, Z:-3.82 [[ 9.93439058e-01 -2.91890660e-03 -1.14325489e-01 -7.04790257e+01] [ 1.32297857e-03 9.99900659e-01 -1.40328991e-02 6.87416578e+00] [ 1.14355092e-01 1.37895799e-02 9.93344231e-01 -3.82480588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.85534707000001 meters Centerline goodness [0,1] 0.9867023915847971 Centerline is valid? [True, True] Translation: X:-70.51, Y:6.87, Z:-3.83 [[ 9.93578933e-01 -2.66683724e-03 -1.13109642e-01 -7.05076327e+01] [ 1.10835845e-03 9.99903620e-01 -1.38391262e-02 6.87471305e+00] [ 1.13135647e-01 1.36248982e-02 9.93486129e-01 -3.83175092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.88534707000001 meters Centerline goodness [0,1] 0.9948539120425229 Centerline is valid? [True, True] Translation: X:-70.54, Y:6.86, Z:-3.83 [[ 9.93691768e-01 -5.58134928e-03 -1.12006781e-01 -7.05350092e+01] [ 4.07585992e-03 9.99898315e-01 -1.36655414e-02 6.85754982e+00] [ 1.12071663e-01 1.31228120e-02 9.93613473e-01 -3.83276573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91534707000001 meters Centerline goodness [0,1] 0.9972330015184748 Centerline is valid? [True, True] Translation: X:-70.56, Y:6.85, Z:-3.84 [[ 9.93677344e-01 -7.31170344e-03 -1.12035148e-01 -7.05628586e+01] [ 5.81681451e-03 9.99889722e-01 -1.36641077e-02 6.84985392e+00] [ 1.12122701e-01 1.29260265e-02 9.93610295e-01 -3.84036361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.94534707000001 meters Centerline goodness [0,1] 0.9955153949129852 Centerline is valid? [True, True] Translation: X:-70.59, Y:6.84, Z:-3.84 [[ 9.93687857e-01 -9.31969940e-03 -1.11792604e-01 -7.05912004e+01] [ 7.84535212e-03 9.99876453e-01 -1.36209086e-02 6.84334457e+00] [ 1.11905735e-01 1.26578792e-02 9.93638206e-01 -3.84300651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97534707000001 meters Centerline goodness [0,1] 0.9957055422175634 Centerline is valid? [True, True] Translation: X:-70.62, Y:6.84, Z:-3.85 [[ 9.93725524e-01 -1.22096685e-02 -1.11177819e-01 -7.06210641e+01] [ 1.07703483e-02 9.99850356e-01 -1.35375144e-02 6.84222683e+00] [ 1.11326470e-01 1.22551498e-02 9.93708322e-01 -3.85154121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.00534707000001 meters Centerline goodness [0,1] 0.9974079310576988 Centerline is valid? [True, True] Translation: X:-70.65, Y:6.83, Z:-3.85 [[ 9.93743727e-01 -1.38999127e-02 -1.10816050e-01 -7.06474503e+01] [ 1.24805393e-02 9.99831090e-01 -1.34917925e-02 6.82769682e+00] [ 1.10984867e-01 1.20243401e-02 9.93749352e-01 -3.85462016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03534707000001 meters Centerline goodness [0,1] 0.9963467614533965 Centerline is valid? [True, True] Translation: X:-70.68, Y:6.83, Z:-3.86 [[ 9.93619593e-01 -1.73977656e-02 -1.11433484e-01 -7.06771177e+01] [ 1.59854374e-02 9.99780337e-01 -1.35551728e-02 6.82662403e+00] [ 1.11644836e-01 1.16873723e-02 9.93679443e-01 -3.86432233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.06534707000002 meters Centerline goodness [0,1] 0.9983438112620834 Centerline is valid? [True, True] Translation: X:-70.70, Y:6.81, Z:-3.87 [[ 9.93732718e-01 -1.92618693e-02 -1.10110247e-01 -7.07037709e+01] [ 1.78948952e-02 9.99750217e-01 -1.33894457e-02 6.81188079e+00] [ 1.10340649e-01 1.13351189e-02 9.93829189e-01 -3.86697426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.09534707000002 meters Centerline goodness [0,1] 0.9963686493392959 Centerline is valid? [True, True] Translation: X:-70.73, Y:6.82, Z:-3.87 [[ 9.93635102e-01 -2.13847935e-02 -1.10598255e-01 -7.07335330e+01] [ 2.00202250e-02 9.99709317e-01 -1.34340189e-02 6.81556625e+00] [ 1.10853390e-01 1.11343108e-02 9.93774397e-01 -3.87233053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.12534707 meters Centerline goodness [0,1] 0.9986569068564904 Centerline is valid? [True, True] Translation: X:-70.76, Y:6.81, Z:-3.88 [[ 9.93605457e-01 -2.55137395e-02 -1.09987478e-01 -7.07625254e+01] [ 2.41899477e-02 9.99618190e-01 -1.33536477e-02 6.80682602e+00] [ 1.10286185e-01 1.06076659e-02 9.93843265e-01 -3.87880592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.15534707 meters Centerline goodness [0,1] 0.998614364422157 Centerline is valid? [True, True] Translation: X:-70.79, Y:6.80, Z:-3.89 [[ 9.93616403e-01 -2.71235980e-02 -1.09502303e-01 -7.07912135e+01] [ 2.58214988e-02 9.99578199e-01 -1.32918894e-02 6.79986953e+00] [ 1.09816639e-01 1.03795258e-02 9.93897666e-01 -3.88597203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.18534707 meters Centerline goodness [0,1] 0.9987632449777718 Centerline is valid? [True, True] Translation: X:-70.82, Y:6.79, Z:-3.89 [[ 9.93586735e-01 -2.92038790e-02 -1.09236135e-01 -7.08190902e+01] [ 2.79212884e-02 9.99522266e-01 -1.32529911e-02 6.79096161e+00] [ 1.09570988e-01 1.01179825e-02 9.93927475e-01 -3.88797642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.21534707 meters Centerline goodness [0,1] 0.9983103071265281 Centerline is valid? [True, True] Translation: X:-70.85, Y:6.79, Z:-3.89 [[ 9.93500252e-01 -3.00225543e-02 -1.09799341e-01 -7.08472798e+01] [ 2.87331056e-02 9.99498534e-01 -1.33074695e-02 6.78717997e+00] [ 1.10143805e-01 1.00660983e-02 9.93864687e-01 -3.89242983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.24534707000001 meters Centerline goodness [0,1] 0.9982346595181274 Centerline is valid? [True, True] Translation: X:-70.87, Y:6.79, Z:-3.90 [[ 9.93545633e-01 -2.94704897e-02 -1.09537963e-01 -7.08746804e+01] [ 2.81889052e-02 9.99515053e-01 -1.32304310e-02 6.78560780e+00] [ 1.09874750e-01 1.00572817e-02 9.93894557e-01 -3.89809326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27534707000001 meters Centerline goodness [0,1] 0.9984371882689366 Centerline is valid? [True, True] Translation: X:-70.90, Y:6.78, Z:-3.90 [[ 9.93482115e-01 -2.95912388e-02 -1.10080183e-01 -7.09032296e+01] [ 2.83031633e-02 9.99511621e-01 -1.32458039e-02 6.78175357e+00] [ 1.10418382e-01 1.00438518e-02 9.93834444e-01 -3.90063483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.30534707000001 meters Centerline goodness [0,1] 0.9978121788709517 Centerline is valid? [True, True] Translation: X:-70.93, Y:6.78, Z:-3.91 [[ 9.93512682e-01 -2.99013989e-02 -1.09719902e-01 -7.09316489e+01] [ 2.86284310e-02 9.99503499e-01 -1.31593589e-02 6.77794448e+00] [ 1.10058910e-01 9.93288130e-03 9.93875432e-01 -3.90550784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33534707000001 meters Centerline goodness [0,1] 0.9982450331125828 Centerline is valid? [True, True] Translation: X:-70.96, Y:6.77, Z:-3.91 [[ 9.93418755e-01 -3.10052486e-02 -1.10262645e-01 -7.09602102e+01] [ 2.97311568e-02 9.99471021e-01 -1.31808802e-02 6.77446968e+00] [ 1.10612995e-01 9.81589761e-03 9.93815080e-01 -3.90647095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.36534707000001 meters Centerline goodness [0,1] 0.9982450331125828 Centerline is valid? [True, True] Translation: X:-70.99, Y:6.77, Z:-3.91 [[ 9.93431917e-01 -3.05619086e-02 -1.10267833e-01 -7.09873954e+01] [ 2.92899095e-02 9.99484623e-01 -1.31373461e-02 6.77098414e+00] [ 1.10612506e-01 9.82132408e-03 9.93815081e-01 -3.90915345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39534707000001 meters Centerline goodness [0,1] 0.997919006408139 Centerline is valid? [True, True] Translation: X:-71.02, Y:6.77, Z:-3.92 [[ 9.93316840e-01 -3.09131371e-02 -1.11202669e-01 -7.10151860e+01] [ 2.96270988e-02 9.99473871e-01 -1.31991126e-02 6.76681485e+00] [ 1.11552188e-01 9.81628832e-03 9.93710093e-01 -3.91601212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.42534707000002 meters Centerline goodness [0,1] 0.9980837215449169 Centerline is valid? [True, True] Translation: X:-71.04, Y:6.76, Z:-3.92 [[ 9.93437967e-01 -3.38691337e-02 -1.09242337e-01 -7.10442443e+01] [ 3.26501228e-02 9.99383218e-01 -1.29287988e-02 6.76100897e+00] [ 1.09612845e-01 9.27718392e-03 9.93931063e-01 -3.91940387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45534707000002 meters Centerline goodness [0,1] 0.9981302893131273 Centerline is valid? [True, True] Translation: X:-71.07, Y:6.76, Z:-3.92 [[ 9.93412624e-01 -3.41382478e-02 -1.09388935e-01 -7.10725429e+01] [ 3.29184184e-02 9.99374292e-01 -1.29383726e-02 6.76070079e+00] [ 1.09762183e-01 9.25223191e-03 9.93914815e-01 -3.92485033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.48534707 meters Centerline goodness [0,1] 0.9989266547406083 Centerline is valid? [True, True] Translation: X:-71.10, Y:6.75, Z:-3.93 [[ 9.93478596e-01 -3.61605237e-02 -1.08132772e-01 -7.11003601e+01] [ 3.49847733e-02 9.99306496e-01 -1.27512012e-02 6.75272628e+00] [ 1.08518872e-01 8.88504496e-03 9.94054682e-01 -3.92778790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.51534707 meters Centerline goodness [0,1] 0.9991833801528712 Centerline is valid? [True, True] Translation: X:-71.13, Y:6.75, Z:-3.93 [[ 9.93199644e-01 -3.91779870e-02 -1.09633716e-01 -7.11291990e+01] [ 3.79884238e-02 9.99194667e-01 -1.29188966e-02 6.74908895e+00] [ 1.10051561e-01 8.66623139e-03 9.93888097e-01 -3.93314941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.54534707 meters Centerline goodness [0,1] 0.9992706779380076 Centerline is valid? [True, True] Translation: X:-71.16, Y:6.74, Z:-3.94 [[ 9.93103221e-01 -4.30100386e-02 -1.09069377e-01 -7.11574584e+01] [ 4.18566009e-02 9.99041071e-01 -1.28438421e-02 6.73769406e+00] [ 1.09517202e-01 8.18998755e-03 9.93951159e-01 -3.93651267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.57534707 meters Centerline goodness [0,1] 0.9989541116485815 Centerline is valid? [True, True] Translation: X:-71.19, Y:6.74, Z:-3.94 [[ 9.92862950e-01 -4.43361375e-02 -1.10713458e-01 -7.11857948e+01] [ 4.31566320e-02 9.98983363e-01 -1.30286138e-02 6.73727726e+00] [ 1.11178541e-01 8.15760791e-03 9.93766967e-01 -3.94106853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.60534707000001 meters Centerline goodness [0,1] 0.9995414646927814 Centerline is valid? [True, True] Translation: X:-71.21, Y:6.73, Z:-3.94 [[ 9.92660821e-01 -4.83182851e-02 -1.10859537e-01 -7.12140137e+01] [ 4.71649189e-02 9.98802462e-01 -1.30043387e-02 6.72731794e+00] [ 1.11355125e-01 7.68021646e-03 9.93751000e-01 -3.94417154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63534707000001 meters Centerline goodness [0,1] 0.9991217227246113 Centerline is valid? [True, True] Translation: X:-71.24, Y:6.72, Z:-3.95 [[ 9.92711321e-01 -4.93108957e-02 -1.09966669e-01 -7.12420093e+01] [ 4.81833895e-02 9.98755347e-01 -1.28886734e-02 6.72279718e+00] [ 1.10465350e-01 7.49616518e-03 9.93851706e-01 -3.94687772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.66534707000001 meters Centerline goodness [0,1] 0.9995735607675906 Centerline is valid? [True, True] Translation: X:-71.27, Y:6.73, Z:-3.95 [[ 9.92754093e-01 -5.12758688e-02 -1.08674265e-01 -7.12708554e+01] [ 5.01907241e-02 9.98658914e-01 -1.26990191e-02 6.72605739e+00] [ 1.09179677e-01 7.15256312e-03 9.93996297e-01 -3.95074744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69534707000001 meters Centerline goodness [0,1] 0.9996413433322465 Centerline is valid? [True, True] Translation: X:-71.30, Y:6.72, Z:-3.95 [[ 9.92530044e-01 -5.41783168e-02 -1.09310665e-01 -7.12993468e+01] [ 5.30989492e-02 9.98507687e-01 -1.27632871e-02 6.72307433e+00] [ 1.09839033e-01 6.86366446e-03 9.93925690e-01 -3.95259980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.72534707000001 meters Centerline goodness [0,1] 0.9998697959050812 Centerline is valid? [True, True] Translation: X:-71.33, Y:6.72, Z:-3.96 [[ 9.92630856e-01 -5.41286075e-02 -1.08416222e-01 -7.13270902e+01] [ 5.30682825e-02 9.98510838e-01 -1.26437400e-02 6.72023288e+00] [ 1.08939161e-01 6.79710380e-03 9.94025180e-01 -3.95503264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75534707000001 meters Centerline goodness [0,1] 0.9990225784380803 Centerline is valid? [True, True] Translation: X:-71.36, Y:6.72, Z:-3.96 [[ 9.92586597e-01 -5.69898449e-02 -1.07349920e-01 -7.13566086e+01] [ 5.59695756e-02 9.98354279e-01 -1.24956307e-02 6.72373889e+00] [ 1.07885376e-01 6.39466606e-03 9.94142773e-01 -3.96058365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.78534707000001 meters Centerline goodness [0,1] 0.9997732793522267 Centerline is valid? [True, True] Translation: X:-71.39, Y:6.72, Z:-3.96 [[ 9.92338218e-01 -6.18367457e-02 -1.06962973e-01 -7.13858870e+01] [ 6.08532603e-02 9.98069232e-01 -1.24373636e-02 6.71915663e+00] [ 1.07525538e-01 5.83302565e-03 9.94185211e-01 -3.96384242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.81534707000002 meters Centerline goodness [0,1] 0.9992463464185071 Centerline is valid? [True, True] Translation: X:-71.41, Y:6.71, Z:-3.96 [[ 9.92254336e-01 -6.45580815e-02 -1.06130049e-01 -7.14132792e+01] [ 6.36058092e-02 9.97898846e-01 -1.23367047e-02 6.70868650e+00] [ 1.06703487e-01 5.49066108e-03 9.94275726e-01 -3.96467738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.84534707000002 meters Centerline goodness [0,1] 0.9996426366914655 Centerline is valid? [True, True] Translation: X:-71.44, Y:6.71, Z:-3.97 [[ 9.91786534e-01 -7.01148244e-02 -1.06973747e-01 -7.14423628e+01] [ 6.91801510e-02 9.97526767e-01 -1.24280211e-02 6.71123388e+00] [ 1.07580565e-01 4.92548400e-03 9.94184169e-01 -3.97011641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.87534707 meters Centerline goodness [0,1] 0.9994787254838079 Centerline is valid? [True, True] Translation: X:-71.47, Y:6.70, Z:-3.97 [[ 9.91546981e-01 -7.41174770e-02 -1.06494992e-01 -7.14700322e+01] [ 7.32151984e-02 9.97239539e-01 -1.23627379e-02 6.70284840e+00] [ 1.07117311e-01 4.46118347e-03 9.94236380e-01 -3.97302718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.90534707 meters Centerline goodness [0,1] 0.9995144531123555 Centerline is valid? [True, True] Translation: X:-71.50, Y:6.70, Z:-3.98 [[ 9.91100717e-01 -7.93458026e-02 -1.06881305e-01 -7.14989295e+01] [ 7.84682733e-02 9.96839521e-01 -1.23975839e-02 6.69971163e+00] [ 1.07527205e-01 3.90046292e-03 9.94194491e-01 -3.97569202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.93534707 meters Centerline goodness [0,1] 0.9994836044410018 Centerline is valid? [True, True] Translation: X:-71.53, Y:6.70, Z:-3.98 [[ 9.90777193e-01 -8.26607159e-02 -1.07367401e-01 -7.15267885e+01] [ 8.17958030e-02 9.96571441e-01 -1.24422555e-02 6.69721736e+00] [ 1.08027772e-01 3.54530014e-03 9.94141555e-01 -3.97948484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.96534707 meters Centerline goodness [0,1] 0.9995493175379861 Centerline is valid? [True, True] Translation: X:-71.55, Y:6.69, Z:-3.98 [[ 9.90615299e-01 -8.55172539e-02 -1.06621426e-01 -7.15548344e+01] [ 8.46837245e-02 9.96331601e-01 -1.23291298e-02 6.69176338e+00] [ 1.07284649e-01 3.18432510e-03 9.94223247e-01 -3.98020554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.99534707000001 meters Centerline goodness [0,1] 0.9998383812263633 Centerline is valid? [True, True] Translation: X:-71.58, Y:6.69, Z:-3.99 [[ 9.90089853e-01 -9.01865701e-02 -1.07649732e-01 -7.15824368e+01] [ 8.93691438e-02 9.95921335e-01 -1.24036247e-02 6.68594304e+00] [ 1.08329305e-01 2.66013862e-03 9.94111505e-01 -3.98863001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.02534707000001 meters Centerline goodness [0,1] 0.9995856045392241 Centerline is valid? [True, True] Translation: X:-71.61, Y:6.68, Z:-3.99 [[ 9.89883231e-01 -9.29500698e-02 -1.07198292e-01 -7.16104687e+01] [ 9.21604573e-02 9.95668107e-01 -1.23073685e-02 6.68014039e+00] [ 1.07877891e-01 2.30341411e-03 9.94161483e-01 -3.99152081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05534707000001 meters Centerline goodness [0,1] 0.9994608309546463 Centerline is valid? [True, True] Translation: X:-71.64, Y:6.67, Z:-4.00 [[ 9.89478598e-01 -9.64992936e-02 -1.07796056e-01 -7.16379796e+01] [ 9.57267178e-02 9.95331273e-01 -1.23309354e-02 6.67426917e+00] [ 1.08482712e-01 1.88223406e-03 9.94096554e-01 -3.99707957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.08534707000001 meters Centerline goodness [0,1] 0.9994686503719448 Centerline is valid? [True, True] Translation: X:-71.67, Y:6.67, Z:-4.00 [[ 9.89276085e-01 -9.80095836e-02 -1.08291041e-01 -7.16665597e+01] [ 9.72438876e-02 9.95184055e-01 -1.23419482e-02 6.67031433e+00] [ 1.08979147e-01 1.67895237e-03 9.94042618e-01 -4.00231870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11534707000001 meters Centerline goodness [0,1] 0.9995225818772081 Centerline is valid? [True, True] Translation: X:-71.69, Y:6.66, Z:-4.01 [[ 9.89124216e-01 -1.00881253e-01 -1.07033908e-01 -7.16942720e+01] [ 1.00154686e-01 9.94897619e-01 -1.21559005e-02 6.66323488e+00] [ 1.07714082e-01 1.30374812e-03 9.94181058e-01 -4.00544747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.14534707000001 meters Centerline goodness [0,1] 0.9993678088253888 Centerline is valid? [True, True] Translation: X:-71.72, Y:6.66, Z:-4.01 [[ 9.88760182e-01 -1.03971195e-01 -1.07439722e-01 -7.17217065e+01] [ 1.03261930e-01 9.94579876e-01 -1.21591299e-02 6.65654709e+00] [ 1.08121584e-01 9.28030446e-04 9.94137245e-01 -4.01146067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17534707000002 meters Centerline goodness [0,1] 0.9991686119016404 Centerline is valid? [True, True] Translation: X:-71.75, Y:6.65, Z:-4.01 [[ 9.88599495e-01 -1.05977353e-01 -1.06957186e-01 -7.17491961e+01] [ 1.05290617e-01 9.94368322e-01 -1.20634402e-02 6.65106020e+00] [ 1.07633289e-01 6.64322729e-04 9.94190441e-01 -4.01384953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.20534707000002 meters Centerline goodness [0,1] 0.9996506383789621 Centerline is valid? [True, True] Translation: X:-71.78, Y:6.65, Z:-4.02 [[ 9.88255089e-01 -1.08441676e-01 -1.07667464e-01 -7.17760186e+01] [ 1.07763295e-01 9.94102744e-01 -1.21164084e-02 6.64537571e+00] [ 1.08346445e-01 3.71501518e-04 9.94113127e-01 -4.01846967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.23534707 meters Centerline goodness [0,1] 0.99984059680556 Centerline is valid? [True, True] Translation: X:-71.80, Y:6.64, Z:-4.02 [[ 9.88046792e-01 -1.11314785e-01 -1.06642185e-01 -7.18043370e+01] [ 1.10671363e-01 9.93785197e-01 -1.19511880e-02 6.63907911e+00] [ 1.07309769e-01 6.09700606e-06 9.94225635e-01 -4.02372992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.26534707 meters Centerline goodness [0,1] 0.9990846537466069 Centerline is valid? [True, True] Translation: X:-71.83, Y:6.63, Z:-4.03 [[ 9.87681479e-01 -1.13210627e-01 -1.08021524e-01 -7.18319387e+01] [ 1.12566601e-01 9.93570980e-01 -1.20609953e-02 6.63247115e+00] [ 1.08692484e-01 -2.47194092e-04 9.94075391e-01 -4.02667275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.29534707 meters Centerline goodness [0,1] 0.9995875372802843 Centerline is valid? [True, True] Translation: X:-71.86, Y:6.63, Z:-4.03 [[ 9.87556055e-01 -1.14554747e-01 -1.07750863e-01 -7.18589593e+01] [ 1.13927343e-01 9.93416838e-01 -1.19811271e-02 6.62549785e+00] [ 1.08414017e-01 -4.43734997e-04 9.94105731e-01 -4.03317850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.32534707 meters Centerline goodness [0,1] 0.9997161957618567 Centerline is valid? [True, True] Translation: X:-71.89, Y:6.62, Z:-4.04 [[ 9.87439729e-01 -1.15824603e-01 -1.07459028e-01 -7.18859231e+01] [ 1.15213293e-01 9.93269483e-01 -1.19009125e-02 6.61933612e+00] [ 1.08114191e-01 -6.29274678e-04 9.94138283e-01 -4.03501685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.35534707000001 meters Centerline goodness [0,1] 0.9998417170534046 Centerline is valid? [True, True] Translation: X:-71.91, Y:6.61, Z:-4.04 [[ 9.87066030e-01 -1.18866409e-01 -1.07570579e-01 -7.19140757e+01] [ 1.18275324e-01 9.92909757e-01 -1.18811467e-02 6.61191535e+00] [ 1.08220147e-01 -9.95468874e-04 9.94126455e-01 -4.04102384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.38534707000001 meters Centerline goodness [0,1] 0.9999372155077696 Centerline is valid? [True, True] Translation: X:-71.94, Y:6.60, Z:-4.05 [[ 9.86776506e-01 -1.21368593e-01 -1.07432728e-01 -7.19418000e+01] [ 1.20798515e-01 9.92606641e-01 -1.18226114e-02 6.60350788e+00] [ 1.08073333e-01 -1.31143874e-03 9.94142060e-01 -4.04534766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41534707000001 meters Centerline goodness [0,1] 0.9998155492022504 Centerline is valid? [True, True] Translation: X:-71.97, Y:6.59, Z:-4.05 [[ 9.86190125e-01 -1.24837832e-01 -1.08832680e-01 -7.19692691e+01] [ 1.24278716e-01 9.92175602e-01 -1.19321568e-02 6.59434318e+00] [ 1.09470714e-01 -1.75821049e-03 9.93988466e-01 -4.04949593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.44534707000001 meters Centerline goodness [0,1] 0.9998758072528564 Centerline is valid? [True, True] Translation: X:-72.00, Y:6.59, Z:-4.05 [[ 9.86023041e-01 -1.26976786e-01 -1.07867781e-01 -7.19956972e+01] [ 1.26444636e-01 9.91903638e-01 -1.17867580e-02 6.58684706e+00] [ 1.08491089e-01 -2.01728729e-03 9.94095375e-01 -4.05378942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47534707000001 meters Centerline goodness [0,1] 0.9995066296638915 Centerline is valid? [True, True] Translation: X:-72.02, Y:6.58, Z:-4.05 [[ 9.85668138e-01 -1.29794087e-01 -1.07758137e-01 -7.20233397e+01] [ 1.29281471e-01 9.91538208e-01 -1.17593862e-02 6.57955039e+00] [ 1.08372608e-01 -2.34027812e-03 9.94107590e-01 -4.05286343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.50534707000001 meters Centerline goodness [0,1] 0.9997823653774406 Centerline is valid? [True, True] Translation: X:-72.05, Y:6.57, Z:-4.06 [[ 9.85230804e-01 -1.33217574e-01 -1.07579463e-01 -7.20506102e+01] [ 1.32729011e-01 9.91083055e-01 -1.17212877e-02 6.57044610e+00] [ 1.08181664e-01 -2.73074195e-03 9.94127392e-01 -4.06058113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53534707000001 meters Centerline goodness [0,1] 0.9996916530480097 Centerline is valid? [True, True] Translation: X:-72.08, Y:6.56, Z:-4.06 [[ 9.84910074e-01 -1.35229704e-01 -1.08004970e-01 -7.20789576e+01] [ 1.34754193e-01 9.90809709e-01 -1.17229868e-02 6.56219389e+00] [ 1.08597668e-01 -3.00803471e-03 9.94081233e-01 -4.06237879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.56534707000002 meters Centerline goodness [0,1] 0.9994274866664657 Centerline is valid? [True, True] Translation: X:-72.11, Y:6.55, Z:-4.07 [[ 9.84384378e-01 -1.38732198e-01 -1.08354847e-01 -7.21057118e+01] [ 1.38279529e-01 9.90323927e-01 -1.17171218e-02 6.54822902e+00] [ 1.08931940e-01 -3.44910551e-03 9.94043227e-01 -4.07117793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.59534707000002 meters Centerline goodness [0,1] 0.9991688471602278 Centerline is valid? [True, True] Translation: X:-72.13, Y:6.54, Z:-4.07 [[ 9.84308585e-01 -1.40316814e-01 -1.06994393e-01 -7.21335321e+01] [ 1.39889023e-01 9.90100048e-01 -1.15306807e-02 6.54389669e+00] [ 1.07553102e-01 -3.61759318e-03 9.94192760e-01 -4.06767834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.62534707 meters Centerline goodness [0,1] 0.999205233233478 Centerline is valid? [True, True] Translation: X:-72.16, Y:6.54, Z:-4.07 [[ 9.84256331e-01 -1.41674798e-01 -1.05677468e-01 -7.21605578e+01] [ 1.41266859e-01 9.89906212e-01 -1.13738832e-02 6.53818871e+00] [ 1.06222175e-01 -3.73390747e-03 9.94335410e-01 -4.07239229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.65534707 meters Centerline goodness [0,1] 0.9998135603753651 Centerline is valid? [True, True] Translation: X:-72.19, Y:6.54, Z:-4.08 [[ 9.84124518e-01 -1.41675276e-01 -1.06897373e-01 -7.21873169e+01] [ 1.41259655e-01 9.89905915e-01 -1.14886190e-02 6.53540365e+00] [ 1.07445996e-01 -3.79405454e-03 9.94203683e-01 -4.07976375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.68534707 meters Centerline goodness [0,1] 0.9994171242752401 Centerline is valid? [True, True] Translation: X:-72.22, Y:6.53, Z:-4.08 [[ 9.84342194e-01 -1.40541498e-01 -1.06388595e-01 -7.22156395e+01] [ 1.40126137e-01 9.90067951e-01 -1.14068952e-02 6.52733307e+00] [ 1.06935080e-01 -3.67953459e-03 9.94259196e-01 -4.08089887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.71534707 meters Centerline goodness [0,1] 0.9992435703479576 Centerline is valid? [True, True] Translation: X:-72.24, Y:6.52, Z:-4.09 [[ 9.84644331e-01 -1.39084082e-01 -1.05504313e-01 -7.22436684e+01] [ 1.38672166e-01 9.90274258e-01 -1.12661144e-02 6.52241001e+00] [ 1.06045142e-01 -3.53739591e-03 9.94355024e-01 -4.09042745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.74534707000001 meters Centerline goodness [0,1] 0.9994234737225391 Centerline is valid? [True, True] Translation: X:-72.27, Y:6.52, Z:-4.09 [[ 9.84831858e-01 -1.37535892e-01 -1.05783218e-01 -7.22709814e+01] [ 1.37117324e-01 9.90490876e-01 -1.12545028e-02 6.52028819e+00] [ 1.06325210e-01 -3.42091883e-03 9.94325524e-01 -4.09077927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77534707000001 meters Centerline goodness [0,1] 0.9998805185494952 Centerline is valid? [True, True] Translation: X:-72.30, Y:6.52, Z:-4.10 [[ 9.85392661e-01 -1.34108665e-01 -1.04957939e-01 -7.22983309e+01] [ 1.33679163e-01 9.90961954e-01 -1.11484515e-02 6.51520324e+00] [ 1.05504429e-01 -3.04508718e-03 9.94414171e-01 -4.09756368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.80534707000001 meters Centerline goodness [0,1] 0.9998493068113321 Centerline is valid? [True, True] Translation: X:-72.33, Y:6.51, Z:-4.10 [[ 9.85840366e-01 -1.30993087e-01 -1.04688029e-01 -7.23268022e+01] [ 1.30550171e-01 9.91379544e-01 -1.11019221e-02 6.51244212e+00] [ 1.05239845e-01 -2.72231711e-03 9.94443143e-01 -4.10023146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83534707000001 meters Centerline goodness [0,1] 0.9998190318202382 Centerline is valid? [True, True] Translation: X:-72.35, Y:6.51, Z:-4.10 [[ 9.86092430e-01 -1.29285108e-01 -1.04436970e-01 -7.23539653e+01] [ 1.28839088e-01 9.91604121e-01 -1.10343719e-02 6.50926028e+00] [ 1.04986709e-01 -2.57465330e-03 9.94470292e-01 -4.10316369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.86534707000001 meters Centerline goodness [0,1] 0.9998194674289153 Centerline is valid? [True, True] Translation: X:-72.38, Y:6.51, Z:-4.11 [[ 9.86601464e-01 -1.25543001e-01 -1.04194556e-01 -7.23815954e+01] [ 1.25080598e-01 9.92085754e-01 -1.09863855e-02 6.50533084e+00] [ 1.04749198e-01 -2.19353334e-03 9.94496251e-01 -4.10992192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.89534707000001 meters Centerline goodness [0,1] 0.9996171290569594 Centerline is valid? [True, True] Translation: X:-72.41, Y:6.50, Z:-4.11 [[ 9.86789155e-01 -1.24654982e-01 -1.03480911e-01 -7.24089089e+01] [ 1.24195835e-01 9.92197922e-01 -1.08939039e-02 6.50029937e+00] [ 1.04031525e-01 -2.10191199e-03 9.94571779e-01 -4.11139546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.92534707000002 meters Centerline goodness [0,1] 0.9999696251746553 Centerline is valid? [True, True] Translation: X:-72.44, Y:6.50, Z:-4.12 [[ 9.87185679e-01 -1.22148679e-01 -1.02684639e-01 -7.24359809e+01] [ 1.21687734e-01 9.92510055e-01 -1.07650372e-02 6.49718652e+00] [ 1.03230472e-01 -1.86837052e-03 9.94655709e-01 -4.11619399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-72.46, Y:6.49, Z:-4.12 [[ 9.87316467e-01 -1.21351774e-01 -1.02371580e-01 -7.24628786e+01] [ 1.20891854e-01 9.92607926e-01 -1.07081890e-02 6.49215132e+00] [ 1.02914300e-01 -1.80351884e-03 9.94688592e-01 -4.12127452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.98534707 meters Centerline goodness [0,1] 0.9999395971127419 Centerline is valid? [True, True] Translation: X:-72.49, Y:6.49, Z:-4.13 [[ 9.87161601e-01 -1.21840020e-01 -1.03281084e-01 -7.24900247e+01] [ 1.21379480e-01 9.92547898e-01 -1.07560265e-02 6.48751210e+00] [ 1.03821938e-01 -1.91826799e-03 9.94594051e-01 -4.12511294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.01534707 meters Centerline goodness [0,1] 0.9997030438010394 Centerline is valid? [True, True] Translation: X:-72.52, Y:6.48, Z:-4.13 [[ 9.87263942e-01 -1.21457502e-01 -1.02752048e-01 -7.25168961e+01] [ 1.21001466e-01 9.92594841e-01 -1.06830523e-02 6.48004897e+00] [ 1.03288690e-01 -1.88615619e-03 9.94649631e-01 -4.12700158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.04534707 meters Centerline goodness [0,1] 0.9999698040281426 Centerline is valid? [True, True] Translation: X:-72.54, Y:6.48, Z:-4.13 [[ 9.87461788e-01 -1.20903756e-01 -1.01496304e-01 -7.25443954e+01] [ 1.20460857e-01 9.92662503e-01 -1.05041442e-02 6.47595476e+00] [ 1.02021566e-01 -1.85389074e-03 9.94780460e-01 -4.13234798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.07534707 meters Centerline goodness [0,1] 0.999789372329542 Centerline is valid? [True, True] Translation: X:-72.57, Y:6.47, Z:-4.13 [[ 9.87448989e-01 -1.20944661e-01 -1.01572062e-01 -7.25717863e+01] [ 1.20503108e-01 9.92657477e-01 -1.04945229e-02 6.46851290e+00] [ 1.02095523e-01 -1.87694314e-03 9.94772829e-01 -4.13394529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.10534707000001 meters Centerline goodness [0,1] 0.9996380854721476 Centerline is valid? [True, True] Translation: X:-72.60, Y:6.46, Z:-4.14 [[ 9.87470789e-01 -1.20631743e-01 -1.01732114e-01 -7.25993663e+01] [ 1.20192399e-01 9.92695511e-01 -1.04598860e-02 6.46165052e+00] [ 1.02250807e-01 -1.89859502e-03 9.94756838e-01 -4.13503247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13534707000001 meters Centerline goodness [0,1] 0.9999701421234922 Centerline is valid? [True, True] Translation: X:-72.63, Y:6.46, Z:-4.14 [[ 9.87745532e-01 -1.18314057e-01 -1.01786779e-01 -7.26271832e+01] [ 1.17867241e-01 9.92974752e-01 -1.04142285e-02 6.45601608e+00] [ 1.02303851e-01 -1.71071916e-03 9.94751726e-01 -4.14425890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.16534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-72.65, Y:6.45, Z:-4.15 [[ 9.87980026e-01 -1.17725254e-01 -1.00181004e-01 -7.26540306e+01] [ 1.17293442e-01 9.93044812e-01 -1.02102707e-02 6.45225273e+00] [ 1.00686233e-01 -1.66303127e-03 9.94916839e-01 -4.14990574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19534707000001 meters Centerline goodness [0,1] 0.9997289809684413 Centerline is valid? [True, True] Translation: X:-72.68, Y:6.45, Z:-4.15 [[ 9.87993506e-01 -1.17347067e-01 -1.00491287e-01 -7.26821959e+01] [ 1.16912324e-01 9.93089601e-01 -1.02251217e-02 6.44627353e+00] [ 1.00996740e-01 -1.64631600e-03 9.94885395e-01 -4.14828316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.22534707000001 meters Centerline goodness [0,1] 0.9999700329637399 Centerline is valid? [True, True] Translation: X:-72.71, Y:6.44, Z:-4.16 [[ 9.88258232e-01 -1.15574507e-01 -9.99409864e-02 -7.27095246e+01] [ 1.15140491e-01 9.93297671e-01 -1.01194772e-02 6.43959885e+00] [ 1.00440703e-01 -1.50659769e-03 9.94941906e-01 -4.15575363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.25534707000001 meters Centerline goodness [0,1] 0.9999701305295857 Centerline is valid? [True, True] Translation: X:-72.74, Y:6.43, Z:-4.16 [[ 9.88416831e-01 -1.15040174e-01 -9.89844781e-02 -7.27369983e+01] [ 1.14615977e-01 9.93359737e-01 -9.98051226e-03 6.43413746e+00] [ 9.94753550e-02 -1.48029639e-03 9.95038925e-01 -4.15947281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.28534707000001 meters Centerline goodness [0,1] 0.9999701305295857 Centerline is valid? [True, True] Translation: X:-72.76, Y:6.43, Z:-4.16 [[ 9.88470050e-01 -1.14578024e-01 -9.89890708e-02 -7.27641967e+01] [ 1.14156098e-01 9.93413150e-01 -9.93475368e-03 6.43115783e+00] [ 9.94753491e-02 -1.47999955e-03 9.95038926e-01 -4.16214564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-72.79, Y:6.43, Z:-4.17 [[ 9.88495287e-01 -1.14263969e-01 -9.91000185e-02 -7.27915030e+01] [ 1.13844186e-01 9.93449297e-01 -9.89926912e-03 6.42561030e+00] [ 9.95819735e-02 -1.49658011e-03 9.95028236e-01 -4.16608172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.34534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-72.82, Y:6.42, Z:-4.17 [[ 9.88632940e-01 -1.13004032e-01 -9.91715613e-02 -7.28184295e+01] [ 1.12581997e-01 9.93593519e-01 -9.85971094e-03 6.41954311e+00] [ 9.96504077e-02 -1.41729740e-03 9.95021501e-01 -4.16930225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.37534707 meters Centerline goodness [0,1] 0.9998506972438711 Centerline is valid? [True, True] Translation: X:-72.85, Y:6.42, Z:-4.17 [[ 9.88760440e-01 -1.12493797e-01 -9.84781127e-02 -7.28461224e+01] [ 1.12079693e-01 9.93651438e-01 -9.74487378e-03 6.41590216e+00] [ 9.89491561e-02 -1.40205091e-03 9.95091503e-01 -4.16921714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.40534707 meters Centerline goodness [0,1] 0.9999091322126307 Centerline is valid? [True, True] Translation: X:-72.87, Y:6.41, Z:-4.17 [[ 9.88938548e-01 -1.11918649e-01 -9.73384007e-02 -7.28732200e+01] [ 1.11512878e-01 9.93716462e-01 -9.61615063e-03 6.40933288e+00] [ 9.78029978e-02 -1.34470313e-03 9.95204886e-01 -4.17357303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.43534707 meters Centerline goodness [0,1] 0.9997039405512627 Centerline is valid? [True, True] Translation: X:-72.90, Y:6.40, Z:-4.18 [[ 9.89075212e-01 -1.10008819e-01 -9.81238242e-02 -7.29013584e+01] [ 1.09592288e-01 9.93929865e-01 -9.64123749e-03 6.40271257e+00] [ 9.85888205e-02 -1.21770537e-03 9.95127510e-01 -4.17536498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.46534707 meters Centerline goodness [0,1] 0.9999698395463867 Centerline is valid? [True, True] Translation: X:-72.93, Y:6.40, Z:-4.19 [[ 9.89174254e-01 -1.10745623e-01 -9.62792982e-02 -7.29273354e+01] [ 1.10352180e-01 9.93847923e-01 -9.41814095e-03 6.39542671e+00] [ 9.67299985e-02 -1.30844789e-03 9.95309799e-01 -4.18518086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.49534707000001 meters Centerline goodness [0,1] 0.9999094257593141 Centerline is valid? [True, True] Translation: X:-72.96, Y:6.39, Z:-4.19 [[ 9.89225491e-01 -1.09578201e-01 -9.70852543e-02 -7.29552056e+01] [ 1.09173949e-01 9.93977430e-01 -9.48245055e-03 6.38995343e+00] [ 9.75396214e-02 -1.21889875e-03 9.95230896e-01 -4.18564274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.52534707000001 meters Centerline goodness [0,1] 0.9999096983926314 Centerline is valid? [True, True] Translation: X:-72.98, Y:6.39, Z:-4.19 [[ 9.89470037e-01 -1.07999564e-01 -9.63594347e-02 -7.29826823e+01] [ 1.07598310e-01 9.94150332e-01 -9.36595694e-03 6.38596178e+00] [ 9.68072832e-02 -1.10077857e-03 9.95302536e-01 -4.18902249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55534707000001 meters Centerline goodness [0,1] 0.9995310255884163 Centerline is valid? [True, True] Translation: X:-73.01, Y:6.38, Z:-4.19 [[ 9.89805861e-01 -1.04684018e-01 -9.65692134e-02 -7.30115138e+01] [ 1.04266724e-01 9.94505217e-01 -9.37138700e-03 6.38316982e+00] [ 9.70196210e-02 -7.93101762e-04 9.95282153e-01 -4.18807468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.58534707000001 meters Centerline goodness [0,1] 0.9998810302777943 Centerline is valid? [True, True] Translation: X:-73.04, Y:6.38, Z:-4.19 [[ 9.90408368e-01 -9.98114596e-02 -9.55454723e-02 -7.30387621e+01] [ 9.93843641e-02 9.95006305e-01 -9.23043002e-03 6.38283876e+00] [ 9.59896501e-02 -3.53830882e-04 9.95382269e-01 -4.19243798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61534707000001 meters Centerline goodness [0,1] 0.9996999249812453 Centerline is valid? [True, True] Translation: X:-73.07, Y:6.38, Z:-4.19 [[ 9.90879361e-01 -9.50478846e-02 -9.55195824e-02 -7.30667422e+01] [ 9.46002932e-02 9.95472697e-01 -9.21377480e-03 6.38172177e+00] [ 9.59628862e-02 9.35587863e-05 9.95384908e-01 -4.19496556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.64534707000001 meters Centerline goodness [0,1] 0.9998218262806237 Centerline is valid? [True, True] Translation: X:-73.09, Y:6.38, Z:-4.20 [[ 9.91723617e-01 -8.59512250e-02 -9.53763840e-02 -7.30941948e+01] [ 8.54675576e-02 9.96298917e-01 -9.15233901e-03 6.38312132e+00] [ 9.58100428e-02 9.25004159e-04 9.95399206e-01 -4.20238686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67534707000002 meters Centerline goodness [0,1] 0.999761933103202 Centerline is valid? [True, True] Translation: X:-73.12, Y:6.38, Z:-4.21 [[ 9.91994855e-01 -8.25099997e-02 -9.55944943e-02 -7.31225681e+01] [ 8.20103145e-02 9.96589468e-01 -9.15101492e-03 6.38212676e+00] [ 9.60235164e-02 1.23802517e-03 9.95378296e-01 -4.20504971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.70534707000002 meters Centerline goodness [0,1] 0.9998816918071577 Centerline is valid? [True, True] Translation: X:-73.15, Y:6.38, Z:-4.21 [[ 9.92335854e-01 -7.82515031e-02 -9.56360510e-02 -7.31515077e+01] [ 7.77357668e-02 9.96932353e-01 -9.11232203e-03 6.38104608e+00] [ 9.60557263e-02 1.60814210e-03 9.95374659e-01 -4.20847177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.73534707 meters Centerline goodness [0,1] 0.9998513364849998 Centerline is valid? [True, True] Translation: X:-73.18, Y:6.38, Z:-4.21 [[ 9.92437378e-01 -7.70459819e-02 -9.55613276e-02 -7.31805828e+01] [ 7.65294563e-02 9.97026122e-01 -9.06395498e-03 6.37706808e+00] [ 9.59754811e-02 1.68215127e-03 9.95382277e-01 -4.20983874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.76534707 meters Centerline goodness [0,1] 0.999761713281506 Centerline is valid? [True, True] Translation: X:-73.21, Y:6.37, Z:-4.22 [[ 9.92355261e-01 -7.87119960e-02 -9.50550205e-02 -7.32074060e+01] [ 7.82105993e-02 9.96896282e-01 -8.99475275e-03 6.36882839e+00] [ 9.54679915e-02 1.49168010e-03 9.95431383e-01 -4.21616814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.79534707 meters Centerline goodness [0,1] 0.9997927215658405 Centerline is valid? [True, True] Translation: X:-73.23, Y:6.36, Z:-4.22 [[ 9.92261478e-01 -7.87880486e-02 -9.59666729e-02 -7.32348636e+01] [ 7.82787536e-02 9.96890286e-01 -9.06615260e-03 6.36469643e+00] [ 9.63825484e-02 1.48384243e-03 9.95343259e-01 -4.22039086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.82534707 meters Centerline goodness [0,1] 0.9998512170445754 Centerline is valid? [True, True] Translation: X:-73.26, Y:6.36, Z:-4.22 [[ 9.92024613e-01 -8.20149792e-02 -9.57115986e-02 -7.32619208e+01] [ 8.15280820e-02 9.96630469e-01 -8.99330117e-03 6.35743713e+00] [ 9.61266808e-02 1.11839306e-03 9.95368480e-01 -4.22275438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.85534707000001 meters Centerline goodness [0,1] 0.9998511195807528 Centerline is valid? [True, True] Translation: X:-73.29, Y:6.35, Z:-4.22 [[ 9.91998330e-01 -8.30819326e-02 -9.50615898e-02 -7.32896971e+01] [ 8.26078456e-02 9.96542224e-01 -8.91852228e-03 6.35168827e+00] [ 9.54738562e-02 9.94326069e-04 9.95431441e-01 -4.22368616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.88534707000001 meters Centerline goodness [0,1] 0.9999110742233815 Centerline is valid? [True, True] Translation: X:-73.32, Y:6.35, Z:-4.23 [[ 9.91940996e-01 -8.42439305e-02 -9.46362514e-02 -7.33158712e+01] [ 8.37837691e-02 9.96444814e-01 -8.83247421e-03 6.34519549e+00] [ 9.50438842e-02 8.32311429e-04 9.95472736e-01 -4.22659360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91534707000001 meters Centerline goodness [0,1] 0.9996751904565051 Centerline is valid? [True, True] Translation: X:-73.34, Y:6.34, Z:-4.23 [[ 9.91753253e-01 -8.59927864e-02 -9.50301268e-02 -7.33445805e+01] [ 8.55411917e-02 9.96295566e-01 -8.82327099e-03 6.34005358e+00] [ 9.54368316e-02 6.21517417e-04 9.95435294e-01 -4.22851528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.94534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-73.37, Y:6.34, Z:-4.24 [[ 9.91647371e-01 -8.62614965e-02 -9.58876679e-02 -7.33718180e+01] [ 8.58067053e-02 9.96272371e-01 -8.86403811e-03 6.33741327e+00] [ 9.62948595e-02 5.62195234e-04 9.95352693e-01 -4.23505373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97534707000001 meters Centerline goodness [0,1] 0.9995915151868818 Centerline is valid? [True, True] Translation: X:-73.40, Y:6.33, Z:-4.23 [[ 9.91641831e-01 -8.54093148e-02 -9.67043347e-02 -7.33999605e+01] [ 8.49473676e-02 9.96345766e-01 -8.89149495e-03 6.33353170e+00] [ 9.71103710e-02 6.02399668e-04 9.95273436e-01 -4.23427234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.00534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-73.43, Y:6.33, Z:-4.24 [[ 9.91642808e-01 -8.63075986e-02 -9.58933745e-02 -7.34272772e+01] [ 8.58621518e-02 9.96268430e-01 -8.76964096e-03 6.33004589e+00] [ 9.62924283e-02 4.62739908e-04 9.95352980e-01 -4.23971362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03534707000001 meters Centerline goodness [0,1] 0.9998801067050325 Centerline is valid? [True, True] Translation: X:-73.45, Y:6.33, Z:-4.24 [[ 9.91669882e-01 -8.75159506e-02 -9.45082226e-02 -7.34537335e+01] [ 8.70930395e-02 9.96163074e-01 -8.59834479e-03 6.32592921e+00] [ 9.48980939e-02 2.95711206e-04 9.95486948e-01 -4.24062061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.06534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-73.48, Y:6.32, Z:-4.24 [[ 9.91508617e-01 -8.93325608e-02 -9.45005658e-02 -7.34804569e+01] [ 8.89198665e-02 9.96001849e-01 -8.57753466e-03 6.32094005e+00] [ 9.48889914e-02 1.01721824e-04 9.95487855e-01 -4.24458817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.09534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-73.51, Y:6.32, Z:-4.25 [[ 9.91198054e-01 -9.26500678e-02 -9.45641714e-02 -7.35080348e+01] [ 9.22538609e-02 9.95698704e-01 -8.56249279e-03 6.31502220e+00] [ 9.49507384e-02 -2.36783723e-04 9.95481944e-01 -4.24781250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.12534707 meters Centerline goodness [0,1] 0.9999098855546544 Centerline is valid? [True, True] Translation: X:-73.54, Y:6.31, Z:-4.25 [[ 9.91064106e-01 -9.46896798e-02 -9.39457375e-02 -7.35356092e+01] [ 9.43120608e-02 9.95506725e-01 -8.46142523e-03 6.30932559e+00] [ 9.43248231e-02 -4.74401269e-04 9.95541362e-01 -4.25028914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.15534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-73.56, Y:6.30, Z:-4.25 [[ 9.90698860e-01 -9.83639002e-02 -9.40229294e-02 -7.35640048e+01] [ 9.80062746e-02 9.95150134e-01 -8.42500710e-03 6.30273502e+00] [ 9.43956473e-02 -8.68192109e-04 9.95534383e-01 -4.25278851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.18534707 meters Centerline goodness [0,1] 0.9996107318241706 Centerline is valid? [True, True] Translation: X:-73.59, Y:6.30, Z:-4.25 [[ 9.90342365e-01 -1.02721127e-01 -9.31148178e-02 -7.35923659e+01] [ 1.02393263e-01 9.94709331e-01 -8.30455820e-03 6.29523233e+00] [ 9.34752318e-02 -1.30997421e-03 9.95620744e-01 -4.25430843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.21534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-73.62, Y:6.29, Z:-4.26 [[ 9.89936066e-01 -1.05175597e-01 -9.46819939e-02 -7.36199833e+01] [ 1.04851374e-01 9.94452370e-01 -8.40672493e-03 6.28691178e+00] [ 9.50409156e-02 -1.60541692e-03 9.95472072e-01 -4.25825811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.24534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-73.65, Y:6.28, Z:-4.26 [[ 9.89840175e-01 -1.06668570e-01 -9.40119319e-02 -7.36485627e+01] [ 1.06359377e-01 9.94293047e-01 -8.30781478e-03 6.27997623e+00] [ 9.43615930e-02 -1.77564163e-03 9.95536407e-01 -4.26079387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27534707000001 meters Centerline goodness [0,1] 0.9998505678421996 Centerline is valid? [True, True] Translation: X:-73.68, Y:6.28, Z:-4.26 [[ 9.89800072e-01 -1.07505319e-01 -9.34795376e-02 -7.36759462e+01] [ 1.07207004e-01 9.94202725e-01 -8.22191904e-03 6.27591398e+00] [ 9.38215111e-02 -1.88360510e-03 9.95587252e-01 -4.26095691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.30534707000001 meters Centerline goodness [0,1] 0.9999091212020236 Centerline is valid? [True, True] Translation: X:-73.70, Y:6.27, Z:-4.26 [[ 9.89753743e-01 -1.08344500e-01 -9.29999827e-02 -7.37029288e+01] [ 1.08054136e-01 9.94111465e-01 -8.16692287e-03 6.27316535e+00] [ 9.33371902e-02 -1.96579028e-03 9.95632615e-01 -4.26495397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33534707000001 meters Centerline goodness [0,1] 0.9998789199660976 Centerline is valid? [True, True] Translation: X:-73.73, Y:6.27, Z:-4.27 [[ 9.89791730e-01 -1.08098585e-01 -9.28817865e-02 -7.37299093e+01] [ 1.07811640e-01 9.94138207e-01 -8.11637912e-03 6.26870114e+00] [ 9.32147018e-02 -1.98021276e-03 9.95644062e-01 -4.26799388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.36534707000001 meters Centerline goodness [0,1] 0.999939207878659 Centerline is valid? [True, True] Translation: X:-73.76, Y:6.26, Z:-4.27 [[ 9.89950823e-01 -1.04549847e-01 -9.52192033e-02 -7.37583752e+01] [ 1.04233969e-01 9.94518178e-01 -8.29895713e-03 6.26248074e+00] [ 9.55648833e-02 -1.70951606e-03 9.95421735e-01 -4.27079545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-73.79, Y:6.26, Z:-4.27 [[ 9.90003942e-01 -1.03584048e-01 -9.57211533e-02 -7.37860735e+01] [ 1.03264551e-01 9.94619304e-01 -8.29891075e-03 6.26145773e+00] [ 9.60657416e-02 -1.66864756e-03 9.95373593e-01 -4.27201959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.42534707000002 meters Centerline goodness [0,1] 0.9999084696119112 Centerline is valid? [True, True] Translation: X:-73.81, Y:6.26, Z:-4.28 [[ 9.90315435e-01 -1.00007924e-01 -9.63003357e-02 -7.38141070e+01] [ 9.96699270e-02 9.94985721e-01 -8.32592776e-03 6.25903734e+00] [ 9.66501176e-02 -1.35295266e-03 9.95317499e-01 -4.27558826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45534707000002 meters Centerline goodness [0,1] 0.9997247538075723 Centerline is valid? [True, True] Translation: X:-73.84, Y:6.26, Z:-4.27 [[ 9.90778350e-01 -9.46607077e-02 -9.69412784e-02 -7.38426615e+01] [ 9.42941607e-02 9.95509228e-01 -8.36583922e-03 6.25706867e+00] [ 9.72978535e-02 -8.52304097e-04 9.95254943e-01 -4.27486870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.48534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-73.87, Y:6.25, Z:-4.28 [[ 9.90982238e-01 -9.17236060e-02 -9.76779560e-02 -7.38703971e+01] [ 9.13387294e-02 9.95784334e-01 -8.41409370e-03 6.25289053e+00] [ 9.80379493e-02 -5.83562977e-04 9.95182506e-01 -4.28002807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.51534707 meters Centerline goodness [0,1] 0.9997531473710195 Centerline is valid? [True, True] Translation: X:-73.90, Y:6.25, Z:-4.28 [[ 9.91434112e-01 -8.82131390e-02 -9.63163756e-02 -7.38978911e+01] [ 8.78238592e-02 9.96101592e-01 -8.28185604e-03 6.25051003e+00] [ 9.66714636e-02 -2.47961221e-04 9.95316315e-01 -4.27907691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.54534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-73.92, Y:6.25, Z:-4.28 [[ 9.91592584e-01 -8.53261335e-02 -9.72810247e-02 -7.39243863e+01] [ 8.49163589e-02 9.96353075e-01 -8.35233498e-03 6.24772297e+00] [ 9.76389206e-02 2.13630134e-05 9.95221905e-01 -4.28266934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.57534707 meters Centerline goodness [0,1] 0.9997842569191888 Centerline is valid? [True, True] Translation: X:-73.95, Y:6.24, Z:-4.28 [[ 9.91819941e-01 -8.26583469e-02 -9.72666528e-02 -7.39525239e+01] [ 8.22376223e-02 9.96577908e-01 -8.33346967e-03 6.24400567e+00] [ 9.76226282e-02 2.66323141e-04 9.95223468e-01 -4.28362500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.60534707000001 meters Centerline goodness [0,1] 0.9998128800873226 Centerline is valid? [True, True] Translation: X:-73.98, Y:6.24, Z:-4.29 [[ 9.91879186e-01 -8.11273909e-02 -9.79491015e-02 -7.39804045e+01] [ 8.06973295e-02 9.96703669e-01 -8.35093469e-03 6.23966701e+00] [ 9.83037184e-02 3.78887384e-04 9.95156387e-01 -4.28571880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63534707000001 meters Centerline goodness [0,1] 0.9996561855347877 Centerline is valid? [True, True] Translation: X:-74.01, Y:6.23, Z:-4.29 [[ 9.91982148e-01 -7.86869961e-02 -9.88927450e-02 -7.40076485e+01] [ 7.82405777e-02 9.96899199e-01 -8.39037363e-03 6.23442549e+00] [ 9.92463116e-02 5.85675356e-04 9.95062725e-01 -4.28779478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.66534707000001 meters Centerline goodness [0,1] 0.9998457313874919 Centerline is valid? [True, True] Translation: X:-74.04, Y:6.23, Z:-4.29 [[ 9.91958106e-01 -7.71653580e-02 -1.00322598e-01 -7.40354065e+01] [ 7.66996034e-02 9.97018038e-01 -8.49719327e-03 6.22817561e+00] [ 1.00679129e-01 7.34156231e-04 9.94918677e-01 -4.29217301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-74.06, Y:6.22, Z:-4.29 [[ 9.92012396e-01 -7.52620727e-02 -1.01227598e-01 -7.40624363e+01] [ 7.47823167e-02 9.97163388e-01 -8.53125318e-03 6.22254072e+00] [ 1.01582535e-01 8.93074582e-04 9.94826714e-01 -4.29450687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.72534707000001 meters Centerline goodness [0,1] 0.9999365824269906 Centerline is valid? [True, True] Translation: X:-74.09, Y:6.22, Z:-4.30 [[ 9.92030558e-01 -7.52925360e-02 -1.01026760e-01 -7.40900906e+01] [ 7.48163643e-02 9.97161106e-01 -8.49941947e-03 6.21609810e+00] [ 1.01379899e-01 8.73228936e-04 9.94847402e-01 -4.29801468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75534707000001 meters Centerline goodness [0,1] 0.9998403474040488 Centerline is valid? [True, True] Translation: X:-74.12, Y:6.21, Z:-4.30 [[ 9.92188991e-01 -7.39033145e-02 -1.00495303e-01 -7.41169552e+01] [ 7.34294490e-02 9.97264943e-01 -8.41127618e-03 6.20980760e+00] [ 1.00842064e-01 9.66260914e-04 9.94901977e-01 -4.30034798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.78534707000001 meters Centerline goodness [0,1] 0.9997447433074886 Centerline is valid? [True, True] Translation: X:-74.14, Y:6.20, Z:-4.31 [[ 9.92208793e-01 -7.37207695e-02 -1.00433850e-01 -7.41443896e+01] [ 7.32497453e-02 9.97278467e-01 -8.37461274e-03 6.20140529e+00] [ 1.00777899e-01 9.52610454e-04 9.94908492e-01 -4.30570375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81534707000002 meters Centerline goodness [0,1] 0.9996331733561581 Centerline is valid? [True, True] Translation: X:-74.17, Y:6.20, Z:-4.31 [[ 9.92120715e-01 -7.28821001e-02 -1.01905277e-01 -7.41722064e+01] [ 7.23974707e-02 9.97340055e-01 -8.45105713e-03 6.19533692e+00] [ 1.02250145e-01 1.00678453e-03 9.94758209e-01 -4.30915240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.84534707000002 meters Centerline goodness [0,1] 0.999646359106253 Centerline is valid? [True, True] Translation: X:-74.20, Y:6.19, Z:-4.31 [[ 9.92249116e-01 -7.21288213e-02 -1.01188563e-01 -7.41986451e+01] [ 7.16515207e-02 9.97394789e-01 -8.34829937e-03 6.18824361e+00] [ 1.01527099e-01 1.03327824e-03 9.94832237e-01 -4.30842814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.87534707 meters Centerline goodness [0,1] 0.9997422265184469 Centerline is valid? [True, True] Translation: X:-74.23, Y:6.18, Z:-4.31 [[ 9.92356127e-01 -7.08747108e-02 -1.01025212e-01 -7.42261027e+01] [ 7.03946156e-02 9.97484576e-01 -8.31379356e-03 6.18219076e+00] [ 1.01360329e-01 1.13861298e-03 9.94849128e-01 -4.31162224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.90534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-74.25, Y:6.18, Z:-4.32 [[ 9.92415118e-01 -6.85304581e-02 -1.02057873e-01 -7.42542605e+01] [ 6.80329022e-02 9.97648117e-01 -8.35214146e-03 6.17694271e+00] [ 1.02390221e-01 1.34549817e-03 9.94743400e-01 -4.31545259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.93534707 meters Centerline goodness [0,1] 0.9999676731104933 Centerline is valid? [True, True] Translation: X:-74.28, Y:6.17, Z:-4.32 [[ 9.92477593e-01 -6.69624326e-02 -1.02490292e-01 -7.42812069e+01] [ 6.64564096e-02 9.97754409e-01 -8.34776579e-03 6.16993209e+00] [ 1.02819127e-01 1.47383371e-03 9.94698977e-01 -4.31955484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.96534707 meters Centerline goodness [0,1] 0.9999026511341143 Centerline is valid? [True, True] Translation: X:-74.31, Y:6.17, Z:-4.32 [[ 9.92599314e-01 -6.32657717e-02 -1.03653476e-01 -7.43102279e+01] [ 6.27298336e-02 9.97994979e-01 -8.42550371e-03 6.16734574e+00] [ 1.03978695e-01 1.86098390e-03 9.94577784e-01 -4.32178918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.99534707000001 meters Centerline goodness [0,1] 0.9998366866997648 Centerline is valid? [True, True] Translation: X:-74.34, Y:6.16, Z:-4.32 [[ 9.92762226e-01 -6.00858595e-02 -1.03984869e-01 -7.43375130e+01] [ 5.95333781e-02 9.98190875e-01 -8.41149042e-03 6.16091765e+00] [ 1.04302159e-01 2.16003943e-03 9.94543309e-01 -4.32128366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.02534707000001 meters Centerline goodness [0,1] 0.9993418454653152 Centerline is valid? [True, True] Translation: X:-74.36, Y:6.16, Z:-4.32 [[ 9.92885228e-01 -5.82449232e-02 -1.03857848e-01 -7.43649231e+01] [ 5.76853696e-02 9.98299593e-01 -8.38580531e-03 6.15636262e+00] [ 1.04169678e-01 2.33506385e-03 9.94556799e-01 -4.32429222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05534707000001 meters Centerline goodness [0,1] 0.9991808381663881 Centerline is valid? [True, True] Translation: X:-74.39, Y:6.15, Z:-4.33 [[ 9.93056587e-01 -5.29511432e-02 -1.05046617e-01 -7.43930733e+01] [ 5.23507946e-02 9.98592870e-01 -8.46607608e-03 6.15133165e+00] [ 1.05347092e-01 2.90801872e-03 9.94431261e-01 -4.32703385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.08534707000001 meters Centerline goodness [0,1] 0.999219207495608 Centerline is valid? [True, True] Translation: X:-74.42, Y:6.15, Z:-4.33 [[ 9.93149699e-01 -5.09248025e-02 -1.05168152e-01 -7.44215736e+01] [ 5.03133545e-02 9.98697644e-01 -8.46061696e-03 6.14627576e+00] [ 1.05462040e-01 3.11129670e-03 9.94418462e-01 -4.32936960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11534707000001 meters Centerline goodness [0,1] 0.9990476190476191 Centerline is valid? [True, True] Translation: X:-74.45, Y:6.14, Z:-4.33 [[ 9.93329329e-01 -4.63033341e-02 -1.05607036e-01 -7.44503061e+01] [ 4.56651783e-02 9.98921028e-01 -8.45410723e-03 6.14217993e+00] [ 1.05884542e-01 3.57514853e-03 9.94372004e-01 -4.33158690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.14534707000001 meters Centerline goodness [0,1] 0.9991052492046659 Centerline is valid? [True, True] Translation: X:-74.48, Y:6.14, Z:-4.33 [[ 9.93441552e-01 -4.34691636e-02 -1.05755919e-01 -7.44782797e+01] [ 4.28148569e-02 9.99047285e-01 -8.45051480e-03 6.13716970e+00] [ 1.06022500e-01 3.86716801e-03 9.94356211e-01 -4.33499858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17534707000002 meters Centerline goodness [0,1] 0.9991052492046659 Centerline is valid? [True, True] Translation: X:-74.51, Y:6.13, Z:-4.34 [[ 9.93462125e-01 -4.29875714e-02 -1.05759511e-01 -7.45056144e+01] [ 4.23353508e-02 9.99068100e-01 -8.40533119e-03 6.13478640e+00] [ 1.06022278e-01 3.87301220e-03 9.94356212e-01 -4.33767367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.20534707000002 meters Centerline goodness [0,1] 0.9985068684053354 Centerline is valid? [True, True] Translation: X:-74.53, Y:6.13, Z:-4.34 [[ 9.93664399e-01 -4.12069571e-02 -1.04561224e-01 -7.45337262e+01] [ 4.05649260e-02 9.99142759e-01 -8.26032899e-03 6.12985908e+00] [ 1.04811973e-01 3.96647653e-03 9.94484146e-01 -4.33975300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.23534707000002 meters Centerline goodness [0,1] 0.9987684729064039 Centerline is valid? [True, True] Translation: X:-74.56, Y:6.12, Z:-4.34 [[ 9.93685246e-01 -3.92405000e-02 -1.05118101e-01 -7.45622855e+01] [ 3.85853549e-02 9.99221171e-01 -8.25966674e-03 6.12434326e+00] [ 1.05360345e-01 4.15148975e-03 9.94425444e-01 -4.34392787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.26534707 meters Centerline goodness [0,1] 0.9985245296938399 Centerline is valid? [True, True] Translation: X:-74.59, Y:6.12, Z:-4.35 [[ 9.93720175e-01 -3.84654962e-02 -1.05074356e-01 -7.45895889e+01] [ 3.78113008e-02 9.99251156e-01 -8.21170038e-03 6.11808267e+00] [ 1.05311539e-01 4.18713423e-03 9.94430464e-01 -4.34720916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.29534707 meters Centerline goodness [0,1] 0.9983035896043971 Centerline is valid? [True, True] Translation: X:-74.62, Y:6.11, Z:-4.35 [[ 9.93876526e-01 -3.73796612e-02 -1.03981789e-01 -7.46164045e+01] [ 3.67382907e-02 9.99292278e-01 -8.07720382e-03 6.10814218e+00] [ 1.04210122e-01 4.20763009e-03 9.94546402e-01 -4.35018819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.32534707 meters Centerline goodness [0,1] 0.9973981201418024 Centerline is valid? [True, True] Translation: X:-74.65, Y:6.12, Z:-4.35 [[ 9.94399126e-01 -4.04440308e-02 -9.76455739e-02 -7.46470429e+01] [ 3.98974704e-02 9.99175298e-01 -7.54429232e-03 6.11548866e+00] [ 9.78701670e-02 3.60622629e-03 9.95192658e-01 -4.35146962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.35534707000001 meters Centerline goodness [0,1] 0.9978097193702943 Centerline is valid? [True, True] Translation: X:-74.67, Y:6.10, Z:-4.35 [[ 9.94184510e-01 -3.67967640e-02 -1.01208485e-01 -7.46728508e+01] [ 3.61912520e-02 9.99314339e-01 -7.81309692e-03 6.09520567e+00] [ 1.01426587e-01 4.10479816e-03 9.94834558e-01 -4.35498481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38534707000001 meters Centerline goodness [0,1] 0.9979907853258045 Centerline is valid? [True, True] Translation: X:-74.70, Y:6.09, Z:-4.35 [[ 9.94287909e-01 -3.62336436e-02 -1.00392610e-01 -7.47011695e+01] [ 3.56363295e-02 9.99334872e-01 -7.73734251e-03 6.09082965e+00] [ 1.00606188e-01 4.11552196e-03 9.94917814e-01 -4.35489390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41534707000001 meters Centerline goodness [0,1] 0.9982608090716198 Centerline is valid? [True, True] Translation: X:-74.73, Y:6.08, Z:-4.36 [[ 9.94389854e-01 -3.51007052e-02 -9.97835642e-02 -7.47300064e+01] [ 3.45096824e-02 9.99375134e-01 -7.64348239e-03 6.08401468e+00] [ 9.99895045e-02 4.15710222e-03 9.94979808e-01 -4.35667787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44534707000001 meters Centerline goodness [0,1] 0.9979164496301698 Centerline is valid? [True, True] Translation: X:-74.76, Y:6.08, Z:-4.36 [[ 9.94474568e-01 -3.71084775e-02 -9.82002751e-02 -7.47574890e+01] [ 3.65495328e-02 9.99303808e-01 -7.48533586e-03 6.07946249e+00] [ 9.84096783e-02 3.85480196e-03 9.95138521e-01 -4.35753722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47534707000001 meters Centerline goodness [0,1] 0.9970997875425758 Centerline is valid? [True, True] Translation: X:-74.79, Y:6.08, Z:-4.36 [[ 9.94995018e-01 -3.96730497e-02 -9.17113037e-02 -7.47867903e+01] [ 3.91983533e-02 9.99207125e-01 -6.97217898e-03 6.07726135e+00] [ 9.19151957e-02 3.34235126e-03 9.95761229e-01 -4.35632283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.50534707000001 meters Centerline goodness [0,1] 0.997502638058389 Centerline is valid? [True, True] Translation: X:-74.81, Y:6.06, Z:-4.36 [[ 9.94798405e-01 -3.60388486e-02 -9.52750525e-02 -7.48142943e+01] [ 3.55119442e-02 9.99343166e-01 -7.22069058e-03 6.06457504e+00] [ 9.54726980e-02 3.79972912e-03 9.95424797e-01 -4.35813583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53534707000001 meters Centerline goodness [0,1] 0.9969658481512842 Centerline is valid? [True, True] Translation: X:-74.84, Y:6.06, Z:-4.36 [[ 9.94936202e-01 -3.97635456e-02 -9.23082527e-02 -7.48428893e+01] [ 3.92884213e-02 9.99203676e-01 -6.95938076e-03 6.05747311e+00] [ 9.25114751e-02 3.29749434e-03 9.95706158e-01 -4.36055773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.56534707000002 meters Centerline goodness [0,1] 0.9971210236360405 Centerline is valid? [True, True] Translation: X:-74.87, Y:6.05, Z:-4.36 [[ 9.94955167e-01 -4.06016068e-02 -9.17372563e-02 -7.48705292e+01] [ 4.01366055e-02 9.99170316e-01 -6.90883173e-03 6.04876309e+00] [ 9.19416531e-02 3.19195577e-03 9.95759280e-01 -4.36208530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.59534707000002 meters Centerline goodness [0,1] 0.9967333025600966 Centerline is valid? [True, True] Translation: X:-74.90, Y:6.04, Z:-4.36 [[ 9.95117377e-01 -4.06908290e-02 -8.99203155e-02 -7.48987091e+01] [ 4.02454420e-02 9.99166947e-01 -6.76146160e-03 6.04373631e+00] [ 9.01205365e-02 3.10956509e-03 9.95926011e-01 -4.36084922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.62534707 meters Centerline goodness [0,1] 0.996584237680128 Centerline is valid? [True, True] Translation: X:-74.93, Y:6.03, Z:-4.36 [[ 9.95222560e-01 -4.35816738e-02 -8.73652895e-02 -7.49270421e+01] [ 4.31760110e-02 9.99046151e-01 -6.52848853e-03 6.03330544e+00] [ 8.75664786e-02 2.72521437e-03 9.96154950e-01 -4.36118456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.65534707 meters Centerline goodness [0,1] 0.9963807455664133 Centerline is valid? [True, True] Translation: X:-74.95, Y:6.03, Z:-4.36 [[ 9.95214379e-01 -4.54813844e-02 -8.64857466e-02 -7.49545866e+01] [ 4.50938443e-02 9.98962059e-01 -6.43036817e-03 6.02519966e+00] [ 8.66884415e-02 2.49962007e-03 9.96232335e-01 -4.36128792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.68534707 meters Centerline goodness [0,1] 0.9957203481263037 Centerline is valid? [True, True] Translation: X:-74.98, Y:6.02, Z:-4.36 [[ 9.95309340e-01 -4.67459240e-02 -8.47002698e-02 -7.49830685e+01] [ 4.63795560e-02 9.98904091e-01 -6.28911219e-03 6.01985689e+00] [ 8.49014364e-02 2.33125120e-03 9.96386627e-01 -4.36162110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.71534707 meters Centerline goodness [0,1] 0.9954990925589836 Centerline is valid? [True, True] Translation: X:-75.01, Y:6.01, Z:-4.36 [[ 9.95376919e-01 -4.80531713e-02 -8.31605800e-02 -7.50107277e+01] [ 4.77075797e-02 9.98842480e-01 -6.13902830e-03 6.01120693e+00] [ 8.33593197e-02 2.14325708e-03 9.96517250e-01 -4.36334317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.74534707000001 meters Centerline goodness [0,1] 0.995039935810934 Centerline is valid? [True, True] Translation: X:-75.04, Y:6.01, Z:-4.36 [[ 9.95458384e-01 -4.83832490e-02 -8.19857720e-02 -7.50385079e+01] [ 4.80490386e-02 9.98826681e-01 -6.04570322e-03 6.00568365e+00] [ 8.21820874e-02 2.07890843e-03 9.96615163e-01 -4.36184917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77534707000001 meters Centerline goodness [0,1] 0.9941849965687868 Centerline is valid? [True, True] Translation: X:-75.07, Y:6.00, Z:-4.36 [[ 9.95687117e-01 -4.97103240e-02 -7.83329307e-02 -7.50675780e+01] [ 4.94122320e-02 9.98761974e-01 -5.74034943e-03 5.99642569e+00] [ 7.85213071e-02 1.84498703e-03 9.96910728e-01 -4.36033438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.80534707000001 meters Centerline goodness [0,1] 0.9946895573418688 Centerline is valid? [True, True] Translation: X:-75.09, Y:5.99, Z:-4.36 [[ 9.95631971e-01 -5.16796888e-02 -7.77572440e-02 -7.50945635e+01] [ 5.13944038e-02 9.98662356e-01 -5.66697310e-03 5.99044625e+00] [ 7.79460999e-02 1.64593240e-03 9.96956216e-01 -4.36440912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83534707000001 meters Centerline goodness [0,1] 0.9948404566744731 Centerline is valid? [True, True] Translation: X:-75.12, Y:5.98, Z:-4.36 [[ 9.95792839e-01 -5.24643765e-02 -7.51273009e-02 -7.51232567e+01] [ 5.22006602e-02 9.98621630e-01 -5.47094769e-03 5.98106586e+00] [ 7.53107776e-02 1.52623582e-03 9.97158943e-01 -4.36309479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.86534707000001 meters Centerline goodness [0,1] 0.993670659753263 Centerline is valid? [True, True] Translation: X:-75.15, Y:5.98, Z:-4.36 [[ 9.96034277e-01 -4.88067971e-02 -7.43882793e-02 -7.51526427e+01] [ 4.85402294e-02 9.98806694e-01 -5.38825937e-03 5.97624314e+00] [ 7.45624951e-02 1.75606688e-03 9.97214797e-01 -4.36236756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89534707000001 meters Centerline goodness [0,1] 0.9940861004995593 Centerline is valid? [True, True] Translation: X:-75.18, Y:5.97, Z:-4.36 [[ 9.95980867e-01 -5.24027792e-02 -7.26365023e-02 -7.51808461e+01] [ 5.21600027e-02 9.98625011e-01 -5.23650225e-03 5.96727635e+00] [ 7.28110352e-02 1.42673589e-03 9.97344734e-01 -4.36226662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.92534707000002 meters Centerline goodness [0,1] 0.9940826213987204 Centerline is valid? [True, True] Translation: X:-75.21, Y:5.96, Z:-4.36 [[ 9.95957303e-01 -5.50648934e-02 -7.09711833e-02 -7.52085062e+01] [ 5.48421470e-02 9.98482090e-01 -5.08478269e-03 5.95909850e+00] [ 7.11434484e-02 1.17201439e-03 9.97465406e-01 -4.36299887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95534707000002 meters Centerline goodness [0,1] 0.9929995210198592 Centerline is valid? [True, True] Translation: X:-75.24, Y:5.95, Z:-4.36 [[ 9.96113185e-01 -5.21778322e-02 -7.09647484e-02 -7.52374552e+01] [ 5.19481046e-02 9.98636864e-01 -5.08019489e-03 5.94973023e+00] [ 7.11330873e-02 1.37396494e-03 9.97465887e-01 -4.36149238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.98534707000002 meters Centerline goodness [0,1] 0.9921889460630067 Centerline is valid? [True, True] Translation: X:-75.26, Y:5.94, Z:-4.36 [[ 9.96158925e-01 -5.04405608e-02 -7.15761542e-02 -7.52648973e+01] [ 5.02046737e-02 9.98725970e-01 -5.09197754e-03 5.94233174e+00] [ 7.17418062e-02 1.47896141e-03 9.97422140e-01 -4.36376718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.01534707 meters Centerline goodness [0,1] 0.9923180693996853 Centerline is valid? [True, True] Translation: X:-75.29, Y:5.93, Z:-4.36 [[ 9.96226215e-01 -4.85199924e-02 -7.19662294e-02 -7.52926644e+01] [ 4.82772276e-02 9.98820904e-01 -5.10993765e-03 5.93475047e+00] [ 7.21293084e-02 1.61632381e-03 9.97393980e-01 -4.36318927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.04534707 meters Centerline goodness [0,1] 0.992548435171386 Centerline is valid? [True, True] Translation: X:-75.32, Y:5.93, Z:-4.36 [[ 9.96358460e-01 -3.98162855e-02 -7.53955049e-02 -7.53211637e+01] [ 3.95257898e-02 9.99204272e-01 -5.34179751e-03 5.92879832e+00] [ 7.55482011e-02 2.34227827e-03 9.97139400e-01 -4.36289083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.07534707 meters Centerline goodness [0,1] 0.9927905161841764 Centerline is valid? [True, True] Translation: X:-75.35, Y:5.92, Z:-4.37 [[ 9.96376902e-01 -3.57422413e-02 -7.71722847e-02 -7.53484932e+01] [ 3.54263270e-02 9.99357380e-01 -5.45919632e-03 5.92152207e+00] [ 7.73178161e-02 2.70548653e-03 9.97002826e-01 -4.36560589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.10534707000001 meters Centerline goodness [0,1] 0.9944949919718633 Centerline is valid? [True, True] Translation: X:-75.38, Y:5.92, Z:-4.36 [[ 9.96434656e-01 -3.56941859e-02 -7.64454201e-02 -7.53763829e+01] [ 3.53843730e-02 9.99359167e-01 -5.40380753e-03 5.91597656e+00] [ 7.65893159e-02 2.67956783e-03 9.97059124e-01 -4.36442466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13534707000001 meters Centerline goodness [0,1] 0.9962066403347543 Centerline is valid? [True, True] Translation: X:-75.41, Y:5.91, Z:-4.36 [[ 9.96467199e-01 -3.39339197e-02 -7.68219339e-02 -7.54050924e+01] [ 3.36185000e-02 9.99420173e-01 -5.39574236e-03 5.91139654e+00] [ 7.69604891e-02 2.79404210e-03 9.97030228e-01 -4.36356113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16534707000001 meters Centerline goodness [0,1] 0.9981649943388123 Centerline is valid? [True, True] Translation: X:-75.43, Y:5.91, Z:-4.37 [[ 9.96408417e-01 -2.39276029e-02 -8.12264549e-02 -7.54345021e+01] [ 2.35448838e-02 9.99706722e-01 -5.66644355e-03 5.90630340e+00] [ 8.13382174e-02 3.73362460e-03 9.96679565e-01 -4.36647859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19534707000001 meters Centerline goodness [0,1] 0.9997549019607843 Centerline is valid? [True, True] Translation: X:-75.46, Y:5.90, Z:-4.37 [[ 9.96409346e-01 -2.19632435e-02 -8.17681558e-02 -7.54633535e+01] [ 2.15683386e-02 9.99751071e-01 -5.70982785e-03 5.90365392e+00] [ 8.18732077e-02 3.92572256e-03 9.96635022e-01 -4.36503967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.22534707000001 meters Centerline goodness [0,1] 0.999835870501826 Centerline is valid? [True, True] Translation: X:-75.49, Y:5.90, Z:-4.37 [[ 9.96429232e-01 -2.02337917e-02 -8.19718231e-02 -7.54918225e+01] [ 1.98335449e-02 9.99787081e-01 -5.69414829e-03 5.90095579e+00] [ 8.20695840e-02 4.04802397e-03 9.96618381e-01 -4.36639573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25534707000001 meters Centerline goodness [0,1] 0.9999584441489362 Centerline is valid? [True, True] Translation: X:-75.52, Y:5.89, Z:-4.36 [[ 9.96430265e-01 -2.09776265e-02 -8.17720380e-02 -7.55193136e+01] [ 2.05844953e-02 9.99772164e-01 -5.64781037e-03 5.88855150e+00] [ 8.18718851e-02 3.94441306e-03 9.96635057e-01 -4.36398156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.28534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-75.55, Y:5.89, Z:-4.36 [[ 9.96351604e-01 -1.75506730e-02 -8.35191874e-02 -7.55489043e+01] [ 1.71292528e-02 9.99836694e-01 -5.75973406e-03 5.88683947e+00] [ 8.36066354e-02 4.30809899e-03 9.96489524e-01 -4.36391674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31534707000002 meters Centerline goodness [0,1] 0.9999577827500317 Centerline is valid? [True, True] Translation: X:-75.58, Y:5.88, Z:-4.36 [[ 9.96404904e-01 -2.07314217e-02 -8.21430220e-02 -7.55777153e+01] [ 2.03373203e-02 9.99777314e-01 -5.63163369e-03 5.87900464e+00] [ 8.22414817e-02 3.94081847e-03 9.96604640e-01 -4.36073896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.34534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-75.61, Y:5.88, Z:-4.36 [[ 9.96312692e-01 -1.82046928e-02 -8.38427627e-02 -7.56072600e+01] [ 1.77856172e-02 9.99825332e-01 -5.74261669e-03 5.87628073e+00] [ 8.39326607e-02 4.23024661e-03 9.96462450e-01 -4.35973832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.37534707 meters Centerline goodness [0,1] 0.999915863867738 Centerline is valid? [True, True] Translation: X:-75.64, Y:5.87, Z:-4.36 [[ 9.96113961e-01 -1.60091856e-02 -8.66064835e-02 -7.56356939e+01] [ 1.55549982e-02 9.99861508e-01 -5.91661879e-03 5.87095057e+00] [ 8.66892095e-02 4.54646288e-03 9.96225030e-01 -4.36098524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.40534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-75.66, Y:5.86, Z:-4.36 [[ 9.96257560e-01 -2.19143227e-02 -8.36100239e-02 -7.56648039e+01] [ 2.15145034e-02 9.99752401e-01 -5.68006111e-03 5.85982406e+00] [ 8.37137968e-02 3.85997568e-03 9.96482364e-01 -4.35807885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.43534707 meters Centerline goodness [0,1] 0.9999127094972067 Centerline is valid? [True, True] Translation: X:-75.69, Y:5.85, Z:-4.36 [[ 9.96192961e-01 -2.18774058e-02 -8.43858070e-02 -7.56937999e+01] [ 2.14700150e-02 9.99753059e-01 -5.73230952e-03 5.85482312e+00] [ 8.44903768e-02 3.89872185e-03 9.96416668e-01 -4.35854399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.46534707 meters Centerline goodness [0,1] 0.999957720277355 Centerline is valid? [True, True] Translation: X:-75.72, Y:5.86, Z:-4.36 [[ 9.95956758e-01 -1.85720797e-02 -8.78931969e-02 -7.57230275e+01] [ 1.81203096e-02 9.99818198e-01 -5.93514030e-03 5.85968294e+00] [ 8.79874456e-02 4.31849115e-03 9.96112223e-01 -4.36177604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.49534707000001 meters Centerline goodness [0,1] 0.9996598928662529 Centerline is valid? [True, True] Translation: X:-75.75, Y:5.84, Z:-4.36 [[ 9.95886438e-01 -1.98162306e-02 -8.84167396e-02 -7.57498843e+01] [ 1.93669375e-02 9.99794818e-01 -5.93659443e-03 5.84235795e+00] [ 8.85162390e-02 4.19981241e-03 9.96065880e-01 -4.36473536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.52534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-75.78, Y:5.83, Z:-4.37 [[ 9.95743271e-01 -2.91715546e-02 -8.74320250e-02 -7.57787572e+01] [ 2.87710804e-02 9.99568982e-01 -5.83735174e-03 5.83093322e+00] [ 8.75646248e-02 3.29698990e-03 9.96153385e-01 -4.36515156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55534707000001 meters Centerline goodness [0,1] 0.9998249146458899 Centerline is valid? [True, True] Translation: X:-75.81, Y:5.82, Z:-4.37 [[ 9.95473170e-01 -3.11401102e-02 -8.97967834e-02 -7.58072950e+01] [ 3.07254652e-02 9.99509873e-01 -5.99655549e-03 5.82310624e+00] [ 8.99395050e-02 3.21036216e-03 9.95942056e-01 -4.36838316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.58534707000001 meters Centerline goodness [0,1] 0.9997348769387124 Centerline is valid? [True, True] Translation: X:-75.84, Y:5.81, Z:-4.37 [[ 9.95337218e-01 -3.66860037e-02 -8.92073993e-02 -7.58357072e+01] [ 3.63019887e-02 9.99323307e-01 -5.92392767e-03 5.81394119e+00] [ 8.93643586e-02 2.65789968e-03 9.95995455e-01 -4.36870260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61534707000001 meters Centerline goodness [0,1] 0.9993498049414824 Centerline is valid? [True, True] Translation: X:-75.86, Y:5.81, Z:-4.37 [[ 9.95028371e-01 -3.69557707e-02 -9.24814141e-02 -7.58648704e+01] [ 3.65447126e-02 9.99313188e-01 -6.13488928e-03 5.81247907e+00] [ 9.26446163e-02 2.72468219e-03 9.95695511e-01 -4.36994376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.64534707000001 meters Centerline goodness [0,1] 0.999314099541304 Centerline is valid? [True, True] Translation: X:-75.89, Y:5.81, Z:-4.38 [[ 9.94650873e-01 -3.86968375e-02 -9.57715852e-02 -7.58927867e+01] [ 3.82675654e-02 9.99247570e-01 -6.31558398e-03 5.80553326e+00] [ 9.59439169e-02 2.61685571e-03 9.95383301e-01 -4.37669809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67534707000002 meters Centerline goodness [0,1] 0.9997001756114275 Centerline is valid? [True, True] Translation: X:-75.92, Y:5.80, Z:-4.38 [[ 9.94150735e-01 -4.62109209e-02 -9.76159110e-02 -7.59218037e+01] [ 4.58038938e-02 9.98929900e-01 -6.40772408e-03 5.79985865e+00] [ 9.78075590e-02 1.89905478e-03 9.95203534e-01 -4.38164963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.70534707000002 meters Centerline goodness [0,1] 0.9999554248016403 Centerline is valid? [True, True] Translation: X:-75.95, Y:5.79, Z:-4.38 [[ 9.94092126e-01 -5.40944245e-02 -9.40990867e-02 -7.59502142e+01] [ 5.37518976e-02 9.98535243e-01 -6.17276101e-03 5.79025647e+00] [ 9.42951663e-02 1.07828864e-03 9.95543700e-01 -4.37834655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.73534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-75.98, Y:5.78, Z:-4.38 [[ 9.93762654e-01 -5.91544789e-02 -9.45332481e-02 -7.59774229e+01] [ 5.88322365e-02 9.98248664e-01 -6.19464528e-03 5.78247951e+00] [ 9.47341295e-02 5.94404725e-04 9.95502432e-01 -4.37783608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.76534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-76.01, Y:5.78, Z:-4.38 [[ 9.93409440e-01 -6.24724533e-02 -9.60982686e-02 -7.60060784e+01] [ 6.21569198e-02 9.98046654e-01 -6.27640880e-03 5.77635932e+00] [ 9.63026581e-02 2.61871375e-04 9.95352063e-01 -4.37869412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.79534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-76.03, Y:5.77, Z:-4.38 [[ 9.93171416e-01 -6.51042594e-02 -9.68089544e-02 -7.60337583e+01] [ 6.48002595e-02 9.97878467e-01 -6.28426387e-03 5.77048069e+00] [ 9.70127034e-02 -3.18941257e-05 9.95283143e-01 -4.38053219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.82534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-76.06, Y:5.76, Z:-4.38 [[ 9.92752299e-01 -6.76738286e-02 -9.93132696e-02 -7.60617853e+01] [ 6.73713510e-02 9.97707442e-01 -6.40013939e-03 5.76492217e+00] [ 9.95187100e-02 -3.37116058e-04 9.95035634e-01 -4.38229783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.85534707000001 meters Centerline goodness [0,1] 0.9997708314235952 Centerline is valid? [True, True] Translation: X:-76.09, Y:5.76, Z:-4.38 [[ 9.92031347e-01 -7.21663174e-02 -1.03275501e-01 -7.60891675e+01] [ 7.18684768e-02 9.97392234e-01 -6.60701401e-03 5.75800044e+00] [ 1.03482986e-01 -8.67887906e-04 9.94630845e-01 -4.38449464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.88534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-76.12, Y:5.75, Z:-4.39 [[ 9.91479267e-01 -7.90490889e-02 -1.03537940e-01 -7.61174598e+01] [ 7.87908577e-02 9.96869399e-01 -6.58807641e-03 5.75119560e+00] [ 1.03734585e-01 -1.62590192e-03 9.94603686e-01 -4.38549418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91534707000001 meters Centerline goodness [0,1] 0.9999543691535479 Centerline is valid? [True, True] Translation: X:-76.15, Y:5.74, Z:-4.39 [[ 9.91085157e-01 -8.01583765e-02 -1.06418257e-01 -7.61463658e+01] [ 7.98958910e-02 9.96780464e-01 -6.73448396e-03 5.74435001e+00] [ 1.06615465e-01 -1.82793436e-03 9.94298648e-01 -4.38802781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.94534707000001 meters Centerline goodness [0,1] 0.9998081534772182 Centerline is valid? [True, True] Translation: X:-76.17, Y:5.74, Z:-4.39 [[ 9.90545153e-01 -8.69356072e-02 -1.06124927e-01 -7.61744366e+01] [ 8.67152661e-02 9.96210622e-01 -6.69766117e-03 5.74116114e+00] [ 1.06305045e-01 -2.56831546e-03 9.94330248e-01 -4.38512426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97534707000001 meters Centerline goodness [0,1] 0.9998059100393032 Centerline is valid? [True, True] Translation: X:-76.20, Y:5.74, Z:-4.38 [[ 9.90156996e-01 -9.02628807e-02 -1.06966045e-01 -7.62021902e+01] [ 9.00599423e-02 9.95913566e-01 -6.73620710e-03 5.73640184e+00] [ 1.07136965e-01 -2.96345327e-03 9.94239855e-01 -4.38452605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.00534707000001 meters Centerline goodness [0,1] 0.9997681643251264 Centerline is valid? [True, True] Translation: X:-76.23, Y:5.73, Z:-4.39 [[ 9.89984401e-01 -9.08369528e-02 -1.08071889e-01 -7.62302128e+01] [ 9.06348069e-02 9.95861040e-01 -6.79119481e-03 5.72797518e+00] [ 1.08241476e-01 -3.07189789e-03 9.94119885e-01 -4.38939432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-76.26, Y:5.73, Z:-4.39 [[ 9.89746742e-01 -9.17034031e-02 -1.09507406e-01 -7.62581718e+01] [ 9.15026316e-02 9.95781151e-01 -6.86792550e-03 5.72764328e+00] [ 1.09675223e-01 -3.22270891e-03 9.93962253e-01 -4.38732844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.06534707000002 meters Centerline goodness [0,1] 0.9998594189315839 Centerline is valid? [True, True] Translation: X:-76.29, Y:5.73, Z:-4.39 [[ 9.89809637e-01 -9.07788417e-02 -1.09709087e-01 -7.62865687e+01] [ 9.05742125e-02 9.95866098e-01 -6.85761266e-03 5.72550558e+00] [ 1.09878086e-01 -3.14908302e-03 9.93940083e-01 -4.39111932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.09534707000002 meters Centerline goodness [0,1] 0.9998594189315839 Centerline is valid? [True, True] Translation: X:-76.31, Y:5.72, Z:-4.39 [[ 9.89823190e-01 -9.06292088e-02 -1.09710527e-01 -7.63139464e+01] [ 9.04262240e-02 9.95879705e-01 -6.83449751e-03 5.72366906e+00] [ 1.09877892e-01 -3.15576454e-03 9.93940084e-01 -4.39379147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.12534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-76.34, Y:5.72, Z:-4.39 [[ 9.89823925e-01 -8.90427671e-02 -1.10995418e-01 -7.63421471e+01] [ 8.88269344e-02 9.96023190e-01 -6.89790607e-03 5.72416573e+00] [ 1.11168219e-01 -3.03167025e-03 9.93796979e-01 -4.39275601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.15534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-76.37, Y:5.72, Z:-4.40 [[ 9.90028542e-01 -8.67809100e-02 -1.10961976e-01 -7.63707581e+01] [ 8.65527001e-02 9.96223509e-01 -6.88108911e-03 5.71849289e+00] [ 1.11140076e-01 -2.79158401e-03 9.93800830e-01 -4.39721767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.18534707 meters Centerline goodness [0,1] 0.9999071236184638 Centerline is valid? [True, True] Translation: X:-76.40, Y:5.72, Z:-4.40 [[ 9.90430575e-01 -8.17818986e-02 -1.11171029e-01 -7.63981829e+01] [ 8.15228897e-02 9.96647715e-01 -6.88110872e-03 5.72046115e+00] [ 1.11361102e-01 -2.24772307e-03 9.93777466e-01 -4.39882901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.21534707 meters Centerline goodness [0,1] 0.9999081684191193 Centerline is valid? [True, True] Translation: X:-76.43, Y:5.72, Z:-4.40 [[ 9.90595233e-01 -7.90426504e-02 -1.11684128e-01 -7.64262665e+01] [ 7.87654912e-02 9.96869302e-01 -6.89866797e-03 5.71793264e+00] [ 1.11879767e-01 -1.96306757e-03 9.93719812e-01 -4.40194124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.24534707000001 meters Centerline goodness [0,1] 0.9997213320328828 Centerline is valid? [True, True] Translation: X:-76.45, Y:5.72, Z:-4.40 [[ 9.90808993e-01 -7.64310407e-02 -1.11605711e-01 -7.64545132e+01] [ 7.61393445e-02 9.97073453e-01 -6.87970500e-03 5.71730010e+00] [ 1.11804915e-01 -1.68111211e-03 9.93728753e-01 -4.39919624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27534707000001 meters Centerline goodness [0,1] 0.9997684542002409 Centerline is valid? [True, True] Translation: X:-76.48, Y:5.71, Z:-4.41 [[ 9.90904774e-01 -7.43097445e-02 -1.12186415e-01 -7.64831045e+01] [ 7.40034478e-02 9.97234130e-01 -6.89783826e-03 5.71443769e+00] [ 1.12388699e-01 -1.46708064e-03 9.93663237e-01 -4.40658114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.30534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-76.51, Y:5.71, Z:-4.41 [[ 9.90985436e-01 -7.24873127e-02 -1.12665233e-01 -7.65109776e+01] [ 7.21706874e-02 9.97368485e-01 -6.89175431e-03 5.71115037e+00] [ 1.12868318e-01 -1.30149917e-03 9.93609103e-01 -4.40667836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33534707000001 meters Centerline goodness [0,1] 0.9999071365556949 Centerline is valid? [True, True] Translation: X:-76.54, Y:5.71, Z:-4.41 [[ 9.91014850e-01 -7.15989235e-02 -1.12974159e-01 -7.65380323e+01] [ 7.12772896e-02 9.97432751e-01 -6.88882077e-03 5.70663245e+00] [ 1.13177359e-01 -1.22556818e-03 9.93574045e-01 -4.41168631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.36534707000001 meters Centerline goodness [0,1] 0.9997158687313539 Centerline is valid? [True, True] Translation: X:-76.57, Y:5.71, Z:-4.41 [[ 9.91055294e-01 -7.20512012e-02 -1.12330001e-01 -7.65654835e+01] [ 7.17392482e-02 9.97400091e-01 -6.82197943e-03 5.70526123e+00] [ 1.12529485e-01 -1.29751097e-03 9.93647539e-01 -4.40901442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39534707000001 meters Centerline goodness [0,1] 0.9996291317046034 Centerline is valid? [True, True] Translation: X:-76.59, Y:5.70, Z:-4.42 [[ 9.91111308e-01 -7.01968662e-02 -1.13007858e-01 -7.65924093e+01] [ 6.98728153e-02 9.97532522e-01 -6.83067185e-03 5.69912227e+00] [ 1.13208505e-01 -1.12622108e-03 9.93570614e-01 -4.41640954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.42534707000002 meters Centerline goodness [0,1] 0.9997089921427879 Centerline is valid? [True, True] Translation: X:-76.62, Y:5.70, Z:-4.41 [[ 9.91008665e-01 -7.15035353e-02 -1.13088771e-01 -7.66206703e+01] [ 7.11921397e-02 9.97439476e-01 -6.79485214e-03 5.69774294e+00] [ 1.13285061e-01 -1.31727425e-03 9.93561654e-01 -4.41180289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45534707000002 meters Centerline goodness [0,1] 0.9999063363461809 Centerline is valid? [True, True] Translation: X:-76.65, Y:5.69, Z:-4.42 [[ 9.91017231e-01 -7.12894276e-02 -1.13148866e-01 -7.66476755e+01] [ 7.09786003e-02 9.97454807e-01 -6.77838252e-03 5.69214856e+00] [ 1.13344108e-01 -1.31365428e-03 9.93554924e-01 -4.42051418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.48534707000002 meters Centerline goodness [0,1] 0.9995279901821957 Centerline is valid? [True, True] Translation: X:-76.68, Y:5.69, Z:-4.42 [[ 9.90941894e-01 -7.24667412e-02 -1.13060754e-01 -7.66761132e+01] [ 7.21692279e-02 9.97369712e-01 -6.72754673e-03 5.68632189e+00] [ 1.13250896e-01 -1.49289945e-03 9.93565300e-01 -4.41992301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.51534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-76.70, Y:5.68, Z:-4.42 [[ 9.90770065e-01 -7.31175489e-02 -1.14142466e-01 -7.67039577e+01] [ 7.28226219e-02 9.97322018e-01 -6.75706087e-03 5.68260042e+00] [ 1.14330855e-01 -1.61746004e-03 9.93441412e-01 -4.42297737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.54534707 meters Centerline goodness [0,1] 0.9996244836650394 Centerline is valid? [True, True] Translation: X:-76.73, Y:5.68, Z:-4.43 [[ 9.90831207e-01 -7.25880372e-02 -1.13949530e-01 -7.67320326e+01] [ 7.22927002e-02 9.97360770e-01 -6.72751607e-03 5.67736737e+00] [ 1.14137129e-01 -1.57188636e-03 9.93463761e-01 -4.42618252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.57534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-76.76, Y:5.67, Z:-4.43 [[ 9.90688878e-01 -7.40424677e-02 -1.14250863e-01 -7.67608721e+01] [ 7.37599119e-02 9.97253491e-01 -6.70441395e-03 5.67267721e+00] [ 1.14433484e-01 -1.78514526e-03 9.93429309e-01 -4.43099041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.60534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-76.79, Y:5.67, Z:-4.43 [[ 9.90622617e-01 -7.39106202e-02 -1.14908883e-01 -7.67891551e+01] [ 7.36275014e-02 9.97263225e-01 -6.71206066e-03 5.67204229e+00] [ 1.15090495e-01 -1.81133482e-03 9.93353360e-01 -4.42718798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63534707000001 meters Centerline goodness [0,1] 0.9996288219737391 Centerline is valid? [True, True] Translation: X:-76.82, Y:5.66, Z:-4.44 [[ 9.90773245e-01 -7.20831198e-02 -1.14771083e-01 -7.68168332e+01] [ 7.17906902e-02 9.97397319e-01 -6.68474488e-03 5.66422443e+00] [ 1.14954228e-01 -1.61642890e-03 9.93369474e-01 -4.43631198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.66534707000001 meters Centerline goodness [0,1] 0.9996288564138252 Centerline is valid? [True, True] Translation: X:-76.84, Y:5.66, Z:-4.44 [[ 9.90721420e-01 -7.23760910e-02 -1.15033777e-01 -7.68446846e+01] [ 7.20889212e-02 9.97375973e-01 -6.66009427e-03 5.65896846e+00] [ 1.15213956e-01 -1.69436280e-03 9.93339254e-01 -4.44239926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69534707000001 meters Centerline goodness [0,1] 0.9998582699485048 Centerline is valid? [True, True] Translation: X:-76.87, Y:5.66, Z:-4.44 [[ 9.90771370e-01 -7.14855561e-02 -1.15160355e-01 -7.68718131e+01] [ 7.11961951e-02 9.97440302e-01 -6.62921546e-03 5.65724721e+00] [ 1.15339472e-01 -1.63094223e-03 9.93324794e-01 -4.44204296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.72534707000001 meters Centerline goodness [0,1] 0.9997626169111713 Centerline is valid? [True, True] Translation: X:-76.90, Y:5.66, Z:-4.45 [[ 9.90850147e-01 -7.04846779e-02 -1.15099503e-01 -7.68982350e+01] [ 7.01934929e-02 9.97511653e-01 -6.58608235e-03 5.65525742e+00] [ 1.15277314e-01 -1.55341550e-03 9.93332134e-01 -4.44598514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-76.93, Y:5.65, Z:-4.45 [[ 9.90745858e-01 -7.12947922e-02 -1.15497608e-01 -7.69260018e+01] [ 7.10113530e-02 9.97453856e-01 -6.57209752e-03 5.65063022e+00] [ 1.15672091e-01 -1.69036303e-03 9.93286016e-01 -4.44668376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.78534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-76.95, Y:5.65, Z:-4.45 [[ 9.90782783e-01 -7.02367550e-02 -1.15828645e-01 -7.69529978e+01] [ 6.99465874e-02 9.97529083e-01 -6.57291014e-03 5.64569989e+00] [ 1.16004102e-01 -1.58949223e-03 9.93247463e-01 -4.45355567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81534707000002 meters Centerline goodness [0,1] 0.9998089871543862 Centerline is valid? [True, True] Translation: X:-76.98, Y:5.64, Z:-4.46 [[ 9.90769137e-01 -6.99681218e-02 -1.16107619e-01 -7.69807908e+01] [ 6.96794767e-02 9.97547940e-01 -6.54806957e-03 5.64288011e+00] [ 1.16281072e-01 -1.60269287e-03 9.93215054e-01 -4.45511326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.84534707000002 meters Centerline goodness [0,1] 0.9997136038186157 Centerline is valid? [True, True] Translation: X:-77.01, Y:5.64, Z:-4.45 [[ 9.90853873e-01 -6.91270982e-02 -1.15888075e-01 -7.70090269e+01] [ 6.88378822e-02 9.97606678e-01 -6.50086429e-03 5.64127593e+00] [ 1.16060104e-01 -1.53608310e-03 9.93241004e-01 -4.45400704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.87534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-77.04, Y:5.64, Z:-4.46 [[ 9.90827470e-01 -6.88900483e-02 -1.16254405e-01 -7.70363297e+01] [ 6.85995290e-02 9.97623083e-01 -6.50301949e-03 5.63758283e+00] [ 1.16426071e-01 -1.53162708e-03 9.93198180e-01 -4.45804854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.90534707 meters Centerline goodness [0,1] 0.9995181651729788 Centerline is valid? [True, True] Translation: X:-77.06, Y:5.63, Z:-4.46 [[ 9.90867371e-01 -6.64666811e-02 -1.17320221e-01 -7.70640639e+01] [ 6.61590519e-02 9.97787795e-01 -6.51888817e-03 5.63476711e+00] [ 1.17493973e-01 -1.30244097e-03 9.93072742e-01 -4.46371479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.93534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-77.09, Y:5.64, Z:-4.46 [[ 9.91173190e-01 -5.95351302e-02 -1.18453683e-01 -7.70922185e+01] [ 5.91765916e-02 9.98226074e-01 -6.54490541e-03 5.63651111e+00] [ 1.18633206e-01 -5.22550428e-04 9.92938009e-01 -4.46392790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.96534707 meters Centerline goodness [0,1] 0.9999517863169568 Centerline is valid? [True, True] Translation: X:-77.12, Y:5.64, Z:-4.47 [[ 9.91502467e-01 -5.53233982e-02 -1.17737758e-01 -7.71201671e+01] [ 5.49413990e-02 9.98468487e-01 -6.49016170e-03 5.63686428e+00] [ 1.17916499e-01 -3.36658210e-05 9.93023513e-01 -4.47043669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.99534707000001 meters Centerline goodness [0,1] 0.9993323477514426 Centerline is valid? [True, True] Translation: X:-77.15, Y:5.64, Z:-4.48 [[ 9.91893664e-01 -4.81589116e-02 -1.17591153e-01 -7.71487963e+01] [ 4.77295805e-02 9.98839365e-01 -6.46603264e-03 5.63859104e+00] [ 1.17766070e-01 8.01040387e-04 9.93041042e-01 -4.47915439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.02534707000001 meters Centerline goodness [0,1] 0.999666523748273 Centerline is valid? [True, True] Translation: X:-77.18, Y:5.64, Z:-4.48 [[ 9.92089168e-01 -4.25966091e-02 -1.18087301e-01 -7.71767438e+01] [ 4.21266926e-02 9.99091303e-01 -6.47373787e-03 5.63767858e+00] [ 1.18255755e-01 1.44789779e-03 9.92982115e-01 -4.47845268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05534707000001 meters Centerline goodness [0,1] 0.9997113719453531 Centerline is valid? [True, True] Translation: X:-77.20, Y:5.64, Z:-4.48 [[ 9.92108908e-01 -4.07445250e-02 -1.18574023e-01 -7.72048271e+01] [ 4.02597726e-02 9.99168224e-01 -6.48165301e-03 5.63507352e+00] [ 1.18739488e-01 1.65674249e-03 9.92924060e-01 -4.48050361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.08534707000001 meters Centerline goodness [0,1] 0.9997591406137097 Centerline is valid? [True, True] Translation: X:-77.23, Y:5.63, Z:-4.49 [[ 9.92217246e-01 -3.66348381e-02 -1.19007670e-01 -7.72332158e+01] [ 3.61192703e-02 9.99326432e-01 -6.48696916e-03 5.63349407e+00] [ 1.19165159e-01 2.13801247e-03 9.92872144e-01 -4.48688309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11534707000001 meters Centerline goodness [0,1] 0.9996568291008923 Centerline is valid? [True, True] Translation: X:-77.26, Y:5.62, Z:-4.49 [[ 9.92212063e-01 -3.61578607e-02 -1.19196611e-01 -7.72604070e+01] [ 3.56418292e-02 9.99343756e-01 -6.45890408e-03 5.62456408e+00] [ 1.19351929e-01 2.16021729e-03 9.92849662e-01 -4.48641500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.14534707000001 meters Centerline goodness [0,1] 0.9999507704425737 Centerline is valid? [True, True] Translation: X:-77.29, Y:5.62, Z:-4.49 [[ 9.92247364e-01 -3.36183132e-02 -1.19645216e-01 -7.72888828e+01] [ 3.30853079e-02 9.99431789e-01 -6.43904858e-03 5.62121770e+00] [ 1.19793702e-01 2.43063017e-03 9.92795830e-01 -4.49116858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17534707000002 meters Centerline goodness [0,1] 0.9997098084735926 Centerline is valid? [True, True] Translation: X:-77.32, Y:5.61, Z:-4.49 [[ 9.92258777e-01 -3.40685755e-02 -1.19422998e-01 -7.73170608e+01] [ 3.35456073e-02 9.99416778e-01 -6.38723447e-03 5.61360376e+00] [ 1.19570951e-01 2.33167248e-03 9.92822920e-01 -4.49499843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.20534707000002 meters Centerline goodness [0,1] 0.9998537655374117 Centerline is valid? [True, True] Translation: X:-77.35, Y:5.61, Z:-4.50 [[ 9.92284714e-01 -3.27942460e-02 -1.19564143e-01 -7.73453111e+01] [ 3.22653662e-02 9.99459121e-01 -6.35707848e-03 5.60622031e+00] [ 1.19707949e-01 2.45025094e-03 9.92806126e-01 -4.50131396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.23534707000002 meters Centerline goodness [0,1] 0.9999004380724811 Centerline is valid? [True, True] Translation: X:-77.37, Y:5.60, Z:-4.50 [[ 9.92266776e-01 -3.28794079e-02 -1.19689552e-01 -7.73720115e+01] [ 3.23537759e-02 9.99456417e-01 -6.33270263e-03 5.59614450e+00] [ 1.19832706e-01 2.41132150e-03 9.92791170e-01 -4.49978029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.26534707 meters Centerline goodness [0,1] 0.999504876961925 Centerline is valid? [True, True] Translation: X:-77.40, Y:5.59, Z:-4.50 [[ 9.92332277e-01 -3.28866802e-02 -1.19143271e-01 -7.74004828e+01] [ 3.23686507e-02 9.99456262e-01 -6.28102355e-03 5.59057375e+00] [ 1.19285050e-01 2.37635549e-03 9.92857205e-01 -4.50308802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.29534707 meters Centerline goodness [0,1] 0.9998485078018482 Centerline is valid? [True, True] Translation: X:-77.43, Y:5.58, Z:-4.50 [[ 9.92223413e-01 -3.27662241e-02 -1.20079449e-01 -7.74276833e+01] [ 3.22439760e-02 9.99460235e-01 -6.29008652e-03 5.58014608e+00] [ 1.20220737e-01 2.36933223e-03 9.92744358e-01 -4.50390362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.32534707 meters Centerline goodness [0,1] 0.9996983257076776 Centerline is valid? [True, True] Translation: X:-77.46, Y:5.58, Z:-4.51 [[ 9.92306625e-01 -3.09101617e-02 -1.19883797e-01 -7.74559037e+01] [ 3.03814176e-02 9.99518924e-01 -6.23611861e-03 5.57528717e+00] [ 1.20018883e-01 2.54590211e-03 9.92768345e-01 -4.50986154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.35534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-77.48, Y:5.57, Z:-4.52 [[ 9.92330823e-01 -2.98919022e-02 -1.19941706e-01 -7.74841620e+01] [ 2.93599840e-02 9.99549675e-01 -6.19987837e-03 5.57145310e+00] [ 1.20073019e-01 2.63084385e-03 9.92761577e-01 -4.51615200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.38534707000001 meters Centerline goodness [0,1] 0.9998987444309437 Centerline is valid? [True, True] Translation: X:-77.51, Y:5.57, Z:-4.52 [[ 9.92321435e-01 -2.96951408e-02 -1.20068183e-01 -7.75111040e+01] [ 2.91648657e-02 9.99555562e-01 -6.17167460e-03 5.56583819e+00] [ 1.20198089e-01 2.62251256e-03 9.92746464e-01 -4.51777818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41534707000001 meters Centerline goodness [0,1] 0.9997952707544273 Centerline is valid? [True, True] Translation: X:-77.54, Y:5.56, Z:-4.52 [[ 9.92381099e-01 -2.81215959e-02 -1.19953864e-01 -7.75404993e+01] [ 2.75834365e-02 9.99600618e-01 -6.14472616e-03 5.55929996e+00] [ 1.20078756e-01 2.78917031e-03 9.92760451e-01 -4.51669624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.44534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-77.57, Y:5.55, Z:-4.52 [[ 9.92340061e-01 -2.93961778e-02 -1.19987782e-01 -7.75679773e+01] [ 2.88702495e-02 9.99564435e-01 -6.11952849e-03 5.55191118e+00] [ 1.20115411e-01 2.60857606e-03 9.92756508e-01 -4.51726560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-77.60, Y:5.55, Z:-4.52 [[ 9.92406472e-01 -2.88160399e-02 -1.19578550e-01 -7.75951224e+01] [ 2.82919591e-02 9.99581221e-01 -6.07842309e-03 5.54980919e+00] [ 1.19703629e-01 2.64915498e-03 9.92806136e-01 -4.52381979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.50534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-77.62, Y:5.54, Z:-4.53 [[ 9.92496537e-01 -2.90985822e-02 -1.18759827e-01 -7.76236183e+01] [ 2.85888925e-02 9.99573285e-01 -5.99351257e-03 5.54379775e+00] [ 1.18883554e-01 2.55332852e-03 9.92904921e-01 -4.52623409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53534707000001 meters Centerline goodness [0,1] 0.9999468226535496 Centerline is valid? [True, True] Translation: X:-77.65, Y:5.53, Z:-4.53 [[ 9.92395972e-01 -3.00482323e-02 -1.19362216e-01 -7.76505867e+01] [ 2.95437437e-02 9.99545515e-01 -5.99422125e-03 5.53419927e+00] [ 1.19488083e-01 2.42223431e-03 9.92832680e-01 -4.52735622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.56534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-77.68, Y:5.53, Z:-4.53 [[ 9.92459145e-01 -2.94393231e-02 -1.18988116e-01 -7.76769957e+01] [ 2.89357134e-02 9.99563517e-01 -5.95824183e-03 5.52890287e+00] [ 1.19111587e-01 2.47030556e-03 9.92877801e-01 -4.52995518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.59534707000002 meters Centerline goodness [0,1] 0.999843448311851 Centerline is valid? [True, True] Translation: X:-77.70, Y:5.52, Z:-4.53 [[ 9.92446673e-01 -2.96429505e-02 -1.19041578e-01 -7.77042256e+01] [ 2.91432702e-02 9.99557616e-01 -5.93654254e-03 5.52459637e+00] [ 1.19164893e-01 2.42244102e-03 9.92871522e-01 -4.53471476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.62534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-77.73, Y:5.52, Z:-4.54 [[ 9.92302844e-01 -3.10016936e-02 -1.19891457e-01 -7.77320834e+01] [ 3.05094916e-02 9.99516832e-01 -5.93919927e-03 5.51686682e+00] [ 1.20017654e-01 2.23565694e-03 9.92769240e-01 -4.53630469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.65534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-77.76, Y:5.51, Z:-4.54 [[ 9.92311827e-01 -3.00704439e-02 -1.20054181e-01 -7.77603668e+01] [ 2.95725363e-02 9.99545063e-01 -5.92720938e-03 5.51402185e+00] [ 1.20177797e-01 2.33133336e-03 9.92749647e-01 -4.53898226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.68534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-77.79, Y:5.51, Z:-4.54 [[ 9.92510442e-01 -2.76171090e-02 -1.18997133e-01 -7.77894186e+01] [ 2.71155853e-02 9.99615293e-01 -5.83192994e-03 5.51235689e+00] [ 1.19112415e-01 2.56157446e-03 9.92877470e-01 -4.54393722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.71534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-77.82, Y:5.51, Z:-4.54 [[ 9.92545152e-01 -2.76435983e-02 -1.18701103e-01 -7.78173364e+01] [ 2.71492510e-02 9.99614681e-01 -5.77997372e-03 5.50780366e+00] [ 1.18815144e-01 2.51423887e-03 9.92913209e-01 -4.54325514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.74534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-77.85, Y:5.51, Z:-4.55 [[ 9.92663537e-01 -2.54644456e-02 -1.18197564e-01 -7.78463455e+01] [ 2.49633576e-02 9.99672013e-01 -5.71821240e-03 5.50628199e+00] [ 1.18304408e-01 2.72565288e-03 9.92973634e-01 -4.54835129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-77.87, Y:5.50, Z:-4.55 [[ 9.92590626e-01 -2.41288782e-02 -1.19086718e-01 -7.78739828e+01] [ 2.36146309e-02 9.99704728e-01 -5.72769429e-03 5.50250732e+00] [ 1.19189758e-01 2.87306677e-03 9.92867336e-01 -4.54985424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.80534707000001 meters Centerline goodness [0,1] 0.9998938541556098 Centerline is valid? [True, True] Translation: X:-77.90, Y:5.50, Z:-4.56 [[ 9.92653141e-01 -2.04581199e-02 -1.19252704e-01 -7.79029658e+01] [ 1.99181976e-02 9.99785263e-01 -5.71781883e-03 5.50483141e+00] [ 1.19344072e-01 3.30051189e-03 9.92847470e-01 -4.55816252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-77.93, Y:5.50, Z:-4.56 [[ 9.92676136e-01 -1.88451519e-02 -1.19327066e-01 -7.79306561e+01] [ 1.82969239e-02 9.99816416e-01 -5.68833682e-03 5.49752903e+00] [ 1.19412357e-01 3.46335796e-03 9.92838705e-01 -4.55694645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.86534707000001 meters Centerline goodness [0,1] 0.9998394863563402 Centerline is valid? [True, True] Translation: X:-77.96, Y:5.49, Z:-4.56 [[ 9.92772380e-01 -2.05504812e-02 -1.18239923e-01 -7.79596934e+01] [ 2.00267605e-02 9.99783672e-01 -5.61587725e-03 5.49463061e+00] [ 1.18329753e-01 3.20732521e-03 9.92969175e-01 -4.55772180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-77.99, Y:5.49, Z:-4.56 [[ 9.92734722e-01 -1.88427754e-02 -1.18839055e-01 -7.79883895e+01] [ 1.83045400e-02 9.99816668e-01 -5.61909941e-03 5.49267803e+00] [ 1.18923147e-01 3.40298086e-03 9.92897631e-01 -4.56242928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.92534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-78.02, Y:5.49, Z:-4.57 [[ 9.92679513e-01 -1.67966176e-02 -1.19604589e-01 -7.80158470e+01] [ 1.62407348e-02 9.99852311e-01 -5.62095607e-03 5.48779159e+00] [ 1.19681338e-01 3.63734151e-03 9.92805695e-01 -4.56531729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-78.04, Y:5.49, Z:-4.57 [[ 9.92788046e-01 -1.58068756e-02 -1.18836183e-01 -7.80431167e+01] [ 1.52534552e-02 9.99868172e-01 -5.56517218e-03 5.49030253e+00] [ 1.18908485e-01 3.71237401e-03 9.92898278e-01 -4.57364115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.98534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-78.07, Y:5.49, Z:-4.58 [[ 9.92793261e-01 -1.54599307e-02 -1.18838257e-01 -7.80706375e+01] [ 1.49093694e-02 9.99873609e-01 -5.52057231e-03 5.48881536e+00] [ 1.18908584e-01 3.70898351e-03 9.92898279e-01 -4.57631367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.01534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-78.10, Y:5.49, Z:-4.58 [[ 9.92757981e-01 -1.50043735e-02 -1.19190856e-01 -7.80986634e+01] [ 1.44522456e-02 9.99880460e-01 -5.49536867e-03 5.48530053e+00] [ 1.19259062e-01 3.73299558e-03 9.92856153e-01 -4.58054981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.04534707 meters Centerline goodness [0,1] 0.9999459955716369 Centerline is valid? [True, True] Translation: X:-78.13, Y:5.48, Z:-4.58 [[ 9.92819103e-01 -1.48366211e-02 -1.18701740e-01 -7.81271721e+01] [ 1.42926966e-02 9.99883098e-01 -5.43230773e-03 5.48143215e+00] [ 1.18768460e-01 3.69673094e-03 9.92915096e-01 -4.58466635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.07534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-78.16, Y:5.48, Z:-4.59 [[ 9.92878625e-01 -1.61832480e-02 -1.18026008e-01 -7.81558768e+01] [ 1.56592734e-02 9.99862990e-01 -5.36553684e-03 5.47779793e+00] [ 1.18096669e-01 3.47912530e-03 9.92996008e-01 -4.58849730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.10534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-78.18, Y:5.47, Z:-4.59 [[ 9.92863517e-01 -1.77835924e-02 -1.17922772e-01 -7.81835584e+01] [ 1.72755853e-02 9.99836566e-01 -5.32880604e-03 5.47298432e+00] [ 1.17998264e-01 3.25359221e-03 9.93008471e-01 -4.59301727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-78.21, Y:5.46, Z:-4.59 [[ 9.92767909e-01 -2.22836401e-02 -1.17963208e-01 -7.82122060e+01] [ 2.18083123e-02 9.99748022e-01 -5.31888339e-03 5.46428840e+00] [ 1.18052008e-01 2.70783825e-03 9.93003722e-01 -4.59124722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16534707000001 meters Centerline goodness [0,1] 0.9997272826442675 Centerline is valid? [True, True] Translation: X:-78.24, Y:5.46, Z:-4.59 [[ 9.92763343e-01 -2.31310102e-02 -1.17838455e-01 -7.82412435e+01] [ 2.26641849e-02 9.99729084e-01 -5.30023661e-03 5.46055888e+00] [ 1.17929131e-01 2.59116808e-03 9.93018633e-01 -4.59478122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-78.27, Y:5.45, Z:-4.60 [[ 9.92682660e-01 -2.80882316e-02 -1.17440144e-01 -7.82697217e+01] [ 2.76627412e-02 9.99603517e-01 -5.25179534e-03 5.45444278e+00] [ 1.17541095e-01 1.96464986e-03 9.93066076e-01 -4.59797340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-78.30, Y:5.45, Z:-4.60 [[ 9.92697769e-01 -2.97975027e-02 -1.16889901e-01 -7.82982480e+01] [ 2.93893056e-02 9.99554439e-01 -5.21454881e-03 5.44841434e+00] [ 1.16993200e-01 1.74115794e-03 9.93131189e-01 -4.60176857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25534707000001 meters Centerline goodness [0,1] 0.9998893131883336 Centerline is valid? [True, True] Translation: X:-78.33, Y:5.44, Z:-4.60 [[ 9.92643700e-01 -3.41800359e-02 -1.16147366e-01 -7.83264336e+01] [ 3.38111619e-02 9.99414995e-01 -5.14521851e-03 5.44215093e+00] [ 1.16255283e-01 1.18029135e-03 9.93218665e-01 -4.59985300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.28534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-78.36, Y:5.44, Z:-4.60 [[ 9.92529682e-01 -3.67831691e-02 -1.16326387e-01 -7.83550821e+01] [ 3.64351976e-02 9.99322917e-01 -5.11705684e-03 5.43744880e+00] [ 1.16435846e-01 8.40455897e-04 9.93197859e-01 -4.60405091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31534707000002 meters Centerline goodness [0,1] 0.9999431592110498 Centerline is valid? [True, True] Translation: X:-78.38, Y:5.43, Z:-4.60 [[ 9.92370425e-01 -3.90572869e-02 -1.16942156e-01 -7.83821417e+01] [ 3.87258440e-02 9.99236828e-01 -5.10591912e-03 5.43140480e+00] [ 1.17052332e-01 5.38279438e-04 9.93125602e-01 -4.60494239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.34534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-78.41, Y:5.42, Z:-4.61 [[ 9.92224326e-01 -4.28644304e-02 -1.16848307e-01 -7.84093111e+01] [ 4.25649538e-02 9.99080897e-01 -5.05827555e-03 5.42444050e+00] [ 1.16957732e-01 4.53012479e-05 9.93136892e-01 -4.61351900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.37534707 meters Centerline goodness [0,1] 0.9997187693346082 Centerline is valid? [True, True] Translation: X:-78.44, Y:5.42, Z:-4.61 [[ 9.92175792e-01 -4.57549554e-02 -1.16162309e-01 -7.84373378e+01] [ 4.54833243e-02 9.98952638e-01 -4.98939843e-03 5.41903376e+00] [ 1.16268935e-01 -3.33087656e-04 9.93217712e-01 -4.61412884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.40534707 meters Centerline goodness [0,1] 0.999767211779084 Centerline is valid? [True, True] Translation: X:-78.47, Y:5.41, Z:-4.61 [[ 9.91944015e-01 -5.10752816e-02 -1.15924056e-01 -7.84651931e+01] [ 5.08432237e-02 9.98694331e-01 -4.95982292e-03 5.41462010e+00] [ 1.16026022e-01 -9.74086045e-04 9.93245696e-01 -4.61191130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.43534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-78.49, Y:5.41, Z:-4.62 [[ 9.91813762e-01 -5.19620365e-02 -1.16642224e-01 -7.84926241e+01] [ 5.17355655e-02 9.98648450e-01 -4.97042398e-03 5.41012904e+00] [ 1.16742849e-01 -1.10481649e-03 9.93161561e-01 -4.61651177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.46534707 meters Centerline goodness [0,1] 0.9999421128798842 Centerline is valid? [True, True] Translation: X:-78.52, Y:5.40, Z:-4.62 [[ 9.91614164e-01 -5.74695648e-02 -1.15752316e-01 -7.85209250e+01] [ 5.72860380e-02 9.98345711e-01 -4.91434556e-03 5.40385945e+00] [ 1.15843253e-01 -1.75785689e-03 9.93265952e-01 -4.61874972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.49534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-78.55, Y:5.40, Z:-4.62 [[ 9.91484130e-01 -6.01845888e-02 -1.15486079e-01 -7.85488151e+01] [ 6.00243768e-02 9.98185043e-01 -4.86759428e-03 5.40140832e+00] [ 1.15569431e-01 -2.10583745e-03 9.93297172e-01 -4.61882023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.52534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-78.58, Y:5.40, Z:-4.62 [[ 9.91329553e-01 -6.29773616e-02 -1.15323756e-01 -7.85777891e+01] [ 6.28384829e-02 9.98011959e-01 -4.84301628e-03 5.39571294e+00] [ 1.15399488e-01 -2.44574471e-03 9.93316151e-01 -4.62385856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55534707000001 meters Centerline goodness [0,1] 0.9999428702010968 Centerline is valid? [True, True] Translation: X:-78.61, Y:5.39, Z:-4.63 [[ 9.91329827e-01 -6.39752488e-02 -1.14770820e-01 -7.86064211e+01] [ 6.38481372e-02 9.97948145e-01 -4.78708808e-03 5.39105827e+00] [ 1.14841582e-01 -2.58231988e-03 9.93380462e-01 -4.62795250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58534707000001 meters Centerline goodness [0,1] 0.9998242839571253 Centerline is valid? [True, True] Translation: X:-78.63, Y:5.39, Z:-4.63 [[ 9.91199557e-01 -6.50944653e-02 -1.15265559e-01 -7.86338330e+01] [ 6.49750653e-02 9.97875359e-01 -4.79680983e-03 5.39081620e+00] [ 1.15332907e-01 -2.73479146e-03 9.93323130e-01 -4.63103256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61534707000001 meters Centerline goodness [0,1] 0.9997618622373042 Centerline is valid? [True, True] Translation: X:-78.66, Y:5.39, Z:-4.63 [[ 9.91073958e-01 -6.82636226e-02 -1.14509775e-01 -7.86613972e+01] [ 6.81683493e-02 9.97662514e-01 -4.75227260e-03 5.38889261e+00] [ 1.14566517e-01 -3.09608873e-03 9.93410755e-01 -4.63381633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.64534707000001 meters Centerline goodness [0,1] 0.9998838087492011 Centerline is valid? [True, True] Translation: X:-78.69, Y:5.39, Z:-4.64 [[ 9.91019468e-01 -6.96049053e-02 -1.14173429e-01 -7.86898203e+01] [ 6.95205155e-02 9.97569329e-01 -4.72556882e-03 5.38623280e+00] [ 1.14224833e-01 -3.25426492e-03 9.93449595e-01 -4.63540542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-78.72, Y:5.38, Z:-4.64 [[ 9.90842972e-01 -7.25161855e-02 -1.13892963e-01 -7.87185352e+01] [ 7.24522837e-02 9.97360778e-01 -4.70584900e-03 5.37943934e+00] [ 1.13933625e-01 -3.58904787e-03 9.93481881e-01 -4.64042045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.70534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-78.75, Y:5.38, Z:-4.64 [[ 9.90707681e-01 -7.49283758e-02 -1.13507842e-01 -7.87468175e+01] [ 7.48816909e-02 9.97181439e-01 -4.68090315e-03 5.37897896e+00] [ 1.13538646e-01 -3.86225244e-03 9.93526074e-01 -4.64058557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.73534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-78.78, Y:5.38, Z:-4.64 [[ 9.90480086e-01 -7.83190784e-02 -1.13204776e-01 -7.87753003e+01] [ 7.82963890e-02 9.96919265e-01 -4.65337210e-03 5.37813236e+00] [ 1.13220470e-01 -4.25445278e-03 9.93560781e-01 -4.64124158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.76534707 meters Centerline goodness [0,1] 0.9995940381604129 Centerline is valid? [True, True] Translation: X:-78.80, Y:5.38, Z:-4.64 [[ 9.90293955e-01 -8.13354848e-02 -1.12705024e-01 -7.88040320e+01] [ 8.13336776e-02 9.96676212e-01 -4.62174344e-03 5.37801093e+00] [ 1.12706329e-01 -4.58982953e-03 9.93617742e-01 -4.64346265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.79534707 meters Centerline goodness [0,1] 0.9999410099103351 Centerline is valid? [True, True] Translation: X:-78.83, Y:5.38, Z:-4.64 [[ 9.90172588e-01 -8.21674794e-02 -1.13166921e-01 -7.88323846e+01] [ 8.21727436e-02 9.96607365e-01 -4.62606011e-03 5.38098739e+00] [ 1.13163098e-01 -4.71863846e-03 9.93565221e-01 -4.64393122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.82534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-78.86, Y:5.38, Z:-4.65 [[ 9.90270273e-01 -8.00477933e-02 -1.13829418e-01 -7.88607190e+01] [ 8.00407656e-02 9.96780794e-01 -4.63950521e-03 5.37627369e+00] [ 1.13834359e-01 -4.51662965e-03 9.93489476e-01 -4.65277547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.85534707000001 meters Centerline goodness [0,1] 0.9999431753608364 Centerline is valid? [True, True] Translation: X:-78.89, Y:5.38, Z:-4.66 [[ 9.90429008e-01 -7.85741201e-02 -1.13474611e-01 -7.88896918e+01] [ 7.85587115e-02 9.96898809e-01 -4.61442497e-03 5.37859340e+00] [ 1.13485279e-01 -4.34415891e-03 9.93530181e-01 -4.65552222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.88534707000001 meters Centerline goodness [0,1] 0.9998336844439517 Centerline is valid? [True, True] Translation: X:-78.92, Y:5.39, Z:-4.66 [[ 9.90729043e-01 -7.51464211e-02 -1.13176755e-01 -7.89192636e+01] [ 7.51098575e-02 9.97164687e-01 -4.59317001e-03 5.38624996e+00] [ 1.13201024e-01 -3.95010302e-03 9.93564253e-01 -4.65808397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91534707000001 meters Centerline goodness [0,1] 0.999943911604689 Centerline is valid? [True, True] Translation: X:-78.95, Y:5.40, Z:-4.66 [[ 9.90936535e-01 -7.05391526e-02 -1.14319776e-01 -7.89486987e+01] [ 7.04720127e-02 9.97502995e-01 -4.63370264e-03 5.39886024e+00] [ 1.14361176e-01 -3.46463944e-03 9.93433197e-01 -4.65859681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.94534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-78.98, Y:5.40, Z:-4.66 [[ 9.91141653e-01 -6.65485477e-02 -1.14932649e-01 -7.89770137e+01] [ 6.64552760e-02 9.97778582e-01 -4.64727389e-03 5.40348772e+00] [ 1.14986605e-01 -3.03177417e-03 9.93362416e-01 -4.66425677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97534707000001 meters Centerline goodness [0,1] 0.9998906027786895 Centerline is valid? [True, True] Translation: X:-79.01, Y:5.41, Z:-4.67 [[ 9.91345164e-01 -6.37442174e-02 -1.14766899e-01 -7.90057718e+01] [ 6.36343814e-02 9.97962566e-01 -4.62421180e-03 5.40814948e+00] [ 1.14827836e-01 -2.71893061e-03 9.93381687e-01 -4.66850372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.00534707000001 meters Centerline goodness [0,1] 0.9997773572303239 Centerline is valid? [True, True] Translation: X:-79.03, Y:5.42, Z:-4.67 [[ 9.91532268e-01 -6.35412535e-02 -1.13253126e-01 -7.90339007e+01] [ 6.34364375e-02 9.97975587e-01 -4.53272329e-03 5.41752630e+00] [ 1.13311869e-01 -2.69003342e-03 9.93555828e-01 -4.66820970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03534707000001 meters Centerline goodness [0,1] 0.999668270028197 Centerline is valid? [True, True] Translation: X:-79.06, Y:5.41, Z:-4.67 [[ 9.91587621e-01 -6.37408421e-02 -1.12654756e-01 -7.90616197e+01] [ 6.36411836e-02 9.97962770e-01 -4.48429777e-03 5.41066246e+00] [ 1.12711085e-01 -2.72290782e-03 9.93624072e-01 -4.67165504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.06534707000002 meters Centerline goodness [0,1] 0.9998341441839894 Centerline is valid? [True, True] Translation: X:-79.09, Y:5.42, Z:-4.67 [[ 9.91574894e-01 -6.54370029e-02 -1.11791002e-01 -7.90902355e+01] [ 6.53545959e-02 9.97852378e-01 -4.40547440e-03 5.41589094e+00] [ 1.11839198e-01 -2.93769796e-03 9.93721975e-01 -4.67046052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.09534707000002 meters Centerline goodness [0,1] 0.9999443238127053 Centerline is valid? [True, True] Translation: X:-79.12, Y:5.41, Z:-4.68 [[ 9.91454574e-01 -6.58568419e-02 -1.12608628e-01 -7.91182714e+01] [ 6.57796819e-02 9.97824450e-01 -4.40463993e-03 5.41132444e+00] [ 1.12653718e-01 -3.04035934e-03 9.93629657e-01 -4.67737827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.12534707 meters Centerline goodness [0,1] 0.9998351376600538 Centerline is valid? [True, True] Translation: X:-79.15, Y:5.41, Z:-4.68 [[ 9.91228992e-01 -6.82011390e-02 -1.13197571e-01 -7.91457625e+01] [ 6.81395890e-02 9.97666018e-01 -4.41725614e-03 5.41219557e+00] [ 1.13234632e-01 -3.33472359e-03 9.93562679e-01 -4.68084587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.15534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-79.17, Y:5.41, Z:-4.68 [[ 9.91117621e-01 -6.80992890e-02 -1.14229366e-01 -7.91747823e+01] [ 6.80370721e-02 9.97672879e-01 -4.44782841e-03 5.40901015e+00] [ 1.14266434e-01 -3.36351047e-03 9.93444447e-01 -4.68403234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.18534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-79.20, Y:5.41, Z:-4.68 [[ 9.90980422e-01 -7.03694428e-02 -1.14043605e-01 -7.92026671e+01] [ 7.03235319e-02 9.97514396e-01 -4.43066390e-03 5.41053510e+00] [ 1.14071921e-01 -3.62924790e-03 9.93465865e-01 -4.68419468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.21534707 meters Centerline goodness [0,1] 0.9991801934743401 Centerline is valid? [True, True] Translation: X:-79.23, Y:5.41, Z:-4.69 [[ 9.90995460e-01 -7.15998374e-02 -1.13143540e-01 -7.92310801e+01] [ 7.15637645e-02 9.97426385e-01 -4.38559098e-03 5.40590347e+00] [ 1.13166359e-01 -3.75087688e-03 9.93568974e-01 -4.68669058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.24534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-79.26, Y:5.41, Z:-4.69 [[ 9.90870946e-01 -7.32602028e-02 -1.13171154e-01 -7.92589676e+01] [ 7.32361193e-02 9.97305030e-01 -4.37590263e-03 5.40778909e+00] [ 1.13186741e-01 -3.95226137e-03 9.93565872e-01 -4.68610465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27534707000001 meters Centerline goodness [0,1] 0.9997788099977881 Centerline is valid? [True, True] Translation: X:-79.29, Y:5.41, Z:-4.69 [[ 9.91071700e-01 -7.11502352e-02 -1.12758725e-01 -7.92875795e+01] [ 7.11141928e-02 9.97458709e-01 -4.34696068e-03 5.40717889e+00] [ 1.12781459e-01 -3.71059599e-03 9.93612889e-01 -4.68605420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.30534707000001 meters Centerline goodness [0,1] 0.9996656077579 Centerline is valid? [True, True] Translation: X:-79.32, Y:5.41, Z:-4.69 [[ 9.91100522e-01 -7.01980090e-02 -1.13101697e-01 -7.93156961e+01] [ 7.01568436e-02 9.97526492e-01 -4.34908928e-03 5.40690230e+00] [ 1.13127237e-01 -3.62447342e-03 9.93573898e-01 -4.68945034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33534707000001 meters Centerline goodness [0,1] 0.999724320449909 Centerline is valid? [True, True] Translation: X:-79.34, Y:5.41, Z:-4.69 [[ 9.91247515e-01 -6.73490667e-02 -1.13545002e-01 -7.93440849e+01] [ 6.72904545e-02 9.97723932e-01 -4.35316283e-03 5.40758804e+00] [ 1.13579747e-01 -3.32543295e-03 9.93523318e-01 -4.69230919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.36534707000001 meters Centerline goodness [0,1] 0.999944422831101 Centerline is valid? [True, True] Translation: X:-79.37, Y:5.41, Z:-4.69 [[ 9.91382368e-01 -6.46097874e-02 -1.13958655e-01 -7.93729785e+01] [ 6.45345854e-02 9.97905978e-01 -4.35283319e-03 5.40970116e+00] [ 1.14001259e-01 -3.03895250e-03 9.93475957e-01 -4.69426660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39534707000001 meters Centerline goodness [0,1] 0.9996686364389462 Centerline is valid? [True, True] Translation: X:-79.40, Y:5.41, Z:-4.69 [[ 9.91567376e-01 -6.09352892e-02 -1.14372330e-01 -7.94007686e+01] [ 6.08387500e-02 9.98138182e-01 -4.33775412e-03 5.41204264e+00] [ 1.14423712e-01 -2.65709415e-03 9.93428485e-01 -4.69464601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.42534707000002 meters Centerline goodness [0,1] 0.9995555308628257 Centerline is valid? [True, True] Translation: X:-79.43, Y:5.41, Z:-4.70 [[ 9.91776133e-01 -5.76482675e-02 -1.14266265e-01 -7.94284904e+01] [ 5.75317064e-02 9.98334331e-01 -4.32035903e-03 5.41373997e+00] [ 1.14324997e-01 -2.28910426e-03 9.93440766e-01 -4.69603477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45534707000002 meters Centerline goodness [0,1] 0.9992853216052776 Centerline is valid? [True, True] Translation: X:-79.46, Y:5.41, Z:-4.70 [[ 9.92013790e-01 -5.19471141e-02 -1.14935366e-01 -7.94576904e+01] [ 5.17931038e-02 9.98648458e-01 -4.32792981e-03 5.41269441e+00] [ 1.15004850e-01 -1.65949330e-03 9.93363544e-01 -4.69869277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.48534707000002 meters Centerline goodness [0,1] 0.9987810959055904 Centerline is valid? [True, True] Translation: X:-79.49, Y:5.41, Z:-4.70 [[ 9.92128155e-01 -5.00211814e-02 -1.14802461e-01 -7.94860654e+01] [ 4.98591196e-02 9.98747071e-01 -4.28450762e-03 5.41093632e+00] [ 1.14872937e-01 -1.47316897e-03 9.93379101e-01 -4.70204813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.51534707 meters Centerline goodness [0,1] 0.9985130520982487 Centerline is valid? [True, True] Translation: X:-79.51, Y:5.41, Z:-4.70 [[ 9.92298944e-01 -4.65340326e-02 -1.14792807e-01 -7.95137974e+01] [ 4.63526626e-02 9.98916096e-01 -4.25023145e-03 5.41107908e+00] [ 1.14866163e-01 -1.10345209e-03 9.93380364e-01 -4.70156562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.54534707 meters Centerline goodness [0,1] 0.9985116586737225 Centerline is valid? [True, True] Translation: X:-79.54, Y:5.41, Z:-4.70 [[ 9.92410449e-01 -4.19005781e-02 -1.15610738e-01 -7.95421200e+01] [ 4.16872800e-02 9.99121612e-01 -4.26327960e-03 5.40993294e+00] [ 1.15687821e-01 -5.88573999e-04 9.93285448e-01 -4.70485214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.57534707 meters Centerline goodness [0,1] 0.9986920268134504 Centerline is valid? [True, True] Translation: X:-79.57, Y:5.41, Z:-4.71 [[ 9.92435038e-01 -3.78894294e-02 -1.16777940e-01 -7.95700839e+01] [ 3.76486857e-02 9.99281925e-01 -4.26747697e-03 5.40751091e+00] [ 1.16855777e-01 -1.61342308e-04 9.93148882e-01 -4.71060895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.60534707000001 meters Centerline goodness [0,1] 0.9978631307873541 Centerline is valid? [True, True] Translation: X:-79.60, Y:5.40, Z:-4.71 [[ 9.92411330e-01 -3.73788225e-02 -1.17143396e-01 -7.95966736e+01] [ 3.71373783e-02 9.99301158e-01 -4.24390631e-03 5.40287458e+00] [ 1.17220163e-01 -1.38697896e-04 9.93105943e-01 -4.71425473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63534707000001 meters Centerline goodness [0,1] 0.9977292866637129 Centerline is valid? [True, True] Translation: X:-79.62, Y:5.40, Z:-4.71 [[ 9.92430349e-01 -3.86730290e-02 -1.16560713e-01 -7.96238481e+01] [ 3.84454741e-02 9.99251870e-01 -4.20074072e-03 5.39766370e+00] [ 1.16635966e-01 -3.12289304e-04 9.93174684e-01 -4.71303365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.66534707000001 meters Centerline goodness [0,1] 0.9975700723327305 Centerline is valid? [True, True] Translation: X:-79.65, Y:5.39, Z:-4.71 [[ 9.92401070e-01 -3.88756797e-02 -1.16742445e-01 -7.96506604e+01] [ 3.86533299e-02 9.99243985e-01 -4.16886214e-03 5.39197689e+00] [ 1.16816253e-01 -3.75300997e-04 9.93153474e-01 -4.71260613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69534707000001 meters Centerline goodness [0,1] 0.9974356115508975 Centerline is valid? [True, True] Translation: X:-79.68, Y:5.39, Z:-4.72 [[ 9.92451957e-01 -3.75214303e-02 -1.16752966e-01 -7.96779349e+01] [ 3.72924715e-02 9.99295794e-01 -4.14568701e-03 5.38678056e+00] [ 1.16826300e-01 -2.39611448e-04 9.93152334e-01 -4.71851666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.72534707000001 meters Centerline goodness [0,1] 0.9974370657250257 Centerline is valid? [True, True] Translation: X:-79.71, Y:5.38, Z:-4.72 [[ 9.92385986e-01 -3.70591869e-02 -1.17459231e-01 -7.97056636e+01] [ 3.68288939e-02 9.99313047e-01 -4.13122740e-03 5.38091161e+00] [ 1.17531642e-01 -2.26121388e-04 9.93069112e-01 -4.71791743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75534707000001 meters Centerline goodness [0,1] 0.9971664966564661 Centerline is valid? [True, True] Translation: X:-79.73, Y:5.38, Z:-4.72 [[ 9.92407676e-01 -3.64997169e-02 -1.17451165e-01 -7.97337506e+01] [ 3.62678060e-02 9.99333647e-01 -4.11188976e-03 5.37679563e+00] [ 1.17522984e-01 -1.79025122e-04 9.93070147e-01 -4.71757322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.78534707000001 meters Centerline goodness [0,1] 0.9972944027957837 Centerline is valid? [True, True] Translation: X:-79.76, Y:5.37, Z:-4.72 [[ 9.92341008e-01 -3.51537128e-02 -1.18421032e-01 -7.97617401e+01] [ 3.49134841e-02 9.99381915e-01 -4.10318043e-03 5.37361338e+00] [ 1.18492080e-01 -6.27366275e-05 9.92954995e-01 -4.72376625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81534707000002 meters Centerline goodness [0,1] 0.9971037537622807 Centerline is valid? [True, True] Translation: X:-79.79, Y:5.37, Z:-4.73 [[ 9.92403146e-01 -3.14930704e-02 -1.18929320e-01 -7.97896520e+01] [ 3.12288523e-02 9.99503912e-01 -4.08508054e-03 5.36866989e+00] [ 1.18998972e-01 3.40020606e-04 9.92894319e-01 -4.72687382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.84534707000002 meters Centerline goodness [0,1] 0.9987407704195524 Centerline is valid? [True, True] Translation: X:-79.82, Y:5.37, Z:-4.73 [[ 9.92408120e-01 -3.06338794e-02 -1.19112083e-01 -7.98175037e+01] [ 3.03650454e-02 9.99530583e-01 -4.07164131e-03 5.36632350e+00] [ 1.19180900e-01 4.23886096e-04 9.92872466e-01 -4.72938140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.87534707 meters Centerline goodness [0,1] 0.9992042741843811 Centerline is valid? [True, True] Translation: X:-79.85, Y:5.36, Z:-4.73 [[ 9.92477225e-01 -2.79619403e-02 -1.19193489e-01 -7.98458003e+01] [ 2.76789470e-02 9.99608743e-01 -4.02937711e-03 5.36420715e+00] [ 1.19259523e-01 6.99914752e-04 9.92862869e-01 -4.73360444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.90534707 meters Centerline goodness [0,1] 0.9992042741843811 Centerline is valid? [True, True] Translation: X:-79.87, Y:5.36, Z:-4.74 [[ 9.92487433e-01 -2.75908411e-02 -1.19194973e-01 -7.98733548e+01] [ 2.73105057e-02 9.99619055e-01 -3.98504080e-03 5.36305572e+00] [ 1.19259517e-01 6.99827919e-04 9.92862870e-01 -4.73627755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.93534707 meters Centerline goodness [0,1] 0.9994226661278217 Centerline is valid? [True, True] Translation: X:-79.90, Y:5.36, Z:-4.74 [[ 9.92579345e-01 -2.50562858e-02 -1.18989189e-01 -7.99017939e+01] [ 2.47640001e-02 9.99685582e-01 -3.93458217e-03 5.36176428e+00] [ 1.19050363e-01 9.58736698e-04 9.92887754e-01 -4.73890068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.96534707 meters Centerline goodness [0,1] 0.9997652857645816 Centerline is valid? [True, True] Translation: X:-79.93, Y:5.36, Z:-4.74 [[ 9.92654367e-01 -2.43385783e-02 -1.18511354e-01 -7.99298482e+01] [ 2.40478669e-02 9.99703269e-01 -3.88263315e-03 5.35867157e+00] [ 1.18570686e-01 1.00416748e-03 9.92945106e-01 -4.73670152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.99534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-79.96, Y:5.36, Z:-4.75 [[ 9.92536228e-01 -1.91237422e-02 -1.20441346e-01 -7.99577001e+01] [ 1.87876749e-02 9.99815791e-01 -3.92532500e-03 5.35874149e+00] [ 1.20494227e-01 1.63321441e-03 9.92712684e-01 -4.74907821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.02534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-79.99, Y:5.35, Z:-4.74 [[ 9.92661208e-01 -2.23555128e-02 -1.18844258e-01 -7.99861077e+01] [ 2.20555608e-02 9.99749377e-01 -3.83872482e-03 5.35286059e+00] [ 1.18900289e-01 1.18937648e-03 9.92905487e-01 -4.74352801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05534707000001 meters Centerline goodness [0,1] 0.9997592102094871 Centerline is valid? [True, True] Translation: X:-80.01, Y:5.35, Z:-4.74 [[ 9.92599403e-01 -2.68545123e-02 -1.18428295e-01 -8.00144598e+01] [ 2.65901731e-02 9.99639151e-01 -3.81185875e-03 5.34595666e+00] [ 1.18487926e-01 6.34619851e-04 9.92955290e-01 -4.74365672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.08534707000001 meters Centerline goodness [0,1] 0.9998229252744658 Centerline is valid? [True, True] Translation: X:-80.04, Y:5.34, Z:-4.75 [[ 9.92401747e-01 -2.87800918e-02 -1.19626417e-01 -8.00421187e+01] [ 2.85264697e-02 9.99585691e-01 -3.83234466e-03 5.33892591e+00] [ 1.19687150e-01 3.90706161e-04 9.92811580e-01 -4.75365080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11534707000001 meters Centerline goodness [0,1] 0.9984718467144704 Centerline is valid? [True, True] Translation: X:-80.07, Y:5.33, Z:-4.76 [[ 9.92168671e-01 -3.12580799e-02 -1.20930811e-01 -8.00706516e+01] [ 3.10215661e-02 9.99511345e-01 -3.83838864e-03 5.33171840e+00] [ 1.20991698e-01 5.68658039e-05 9.92653517e-01 -4.75625107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.14534707000001 meters Centerline goodness [0,1] 0.998652133145804 Centerline is valid? [True, True] Translation: X:-80.10, Y:5.33, Z:-4.76 [[ 9.92066185e-01 -3.34265784e-02 -1.21191372e-01 -8.00977298e+01] [ 3.32095271e-02 9.99441146e-01 -3.81090678e-03 5.32704582e+00] [ 1.21251030e-01 -2.44036405e-04 9.92621846e-01 -4.76406722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17534707000002 meters Centerline goodness [0,1] 0.9983550699095288 Centerline is valid? [True, True] Translation: X:-80.13, Y:5.33, Z:-4.76 [[ 9.92073955e-01 -3.36707007e-02 -1.21060114e-01 -8.01260639e+01] [ 3.34610044e-02 9.99432931e-01 -3.76520457e-03 5.32795409e+00] [ 1.21118242e-01 -3.15431625e-04 9.92638037e-01 -4.76477705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.20534707000002 meters Centerline goodness [0,1] 0.9989225427989944 Centerline is valid? [True, True] Translation: X:-80.15, Y:5.33, Z:-4.76 [[ 9.92120418e-01 -3.04239724e-02 -1.21537885e-01 -8.01543629e+01] [ 3.01928097e-02 9.99537083e-01 -3.74357047e-03 5.33059957e+00] [ 1.21595517e-01 4.45024819e-05 9.92579734e-01 -4.75959799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.23534707000002 meters Centerline goodness [0,1] 0.9985178158534417 Centerline is valid? [True, True] Translation: X:-80.18, Y:5.34, Z:-4.76 [[ 9.92263517e-01 -2.63118312e-02 -1.21329308e-01 -8.01829146e+01] [ 2.60538421e-02 9.99653647e-01 -3.71254875e-03 5.33696896e+00] [ 1.21384970e-01 5.22732031e-04 9.92605368e-01 -4.76309050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.26534707 meters Centerline goodness [0,1] 0.9986389727202793 Centerline is valid? [True, True] Translation: X:-80.21, Y:5.34, Z:-4.77 [[ 9.92224783e-01 -2.29118502e-02 -1.22331625e-01 -8.02113541e+01] [ 2.26291067e-02 9.99737081e-01 -3.70031685e-03 5.34011968e+00] [ 1.22384242e-01 9.03290698e-04 9.92482383e-01 -4.76583374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.29534707 meters Centerline goodness [0,1] 0.9988782618963278 Centerline is valid? [True, True] Translation: X:-80.24, Y:5.34, Z:-4.77 [[ 9.92173723e-01 -1.93692695e-02 -1.23353697e-01 -8.02401912e+01] [ 1.90595694e-02 9.99811539e-01 -3.69032506e-03 5.34366010e+00] [ 1.23401929e-01 1.31037520e-03 9.92355907e-01 -4.77213596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.32534707 meters Centerline goodness [0,1] 0.999050050466069 Centerline is valid? [True, True] Translation: X:-80.27, Y:5.35, Z:-4.78 [[ 9.92284747e-01 -1.45659260e-02 -1.23121135e-01 -8.02691714e+01] [ 1.42256181e-02 9.99892176e-01 -3.64268537e-03 5.34887058e+00] [ 1.23160918e-01 1.86310689e-03 9.92384964e-01 -4.77523555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.35534707000001 meters Centerline goodness [0,1] 0.9984063274701924 Centerline is valid? [True, True] Translation: X:-80.30, Y:5.35, Z:-4.77 [[ 9.92350936e-01 -1.40409871e-02 -1.22647749e-01 -8.02972525e+01] [ 1.37043057e-02 9.99899653e-01 -3.58830527e-03 5.35340426e+00] [ 1.22685825e-01 1.88005584e-03 9.92443779e-01 -4.77355755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.38534707000001 meters Centerline goodness [0,1] 0.9983551665393879 Centerline is valid? [True, True] Translation: X:-80.33, Y:5.36, Z:-4.78 [[ 9.92156026e-01 -1.02002752e-02 -1.24588825e-01 -8.03258293e+01] [ 9.82741791e-03 9.99945204e-01 -3.60693930e-03 5.35679669e+00] [ 1.24618790e-01 2.35426011e-03 9.92201902e-01 -4.78082786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41534707000001 meters Centerline goodness [0,1] 0.9980601928050787 Centerline is valid? [True, True] Translation: X:-80.35, Y:5.36, Z:-4.78 [[ 9.92161002e-01 -9.90506224e-03 -1.24573013e-01 -8.03533390e+01] [ 9.53233912e-03 9.99948130e-01 -3.58772194e-03 5.35602892e+00] [ 1.24602088e-01 2.37212559e-03 9.92203957e-01 -4.78232993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44534707000001 meters Centerline goodness [0,1] 0.9984158648204646 Centerline is valid? [True, True] Translation: X:-80.38, Y:5.36, Z:-4.79 [[ 9.91795167e-01 -5.49475925e-03 -1.27719048e-01 -8.03829161e+01] [ 5.07111058e-03 9.99980510e-01 -3.64197197e-03 5.35652231e+00] [ 1.27736570e-01 2.96441278e-03 9.91803701e-01 -4.79122449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47534707000001 meters Centerline goodness [0,1] 0.9983556495184402 Centerline is valid? [True, True] Translation: X:-80.41, Y:5.36, Z:-4.79 [[ 9.91738029e-01 -5.20737299e-03 -1.28173961e-01 -8.04112308e+01] [ 4.78001358e-03 9.99981945e-01 -3.64159551e-03 5.35700577e+00] [ 1.28190610e-01 2.99883549e-03 9.91745015e-01 -4.79184582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.50534707000001 meters Centerline goodness [0,1] 0.9991787411274711 Centerline is valid? [True, True] Translation: X:-80.44, Y:5.36, Z:-4.80 [[ 9.91579032e-01 -2.88643289e-03 -1.29470815e-01 -8.04382475e+01] [ 2.43572163e-03 9.99990411e-01 -3.63938942e-03 5.35670089e+00] [ 1.29480078e-01 3.29338737e-03 9.91576554e-01 -4.79864976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53534707000001 meters Centerline goodness [0,1] 0.9993072793396063 Centerline is valid? [True, True] Translation: X:-80.47, Y:5.36, Z:-4.80 [[ 9.91863911e-01 -6.51676085e-03 -1.27135810e-01 -8.04679573e+01] [ 6.11359442e-03 9.99974971e-01 -3.56110578e-03 5.35789569e+00] [ 1.27155835e-01 2.75487553e-03 9.91878926e-01 -4.80275084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.56534707000002 meters Centerline goodness [0,1] 0.9994300695315171 Centerline is valid? [True, True] Translation: X:-80.50, Y:5.36, Z:-4.81 [[ 9.92047226e-01 -7.16550659e-03 -1.25662075e-01 -8.04961795e+01] [ 6.77788489e-03 9.99970863e-01 -3.51192600e-03 5.35818483e+00] [ 1.25683579e-01 2.63227336e-03 9.92066887e-01 -4.80635057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.59534707000002 meters Centerline goodness [0,1] 0.9993245144947931 Centerline is valid? [True, True] Translation: X:-80.53, Y:5.36, Z:-4.81 [[ 9.92051650e-01 -9.55541203e-03 -1.25467995e-01 -8.05253271e+01] [ 9.19058516e-03 9.99951688e-01 -3.48626930e-03 5.35886695e+00] [ 1.25495246e-01 2.30543492e-03 9.92091542e-01 -4.80914777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.62534707000002 meters Centerline goodness [0,1] 0.9993855091894308 Centerline is valid? [True, True] Translation: X:-80.55, Y:5.36, Z:-4.82 [[ 9.92016059e-01 -8.89342576e-03 -1.25797639e-01 -8.05531813e+01] [ 8.52656225e-03 9.99957681e-01 -3.45445855e-03 5.36061067e+00] [ 1.25823037e-01 2.35425696e-03 9.92049908e-01 -4.81539424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.65534707 meters Centerline goodness [0,1] 0.9993207290841164 Centerline is valid? [True, True] Translation: X:-80.58, Y:5.36, Z:-4.82 [[ 9.91957627e-01 -4.42453671e-03 -1.26493041e-01 -8.05817077e+01] [ 4.02282198e-03 9.99986022e-01 -3.43106558e-03 5.36071188e+00] [ 1.26506454e-01 2.89461269e-03 9.91961561e-01 -4.81818251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.68534707 meters Centerline goodness [0,1] 0.9998871522879874 Centerline is valid? [True, True] Translation: X:-80.61, Y:5.36, Z:-4.83 [[ 9.91871691e-01 -2.41171576e-03 -1.27219231e-01 -8.06105401e+01] [ 1.99342277e-03 9.99992181e-01 -3.41518561e-03 5.36434104e+00] [ 1.27226473e-01 3.13382421e-03 9.91868743e-01 -4.82685445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.71534707 meters Centerline goodness [0,1] 0.998881372183455 Centerline is valid? [True, True] Translation: X:-80.64, Y:5.37, Z:-4.83 [[ 9.92036672e-01 -8.64461171e-04 -1.25946393e-01 -8.06385091e+01] [ 4.46722851e-04 9.99994306e-01 -3.34500090e-03 5.37020766e+00] [ 1.25948568e-01 3.26210043e-03 9.92031409e-01 -4.82780128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.74534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-80.67, Y:5.37, Z:-4.83 [[ 9.91648222e-01 6.82708433e-03 -1.28791281e-01 -8.06677278e+01] [-7.32436060e-03 9.99967438e-01 -3.38786247e-03 5.37463117e+00] [ 1.28763958e-01 4.30288158e-03 9.91665936e-01 -4.83123605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77534707000001 meters Centerline goodness [0,1] 0.9992314448836188 Centerline is valid? [True, True] Translation: X:-80.70, Y:5.38, Z:-4.84 [[ 9.91715463e-01 9.07564697e-03 -1.28133028e-01 -8.06971484e+01] [-9.58480661e-03 9.99948428e-01 -3.35761996e-03 5.38262203e+00] [ 1.28095947e-01 4.55793393e-03 9.91751306e-01 -4.83572708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.80534707000001 meters Centerline goodness [0,1] 0.9993892960248723 Centerline is valid? [True, True] Translation: X:-80.73, Y:5.38, Z:-4.84 [[ 9.91698060e-01 8.51496833e-03 -1.28306089e-01 -8.07251394e+01] [-9.01673219e-03 9.99953803e-01 -3.33032403e-03 5.38130503e+00] [ 1.28271804e-01 4.45957753e-03 9.91729024e-01 -4.83741588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83534707000001 meters Centerline goodness [0,1] 0.999328783980311 Centerline is valid? [True, True] Translation: X:-80.75, Y:5.37, Z:-4.84 [[ 9.91596261e-01 7.63850845e-03 -1.29145298e-01 -8.07527073e+01] [-8.13768439e-03 9.99961317e-01 -3.33798019e-03 5.37484135e+00] [ 1.29114805e-01 4.36087235e-03 9.91620063e-01 -4.83690461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.86534707000001 meters Centerline goodness [0,1] 0.9992303040299082 Centerline is valid? [True, True] Translation: X:-80.78, Y:5.38, Z:-4.84 [[ 9.91624170e-01 3.26656933e-03 -1.29115587e-01 -8.07819107e+01] [-3.72696445e-03 9.99987529e-01 -3.32430385e-03 5.37877726e+00] [ 1.29103117e-01 3.77766925e-03 9.91623978e-01 -4.84386489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89534707000001 meters Centerline goodness [0,1] 0.9994155464640561 Centerline is valid? [True, True] Translation: X:-80.81, Y:5.37, Z:-4.84 [[ 9.91264828e-01 4.01395695e-03 -1.31825372e-01 -8.08096840e+01] [-4.49940827e-03 9.99984149e-01 -3.38487066e-03 5.36717024e+00] [ 1.31809696e-01 3.94843940e-03 9.91267176e-01 -4.84126578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.92534707000002 meters Centerline goodness [0,1] 0.9993235625704623 Centerline is valid? [True, True] Translation: X:-80.84, Y:5.37, Z:-4.85 [[ 9.91380811e-01 -7.04136230e-04 -1.31009888e-01 -8.08388902e+01] [ 2.67583192e-04 9.99994354e-01 -3.34978846e-03 5.37002972e+00] [ 1.31011507e-01 3.28585995e-03 9.91375402e-01 -4.84795280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95534707000002 meters Centerline goodness [0,1] 0.9992805755395684 Centerline is valid? [True, True] Translation: X:-80.87, Y:5.37, Z:-4.85 [[ 9.91472713e-01 -2.63178447e-03 -1.30287883e-01 -8.08682522e+01] [ 2.21856666e-03 9.99992039e-01 -3.31661852e-03 5.37023308e+00] [ 1.30295575e-01 2.99928440e-03 9.91470659e-01 -4.84571439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.98534707000002 meters Centerline goodness [0,1] 0.9990626378473754 Centerline is valid? [True, True] Translation: X:-80.90, Y:5.37, Z:-4.85 [[ 9.91402580e-01 -4.00884688e-03 -1.30785526e-01 -8.08970569e+01] [ 3.60937640e-03 9.99988070e-01 -3.29129681e-03 5.36978278e+00] [ 1.30797160e-01 2.79094596e-03 9.91405222e-01 -4.84779142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.01534707 meters Centerline goodness [0,1] 0.9992170022371365 Centerline is valid? [True, True] Translation: X:-80.93, Y:5.37, Z:-4.85 [[ 9.91217610e-01 -1.70698493e-03 -1.32229861e-01 -8.09253812e+01] [ 1.28335953e-03 9.99993768e-01 -3.28886171e-03 5.37041873e+00] [ 1.32234651e-01 3.09027919e-03 9.91213623e-01 -4.85115886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.04534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-80.95, Y:5.37, Z:-4.85 [[ 9.91309624e-01 -3.91864213e-03 -1.31490962e-01 -8.09531199e+01] [ 3.52388534e-03 9.99988559e-01 -3.23471540e-03 5.37299208e+00] [ 1.31502133e-01 2.74324543e-03 9.91312092e-01 -4.85476827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.07534707 meters Centerline goodness [0,1] 0.999564862659777 Centerline is valid? [True, True] Translation: X:-80.98, Y:5.37, Z:-4.85 [[ 9.91437025e-01 -3.39838519e-03 -1.30541472e-01 -8.09810746e+01] [ 3.00763386e-03 9.99990388e-01 -3.19034984e-03 5.37471212e+00] [ 1.30551060e-01 2.77041000e-03 9.91437716e-01 -4.85286707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.10534707000001 meters Centerline goodness [0,1] 0.9999460101500918 Centerline is valid? [True, True] Translation: X:-81.01, Y:5.38, Z:-4.86 [[ 9.91571602e-01 -4.31928356e-03 -1.29487845e-01 -8.10092846e+01] [ 3.94548991e-03 9.99987277e-01 -3.14309702e-03 5.37672458e+00] [ 1.29499773e-01 2.60571277e-03 9.91576028e-01 -4.85896774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-81.04, Y:5.38, Z:-4.87 [[ 9.91456629e-01 -2.65727471e-03 -1.30409710e-01 -8.10378191e+01] [ 2.26919147e-03 9.99992544e-01 -3.12438371e-03 5.37954558e+00] [ 1.30417040e-01 2.80176633e-03 9.91455267e-01 -4.86585130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.16534707000001 meters Centerline goodness [0,1] 0.9999464582106334 Centerline is valid? [True, True] Translation: X:-81.07, Y:5.38, Z:-4.87 [[ 9.91612571e-01 -5.27469080e-03 -1.29138245e-01 -8.10662533e+01] [ 4.92168400e-03 9.99983229e-01 -3.05253186e-03 5.37820688e+00] [ 1.29152181e-01 2.39135133e-03 9.91621902e-01 -4.86552602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-81.10, Y:5.38, Z:-4.87 [[ 9.91550893e-01 -7.39408810e-03 -1.29507350e-01 -8.10951455e+01] [ 7.06243211e-03 9.99970500e-01 -3.01997612e-03 5.37851819e+00] [ 1.29525860e-01 2.07982315e-03 9.91573863e-01 -4.87206498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.22534707000001 meters Centerline goodness [0,1] 0.9999465183442079 Centerline is valid? [True, True] Translation: X:-81.12, Y:5.38, Z:-4.88 [[ 9.91556027e-01 -9.08952826e-03 -1.29360064e-01 -8.11233438e+01] [ 8.77839326e-03 9.99957043e-01 -2.97517679e-03 5.37835062e+00] [ 1.29381551e-01 1.81448096e-03 9.91593224e-01 -4.87942744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-81.15, Y:5.37, Z:-4.88 [[ 9.91647663e-01 -1.42178064e-02 -1.28190355e-01 -8.11506783e+01] [ 1.39597807e-02 9.99898320e-01 -2.91111486e-03 5.37304905e+00] [ 1.28218711e-01 1.09729100e-03 9.91745309e-01 -4.88151231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.28534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-81.18, Y:5.37, Z:-4.88 [[ 9.91569469e-01 -1.76010292e-02 -1.28375199e-01 -8.11784565e+01] [ 1.73734827e-02 9.99844887e-01 -2.89217886e-03 5.36816592e+00] [ 1.28406192e-01 6.37471954e-04 9.91721455e-01 -4.88125996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-81.21, Y:5.36, Z:-4.89 [[ 9.91529480e-01 -2.59233659e-02 -1.27268494e-01 -8.12065614e+01] [ 2.57707433e-02 9.99663828e-01 -2.84594762e-03 5.36210924e+00] [ 1.27299487e-01 -4.57962735e-04 9.91864220e-01 -4.88906416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.34534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-81.24, Y:5.35, Z:-4.89 [[ 9.91373257e-01 -3.59478068e-02 -1.26042927e-01 -8.12352824e+01] [ 3.58839749e-02 9.99352103e-01 -2.77765124e-03 5.35160652e+00] [ 1.26061115e-01 -1.76923208e-03 9.92020900e-01 -4.89274529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.37534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-81.26, Y:5.35, Z:-4.90 [[ 9.91215381e-01 -4.11356991e-02 -1.25697746e-01 -8.12643234e+01] [ 4.11180668e-02 9.99150549e-01 -2.73589710e-03 5.34502076e+00] [ 1.25703515e-01 -2.45658505e-03 9.92064812e-01 -4.89640537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.40534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-81.29, Y:5.34, Z:-4.90 [[ 9.90832718e-01 -4.75852668e-02 -1.26436420e-01 -8.12930896e+01] [ 4.76218179e-02 9.98861692e-01 -2.73532632e-03 5.33901445e+00] [ 1.26422657e-01 -3.31088134e-03 9.91970942e-01 -4.89647070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.43534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-81.32, Y:5.33, Z:-4.90 [[ 9.90585599e-01 -5.51730555e-02 -1.25284100e-01 -8.13217548e+01] [ 5.52701327e-02 9.98467778e-01 -2.70361950e-03 5.32583913e+00] [ 1.25241304e-01 -4.24630231e-03 9.92117223e-01 -4.90319708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.46534707 meters Centerline goodness [0,1] 0.9998897828722584 Centerline is valid? [True, True] Translation: X:-81.35, Y:5.32, Z:-4.90 [[ 9.90313762e-01 -6.33468090e-02 -1.23554989e-01 -8.13505811e+01] [ 6.35051192e-02 9.97977966e-01 -2.66056550e-03 5.32184720e+00] [ 1.23473695e-01 -5.21157967e-03 9.92334160e-01 -4.90108875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-81.38, Y:5.31, Z:-4.91 [[ 9.90011232e-01 -6.70727867e-02 -1.24012107e-01 -8.13797093e+01] [ 6.72620636e-02 9.97731785e-01 -2.66468201e-03 5.31416397e+00] [ 1.23909549e-01 -5.70324512e-03 9.92277127e-01 -4.90763558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.52534707000001 meters Centerline goodness [0,1] 0.9999439681739228 Centerline is valid? [True, True] Translation: X:-81.41, Y:5.31, Z:-4.91 [[ 9.89902754e-01 -7.17112394e-02 -1.22270337e-01 -8.14087661e+01] [ 7.19310758e-02 9.97406162e-01 -2.62093016e-03 5.31372330e+00] [ 1.22141137e-01 -6.20057088e-03 9.92493373e-01 -4.90697824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55534707000001 meters Centerline goodness [0,1] 0.9998881869514172 Centerline is valid? [True, True] Translation: X:-81.44, Y:5.31, Z:-4.91 [[ 9.89780259e-01 -7.30893713e-02 -1.22445837e-01 -8.14369579e+01] [ 7.33215096e-02 9.97304927e-01 -2.61509382e-03 5.30808228e+00] [ 1.22306972e-01 -6.38954540e-03 9.92471752e-01 -4.91233268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.58534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-81.47, Y:5.30, Z:-4.91 [[ 9.89773787e-01 -7.47369512e-02 -1.21499952e-01 -8.14660968e+01] [ 7.49791856e-02 9.97181752e-01 -2.58347003e-03 5.30447850e+00] [ 1.21350615e-01 -6.55291652e-03 9.92588075e-01 -4.91446762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61534707000001 meters Centerline goodness [0,1] 0.999834290764472 Centerline is valid? [True, True] Translation: X:-81.49, Y:5.29, Z:-4.92 [[ 9.89817380e-01 -7.47352920e-02 -1.21145328e-01 -8.14930121e+01] [ 7.49776543e-02 9.97181920e-01 -2.56300973e-03 5.29360791e+00] [ 1.20995478e-01 -6.54628093e-03 9.92631473e-01 -4.92374036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.64534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-81.52, Y:5.30, Z:-4.93 [[ 9.89727979e-01 -7.62855220e-02 -1.20909248e-01 -8.15212071e+01] [ 7.65415252e-02 9.97063178e-01 -2.53244456e-03 5.29692081e+00] [ 1.20747348e-01 -6.74814703e-03 9.92660335e-01 -4.92679653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-81.55, Y:5.30, Z:-4.92 [[ 9.89802685e-01 -7.53926336e-02 -1.20857751e-01 -8.15494518e+01] [ 7.56432551e-02 9.97131762e-01 -2.51942937e-03 5.29831844e+00] [ 1.20701048e-01 -6.64833573e-03 9.92666639e-01 -4.92188278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.70534707000002 meters Centerline goodness [0,1] 0.9997751040143933 Centerline is valid? [True, True] Translation: X:-81.58, Y:5.29, Z:-4.93 [[ 9.89932013e-01 -7.65889390e-02 -1.19032535e-01 -8.15775149e+01] [ 7.68420783e-02 9.97040221e-01 -2.46839552e-03 5.29121789e+00] [ 1.18869277e-01 -6.70316363e-03 9.92887286e-01 -4.92823332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.73534707000002 meters Centerline goodness [0,1] 0.9998302975449711 Centerline is valid? [True, True] Translation: X:-81.61, Y:5.28, Z:-4.93 [[ 9.90047321e-01 -7.70519986e-02 -1.17767959e-01 -8.16057447e+01] [ 7.73039953e-02 9.97004599e-01 -2.43345945e-03 5.28483024e+00] [ 1.17602700e-01 -6.69469374e-03 9.93038159e-01 -4.93433406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.76534707 meters Centerline goodness [0,1] 0.9999426013086902 Centerline is valid? [True, True] Translation: X:-81.63, Y:5.28, Z:-4.94 [[ 9.90176051e-01 -7.51871135e-02 -1.17890990e-01 -8.16344796e+01] [ 7.54277325e-02 9.97148321e-01 -2.42571260e-03 5.28419997e+00] [ 1.17737185e-01 -6.49036754e-03 9.93023580e-01 -4.93658815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.79534707 meters Centerline goodness [0,1] 0.9999426013086902 Centerline is valid? [True, True] Translation: X:-81.66, Y:5.28, Z:-4.94 [[ 9.90182475e-01 -7.51021417e-02 -1.17891195e-01 -8.16627678e+01] [ 7.53433462e-02 9.97154724e-01 -2.41573879e-03 5.28351334e+00] [ 1.17737189e-01 -6.49029488e-03 9.93023580e-01 -4.93934790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.82534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-81.69, Y:5.29, Z:-4.94 [[ 9.90381986e-01 -7.41572028e-02 -1.16808527e-01 -8.16906870e+01] [ 7.43887193e-02 9.97226475e-01 -2.38234696e-03 5.28763669e+00] [ 1.16661224e-01 -6.32980324e-03 9.93151596e-01 -4.93763341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.85534707000001 meters Centerline goodness [0,1] 0.9998881244056609 Centerline is valid? [True, True] Translation: X:-81.72, Y:5.28, Z:-4.94 [[ 9.90563606e-01 -7.21592857e-02 -1.16519441e-01 -8.17197725e+01] [ 7.23777442e-02 9.97374498e-01 -2.36073971e-03 5.28131340e+00] [ 1.16383868e-01 -6.09495145e-03 9.93185605e-01 -4.94493344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.88534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-81.75, Y:5.28, Z:-4.94 [[ 9.90765885e-01 -7.20961092e-02 -1.14826442e-01 -8.17475898e+01] [ 7.23084489e-02 9.97379619e-01 -2.32041965e-03 5.28312827e+00] [ 1.14692846e-01 -6.00392927e-03 9.93382859e-01 -4.94304586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91534707000001 meters Centerline goodness [0,1] 0.9998859163767041 Centerline is valid? [True, True] Translation: X:-81.78, Y:5.28, Z:-4.94 [[ 9.90768916e-01 -7.27374278e-02 -1.14395026e-01 -8.17757217e+01] [ 7.29537295e-02 9.97332674e-01 -2.30015202e-03 5.28227163e+00] [ 1.14257205e-01 -6.06662467e-03 9.93432679e-01 -4.94469245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.94534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-81.80, Y:5.28, Z:-4.94 [[ 9.90824310e-01 -7.31836945e-02 -1.13628047e-01 -8.18048946e+01] [ 7.34019774e-02 9.97299859e-01 -2.26726245e-03 5.27582590e+00] [ 1.13487162e-01 -6.09406458e-03 9.93520773e-01 -4.94353317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-81.83, Y:5.28, Z:-4.94 [[ 9.90763176e-01 -7.40743118e-02 -1.13584000e-01 -8.18329792e+01] [ 7.42995221e-02 9.97233421e-01 -2.25514918e-03 5.27595677e+00] [ 1.13436810e-01 -6.20491816e-03 9.93525837e-01 -4.94405864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.00534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-81.86, Y:5.26, Z:-4.95 [[ 9.90809415e-01 -7.29694733e-02 -1.13895384e-01 -8.18613732e+01] [ 7.31902391e-02 9.97315465e-01 -2.24773108e-03 5.26431818e+00] [ 1.13753643e-01 -6.10895726e-03 9.93490206e-01 -4.94829898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03534707000001 meters Centerline goodness [0,1] 0.9999414794007491 Centerline is valid? [True, True] Translation: X:-81.89, Y:5.26, Z:-4.95 [[ 9.90768277e-01 -7.22664865e-02 -1.14698635e-01 -8.18888319e+01] [ 7.24870894e-02 9.97366809e-01 -2.25186970e-03 5.25989662e+00] [ 1.14559347e-01 -6.08308918e-03 9.93397781e-01 -4.94887321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.06534707000002 meters Centerline goodness [0,1] 0.9998268498210782 Centerline is valid? [True, True] Translation: X:-81.92, Y:5.25, Z:-4.95 [[ 9.90748111e-01 -7.24975882e-02 -1.14726984e-01 -8.19171535e+01] [ 7.27213128e-02 9.97349785e-01 -2.23967187e-03 5.24753633e+00] [ 1.14585304e-01 -6.12414620e-03 9.93394535e-01 -4.95370030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.09534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-81.95, Y:5.25, Z:-4.95 [[ 9.90691611e-01 -7.37302723e-02 -1.14428926e-01 -8.19450790e+01] [ 7.39620140e-02 9.97258577e-01 -2.22495878e-03 5.24794100e+00] [ 1.14279274e-01 -6.25914580e-03 9.93428946e-01 -4.95062898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.12534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-81.97, Y:5.24, Z:-4.95 [[ 9.90543313e-01 -7.44434418e-02 -1.15248080e-01 -8.19739601e+01] [ 7.46848601e-02 9.97204697e-01 -2.22789863e-03 5.24047484e+00] [ 1.15091779e-01 -6.40045664e-03 9.93334242e-01 -4.95236051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.15534707 meters Centerline goodness [0,1] 0.9995831596498541 Centerline is valid? [True, True] Translation: X:-82.00, Y:5.23, Z:-4.96 [[ 9.90458538e-01 -7.50234695e-02 -1.15600011e-01 -8.20021292e+01] [ 7.52715817e-02 9.97160591e-01 -2.22375695e-03 5.22585420e+00] [ 1.15438609e-01 -6.49885663e-03 9.93293357e-01 -4.95624286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.18534707 meters Centerline goodness [0,1] 0.9998193532847595 Centerline is valid? [True, True] Translation: X:-82.03, Y:5.23, Z:-4.96 [[ 9.90485680e-01 -7.41860726e-02 -1.15907479e-01 -8.20300525e+01] [ 7.44311985e-02 9.97223685e-01 -2.21790967e-03 5.22596921e+00] [ 1.15750222e-01 -6.43032483e-03 9.93257538e-01 -4.95682827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.21534707 meters Centerline goodness [0,1] 0.9996969696969698 Centerline is valid? [True, True] Translation: X:-82.06, Y:5.22, Z:-4.96 [[ 9.90419929e-01 -7.41663985e-02 -1.16480510e-01 -8.20582842e+01] [ 7.44155783e-02 9.97224859e-01 -2.21414227e-03 5.21577021e+00] [ 1.16321475e-01 -6.47503388e-03 9.93190510e-01 -4.96059558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.24534707000001 meters Centerline goodness [0,1] 0.9994709927702345 Centerline is valid? [True, True] Translation: X:-82.09, Y:5.22, Z:-4.96 [[ 9.90663076e-01 -6.74546753e-02 -1.18475887e-01 -8.20890551e+01] [ 6.76659407e-02 9.97705512e-01 -2.24309262e-03 5.22211785e+00] [ 1.18355353e-01 -5.79463334e-03 9.92954396e-01 -4.96037789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27534707000001 meters Centerline goodness [0,1] 0.9994653677082096 Centerline is valid? [True, True] Translation: X:-82.12, Y:5.22, Z:-4.96 [[ 9.90839429e-01 -6.49473315e-02 -1.18402154e-01 -8.21173583e+01] [ 6.51405455e-02 9.97873582e-01 -2.24155848e-03 5.22295546e+00] [ 1.18295965e-01 -5.49175637e-03 9.92963194e-01 -4.96425919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.30534707000001 meters Centerline goodness [0,1] 0.9994065634086998 Centerline is valid? [True, True] Translation: X:-82.15, Y:5.23, Z:-4.97 [[ 9.91149927e-01 -6.13537450e-02 -1.17718056e-01 -8.21470852e+01] [ 6.15202922e-02 9.98103360e-01 -2.22180011e-03 5.22674229e+00] [ 1.17631103e-01 -5.03991219e-03 9.93044572e-01 -4.96642645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33534707000001 meters Centerline goodness [0,1] 0.9995229861069703 Centerline is valid? [True, True] Translation: X:-82.18, Y:5.23, Z:-4.96 [[ 9.91293690e-01 -6.04067646e-02 -1.16995052e-01 -8.21761815e+01] [ 6.05653237e-02 9.98161805e-01 -2.20267399e-03 5.22668831e+00] [ 1.16913049e-01 -4.90234636e-03 9.93130055e-01 -4.96180613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.36534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-82.21, Y:5.22, Z:-4.96 [[ 9.91150728e-01 -6.15186848e-02 -1.17625190e-01 -8.22050071e+01] [ 6.16889374e-02 9.98093007e-01 -2.19624578e-03 5.22439307e+00] [ 1.17535990e-01 -5.07936238e-03 9.93055633e-01 -4.96390859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39534707000001 meters Centerline goodness [0,1] 0.9998207135600311 Centerline is valid? [True, True] Translation: X:-82.23, Y:5.22, Z:-4.97 [[ 9.90944171e-01 -6.16463493e-02 -1.19286958e-01 -8.22328016e+01] [ 6.18237265e-02 9.98084622e-01 -2.21660363e-03 5.21867074e+00] [ 1.19195124e-01 -5.17823385e-03 9.92857345e-01 -4.97102887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.42534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-82.26, Y:5.22, Z:-4.97 [[ 9.90677817e-01 -6.58104461e-02 -1.19274675e-01 -8.22620840e+01] [ 6.60189972e-02 9.97815927e-01 -2.20629648e-03 5.21827742e+00] [ 1.19159368e-01 -5.68866547e-03 9.92858844e-01 -4.96519837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45534707000002 meters Centerline goodness [0,1] 0.9996981040937085 Centerline is valid? [True, True] Translation: X:-82.29, Y:5.21, Z:-4.97 [[ 9.90450771e-01 -6.78448662e-02 -1.20018104e-01 -8.22905286e+01] [ 6.80719301e-02 9.97677965e-01 -2.21160372e-03 5.21009402e+00] [ 1.19889463e-01 -5.97937936e-03 9.92769240e-01 -4.97127012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.48534707000002 meters Centerline goodness [0,1] 0.9995743645871337 Centerline is valid? [True, True] Translation: X:-82.32, Y:5.20, Z:-4.98 [[ 9.90221572e-01 -7.03130097e-02 -1.20487835e-01 -8.23190175e+01] [ 7.05611137e-02 9.97505007e-01 -2.21136293e-03 5.20353688e+00] [ 1.20342706e-01 -6.31201652e-03 9.92712341e-01 -4.97545439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.51534707 meters Centerline goodness [0,1] 0.9993874425727411 Centerline is valid? [True, True] Translation: X:-82.35, Y:5.20, Z:-4.98 [[ 9.89737938e-01 -7.54975184e-02 -1.21321634e-01 -8.23488638e+01] [ 7.57889233e-02 9.97121418e-01 -2.21741053e-03 5.19846345e+00] [ 1.21139809e-01 -7.00018069e-03 9.92610772e-01 -4.97529412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.54534707 meters Centerline goodness [0,1] 0.9993305337471852 Centerline is valid? [True, True] Translation: X:-82.38, Y:5.19, Z:-4.98 [[ 9.89537990e-01 -7.90897035e-02 -1.20662278e-01 -8.23779427e+01] [ 7.94048358e-02 9.96840019e-01 -2.20184797e-03 5.19207924e+00] [ 1.20455131e-01 -7.40235618e-03 9.92691174e-01 -4.98059685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.57534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-82.41, Y:5.19, Z:-4.98 [[ 9.89319991e-01 -8.09038773e-02 -1.21245691e-01 -8.24064036e+01] [ 8.12361522e-02 9.96692436e-01 -2.20818690e-03 5.18544591e+00] [ 1.21023314e-01 -7.66492997e-03 9.92620071e-01 -4.98220362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.60534707000001 meters Centerline goodness [0,1] 0.9992552135054618 Centerline is valid? [True, True] Translation: X:-82.43, Y:5.19, Z:-4.98 [[ 9.89236340e-01 -7.99862285e-02 -1.22530267e-01 -8.24339434e+01] [ 8.03201168e-02 9.96766648e-01 -2.22007529e-03 5.18677509e+00] [ 1.22311658e-01 -7.64546616e-03 9.92462294e-01 -4.98311163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63534707000001 meters Centerline goodness [0,1] 0.9999374530898174 Centerline is valid? [True, True] Translation: X:-82.46, Y:5.19, Z:-4.98 [[ 9.89203914e-01 -7.93003982e-02 -1.23235806e-01 -8.24617485e+01] [ 7.96348480e-02 9.96821636e-01 -2.21728863e-03 5.18970811e+00] [ 1.23019950e-01 -7.62051414e-03 9.92374939e-01 -4.98284529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.66534707000001 meters Centerline goodness [0,1] 0.9998773608045132 Centerline is valid? [True, True] Translation: X:-82.49, Y:5.19, Z:-4.99 [[ 9.89426391e-01 -7.60562833e-02 -1.23494369e-01 -8.24914321e+01] [ 7.63688177e-02 9.97077193e-01 -2.20788865e-03 5.19049784e+00] [ 1.23301343e-01 -7.24657566e-03 9.92342817e-01 -4.98534480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69534707000001 meters Centerline goodness [0,1] 0.9998770441411533 Centerline is valid? [True, True] Translation: X:-82.52, Y:5.19, Z:-4.99 [[ 9.89730701e-01 -7.20124782e-02 -1.23480129e-01 -8.25214009e+01] [ 7.22942682e-02 9.97380913e-01 -2.20290128e-03 5.18959522e+00] [ 1.23315360e-01 -6.74662654e-03 9.92344600e-01 -4.99256107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.72534707000001 meters Centerline goodness [0,1] 0.9997539067306509 Centerline is valid? [True, True] Translation: X:-82.55, Y:5.19, Z:-4.99 [[ 9.89989098e-01 -6.75107857e-02 -1.23951118e-01 -8.25516496e+01] [ 6.77597004e-02 9.97699220e-01 -2.21130379e-03 5.19307173e+00] [ 1.23815221e-01 -6.20972401e-03 9.92285861e-01 -4.99199452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-82.58, Y:5.20, Z:-4.99 [[ 9.89893859e-01 -6.96653771e-02 -1.23518758e-01 -8.25805555e+01] [ 6.99295110e-02 9.97549507e-01 -2.20103437e-03 5.19533595e+00] [ 1.23369412e-01 -6.45881597e-03 9.92339797e-01 -4.98978739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.78534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-82.61, Y:5.19, Z:-4.99 [[ 9.89930418e-01 -6.78609433e-02 -1.24228257e-01 -8.26096493e+01] [ 6.81155699e-02 9.97675008e-01 -2.20153335e-03 5.19419596e+00] [ 1.24088826e-01 -6.28251372e-03 9.92251225e-01 -4.98971432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-82.64, Y:5.19, Z:-5.00 [[ 9.89755370e-01 -6.82697808e-02 -1.25393557e-01 -8.26382990e+01] [ 6.85343912e-02 9.97646312e-01 -2.20755610e-03 5.18596126e+00] [ 1.25249129e-01 -6.40883058e-03 9.92104623e-01 -4.99562412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.84534707000002 meters Centerline goodness [0,1] 0.9995004059201898 Centerline is valid? [True, True] Translation: X:-82.67, Y:5.18, Z:-5.00 [[ 9.89452512e-01 -7.09388921e-02 -1.26298848e-01 -8.26674813e+01] [ 7.12313693e-02 9.97457383e-01 -2.20480576e-03 5.17963582e+00] [ 1.26134125e-01 -6.81488932e-03 9.91989788e-01 -5.00030493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.87534707000002 meters Centerline goodness [0,1] 0.9987609961590881 Centerline is valid? [True, True] Translation: X:-82.70, Y:5.18, Z:-5.00 [[ 9.89455317e-01 -7.12786484e-02 -1.26085407e-01 -8.26966524e+01] [ 7.15737522e-02 9.97432897e-01 -2.19406173e-03 5.17719251e+00] [ 1.25918123e-01 -6.85347965e-03 9.92016964e-01 -5.00230181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.90534707 meters Centerline goodness [0,1] 0.9998758072528564 Centerline is valid? [True, True] Translation: X:-82.72, Y:5.18, Z:-5.00 [[ 9.89449651e-01 -6.90052419e-02 -1.27387854e-01 -8.27249708e+01] [ 6.92894741e-02 9.97594161e-01 -2.20413840e-03 5.18449215e+00] [ 1.27233476e-01 -6.64575342e-03 9.91850531e-01 -5.00182596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.93534707 meters Centerline goodness [0,1] 0.9996305873660879 Centerline is valid? [True, True] Translation: X:-82.75, Y:5.18, Z:-5.01 [[ 9.89570937e-01 -6.61172756e-02 -1.27976040e-01 -8.27531650e+01] [ 6.63828694e-02 9.97791814e-01 -2.19352036e-03 5.17905609e+00] [ 1.27838475e-01 -6.32477275e-03 9.91774834e-01 -5.01365396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.96534707 meters Centerline goodness [0,1] 0.999504797276385 Centerline is valid? [True, True] Translation: X:-82.78, Y:5.17, Z:-5.01 [[ 9.89573011e-01 -6.76149767e-02 -1.27174959e-01 -8.27827710e+01] [ 6.78943428e-02 9.97690218e-01 -2.14186550e-03 5.17373718e+00] [ 1.27026035e-01 -6.51492797e-03 9.91877988e-01 -5.01354914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99534707000001 meters Centerline goodness [0,1] 0.9995095935756758 Centerline is valid? [True, True] Translation: X:-82.81, Y:5.17, Z:-5.01 [[ 9.89381400e-01 -6.84102663e-02 -1.28236034e-01 -8.28124323e+01] [ 6.87048348e-02 9.97634757e-01 -2.13024153e-03 5.17130552e+00] [ 1.28078455e-01 -6.70281420e-03 9.91741388e-01 -5.01204232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.02534707000001 meters Centerline goodness [0,1] 0.999376325308719 Centerline is valid? [True, True] Translation: X:-82.84, Y:5.17, Z:-5.01 [[ 9.89192426e-01 -6.96747909e-02 -1.29010731e-01 -8.28410300e+01] [ 6.99845897e-02 9.97545786e-01 -2.13600863e-03 5.17213600e+00] [ 1.28842937e-01 -6.91583954e-03 9.91640897e-01 -5.01237257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05534707000001 meters Centerline goodness [0,1] 0.9995043677591228 Centerline is valid? [True, True] Translation: X:-82.87, Y:5.16, Z:-5.02 [[ 9.88862346e-01 -7.20524824e-02 -1.30229416e-01 -8.28704283e+01] [ 7.23899724e-02 9.97374094e-01 -2.14668440e-03 5.16440864e+00] [ 1.30042120e-01 -7.30452849e-03 9.91481564e-01 -5.02215856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.08534707000001 meters Centerline goodness [0,1] 0.999618320610687 Centerline is valid? [True, True] Translation: X:-82.90, Y:5.16, Z:-5.03 [[ 9.88688033e-01 -7.31449810e-02 -1.30941918e-01 -8.28994319e+01] [ 7.34963333e-02 9.97293161e-01 -2.15396353e-03 5.15986012e+00] [ 1.30745031e-01 -7.49415287e-03 9.91387701e-01 -5.02659274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11534707000001 meters Centerline goodness [0,1] 0.9999363948607047 Centerline is valid? [True, True] Translation: X:-82.93, Y:5.17, Z:-5.02 [[ 9.88611463e-01 -7.19185336e-02 -1.32193415e-01 -8.29282594e+01] [ 7.22672653e-02 9.97382955e-01 -2.16404614e-03 5.16692560e+00] [ 1.32003094e-01 -7.41385578e-03 9.91221579e-01 -5.02153353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.14534707000001 meters Centerline goodness [0,1] 0.9996212599419265 Centerline is valid? [True, True] Translation: X:-82.96, Y:5.17, Z:-5.03 [[ 9.88646317e-01 -7.19341277e-02 -1.31923995e-01 -8.29564174e+01] [ 7.22845626e-02 9.97381760e-01 -2.13699025e-03 5.16689822e+00] [ 1.31732309e-01 -7.42334076e-03 9.91257531e-01 -5.02578284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17534707000002 meters Centerline goodness [0,1] 0.9988043546661632 Centerline is valid? [True, True] Translation: X:-82.98, Y:5.16, Z:-5.03 [[ 9.88533421e-01 -7.37818244e-02 -1.31749453e-01 -8.29847200e+01] [ 7.41522605e-02 9.97244722e-01 -2.09903890e-03 5.15580895e+00] [ 1.31541317e-01 -7.69454964e-03 9.91280826e-01 -5.03468412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.20534707000002 meters Centerline goodness [0,1] 0.9959256429844665 Centerline is valid? [True, True] Translation: X:-83.01, Y:5.15, Z:-5.04 [[ 9.88265253e-01 -7.69267610e-02 -1.31962354e-01 -8.30143599e+01] [ 7.73272015e-02 9.97003568e-01 -2.09505818e-03 5.14517556e+00] [ 1.31728104e-01 -8.13380638e-03 9.91252515e-01 -5.03860236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.23534707000002 meters Centerline goodness [0,1] 0.9992293860775752 Centerline is valid? [True, True] Translation: X:-83.04, Y:5.16, Z:-5.03 [[ 9.87671948e-01 -8.30642002e-02 -1.32681805e-01 -8.30443498e+01] [ 8.35242688e-02 9.96503522e-01 -2.10421285e-03 5.15629362e+00] [ 1.32392671e-01 -9.00387877e-03 9.91156451e-01 -5.03276148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.26534707 meters Centerline goodness [0,1] 0.9990904956798545 Centerline is valid? [True, True] Translation: X:-83.07, Y:5.14, Z:-5.05 [[ 9.86970630e-01 -8.63795781e-02 -1.35748093e-01 -8.30729753e+01] [ 8.68926619e-02 9.96215355e-01 -2.15219796e-03 5.14220424e+00] [ 1.35420241e-01 -9.67135697e-03 9.90741048e-01 -5.04802233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.29534707 meters Centerline goodness [0,1] 0.9986136783733827 Centerline is valid? [True, True] Translation: X:-83.10, Y:5.13, Z:-5.06 [[ 9.86500430e-01 -9.04733315e-02 -1.36497169e-01 -8.31022613e+01] [ 9.10310951e-02 9.95845701e-01 -2.16314930e-03 5.13341726e+00] [ 1.36125826e-01 -1.02915390e-02 9.90638099e-01 -5.05501836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.32534707 meters Centerline goodness [0,1] 0.9966505636070854 Centerline is valid? [True, True] Translation: X:-83.13, Y:5.13, Z:-5.05 [[ 9.86453291e-01 -9.21436948e-02 -1.35718252e-01 -8.31332775e+01] [ 9.27107992e-02 9.95690758e-01 -2.14969128e-03 5.13449103e+00] [ 1.35331490e-01 -1.04619776e-02 9.90745141e-01 -5.05349321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.35534707000001 meters Centerline goodness [0,1] 0.9896252107379069 Centerline is valid? [True, True] Translation: X:-83.16, Y:5.12, Z:-5.06 [[ 9.86362274e-01 -9.46806049e-02 -1.34629295e-01 -8.31634675e+01] [ 9.52616365e-02 9.95449982e-01 -2.13417186e-03 5.11636274e+00] [ 1.34218794e-01 -1.07199404e-02 9.90893737e-01 -5.06127107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.38534707000001 meters Centerline goodness [0,1] 0.986224130197988 Centerline is valid? [True, True] Translation: X:-83.19, Y:5.12, Z:-5.05 [[ 9.86123720e-01 -9.75773647e-02 -1.34308105e-01 -8.31946388e+01] [ 9.81816471e-02 9.95166225e-01 -2.13275773e-03 5.11994307e+00] [ 1.33866999e-01 -1.10834280e-02 9.90937326e-01 -5.04540376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41534707000001 meters Centerline goodness [0,1] 0.9874807395993837 Centerline is valid? [True, True] Translation: X:-83.22, Y:5.12, Z:-5.05 [[ 9.85793629e-01 -1.00234960e-01 -1.34773418e-01 -8.32239896e+01] [ 1.00868330e-01 9.94897487e-01 -2.13805705e-03 5.12020117e+00] [ 1.34300042e-01 -1.14866865e-02 9.90874137e-01 -5.04846231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.44534707000001 meters Centerline goodness [0,1] 0.9897039897039897 Centerline is valid? [True, True] Translation: X:-83.26, Y:5.12, Z:-5.05 [[ 9.85653308e-01 -9.95110531e-02 -1.36327204e-01 -8.32550703e+01] [ 1.00150905e-01 9.94969883e-01 -2.17440355e-03 5.12430819e+00] [ 1.35857839e-01 -1.15100848e-02 9.90661479e-01 -5.04847275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47534707000001 meters Centerline goodness [0,1] 0.9888121723564761 Centerline is valid? [True, True] Translation: X:-83.28, Y:5.12, Z:-5.06 [[ 9.85818624e-01 -9.59153054e-02 -1.37702195e-01 -8.32849689e+01] [ 9.65293420e-02 9.95327647e-01 -2.22750265e-03 5.12345330e+00] [ 1.37272453e-01 -1.10963886e-02 9.90471173e-01 -5.05690653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.50534707000001 meters Centerline goodness [0,1] 0.9916666666666667 Centerline is valid? [True, True] Translation: X:-83.32, Y:5.12, Z:-5.06 [[ 9.86164681e-01 -9.40038329e-02 -1.36537548e-01 -8.33154609e+01] [ 9.45883889e-02 9.95514004e-01 -2.21480248e-03 5.12120857e+00] [ 1.36133241e-01 -1.07307067e-02 9.90632421e-01 -5.06381013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53534707000001 meters Centerline goodness [0,1] 0.9919514532098371 Centerline is valid? [True, True] Translation: X:-83.34, Y:5.11, Z:-5.07 [[ 9.86529096e-01 -9.26348051e-02 -1.34830026e-01 -8.33449556e+01] [ 9.31913747e-02 9.95645803e-01 -2.19129473e-03 5.11426838e+00] [ 1.34445939e-01 -1.04032194e-02 9.90866319e-01 -5.06841454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.56534707000002 meters Centerline goodness [0,1] 0.9875228432793497 Centerline is valid? [True, True] Translation: X:-83.38, Y:5.11, Z:-5.07 [[ 9.86672327e-01 -9.01149155e-02 -1.35488082e-01 -8.33758992e+01] [ 9.06533890e-02 9.95880068e-01 -2.20283518e-03 5.11365479e+00] [ 1.35128388e-01 -1.01089773e-02 9.90776527e-01 -5.06782704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.59534707000002 meters Centerline goodness [0,1] 0.98945332001997 Centerline is valid? [True, True] Translation: X:-83.41, Y:5.12, Z:-5.07 [[ 9.86799248e-01 -8.70798102e-02 -1.36544315e-01 -8.34077451e+01] [ 8.75974461e-02 9.96153471e-01 -2.22463511e-03 5.12025110e+00] [ 1.36212815e-01 -9.76566505e-03 9.90631466e-01 -5.06665844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.62534707000002 meters Centerline goodness [0,1] 0.9893912604192978 Centerline is valid? [True, True] Translation: X:-83.44, Y:5.12, Z:-5.07 [[ 9.86753219e-01 -8.81146985e-02 -1.36212648e-01 -8.34359818e+01] [ 8.86390398e-02 9.96061333e-01 -2.22289312e-03 5.12025497e+00] [ 1.35872021e-01 -9.88031139e-03 9.90677129e-01 -5.07041761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.65534707 meters Centerline goodness [0,1] 0.9890533268101761 Centerline is valid? [True, True] Translation: X:-83.47, Y:5.12, Z:-5.07 [[ 9.87124247e-01 -8.25154448e-02 -1.37028910e-01 -8.34661333e+01] [ 8.29935674e-02 9.96547587e-01 -2.23022099e-03 5.12044182e+00] [ 1.36739857e-01 -9.17101282e-03 9.90564538e-01 -5.07144039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.68534707 meters Centerline goodness [0,1] 0.9920864213038563 Centerline is valid? [True, True] Translation: X:-83.49, Y:5.13, Z:-5.07 [[ 9.87144590e-01 -8.21165979e-02 -1.37121928e-01 -8.34941996e+01] [ 8.25921627e-02 9.96580942e-01 -2.22743277e-03 5.12650444e+00] [ 1.36836009e-01 -9.12639839e-03 9.90551672e-01 -5.07108607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.71534707 meters Centerline goodness [0,1] 0.9920864213038563 Centerline is valid? [True, True] Translation: X:-83.52, Y:5.13, Z:-5.07 [[ 9.87151934e-01 -8.20278845e-02 -1.37122158e-01 -8.35225402e+01] [ 8.25045672e-02 9.96588229e-01 -2.21321725e-03 5.12593956e+00] [ 1.36835874e-01 -9.12842260e-03 9.90551672e-01 -5.07384785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.74534707000001 meters Centerline goodness [0,1] 0.9949736270555383 Centerline is valid? [True, True] Translation: X:-83.55, Y:5.13, Z:-5.08 [[ 9.87314605e-01 -8.03553655e-02 -1.36941174e-01 -8.35513164e+01] [ 8.08162561e-02 9.96726589e-01 -2.19991855e-03 5.12947537e+00] [ 1.36669684e-01 -8.89506126e-03 9.90576739e-01 -5.07892812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77534707000001 meters Centerline goodness [0,1] 0.989894099848714 Centerline is valid? [True, True] Translation: X:-83.58, Y:5.11, Z:-5.09 [[ 9.87503911e-01 -8.13849618e-02 -1.34953746e-01 -8.35795935e+01] [ 8.18428984e-02 9.96642901e-01 -2.16046005e-03 5.11426361e+00] [ 1.34676522e-01 -8.91154298e-03 9.90849544e-01 -5.08771811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.80534707000001 meters Centerline goodness [0,1] 0.9914294651235533 Centerline is valid? [True, True] Translation: X:-83.61, Y:5.11, Z:-5.09 [[ 9.86929419e-01 -8.60613156e-02 -1.36248934e-01 -8.36092464e+01] [ 8.65735591e-02 9.96243092e-01 -2.17248555e-03 5.11154248e+00] [ 1.35924027e-01 -9.65146525e-03 9.90672251e-01 -5.09118889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83534707000001 meters Centerline goodness [0,1] 0.9751978562971272 Centerline is valid? [True, True] Translation: X:-83.64, Y:5.09, Z:-5.09 [[ 9.86253032e-01 -9.40431470e-02 -1.35870683e-01 -8.36392955e+01] [ 9.46273771e-02 9.95510404e-01 -2.16671950e-03 5.09209236e+00] [ 1.35464444e-01 -1.07201527e-02 9.90724211e-01 -5.09439573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.86534707000001 meters Centerline goodness [0,1] 0.9799375835934017 Centerline is valid? [True, True] Translation: X:-83.67, Y:5.09, Z:-5.09 [[ 9.85437068e-01 -1.00445308e-01 -1.37202495e-01 -8.36701835e+01] [ 1.01102224e-01 9.94873632e-01 -2.19026378e-03 5.09244732e+00] [ 1.36719146e-01 -1.17131102e-02 9.90540599e-01 -5.08910133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89534707000001 meters Centerline goodness [0,1] 0.9801029813743564 Centerline is valid? [True, True] Translation: X:-83.70, Y:5.09, Z:-5.09 [[ 9.84898258e-01 -1.06043067e-01 -1.36858646e-01 -8.37002252e+01] [ 1.06749731e-01 9.94283518e-01 -2.18655617e-03 5.09102744e+00] [ 1.36308165e-01 -1.24560883e-02 9.90588174e-01 -5.08964127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.92534707000002 meters Centerline goodness [0,1] 0.9767323585505404 Centerline is valid? [True, True] Translation: X:-83.73, Y:5.08, Z:-5.10 [[ 9.84654040e-01 -1.07659439e-01 -1.37353072e-01 -8.37308360e+01] [ 1.08386593e-01 9.94106395e-01 -2.19609368e-03 5.08363755e+00] [ 1.36779997e-01 -1.27248389e-02 9.90519718e-01 -5.09710201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95534707000002 meters Centerline goodness [0,1] 0.9770938639708234 Centerline is valid? [True, True] Translation: X:-83.76, Y:5.09, Z:-5.09 [[ 9.84394341e-01 -1.10785386e-01 -1.36727393e-01 -8.37607800e+01] [ 1.11534962e-01 9.93758096e-01 -2.19040921e-03 5.08615252e+00] [ 1.36116619e-01 -1.30936581e-02 9.90606290e-01 -5.09462861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.98534707000002 meters Centerline goodness [0,1] 0.9720681079012818 Centerline is valid? [True, True] Translation: X:-83.79, Y:5.08, Z:-5.10 [[ 9.84221147e-01 -1.13561145e-01 -1.35693038e-01 -8.37909605e+01] [ 1.14325127e-01 9.93441008e-01 -2.17469232e-03 5.07520363e+00] [ 1.35049989e-01 -1.33727456e-02 9.90748540e-01 -5.09963165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.01534707 meters Centerline goodness [0,1] 0.9656544905951082 Centerline is valid? [True, True] Translation: X:-83.82, Y:5.06, Z:-5.10 [[ 9.83487002e-01 -1.20726561e-01 -1.34827349e-01 -8.38215872e+01] [ 1.21546628e-01 9.92583366e-01 -2.16311659e-03 5.06235402e+00] [ 1.34088529e-01 -1.42604126e-02 9.90866745e-01 -5.10227699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.04534707 meters Centerline goodness [0,1] 0.9492827218484194 Centerline is valid? [True, False] Translation: X:-83.80, Y:5.06, Z:-5.10 [[ 9.82726966e-01 -1.27063096e-01 -1.34546199e-01 -8.38032654e+01] [ 1.28351297e-01 9.91728350e-01 9.08282136e-04 5.06392263e+00] [ 1.33317871e-01 -1.81617725e-02 9.90906905e-01 -5.09764107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.07534707 meters Centerline goodness [0,1] 0.951190021636757 Centerline is valid? [False, True] Translation: X:-83.80, Y:5.06, Z:-5.10 [[ 9.82617911e-01 -1.26147130e-01 -1.36194501e-01 -8.37994815e+01] [ 1.27844128e-01 9.91787180e-01 3.75069684e-03 5.06384355e+00] [ 1.34602820e-01 -2.10971692e-02 9.90675017e-01 -5.09609596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.10534707000001 meters Centerline goodness [0,1] 0.9597682228221506 Centerline is valid? [True, True] Translation: X:-83.83, Y:5.07, Z:-5.10 [[ 9.82021625e-01 -1.29947948e-01 -1.36919903e-01 -8.38285044e+01] [ 1.30925056e-01 9.91390479e-01 -1.88373923e-03 5.06742714e+00] [ 1.35985876e-01 -1.60763733e-02 9.90580331e-01 -5.09961846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13534707000001 meters Centerline goodness [0,1] 0.9540005212405525 Centerline is valid? [True, True] Translation: X:-83.86, Y:5.06, Z:-5.11 [[ 9.82054990e-01 -1.29673595e-01 -1.36940698e-01 -8.38602460e+01] [ 1.30646920e-01 9.91427149e-01 -1.89471468e-03 5.06164109e+00] [ 1.36012420e-01 -1.60301663e-02 9.90577435e-01 -5.10616177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.16534707000001 meters Centerline goodness [0,1] 0.9577676240208878 Centerline is valid? [True, True] Translation: X:-83.89, Y:5.06, Z:-5.11 [[ 9.82091951e-01 -1.29745917e-01 -1.36606726e-01 -8.38912243e+01] [ 1.30709380e-01 9.91418845e-01 -1.93194952e-03 5.06429762e+00] [ 1.35685145e-01 -1.59584284e-02 9.90623475e-01 -5.10984079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19534707000001 meters Centerline goodness [0,1] 0.9469840070520086 Centerline is valid? [True, False] Translation: X:-83.86, Y:5.07, Z:-5.10 [[ 9.83409535e-01 -1.15589783e-01 -1.39802318e-01 -8.38561608e+01] [ 1.17644073e-01 9.93034602e-01 6.49237527e-03 5.06647106e+00] [ 1.38078087e-01 -2.28315778e-02 9.90158149e-01 -5.09773005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.22534707000001 meters Centerline goodness [0,1] 0.9483968886359324 Centerline is valid? [False, False] Translation: X:-83.87, Y:5.07, Z:-5.10 [[ 9.83838063e-01 -1.09251217e-01 -1.41869082e-01 -8.38655505e+01] [ 1.11556931e-01 9.93722731e-01 8.37770139e-03 5.07013527e+00] [ 1.40063258e-01 -2.40687809e-02 9.89849977e-01 -5.09537339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25534707000001 meters Centerline goodness [0,1] 0.9491087736978019 Centerline is valid? [False, False] Translation: X:-83.87, Y:5.07, Z:-5.09 [[ 9.84358225e-01 -1.02562554e-01 -1.43247367e-01 -8.38691886e+01] [ 1.05632970e-01 9.94306969e-01 1.39759661e-02 5.07122143e+00] [ 1.40998445e-01 -2.88890020e-02 9.89588230e-01 -5.09279208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.28534707000001 meters Centerline goodness [0,1] 0.9564492216456635 Centerline is valid? [False, True] Translation: X:-83.84, Y:5.06, Z:-5.08 [[ 9.85232135e-01 -8.71512486e-02 -1.47384871e-01 -8.38429071e+01] [ 9.09113727e-02 9.95678513e-01 1.89583926e-02 5.06449935e+00] [ 1.45095701e-01 -3.20773785e-02 9.88897507e-01 -5.08474929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31534707000002 meters Centerline goodness [0,1] 0.9640638864241349 Centerline is valid? [True, True] Translation: X:-83.87, Y:5.06, Z:-5.10 [[ 9.85094886e-01 -8.86609037e-02 -1.47401864e-01 -8.38706879e+01] [ 8.98152204e-02 9.95957746e-01 1.18044958e-03 5.06401166e+00] [ 1.46701368e-01 -1.44017857e-02 9.89075981e-01 -5.09569542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.34534707000002 meters Centerline goodness [0,1] 0.9669962839327328 Centerline is valid? [True, True] Translation: X:-83.90, Y:5.07, Z:-5.10 [[ 9.85174522e-01 -8.59710886e-02 -1.48459197e-01 -8.39008160e+01] [ 8.71132197e-02 9.96197700e-01 1.19577578e-03 5.06769992e+00] [ 1.47791909e-01 -1.41108065e-02 9.88917811e-01 -5.09634517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.37534707000002 meters Centerline goodness [0,1] 0.9603290098070231 Centerline is valid? [True, True] Translation: X:-83.93, Y:5.07, Z:-5.10 [[ 9.85297028e-01 -8.41337760e-02 -1.48698601e-01 -8.39296466e+01] [ 8.52597924e-02 9.96358029e-01 1.20281491e-03 5.06501772e+00] [ 1.48055848e-01 -1.38631418e-02 9.88881833e-01 -5.10235127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.40534707 meters Centerline goodness [0,1] 0.9748784952344884 Centerline is valid? [True, True] Translation: X:-83.96, Y:5.08, Z:-5.10 [[ 9.85801397e-01 -7.83458114e-02 -1.48517809e-01 -8.39591091e+01] [ 7.94052978e-02 9.96841682e-01 1.20849542e-03 5.07931622e+00] [ 1.47954062e-01 -1.29844373e-02 9.88908995e-01 -5.10168616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.43534707 meters Centerline goodness [0,1] 0.980196164178172 Centerline is valid? [True, True] Translation: X:-83.99, Y:5.09, Z:-5.10 [[ 9.86255692e-01 -7.17495113e-02 -1.48834530e-01 -8.39896002e+01] [ 7.27395275e-02 9.97350236e-01 1.21195726e-03 5.08578409e+00] [ 1.48353196e-01 -1.20214532e-02 9.88861372e-01 -5.10274383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.46534707 meters Centerline goodness [0,1] 0.9862903723831286 Centerline is valid? [True, True] Translation: X:-84.02, Y:5.10, Z:-5.10 [[ 9.86757069e-01 -6.38259457e-02 -1.49119872e-01 -8.40201623e+01] [ 6.47305265e-02 9.97902040e-01 1.21555349e-03 5.09571082e+00] [ 1.48729440e-01 -1.08520638e-02 9.88818379e-01 -5.10149888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49534707000001 meters Centerline goodness [0,1] 0.992727728669049 Centerline is valid? [True, True] Translation: X:-84.05, Y:5.10, Z:-5.10 [[ 9.87000789e-01 -5.59099126e-02 -1.50676884e-01 -8.40493047e+01] [ 5.67422263e-02 9.98388108e-01 1.22666650e-03 5.10362636e+00] [ 1.50365427e-01 -9.76046268e-03 9.88582304e-01 -5.10393578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.52534707000001 meters Centerline goodness [0,1] 0.9971913618774185 Centerline is valid? [True, True] Translation: X:-84.08, Y:5.11, Z:-5.11 [[ 9.87115905e-01 -4.79743913e-02 -1.52645497e-01 -8.40786576e+01] [ 4.87348763e-02 9.98810977e-01 1.24224295e-03 5.11101234e+00] [ 1.52404402e-01 -8.66539717e-03 9.88280228e-01 -5.11084589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55534707000001 meters Centerline goodness [0,1] 0.9994668246445497 Centerline is valid? [True, True] Translation: X:-84.11, Y:5.12, Z:-5.12 [[ 9.87212106e-01 -3.62585714e-02 -1.55233932e-01 -8.41077574e+01] [ 3.69024273e-02 9.99318070e-01 1.26697377e-03 5.12251648e+00] [ 1.55082134e-01 -6.97928072e-03 9.87876926e-01 -5.12026187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.58534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-84.14, Y:5.14, Z:-5.11 [[ 9.87806665e-01 -3.68855535e-02 -1.51252930e-01 -8.41373516e+01] [ 3.75043917e-02 9.99295694e-01 1.23973342e-03 5.13940309e+00] [ 1.51100674e-01 -6.89726607e-03 9.88494317e-01 -5.11406259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-84.17, Y:5.14, Z:-5.12 [[ 9.88049454e-01 -3.04915692e-02 -1.51091165e-01 -8.41672685e+01] [ 3.10359943e-02 9.99517491e-01 1.24587355e-03 5.14234908e+00] [ 1.50980273e-01 -5.92024922e-03 9.88519048e-01 -5.12147155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.64534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-84.20, Y:5.15, Z:-5.13 [[ 9.88136198e-01 -2.70067182e-02 -1.51186945e-01 -8.41959509e+01] [ 2.75117985e-02 9.99620698e-01 1.24964121e-03 5.14687127e+00] [ 1.51095851e-01 -5.39424047e-03 9.88504399e-01 -5.12723788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-84.23, Y:5.15, Z:-5.13 [[ 9.88196068e-01 -2.31493802e-02 -1.51435258e-01 -8.42254955e+01] [ 2.36125709e-02 9.99720389e-01 1.26088422e-03 5.15103934e+00] [ 1.51363727e-01 -4.82177660e-03 9.88466374e-01 -5.13210760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.70534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-84.25, Y:5.16, Z:-5.13 [[ 9.88350949e-01 -2.12235397e-02 -1.50704889e-01 -8.42538038e+01] [ 2.16614765e-02 9.99764563e-01 1.26470965e-03 5.15562654e+00] [ 1.50642566e-01 -4.51446739e-03 9.88577987e-01 -5.13306631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.73534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-84.28, Y:5.16, Z:-5.14 [[ 9.88345332e-01 -1.81835172e-02 -1.51138558e-01 -8.42829891e+01] [ 1.85928173e-02 9.99826300e-01 1.29527093e-03 5.15852268e+00] [ 1.51088753e-01 -4.09026658e-03 9.88511739e-01 -5.13608183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.76534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-84.31, Y:5.16, Z:-5.15 [[ 9.88208615e-01 -1.69776899e-02 -1.52169287e-01 -8.43110695e+01] [ 1.73861576e-02 9.99847932e-01 1.35403526e-03 5.15516109e+00] [ 1.52123158e-01 -3.98370850e-03 9.88353517e-01 -5.14626548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.79534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-84.34, Y:5.15, Z:-5.15 [[ 9.88233817e-01 -1.80395998e-02 -1.51883164e-01 -8.43397902e+01] [ 1.84663916e-02 9.99828502e-01 1.39980387e-03 5.15331007e+00] [ 1.51831864e-01 -4.18806752e-03 9.88397463e-01 -5.15114761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.82534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-84.37, Y:5.15, Z:-5.15 [[ 9.88176687e-01 -2.05501334e-02 -1.51935931e-01 -8.43675776e+01] [ 2.10124528e-02 9.99778180e-01 1.43771763e-03 5.15091336e+00] [ 1.51872684e-01 -4.61326563e-03 9.88389299e-01 -5.15117234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.85534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-84.40, Y:5.15, Z:-5.16 [[ 9.88012649e-01 -1.83696322e-02 -1.53276094e-01 -8.43953921e+01] [ 1.88187175e-02 9.99821818e-01 1.47949901e-03 5.14602918e+00] [ 1.53221605e-01 -4.34622325e-03 9.88182296e-01 -5.16091080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.88534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-84.42, Y:5.15, Z:-5.16 [[ 9.88051239e-01 -2.33174456e-02 -1.52351718e-01 -8.44242174e+01] [ 2.38260433e-02 9.99714974e-01 1.51328814e-03 5.14520245e+00] [ 1.52273008e-01 -5.12514484e-03 9.88325181e-01 -5.15747647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91534707000001 meters Centerline goodness [0,1] 0.9999417622736009 Centerline is valid? [True, True] Translation: X:-84.45, Y:5.14, Z:-5.17 [[ 9.87941150e-01 -2.33218310e-02 -1.53063308e-01 -8.44527488e+01] [ 2.38390542e-02 9.99714616e-01 1.54450645e-03 5.14134670e+00] [ 1.52983605e-01 -5.17476597e-03 9.88215178e-01 -5.16602418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.94534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-84.48, Y:5.14, Z:-5.17 [[ 9.87932757e-01 -2.10611113e-02 -1.53444771e-01 -8.44815778e+01] [ 2.15611116e-02 9.99766260e-01 1.59497121e-03 5.14197148e+00] [ 1.53375313e-01 -4.88416413e-03 9.88155938e-01 -5.17031120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-84.51, Y:5.14, Z:-5.18 [[ 9.87845798e-01 -1.69780779e-02 -1.54507035e-01 -8.45097959e+01] [ 1.74424029e-02 9.99846508e-01 1.64997385e-03 5.14015102e+00] [ 1.54455306e-01 -4.32489369e-03 9.87990311e-01 -5.18173131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.00534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-84.54, Y:5.14, Z:-5.17 [[ 9.87742636e-01 -2.01466909e-02 -1.54785642e-01 -8.45388883e+01] [ 2.06572218e-02 9.99785188e-01 1.69043794e-03 5.14456109e+00] [ 1.54718336e-01 -4.86715898e-03 9.87946632e-01 -5.17127568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-84.57, Y:5.14, Z:-5.18 [[ 9.87817931e-01 -1.64913954e-02 -1.54737743e-01 -8.45664711e+01] [ 1.69612629e-02 9.99854674e-01 1.71671650e-03 5.14147723e+00] [ 1.54686944e-01 -4.32035087e-03 9.87954090e-01 -5.18453283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.06534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-84.60, Y:5.14, Z:-5.19 [[ 9.87810940e-01 -1.48824523e-02 -1.54945345e-01 -8.45950441e+01] [ 1.53411981e-02 9.99880759e-01 1.76530410e-03 5.14106202e+00] [ 1.54900597e-01 -4.12083393e-03 9.87921466e-01 -5.18918881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.09534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-84.62, Y:5.14, Z:-5.20 [[ 9.87675568e-01 -1.30446730e-02 -1.55970537e-01 -8.46224455e+01] [ 1.34944308e-02 9.99907280e-01 1.82506364e-03 5.14118118e+00] [ 1.55932268e-01 -3.90730439e-03 9.87760022e-01 -5.19503531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.12534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-84.65, Y:5.14, Z:-5.20 [[ 9.87598940e-01 -1.01351899e-02 -1.56670390e-01 -8.46503703e+01] [ 1.05607103e-02 9.99942460e-01 1.88382438e-03 5.14322456e+00] [ 1.56642282e-01 -3.51501356e-03 9.87649148e-01 -5.19754602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.15534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-84.68, Y:5.14, Z:-5.20 [[ 9.87533990e-01 -1.11382589e-02 -1.57011328e-01 -8.46788438e+01] [ 1.15855721e-02 9.99931015e-01 1.93397301e-03 5.13871730e+00] [ 1.56978955e-01 -3.72893014e-03 9.87594908e-01 -5.20327420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.18534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-84.71, Y:5.14, Z:-5.21 [[ 9.87489970e-01 -1.17082978e-02 -1.57246545e-01 -8.47073915e+01] [ 1.21715739e-02 9.99923956e-01 1.98350732e-03 5.13504771e+00] [ 1.57211364e-01 -3.87263152e-03 9.87557386e-01 -5.21197280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.21534707 meters Centerline goodness [0,1] 0.9999461381019067 Centerline is valid? [True, True] Translation: X:-84.74, Y:5.13, Z:-5.22 [[ 9.87590032e-01 -1.20684869e-02 -1.56589531e-01 -8.47356234e+01] [ 1.25395993e-02 9.99919334e-01 2.02101569e-03 5.13155136e+00] [ 1.56552509e-01 -3.95950493e-03 9.87661700e-01 -5.22075729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.24534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-84.77, Y:5.13, Z:-5.21 [[ 9.87376866e-01 -1.52229420e-02 -1.57655276e-01 -8.47659101e+01] [ 1.57457934e-02 9.99873889e-01 2.06786538e-03 5.13292600e+00] [ 1.57603915e-01 -4.52416984e-03 9.87492044e-01 -5.21133845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27534707000001 meters Centerline goodness [0,1] 0.9996587224845003 Centerline is valid? [True, True] Translation: X:-84.79, Y:5.13, Z:-5.22 [[ 9.87309934e-01 -1.30599270e-02 -1.58267279e-01 -8.47931018e+01] [ 1.35614227e-02 9.99905857e-01 2.08906022e-03 5.13199284e+00] [ 1.58225097e-01 -4.20887938e-03 9.87394098e-01 -5.21617338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.30534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-84.82, Y:5.13, Z:-5.22 [[ 9.87353507e-01 -1.22477593e-02 -1.58060254e-01 -8.48218433e+01] [ 1.27429737e-02 9.99916558e-01 2.11996662e-03 5.12957907e+00] [ 1.58021100e-01 -4.10731413e-03 9.87427193e-01 -5.22159047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-84.85, Y:5.13, Z:-5.23 [[ 9.87373799e-01 -1.19854508e-02 -1.57953572e-01 -8.48496021e+01] [ 1.24848511e-02 9.99919707e-01 2.16979198e-03 5.12653708e+00] [ 1.57914883e-01 -4.11442257e-03 9.87444156e-01 -5.23024966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.36534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-84.88, Y:5.13, Z:-5.23 [[ 9.87198427e-01 -1.16498595e-02 -1.59070883e-01 -8.48771460e+01] [ 1.21592099e-02 9.99923589e-01 2.22909178e-03 5.12648635e+00] [ 1.59032760e-01 -4.13473216e-03 9.87264648e-01 -5.23183481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-84.91, Y:5.13, Z:-5.23 [[ 9.87247869e-01 -1.10535434e-02 -1.58806375e-01 -8.49052416e+01] [ 1.15579921e-02 9.99930666e-01 2.25322237e-03 5.12964106e+00] [ 1.58770458e-01 -4.05997181e-03 9.87307175e-01 -5.23058553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.42534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-84.93, Y:5.13, Z:-5.24 [[ 9.87165200e-01 -6.19313206e-03 -1.59582308e-01 -8.49338355e+01] [ 6.64766521e-03 9.99975225e-01 2.31457441e-03 5.13046173e+00] [ 1.59564020e-01 -3.34571707e-03 9.87181913e-01 -5.23954968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-84.96, Y:5.13, Z:-5.25 [[ 9.87189759e-01 -3.37291534e-03 -1.59514899e-01 -8.49623255e+01] [ 3.79864031e-03 9.99989991e-01 2.36402515e-03 5.13124519e+00] [ 1.59505329e-01 -2.93968114e-03 9.87192691e-01 -5.24539875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.48534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-84.99, Y:5.13, Z:-5.25 [[ 9.87145208e-01 1.30628035e-03 -1.59820627e-01 -8.49909744e+01] [-9.31740158e-04 9.99996642e-01 2.41841832e-03 5.13333757e+00] [ 1.59823249e-01 -2.23841876e-03 9.87143109e-01 -5.25378038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.51534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-85.02, Y:5.14, Z:-5.26 [[ 9.87137153e-01 5.78560094e-03 -1.59770986e-01 -8.50194365e+01] [-5.46173101e-03 9.99982044e-01 2.46615150e-03 5.13786524e+00] [ 1.59782385e-01 -1.56180362e-03 9.87151027e-01 -5.25887880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.54534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-85.05, Y:5.15, Z:-5.26 [[ 9.86848724e-01 1.18429556e-02 -1.61212096e-01 -8.50476247e+01] [-1.15872929e-02 9.99929675e-01 2.52597365e-03 5.14501965e+00] [ 1.61230674e-01 -6.24742097e-04 9.86916551e-01 -5.25767570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.57534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-85.08, Y:5.16, Z:-5.27 [[ 9.86223548e-01 2.50578808e-02 -1.63509070e-01 -8.50761172e+01] [-2.49727318e-02 9.99684812e-01 2.57653398e-03 5.15769971e+00] [ 1.63522097e-01 1.54222968e-03 9.86538466e-01 -5.26649836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.60534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-85.10, Y:5.16, Z:-5.27 [[ 9.86214485e-01 2.54146617e-02 -1.63508668e-01 -8.51037333e+01] [-2.53301974e-02 9.99675753e-01 2.60177946e-03 5.15790042e+00] [ 1.63521774e-01 1.57579424e-03 9.86538467e-01 -5.26946303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-85.13, Y:5.17, Z:-5.28 [[ 9.86025559e-01 3.33424867e-02 -1.63223392e-01 -8.51326755e+01] [-3.33583019e-02 9.99439958e-01 2.64468991e-03 5.16646216e+00] [ 1.63220160e-01 2.83712332e-03 9.86585592e-01 -5.27522736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.66534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-85.16, Y:5.17, Z:-5.28 [[ 9.85772608e-01 4.22702747e-02 -1.62682481e-01 -8.51625274e+01] [-4.24015829e-02 9.99097090e-01 2.66647949e-03 5.17302112e+00] [ 1.62648306e-01 4.26945226e-03 9.86674871e-01 -5.27792224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-85.19, Y:5.18, Z:-5.28 [[ 9.85798012e-01 4.69468431e-02 -1.61239803e-01 -8.51909519e+01] [-4.71308869e-02 9.98885113e-01 2.68524309e-03 5.17879263e+00] [ 1.61186102e-01 4.95226761e-03 9.86911605e-01 -5.28383790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-85.22, Y:5.17, Z:-5.29 [[ 9.85747355e-01 4.80014666e-02 -1.61238989e-01 -8.52187831e+01] [-4.81931987e-02 9.98834319e-01 2.72387002e-03 5.17351271e+00] [ 1.61181786e-01 5.08557499e-03 9.86911632e-01 -5.29080802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-85.25, Y:5.16, Z:-5.29 [[ 9.85785537e-01 4.60298153e-02 -1.61580108e-01 -8.52461833e+01] [-4.61925959e-02 9.98928764e-01 2.75104150e-03 5.16405671e+00] [ 1.61533648e-01 4.75186771e-03 9.86855765e-01 -5.29477263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.78534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-85.28, Y:5.16, Z:-5.29 [[ 9.85921024e-01 4.11177429e-02 -1.62077347e-01 -8.52759657e+01] [-4.12117893e-02 9.99146557e-01 2.78312673e-03 5.15601325e+00] [ 1.62053459e-01 3.93555432e-03 9.86774132e-01 -5.29385945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-85.31, Y:5.15, Z:-5.29 [[ 9.86135772e-01 3.46138044e-02 -1.62290245e-01 -8.53051913e+01] [-3.46187001e-02 9.99396675e-01 2.79858148e-03 5.15141659e+00] [ 1.62289201e-01 2.85849601e-03 9.86739096e-01 -5.28578036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.84534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-85.33, Y:5.14, Z:-5.29 [[ 9.86237838e-01 2.91657979e-02 -1.62739927e-01 -8.53340265e+01] [-2.90926235e-02 9.99572705e-01 2.83329018e-03 5.14476543e+00] [ 1.62753024e-01 1.94023344e-03 9.86664932e-01 -5.29361524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.87534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-85.36, Y:5.14, Z:-5.30 [[ 9.86478747e-01 2.51907152e-02 -1.61941687e-01 -8.53625956e+01] [-2.50567794e-02 9.99681911e-01 2.86968722e-03 5.13803831e+00] [ 1.61962464e-01 1.22685166e-03 9.86796157e-01 -5.30101171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.90534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-85.39, Y:5.14, Z:-5.30 [[ 9.86569603e-01 2.28771077e-02 -1.61731430e-01 -8.53920227e+01] [-2.27043948e-02 9.99737969e-01 2.91623882e-03 5.13907554e+00] [ 1.61755767e-01 7.94941665e-04 9.86830502e-01 -5.30171032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.93534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-85.42, Y:5.14, Z:-5.31 [[ 9.86482479e-01 2.37231173e-02 -1.62140473e-01 -8.54202930e+01] [-2.35525803e-02 9.99718176e-01 2.97411101e-03 5.14209944e+00] [ 1.62165333e-01 8.84918104e-04 9.86763204e-01 -5.30586446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.96534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-85.45, Y:5.15, Z:-5.31 [[ 9.86439377e-01 2.67418888e-02 -1.61932783e-01 -8.54481064e+01] [-2.66035427e-02 9.99641492e-01 3.02297964e-03 5.14745191e+00] [ 1.61955569e-01 1.32599957e-03 9.86797160e-01 -5.31418753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-85.48, Y:5.15, Z:-5.32 [[ 9.86385794e-01 2.73819519e-02 -1.62152071e-01 -8.54764556e+01] [-2.72423116e-02 9.99624099e-01 3.08494309e-03 5.14993851e+00] [ 1.62175590e-01 1.37445319e-03 9.86760958e-01 -5.31758204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.02534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-85.50, Y:5.16, Z:-5.32 [[ 9.86307724e-01 3.23706630e-02 -1.61707184e-01 -8.55042697e+01] [-3.22911636e-02 9.99473633e-01 3.12045556e-03 5.15737219e+00] [ 1.61723077e-01 2.14398370e-03 9.86833851e-01 -5.31918357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-85.53, Y:5.16, Z:-5.32 [[ 9.86291027e-01 3.62576373e-02 -1.60982585e-01 -8.55326462e+01] [-3.62251472e-02 9.99338728e-01 3.13775234e-03 5.16360510e+00] [ 1.60989900e-01 2.73688087e-03 9.86952259e-01 -5.32252844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.08534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-85.56, Y:5.17, Z:-5.33 [[ 9.85807678e-01 4.24528527e-02 -1.62422217e-01 -8.55611228e+01] [-4.24965254e-02 9.99091468e-01 3.20696214e-03 5.16943009e+00] [ 1.62410796e-01 3.74093196e-03 9.86716139e-01 -5.32970759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-85.59, Y:5.18, Z:-5.34 [[ 9.85517811e-01 4.87902074e-02 -1.62401234e-01 -8.55900352e+01] [-4.89180462e-02 9.98797625e-01 3.21387605e-03 5.17809778e+00] [ 1.62362772e-01 4.77701896e-03 9.86719570e-01 -5.33645467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.14534707000001 meters Centerline goodness [0,1] 0.9998414460123672 Centerline is valid? [True, True] Translation: X:-85.62, Y:5.19, Z:-5.35 [[ 9.85496592e-01 5.22648692e-02 -1.61446122e-01 -8.56179179e+01] [-5.24337829e-02 9.98619221e-01 3.21710175e-03 5.18660242e+00] [ 1.61391342e-01 5.29478809e-03 9.86876284e-01 -5.34647349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17534707000002 meters Centerline goodness [0,1] 0.9999467802022353 Centerline is valid? [True, True] Translation: X:-85.65, Y:5.19, Z:-5.35 [[ 9.85226463e-01 5.31518057e-02 -1.62799575e-01 -8.56455508e+01] [-5.33290891e-02 9.98571591e-01 3.28411988e-03 5.18585640e+00] [ 1.62741588e-01 5.44635122e-03 9.86653695e-01 -5.34790175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.20534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-85.67, Y:5.18, Z:-5.35 [[ 9.84797857e-01 5.47400754e-02 -1.64853587e-01 -8.56742190e+01] [-5.49417251e-02 9.98483977e-01 3.33990318e-03 5.18189524e+00] [ 1.64786492e-01 5.76821098e-03 9.86312395e-01 -5.35315236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.23534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-85.70, Y:5.18, Z:-5.36 [[ 9.85238597e-01 5.25700345e-02 -1.62915002e-01 -8.57038519e+01] [-5.27361386e-02 9.98603003e-01 3.30795217e-03 5.17839865e+00] [ 1.62861310e-01 5.33238599e-03 9.86634562e-01 -5.35743364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.26534707 meters Centerline goodness [0,1] 0.9995789916850858 Centerline is valid? [True, True] Translation: X:-85.73, Y:5.18, Z:-5.36 [[ 9.85839677e-01 5.20020095e-02 -1.59423716e-01 -8.57332984e+01] [-5.21523573e-02 9.98633872e-01 3.24358920e-03 5.18082752e+00] [ 1.59374596e-01 5.11666369e-03 9.87204922e-01 -5.36354086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.29534707 meters Centerline goodness [0,1] 0.9999462538965925 Centerline is valid? [True, True] Translation: X:-85.76, Y:5.18, Z:-5.37 [[ 9.85212557e-01 5.63175830e-02 -1.61816402e-01 -8.57618378e+01] [-5.65293659e-02 9.98395488e-01 3.29867437e-03 5.18345171e+00] [ 1.61742539e-01 5.89748319e-03 9.86815368e-01 -5.36811014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.32534707 meters Centerline goodness [0,1] 0.9998414879002431 Centerline is valid? [True, True] Translation: X:-85.79, Y:5.20, Z:-5.37 [[ 9.85132709e-01 5.83418952e-02 -1.61585174e-01 -8.57907450e+01] [-5.85776686e-02 9.98277371e-01 3.30857305e-03 5.19652936e+00] [ 1.61499851e-01 6.20589923e-03 9.86853224e-01 -5.37155247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.35534707000001 meters Centerline goodness [0,1] 0.999576853908812 Centerline is valid? [True, True] Translation: X:-85.82, Y:5.20, Z:-5.37 [[ 9.85004044e-01 5.86014704e-02 -1.62274153e-01 -8.58191557e+01] [-5.88388437e-02 9.98261884e-01 3.34689892e-03 5.19561812e+00] [ 1.62188235e-01 6.25131456e-03 9.86740035e-01 -5.37235254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.38534707000001 meters Centerline goodness [0,1] 0.9997881355932203 Centerline is valid? [True, True] Translation: X:-85.85, Y:5.20, Z:-5.38 [[ 9.84993357e-01 5.86051293e-02 -1.62337692e-01 -8.58463636e+01] [-5.88374200e-02 9.98261854e-01 3.38059047e-03 5.19606149e+00] [ 1.62253645e-01 6.22167181e-03 9.86729469e-01 -5.38167746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41534707000001 meters Centerline goodness [0,1] 0.9997891073970581 Centerline is valid? [True, True] Translation: X:-85.88, Y:5.20, Z:-5.39 [[ 9.85250398e-01 5.57390212e-02 -1.61786327e-01 -8.58757580e+01] [-5.59245868e-02 9.98429171e-01 3.41032145e-03 5.19563670e+00] [ 1.61722276e-01 5.68781292e-03 9.86819920e-01 -5.38655160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.44534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-85.91, Y:5.20, Z:-5.38 [[ 9.85575437e-01 5.32956484e-02 -1.60625752e-01 -8.59061307e+01] [-5.34450823e-02 9.98565026e-01 3.39304396e-03 5.19535311e+00] [ 1.60576092e-01 5.24055573e-03 9.87009552e-01 -5.38486054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-85.93, Y:5.19, Z:-5.39 [[ 9.85215789e-01 5.20064359e-02 -1.63233511e-01 -8.59339395e+01] [-5.21417626e-02 9.98633705e-01 3.45818713e-03 5.19351053e+00] [ 1.63190334e-01 5.10422241e-03 9.86581402e-01 -5.39245143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.50534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-85.96, Y:5.19, Z:-5.40 [[ 9.85953514e-01 4.75330161e-02 -1.60113340e-01 -8.59634849e+01] [-4.76024825e-02 9.98860559e-01 3.40396474e-03 5.19307312e+00] [ 1.60092701e-01 4.26564145e-03 9.87092767e-01 -5.39541739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-85.99, Y:5.20, Z:-5.40 [[ 9.86225954e-01 4.53832246e-02 -1.59055749e-01 -8.59927754e+01] [-4.54228256e-02 9.98962104e-01 3.38844746e-03 5.19859650e+00] [ 1.59044445e-01 3.88298674e-03 9.87263788e-01 -5.40192979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.56534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-86.02, Y:5.20, Z:-5.41 [[ 9.86143282e-01 4.58991994e-02 -1.59419857e-01 -8.60212189e+01] [-4.59424274e-02 9.98938247e-01 3.41644776e-03 5.20252370e+00] [ 1.59407404e-01 3.95502819e-03 9.87204962e-01 -5.40805258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.59534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-86.05, Y:5.20, Z:-5.41 [[ 9.85529509e-01 5.05810847e-02 -1.61781152e-01 -8.60502736e+01] [-5.06827138e-02 9.98708668e-01 3.50138212e-03 5.19928395e+00] [ 1.61749343e-01 4.74879245e-03 9.86820449e-01 -5.41325758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.62534707000002 meters Centerline goodness [0,1] 0.9999482026313063 Centerline is valid? [True, True] Translation: X:-86.08, Y:5.21, Z:-5.41 [[ 9.85770994e-01 5.23345580e-02 -1.59739292e-01 -8.60794801e+01] [-5.24527227e-02 9.98617346e-01 3.47957501e-03 5.20506477e+00] [ 1.59700530e-01 4.94869665e-03 9.87153104e-01 -5.41439911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.65534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-86.11, Y:5.21, Z:-5.42 [[ 9.85889847e-01 5.26992910e-02 -1.58883585e-01 -8.61079501e+01] [-5.28126278e-02 9.98598264e-01 3.51192275e-03 5.20666017e+00] [ 1.58845948e-01 4.92869068e-03 9.87291078e-01 -5.41809997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.68534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-86.14, Y:5.21, Z:-5.42 [[ 9.85804128e-01 5.51630361e-02 -1.58578880e-01 -8.61371586e+01] [-5.52994484e-02 9.98463484e-01 3.55566083e-03 5.21346155e+00] [ 1.58531362e-01 5.26413948e-03 9.87339909e-01 -5.41796101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.71534707 meters Centerline goodness [0,1] 0.9998965392374942 Centerline is valid? [True, True] Translation: X:-86.17, Y:5.22, Z:-5.43 [[ 9.85106529e-01 5.85969643e-02 -1.61652471e-01 -8.61651508e+01] [-5.87787081e-02 9.98264320e-01 3.66198946e-03 5.21573091e+00] [ 1.61586475e-01 5.89427368e-03 9.86840954e-01 -5.42662812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.74534707000001 meters Centerline goodness [0,1] 0.9996446520127925 Centerline is valid? [True, True] Translation: X:-86.19, Y:5.23, Z:-5.44 [[ 9.84962856e-01 6.33026118e-02 -1.60751208e-01 -8.61929596e+01] [-6.35426537e-02 9.97972441e-01 3.65227942e-03 5.22765995e+00] [ 1.60656475e-01 6.61719879e-03 9.86988201e-01 -5.43549592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77534707000001 meters Centerline goodness [0,1] 0.9998011829613798 Centerline is valid? [True, True] Translation: X:-86.22, Y:5.23, Z:-5.43 [[ 9.85070799e-01 6.47596836e-02 -1.59504557e-01 -8.62210699e+01] [-6.50117575e-02 9.97877848e-01 3.64296662e-03 5.23199712e+00] [ 1.59401981e-01 6.78109151e-03 9.87190471e-01 -5.43480382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.80534707000001 meters Centerline goodness [0,1] 0.9996989614168883 Centerline is valid? [True, True] Translation: X:-86.25, Y:5.23, Z:-5.44 [[ 9.84966977e-01 6.59358727e-02 -1.59663755e-01 -8.62488799e+01] [-6.61998621e-02 9.97799631e-01 3.67091028e-03 5.23389499e+00] [ 1.59554480e-01 6.95399313e-03 9.87164632e-01 -5.43920324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83534707000001 meters Centerline goodness [0,1] 0.9997994585380527 Centerline is valid? [True, True] Translation: X:-86.28, Y:5.24, Z:-5.44 [[ 9.85120521e-01 6.58372413e-02 -1.58754582e-01 -8.62781206e+01] [-6.60921395e-02 9.97806740e-01 3.67939118e-03 5.23757671e+00] [ 1.58648633e-01 6.86778622e-03 9.87311220e-01 -5.44112028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.86534707000001 meters Centerline goodness [0,1] 0.9999019848076451 Centerline is valid? [True, True] Translation: X:-86.31, Y:5.24, Z:-5.44 [[ 9.85818439e-01 6.18500732e-02 -1.56001840e-01 -8.63078792e+01] [-6.20406075e-02 9.98066944e-01 3.65212878e-03 5.24172849e+00] [ 1.55926165e-01 6.07811305e-03 9.87750013e-01 -5.44007783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89534707000001 meters Centerline goodness [0,1] 0.9991763565891473 Centerline is valid? [True, True] Translation: X:-86.34, Y:5.25, Z:-5.45 [[ 9.86152869e-01 5.95285093e-02 -1.54786550e-01 -8.63362850e+01] [-5.96863508e-02 9.98210575e-01 3.63159073e-03 5.24675741e+00] [ 1.54725754e-01 5.65734071e-03 9.87941261e-01 -5.44675264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.92534707000002 meters Centerline goodness [0,1] 0.9995108589317159 Centerline is valid? [True, True] Translation: X:-86.36, Y:5.25, Z:-5.45 [[ 9.85630713e-01 6.15486719e-02 -1.57301805e-01 -8.63645692e+01] [-6.17357593e-02 9.98085667e-01 3.70108092e-03 5.24777501e+00] [ 1.57228473e-01 6.06324733e-03 9.87543642e-01 -5.45302963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95534707000002 meters Centerline goodness [0,1] 0.9996100604406317 Centerline is valid? [True, True] Translation: X:-86.39, Y:5.25, Z:-5.45 [[ 9.85649439e-01 6.18329573e-02 -1.57072815e-01 -8.63925347e+01] [-6.20210951e-02 9.98067951e-01 3.70805977e-03 5.24794315e+00] [ 1.56998623e-01 6.08698098e-03 9.87580063e-01 -5.45468174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.98534707000002 meters Centerline goodness [0,1] 0.9998547285845721 Centerline is valid? [True, True] Translation: X:-86.42, Y:5.25, Z:-5.46 [[ 9.85649957e-01 6.38925593e-02 -1.56243093e-01 -8.64213676e+01] [-6.41000040e-02 9.97936563e-01 3.71571559e-03 5.25149579e+00] [ 1.56158102e-01 6.35278798e-03 9.87711643e-01 -5.45599955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.01534707 meters Centerline goodness [0,1] 0.999855859318695 Centerline is valid? [True, True] Translation: X:-86.45, Y:5.25, Z:-5.46 [[ 9.86009799e-01 6.14938005e-02 -1.54929624e-01 -8.64503283e+01] [-6.16625698e-02 9.98090118e-01 3.72076428e-03 5.25411862e+00] [ 1.54862530e-01 5.88464869e-03 9.87918503e-01 -5.45747176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.04534707 meters Centerline goodness [0,1] 0.9995252563615648 Centerline is valid? [True, True] Translation: X:-86.48, Y:5.25, Z:-5.46 [[ 9.86473289e-01 5.95753453e-02 -1.52712893e-01 -8.64789818e+01] [-5.97144485e-02 9.98208718e-01 3.67958891e-03 5.25349449e+00] [ 1.52658554e-01 5.48935003e-03 9.88263747e-01 -5.45533143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.07534707 meters Centerline goodness [0,1] 0.999573055028463 Centerline is valid? [True, True] Translation: X:-86.51, Y:5.26, Z:-5.45 [[ 9.87244677e-01 5.52948747e-02 -1.49299779e-01 -8.65099367e+01] [-5.53769832e-02 9.98458990e-01 3.61040633e-03 5.25560077e+00] [ 1.49269343e-01 4.70341692e-03 9.88785387e-01 -5.44921729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.10534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-86.54, Y:5.25, Z:-5.46 [[ 9.86816577e-01 5.74159146e-02 -1.51315749e-01 -8.65372520e+01] [-5.75236684e-02 9.98337402e-01 3.66878784e-03 5.25485326e+00] [ 1.51274819e-01 5.08381633e-03 9.88478672e-01 -5.45623520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13534707000001 meters Centerline goodness [0,1] 0.9999040859389987 Centerline is valid? [True, True] Translation: X:-86.57, Y:5.26, Z:-5.45 [[ 9.87658465e-01 5.26518309e-02 -1.47507764e-01 -8.65674563e+01] [-5.26991090e-02 9.98603982e-01 3.59036640e-03 5.25967488e+00] [ 1.47490880e-01 4.22747198e-03 9.89054381e-01 -5.45169903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16534707000001 meters Centerline goodness [0,1] 0.9995319666760273 Centerline is valid? [True, True] Translation: X:-86.60, Y:5.26, Z:-5.45 [[ 9.88274478e-01 4.76677422e-02 -1.45056345e-01 -8.65973523e+01] [-4.76590308e-02 9.98857400e-01 3.53706241e-03 5.26426596e+00] [ 1.45059208e-01 3.41765632e-03 9.89417074e-01 -5.45120850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19534707000001 meters Centerline goodness [0,1] 0.999143346659052 Centerline is valid? [True, True] Translation: X:-86.63, Y:5.27, Z:-5.45 [[ 9.87893943e-01 4.84833897e-02 -1.47359826e-01 -8.66254045e+01] [-4.84817303e-02 9.98817563e-01 3.60514449e-03 5.26592327e+00] [ 1.47360372e-01 3.58275891e-03 9.89076380e-01 -5.45348670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22534707000001 meters Centerline goodness [0,1] 0.9989784546805349 Centerline is valid? [True, True] Translation: X:-86.66, Y:5.27, Z:-5.45 [[ 9.88756315e-01 4.41183183e-02 -1.42879399e-01 -8.66558136e+01] [-4.40686362e-02 9.99022327e-01 3.51375095e-03 5.27012349e+00] [ 1.42894731e-01 2.82225682e-03 9.89733869e-01 -5.44974195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25534707000001 meters Centerline goodness [0,1] 0.9997200839748076 Centerline is valid? [True, True] Translation: X:-86.68, Y:5.27, Z:-5.45 [[ 9.88865628e-01 4.37373559e-02 -1.42238581e-01 -8.66838797e+01] [-4.36829647e-02 9.99039290e-01 3.50646541e-03 5.27310497e+00] [ 1.42255295e-01 2.74597981e-03 9.89826192e-01 -5.45084232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.28534707000001 meters Centerline goodness [0,1] 0.9984139931121987 Centerline is valid? [True, True] Translation: X:-86.71, Y:5.28, Z:-5.45 [[ 9.89242275e-01 4.50270173e-02 -1.39184369e-01 -8.67129254e+01] [-4.49844130e-02 9.98981719e-01 3.45357759e-03 5.28185026e+00] [ 1.39198145e-01 2.84470220e-03 9.90260463e-01 -5.45256667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31534707000002 meters Centerline goodness [0,1] 0.9991141034727143 Centerline is valid? [True, True] Translation: X:-86.74, Y:5.29, Z:-5.45 [[ 9.89944676e-01 4.12571639e-02 -1.35304786e-01 -8.67428593e+01] [-4.11770185e-02 9.99146109e-01 3.39207941e-03 5.28917349e+00] [ 1.35329198e-01 2.21347672e-03 9.90798218e-01 -5.45169799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.34534707000002 meters Centerline goodness [0,1] 0.9988081574997792 Centerline is valid? [True, True] Translation: X:-86.77, Y:5.29, Z:-5.45 [[ 9.90089358e-01 4.04733915e-02 -1.34480362e-01 -8.67705094e+01] [-4.03858916e-02 9.99178441e-01 3.37966644e-03 5.29464568e+00] [ 1.34506665e-01 2.08493754e-03 9.90910496e-01 -5.45286666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.37534707000002 meters Centerline goodness [0,1] 0.9984420979747274 Centerline is valid? [True, True] Translation: X:-86.80, Y:5.30, Z:-5.46 [[ 9.90080027e-01 4.26722383e-02 -1.33867918e-01 -8.67985600e+01] [-4.26025407e-02 9.99086361e-01 3.38637244e-03 5.30207026e+00] [ 1.33890116e-01 2.35033373e-03 9.90993397e-01 -5.45864655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.40534707 meters Centerline goodness [0,1] 0.9988535518661628 Centerline is valid? [True, True] Translation: X:-86.83, Y:5.31, Z:-5.46 [[ 9.90511152e-01 3.96174980e-02 -1.31598300e-01 -8.68272951e+01] [-3.95172423e-02 9.99213191e-01 3.37433987e-03 5.30745566e+00] [ 1.31628440e-01 1.85808064e-03 9.91297383e-01 -5.46239604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.43534707 meters Centerline goodness [0,1] 0.9988313711911357 Centerline is valid? [True, True] Translation: X:-86.85, Y:5.31, Z:-5.47 [[ 9.90331355e-01 4.12500184e-02 -1.32447137e-01 -8.68546263e+01] [-4.11580121e-02 9.99146751e-01 3.43345968e-03 5.30819197e+00] [ 1.32475757e-01 2.05099809e-03 9.91184124e-01 -5.46827734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.46534707 meters Centerline goodness [0,1] 0.9996196593838482 Centerline is valid? [True, True] Translation: X:-86.88, Y:5.31, Z:-5.47 [[ 9.91156937e-01 3.67854172e-02 -1.27494157e-01 -8.68832544e+01] [-3.66615482e-02 9.99322228e-01 3.31887601e-03 5.30972204e+00] [ 1.27529832e-01 1.38460621e-03 9.91833769e-01 -5.46503487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49534707000001 meters Centerline goodness [0,1] 0.999585835576724 Centerline is valid? [True, True] Translation: X:-86.91, Y:5.31, Z:-5.47 [[ 9.91686365e-01 3.38127652e-02 -1.24156557e-01 -8.69115887e+01] [-3.36705953e-02 9.99427720e-01 3.24384517e-03 5.31325074e+00] [ 1.24195188e-01 9.63548146e-04 9.92257339e-01 -5.46661339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52534707000001 meters Centerline goodness [0,1] 0.999585835576724 Centerline is valid? [True, True] Translation: X:-86.94, Y:5.31, Z:-5.47 [[ 9.91674588e-01 3.41582002e-02 -1.24156064e-01 -8.69391096e+01] [-3.40163814e-02 9.99415950e-01 3.26257967e-03 5.31373739e+00] [ 1.24194995e-01 9.87922690e-04 9.92257339e-01 -5.46956430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55534707000001 meters Centerline goodness [0,1] 0.9997481214054825 Centerline is valid? [True, True] Translation: X:-86.97, Y:5.31, Z:-5.47 [[ 9.91702801e-01 3.36753176e-02 -1.24062591e-01 -8.69662621e+01] [-3.35250468e-02 9.99432432e-01 3.29931592e-03 5.31483120e+00] [ 1.24103283e-01 8.87263337e-04 9.92268909e-01 -5.47332611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.58534707000001 meters Centerline goodness [0,1] 0.9998763345562471 Centerline is valid? [True, True] Translation: X:-87.00, Y:5.32, Z:-5.48 [[ 9.92056549e-01 3.14291748e-02 -1.21803166e-01 -8.69953686e+01] [-3.12653682e-02 9.99505814e-01 3.25631680e-03 5.31786302e+00] [ 1.21845316e-01 5.77770432e-04 9.92548933e-01 -5.47654980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61534707000001 meters Centerline goodness [0,1] 0.9997500208315974 Centerline is valid? [True, True] Translation: X:-87.02, Y:5.32, Z:-5.48 [[ 9.91985122e-01 3.11768726e-02 -1.22448032e-01 -8.70226251e+01] [-3.10048302e-02 9.99513752e-01 3.31065066e-03 5.31766370e+00] [ 1.22491707e-01 5.12364242e-04 9.92469405e-01 -5.48247858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.64534707000001 meters Centerline goodness [0,1] 0.9999587424705009 Centerline is valid? [True, True] Translation: X:-87.05, Y:5.32, Z:-5.48 [[ 9.92210243e-01 3.02072949e-02 -1.20856746e-01 -8.70517111e+01] [-3.00305990e-02 9.99543587e-01 3.28355690e-03 5.32411531e+00] [ 1.20900773e-01 3.71421674e-04 9.92664528e-01 -5.48415486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67534707000002 meters Centerline goodness [0,1] 0.9996306631648063 Centerline is valid? [True, True] Translation: X:-87.08, Y:5.33, Z:-5.49 [[ 9.92223300e-01 3.13899812e-02 -1.20447465e-01 -8.70786434e+01] [-3.12187537e-02 9.99507099e-01 3.30878051e-03 5.32802951e+00] [ 1.20491959e-01 4.77170629e-04 9.92714189e-01 -5.48547309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.70534707000002 meters Centerline goodness [0,1] 0.999832950511589 Centerline is valid? [True, True] Translation: X:-87.11, Y:5.33, Z:-5.49 [[ 9.92560976e-01 2.86904868e-02 -1.18319761e-01 -8.71064166e+01] [-2.85029722e-02 9.99588336e-01 3.27703535e-03 5.32703190e+00] [ 1.18365072e-01 1.19807443e-04 9.92970138e-01 -5.48814876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.73534707000002 meters Centerline goodness [0,1] 0.9999172801720573 Centerline is valid? [True, True] Translation: X:-87.14, Y:5.33, Z:-5.49 [[ 9.92912759e-01 2.47199394e-02 -1.16246193e-01 -8.71355260e+01] [-2.45099468e-02 9.99694349e-01 3.23576036e-03 5.32601759e+00] [ 1.16290650e-01 -3.63639746e-04 9.93215159e-01 -5.49249641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.76534707000002 meters Centerline goodness [0,1] 0.9999587696874742 Centerline is valid? [True, True] Translation: X:-87.16, Y:5.33, Z:-5.49 [[ 9.93041786e-01 2.21309956e-02 -1.15664296e-01 -8.71638425e+01] [-2.19009034e-02 9.99754832e-01 3.25993056e-03 5.32558955e+00] [ 1.15708085e-01 -7.04094689e-04 9.93283013e-01 -5.49163726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.79534707 meters Centerline goodness [0,1] 0.9999574268806676 Centerline is valid? [True, True] Translation: X:-87.19, Y:5.33, Z:-5.50 [[ 9.93130718e-01 1.77059407e-02 -1.15662768e-01 -8.71914201e+01] [-1.74410586e-02 9.99842441e-01 3.30184000e-03 5.32507669e+00] [ 1.15703006e-01 -1.26187763e-03 9.93283052e-01 -5.49699660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.82534707 meters Centerline goodness [0,1] 0.9999183673469387 Centerline is valid? [True, True] Translation: X:-87.22, Y:5.32, Z:-5.49 [[ 9.93378336e-01 1.34158620e-02 -1.14103008e-01 -8.72205688e+01] [-1.31281712e-02 9.99908467e-01 3.27242195e-03 5.32197774e+00] [ 1.14136466e-01 -1.75278926e-03 9.93463535e-01 -5.49494471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.85534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-87.25, Y:5.32, Z:-5.50 [[ 9.93440770e-01 1.06759629e-02 -1.13848406e-01 -8.72491446e+01] [-1.03672506e-02 9.99940802e-01 3.30335325e-03 5.31858920e+00] [ 1.13876932e-01 -2.10139084e-03 9.93492641e-01 -5.50207228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.88534707000001 meters Centerline goodness [0,1] 0.999917590341588 Centerline is valid? [True, True] Translation: X:-87.28, Y:5.32, Z:-5.50 [[ 9.93518896e-01 8.33342801e-03 -1.13361182e-01 -8.72769595e+01] [-8.00823328e-03 9.99962410e-01 3.32374501e-03 5.31791629e+00] [ 1.13384619e-01 -2.39438068e-03 9.93548285e-01 -5.50240362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91534707000001 meters Centerline goodness [0,1] 0.9999586896352295 Centerline is valid? [True, True] Translation: X:-87.31, Y:5.32, Z:-5.51 [[ 9.93560510e-01 7.36163320e-03 -1.13063346e-01 -8.73052884e+01] [-7.03030036e-03 9.99969746e-01 3.32894512e-03 5.31919143e+00] [ 1.13084431e-01 -2.51263913e-03 9.93582205e-01 -5.50537255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.94534707000001 meters Centerline goodness [0,1] 0.9999162163294374 Centerline is valid? [True, True] Translation: X:-87.33, Y:5.32, Z:-5.51 [[ 9.93661850e-01 5.59766739e-03 -1.12271072e-01 -8.73345416e+01] [-5.25563825e-03 9.99980604e-01 3.34219299e-03 5.31883646e+00] [ 1.12287603e-01 -2.73095353e-03 9.93671996e-01 -5.50771089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97534707000001 meters Centerline goodness [0,1] 0.9998337144044898 Centerline is valid? [True, True] Translation: X:-87.36, Y:5.32, Z:-5.51 [[ 9.93771179e-01 4.04067479e-03 -1.11366584e-01 -8.73629549e+01] [-3.69032261e-03 9.99987573e-01 3.35188808e-03 5.32137460e+00] [ 1.11378744e-01 -2.92003115e-03 9.93773741e-01 -5.50907733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.00534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-87.39, Y:5.32, Z:-5.51 [[ 9.93669721e-01 5.05138690e-03 -1.12227309e-01 -8.73919737e+01] [-4.69779040e-03 9.99983134e-01 3.41494086e-03 5.32207102e+00] [ 1.12242667e-01 -2.86610295e-03 9.93676693e-01 -5.51117731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-87.42, Y:5.32, Z:-5.52 [[ 9.93510547e-01 5.95283322e-03 -1.13584138e-01 -8.74198801e+01] [-5.59229311e-03 9.99978264e-01 3.49257956e-03 5.32263931e+00] [ 1.13602460e-01 -2.83471884e-03 9.93522242e-01 -5.51512888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.06534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-87.45, Y:5.32, Z:-5.52 [[ 9.93542872e-01 5.80812322e-03 -1.13308548e-01 -8.74477432e+01] [-5.44665933e-03 9.99979044e-01 3.49940017e-03 5.32134965e+00] [ 1.13326498e-01 -2.85965104e-03 9.93553686e-01 -5.51792932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.09534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-87.48, Y:5.32, Z:-5.52 [[ 9.93486064e-01 3.33725080e-03 -1.13904798e-01 -8.74770131e+01] [-2.95069947e-03 9.99989302e-01 3.56206496e-03 5.32451568e+00] [ 1.13915467e-01 -3.20276307e-03 9.93485284e-01 -5.51797255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.12534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-87.51, Y:5.32, Z:-5.52 [[ 9.93561227e-01 5.29597037e-03 -1.13172613e-01 -8.75058212e+01] [-4.92234724e-03 9.99981475e-01 3.58053849e-03 5.32146622e+00] [ 1.13189479e-01 -3.00040932e-03 9.93568890e-01 -5.51975613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.15534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-87.53, Y:5.32, Z:-5.52 [[ 9.93396033e-01 4.81497701e-03 -1.14634803e-01 -8.75337703e+01] [-4.42365959e-03 9.99983489e-01 3.66774848e-03 5.32182477e+00] [ 1.14650570e-01 -3.13642144e-03 9.93400931e-01 -5.51873179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.18534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-87.56, Y:5.32, Z:-5.52 [[ 9.93267723e-01 3.33726494e-03 -1.15793318e-01 -8.75611452e+01] [-2.92628668e-03 9.99988803e-01 3.71905277e-03 5.32419156e+00] [ 1.15804432e-01 -3.35517063e-03 9.93266367e-01 -5.52152919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.21534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-87.59, Y:5.32, Z:-5.52 [[ 9.93321288e-01 6.11674549e-03 -1.15218945e-01 -8.75897250e+01] [-5.72672681e-03 9.99976699e-01 3.71573715e-03 5.31821654e+00] [ 1.15238988e-01 -3.03109339e-03 9.93333171e-01 -5.52432335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.24534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-87.62, Y:5.32, Z:-5.53 [[ 9.93342217e-01 7.16209611e-03 -1.14978013e-01 -8.76177630e+01] [-6.77894036e-03 9.99970092e-01 3.72309664e-03 5.31949432e+00] [ 1.15001239e-01 -2.91887998e-03 9.93361060e-01 -5.52540927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-87.65, Y:5.32, Z:-5.53 [[ 9.93120298e-01 5.13297456e-03 -1.16986005e-01 -8.76457369e+01] [-4.72067917e-03 9.99981633e-01 3.80112115e-03 5.32186891e+00] [ 1.17003367e-01 -3.22271717e-03 9.93126289e-01 -5.52528382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.30534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-87.67, Y:5.32, Z:-5.53 [[ 9.93137178e-01 8.56610801e-03 -1.16641192e-01 -8.76743027e+01] [-8.17793866e-03 9.99959317e-01 3.80607035e-03 5.31888824e+00] [ 1.16669050e-01 -2.82606545e-03 9.93166827e-01 -5.52912390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-87.70, Y:5.32, Z:-5.53 [[ 9.93097528e-01 5.99194609e-03 -1.17138364e-01 -8.77025672e+01] [-5.57844491e-03 9.99977000e-01 3.85756137e-03 5.32039380e+00] [ 1.17158784e-01 -3.17748475e-03 9.93108112e-01 -5.52973606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.36534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-87.73, Y:5.32, Z:-5.53 [[ 9.93056330e-01 8.08607013e-03 -1.17361578e-01 -8.77315047e+01] [-7.68364895e-03 9.99962949e-01 3.88094910e-03 5.31678562e+00] [ 1.17388612e-01 -2.95223590e-03 9.93081667e-01 -5.53321526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-87.76, Y:5.31, Z:-5.53 [[ 9.93005652e-01 6.77691178e-03 -1.17872168e-01 -8.77614887e+01] [-6.35719275e-03 9.99972045e-01 3.93641688e-03 5.31266617e+00] [ 1.17895550e-01 -3.15954812e-03 9.93020975e-01 -5.53183164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.42534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-87.79, Y:5.31, Z:-5.53 [[ 9.93049591e-01 4.29896308e-03 -1.17618148e-01 -8.77894396e+01] [-3.86000622e-03 9.99984711e-01 3.95959091e-03 5.31178470e+00] [ 1.17633372e-01 -3.47806335e-03 9.93051002e-01 -5.53046029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45534707000002 meters Centerline goodness [0,1] 0.999874071275658 Centerline is valid? [True, True] Translation: X:-87.82, Y:5.31, Z:-5.53 [[ 9.93044144e-01 2.89578041e-03 -1.17707016e-01 -8.78182315e+01] [-2.44453431e-03 9.99989101e-01 3.97782891e-03 5.30971056e+00] [ 1.17717252e-01 -3.66242086e-03 9.93040400e-01 -5.53342702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.48534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-87.85, Y:5.31, Z:-5.53 [[ 9.92982847e-01 2.56387864e-03 -1.18230675e-01 -8.78473532e+01] [-2.10180755e-03 9.99989660e-01 4.03273752e-03 5.30924452e+00] [ 1.18239792e-01 -3.75594106e-03 9.92977968e-01 -5.53306604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.51534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-87.88, Y:5.31, Z:-5.53 [[ 9.93068720e-01 2.57754056e-03 -1.17506913e-01 -8.78754350e+01] [-2.11716336e-03 9.99989588e-01 4.04252827e-03 5.30999236e+00] [ 1.17516109e-01 -3.76572704e-03 9.93063836e-01 -5.53327899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.54534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-87.90, Y:5.31, Z:-5.53 [[ 9.93090183e-01 1.96550236e-03 -1.17337227e-01 -8.79044472e+01] [-1.50039664e-03 9.99990665e-01 4.05203746e-03 5.30908856e+00] [ 1.17344096e-01 -3.84798624e-03 9.93083862e-01 -5.53430805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.57534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-87.93, Y:5.31, Z:-5.54 [[ 9.92939767e-01 2.93779821e-03 -1.18583257e-01 -8.79322326e+01] [-2.46498169e-03 9.99988418e-01 4.13368502e-03 5.30716855e+00] [ 1.18594027e-01 -3.81219468e-03 9.92935508e-01 -5.53821288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.60534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-87.96, Y:5.31, Z:-5.54 [[ 9.92953124e-01 3.04783116e-03 -1.18468577e-01 -8.79590236e+01] [-2.57176164e-03 9.99987994e-01 4.17119730e-03 5.30748537e+00] [ 1.18479868e-01 -3.83713044e-03 9.92949041e-01 -5.54164475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-87.99, Y:5.31, Z:-5.54 [[ 9.92787457e-01 3.30634188e-03 -1.19842121e-01 -8.79876080e+01] [-2.81829919e-03 9.99987033e-01 4.24163817e-03 5.30517314e+00] [ 1.19854591e-01 -3.87329421e-03 9.92783901e-01 -5.54409929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.66534707000001 meters Centerline goodness [0,1] 0.9999564687445586 Centerline is valid? [True, True] Translation: X:-88.02, Y:5.31, Z:-5.55 [[ 9.92813275e-01 2.34052872e-03 -1.19650838e-01 -8.80153059e+01] [-1.84262247e-03 9.99989178e-01 4.27179073e-03 5.30607593e+00] [ 1.19659542e-01 -4.02061922e-03 9.92806844e-01 -5.54655567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-88.04, Y:5.30, Z:-5.55 [[ 9.92908237e-01 1.98325562e-03 -1.18866728e-01 -8.80435290e+01] [-1.48727254e-03 9.99989815e-01 4.26116103e-03 5.30426887e+00] [ 1.18873968e-01 -4.05415466e-03 9.92901074e-01 -5.54893723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-88.07, Y:5.30, Z:-5.55 [[ 9.92835722e-01 -5.05680921e-04 -1.19486294e-01 -8.80720303e+01] [ 1.03013388e-03 9.99990106e-01 4.32750721e-03 5.30311974e+00] [ 1.19482923e-01 -4.41959063e-03 9.92826419e-01 -5.54820862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-88.10, Y:5.30, Z:-5.55 [[ 9.92652859e-01 -2.28870688e-03 -1.20975463e-01 -8.81007172e+01] [ 2.84252442e-03 9.99986255e-01 4.40555925e-03 5.30030098e+00] [ 1.20963718e-01 -4.71706670e-03 9.92645721e-01 -5.55243031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.78534707000001 meters Centerline goodness [0,1] 0.9998696558915537 Centerline is valid? [True, True] Translation: X:-88.13, Y:5.30, Z:-5.55 [[ 9.92840436e-01 -1.82380407e-03 -1.19434262e-01 -8.81294818e+01] [ 2.36491169e-03 9.99987572e-01 4.38901319e-03 5.29847782e+00] [ 1.19424773e-01 -4.64004125e-03 9.92832410e-01 -5.55475441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81534707000002 meters Centerline goodness [0,1] 0.9999126675691018 Centerline is valid? [True, True] Translation: X:-88.16, Y:5.29, Z:-5.56 [[ 9.92736453e-01 -2.38600468e-03 -1.20285666e-01 -8.81589456e+01] [ 2.94399744e-03 9.99985714e-01 4.46140420e-03 5.29157769e+00] [ 1.20273303e-01 -4.78311927e-03 9.92729296e-01 -5.55828210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.84534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-88.19, Y:5.29, Z:-5.56 [[ 9.92719920e-01 -4.17676679e-03 -1.20373235e-01 -8.81882166e+01] [ 4.75311426e-03 9.99978573e-01 4.50128237e-03 5.28942933e+00] [ 1.20351855e-01 -5.04066042e-03 9.92718501e-01 -5.56101779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.87534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-88.22, Y:5.29, Z:-5.56 [[ 9.92825732e-01 -4.80376675e-03 -1.19473804e-01 -8.82160628e+01] [ 5.37995749e-03 9.99975400e-01 4.50066573e-03 5.28941240e+00] [ 1.19449245e-01 -5.11114074e-03 9.92827152e-01 -5.56151534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.90534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-88.25, Y:5.29, Z:-5.56 [[ 9.92773226e-01 -8.30327731e-03 -1.19717905e-01 -8.82451814e+01] [ 8.90860967e-03 9.99950093e-01 4.52201570e-03 5.28938445e+00] [ 1.19674382e-01 -5.55585619e-03 9.92797650e-01 -5.56407936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.93534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-88.27, Y:5.29, Z:-5.57 [[ 9.92676967e-01 -1.09285904e-02 -1.20303803e-01 -8.82735103e+01] [ 1.15598223e-02 9.99922830e-01 4.55033233e-03 5.28834301e+00] [ 1.20244790e-01 -5.90770068e-03 9.92726694e-01 -5.56563567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.96534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-88.30, Y:5.29, Z:-5.57 [[ 9.92577197e-01 -1.45442971e-02 -1.20743415e-01 -8.83026196e+01] [ 1.52080788e-02 9.99873871e-01 4.57771981e-03 5.28740376e+00] [ 1.20661606e-01 -6.38001566e-03 9.92673195e-01 -5.56836029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99534707000001 meters Centerline goodness [0,1] 0.9999551529285138 Centerline is valid? [True, True] Translation: X:-88.33, Y:5.28, Z:-5.57 [[ 9.92664658e-01 -1.32305458e-02 -1.20174166e-01 -8.83312981e+01] [ 1.38794103e-02 9.99893261e-01 4.56393086e-03 5.27662996e+00] [ 1.20100956e-01 -6.19839942e-03 9.92742333e-01 -5.57181001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.02534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-88.36, Y:5.28, Z:-5.58 [[ 9.92480141e-01 -1.67952193e-02 -1.21248049e-01 -8.83602889e+01] [ 1.74848268e-02 9.99836428e-01 4.62581778e-03 5.27735917e+00] [ 1.21150525e-01 -6.71103343e-03 9.92611461e-01 -5.57531663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-88.39, Y:5.28, Z:-5.58 [[ 9.92535889e-01 -1.64131687e-02 -1.20843355e-01 -8.83888099e+01] [ 1.70965599e-02 9.99843167e-01 4.62048335e-03 5.27594303e+00] [ 1.20748566e-01 -6.65200122e-03 9.92660836e-01 -5.57587634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-88.42, Y:5.27, Z:-5.58 [[ 9.92427361e-01 -1.92681554e-02 -1.21312292e-01 -8.84177319e+01] [ 1.99830324e-02 9.99789371e-01 4.67892513e-03 5.27386869e+00] [ 1.21196586e-01 -7.06768078e-03 9.92603363e-01 -5.57884772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-88.45, Y:5.27, Z:-5.58 [[ 9.92619423e-01 -1.74144367e-02 -1.20014239e-01 -8.84467256e+01] [ 1.81016255e-02 9.99825395e-01 4.63802435e-03 5.26979155e+00] [ 1.19912516e-01 -6.77624587e-03 9.92761336e-01 -5.58081033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.14534707000001 meters Centerline goodness [0,1] 0.999863057470215 Centerline is valid? [True, True] Translation: X:-88.47, Y:5.27, Z:-5.58 [[ 9.92515498e-01 -1.89895355e-02 -1.20633265e-01 -8.84746401e+01] [ 1.96998799e-02 9.99794898e-01 4.69850039e-03 5.27143795e+00] [ 1.20519301e-01 -7.03979529e-03 9.92686023e-01 -5.58410396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17534707000002 meters Centerline goodness [0,1] 0.9999101244775985 Centerline is valid? [True, True] Translation: X:-88.50, Y:5.26, Z:-5.59 [[ 9.92552174e-01 -1.80748080e-02 -1.20471917e-01 -8.85034309e+01] [ 1.87785972e-02 9.99812577e-01 4.70912345e-03 5.26024323e+00] [ 1.20364221e-01 -6.93634432e-03 9.92705566e-01 -5.58834910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.20534707000002 meters Centerline goodness [0,1] 0.9999539997239983 Centerline is valid? [True, True] Translation: X:-88.53, Y:5.27, Z:-5.59 [[ 9.92331284e-01 -2.05635204e-02 -1.21884226e-01 -8.85317273e+01] [ 2.13071338e-02 9.99761452e-01 4.80062436e-03 5.26905134e+00] [ 1.21756433e-01 -7.36081326e-03 9.92532714e-01 -5.58871949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.23534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-88.56, Y:5.27, Z:-5.59 [[ 9.92335589e-01 -2.23863528e-02 -1.21527490e-01 -8.85599926e+01] [ 2.31400232e-02 9.99720741e-01 4.79370853e-03 5.26871084e+00] [ 1.21386238e-01 -7.56911651e-03 9.92576491e-01 -5.59199546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.26534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-88.59, Y:5.26, Z:-5.60 [[ 9.92381980e-01 -2.25527139e-02 -1.21117218e-01 -8.85891199e+01] [ 2.33043168e-02 9.99716930e-01 4.79249887e-03 5.26161568e+00] [ 1.20974849e-01 -7.57854352e-03 9.92626643e-01 -5.59663079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.29534707 meters Centerline goodness [0,1] 0.9999527387872773 Centerline is valid? [True, True] Translation: X:-88.62, Y:5.26, Z:-5.60 [[ 9.92288120e-01 -2.37833590e-02 -1.21649653e-01 -8.86170980e+01] [ 2.45554487e-02 9.99686698e-01 4.85141057e-03 5.26409901e+00] [ 1.21496157e-01 -7.80115888e-03 9.92561245e-01 -5.59578626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.32534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-88.65, Y:5.26, Z:-5.60 [[ 9.92433740e-01 -2.31511508e-02 -1.20579006e-01 -8.86458648e+01] [ 2.39070338e-02 9.99702539e-01 4.82573859e-03 5.25792362e+00] [ 1.20431417e-01 -7.67191217e-03 9.92692004e-01 -5.60034394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.35534707000001 meters Centerline goodness [0,1] 0.9999508019285644 Centerline is valid? [True, True] Translation: X:-88.68, Y:5.27, Z:-5.60 [[ 9.92161515e-01 -2.79685628e-02 -1.21791984e-01 -8.86754661e+01] [ 2.87803132e-02 9.99573699e-01 4.91066320e-03 5.27037330e+00] [ 1.21602720e-01 -8.37738248e-03 9.92543499e-01 -5.59597069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.38534707000001 meters Centerline goodness [0,1] 0.9998589827959011 Centerline is valid? [True, True] Translation: X:-88.71, Y:5.27, Z:-5.60 [[ 9.92439202e-01 -2.29086255e-02 -1.20580365e-01 -8.87055308e+01] [ 2.36676922e-02 9.99708036e-01 4.86653487e-03 5.26769960e+00] [ 1.20433674e-01 -7.68359895e-03 9.92691640e-01 -5.60184510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41534707000001 meters Centerline goodness [0,1] 0.9998589827959011 Centerline is valid? [True, True] Translation: X:-88.73, Y:5.27, Z:-5.60 [[ 9.92447672e-01 -2.25397470e-02 -1.20580173e-01 -8.87331451e+01] [ 2.32966839e-02 9.99716728e-01 4.87126199e-03 5.26857059e+00] [ 1.20436219e-01 -7.64359081e-03 9.92691640e-01 -5.60481454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.44534707000001 meters Centerline goodness [0,1] 0.9995764107874053 Centerline is valid? [True, True] Translation: X:-88.76, Y:5.26, Z:-5.61 [[ 9.92457375e-01 -2.12093013e-02 -1.20741563e-01 -8.87620178e+01] [ 2.19639334e-02 9.99746646e-01 4.92241253e-03 5.25754997e+00] [ 1.20606572e-01 -7.53724427e-03 9.92671771e-01 -5.61056758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-88.79, Y:5.26, Z:-5.61 [[ 9.92357430e-01 -2.24430390e-02 -1.21338538e-01 -8.87894945e+01] [ 2.32189315e-02 9.99717980e-01 4.98415071e-03 5.25973045e+00] [ 1.21192459e-01 -7.76341019e-03 9.92598669e-01 -5.61250896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.50534707000001 meters Centerline goodness [0,1] 0.9994867248378517 Centerline is valid? [True, True] Translation: X:-88.82, Y:5.26, Z:-5.62 [[ 9.92470721e-01 -2.04970837e-02 -1.20754864e-01 -8.88191628e+01] [ 2.12527083e-02 9.99761768e-01 4.97280258e-03 5.25713617e+00] [ 1.20624168e-01 -7.50172885e-03 9.92669902e-01 -5.61736094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53534707000001 meters Centerline goodness [0,1] 0.9999518466798286 Centerline is valid? [True, True] Translation: X:-88.85, Y:5.26, Z:-5.62 [[ 9.92274494e-01 -2.23996003e-02 -1.22022894e-01 -8.88474978e+01] [ 2.31863652e-02 9.99718499e-01 5.03138403e-03 5.26350038e+00] [ 1.21875843e-01 -7.82178142e-03 9.92514533e-01 -5.61779993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.56534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-88.88, Y:5.26, Z:-5.62 [[ 9.92415546e-01 -2.17083037e-02 -1.20996422e-01 -8.88770579e+01] [ 2.24784757e-02 9.99734805e-01 5.00380025e-03 5.25988340e+00] [ 1.20855710e-01 -7.68566429e-03 9.92640332e-01 -5.62021465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.59534707000002 meters Centerline goodness [0,1] 0.9998102466793168 Centerline is valid? [True, True] Translation: X:-88.91, Y:5.26, Z:-5.62 [[ 9.92437335e-01 -2.36901548e-02 -1.20444644e-01 -8.89066249e+01] [ 2.44722880e-02 9.99687912e-01 5.01849600e-03 5.25826712e+00] [ 1.20288166e-01 -7.92809882e-03 9.92707360e-01 -5.62026935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.62534707000002 meters Centerline goodness [0,1] 0.9999041456985382 Centerline is valid? [True, True] Translation: X:-88.94, Y:5.26, Z:-5.62 [[ 9.92470632e-01 -2.37036936e-02 -1.20167300e-01 -8.89350989e+01] [ 2.44848420e-02 9.99687557e-01 5.02798277e-03 5.25650262e+00] [ 1.20010573e-01 -7.93240259e-03 9.92740923e-01 -5.62311815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.65534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-88.96, Y:5.25, Z:-5.63 [[ 9.92327555e-01 -2.62323411e-02 -1.20821717e-01 -8.89649410e+01] [ 2.70448344e-02 9.99621265e-01 5.08955197e-03 5.25273263e+00] [ 1.20642447e-01 -8.31810598e-03 9.92661175e-01 -5.62839151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.68534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-88.99, Y:5.26, Z:-5.63 [[ 9.92170745e-01 -2.67015477e-02 -1.22000984e-01 -8.89925045e+01] [ 2.75341522e-02 9.99607631e-01 5.14347861e-03 5.25787016e+00] [ 1.21815775e-01 -8.46240265e-03 9.92516652e-01 -5.63038258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.71534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-89.02, Y:5.25, Z:-5.63 [[ 9.92246274e-01 -2.85177825e-02 -1.20971354e-01 -8.90216264e+01] [ 2.93513558e-02 9.99556074e-01 5.11402646e-03 5.25149819e+00] [ 1.20771810e-01 -8.62504694e-03 9.92642825e-01 -5.63496590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.74534707000001 meters Centerline goodness [0,1] 0.999664767013074 Centerline is valid? [True, True] Translation: X:-89.05, Y:5.25, Z:-5.64 [[ 9.92293605e-01 -2.69772313e-02 -1.20936472e-01 -8.90505659e+01] [ 2.78007717e-02 9.99600334e-01 5.12730794e-03 5.24612313e+00] [ 1.20749817e-01 -8.44992212e-03 9.92647007e-01 -5.63777650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77534707000001 meters Centerline goodness [0,1] 0.9996638009701744 Centerline is valid? [True, True] Translation: X:-89.08, Y:5.25, Z:-5.64 [[ 9.92346222e-01 -2.78896964e-02 -1.20296054e-01 -8.90783378e+01] [ 2.87156519e-02 9.99574417e-01 5.13767157e-03 5.25307269e+00] [ 1.20101570e-01 -8.55272858e-03 9.92724767e-01 -5.64034612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.80534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-89.11, Y:5.25, Z:-5.64 [[ 9.92373246e-01 -2.74945979e-02 -1.20164002e-01 -8.91063236e+01] [ 2.83203308e-02 9.99585534e-01 5.16907096e-03 5.25173636e+00] [ 1.19972076e-01 -8.53273200e-03 9.92740597e-01 -5.64256750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83534707000001 meters Centerline goodness [0,1] 0.9999511814098809 Centerline is valid? [True, True] Translation: X:-89.13, Y:5.26, Z:-5.65 [[ 9.92196222e-01 -2.86373146e-02 -1.21353042e-01 -8.91341200e+01] [ 2.94928955e-02 9.99551152e-01 5.25968458e-03 5.25815191e+00] [ 1.21147949e-01 -8.79769175e-03 9.92595474e-01 -5.64674655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.86534707000001 meters Centerline goodness [0,1] 0.9997157071783938 Centerline is valid? [True, True] Translation: X:-89.16, Y:5.25, Z:-5.65 [[ 9.92180654e-01 -2.93275396e-02 -1.21315480e-01 -8.91634849e+01] [ 3.01894886e-02 9.99530286e-01 5.27271931e-03 5.24762949e+00] [ 1.21103860e-01 -8.89394239e-03 9.92599996e-01 -5.65243892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89534707000001 meters Centerline goodness [0,1] 0.9998532935595873 Centerline is valid? [True, True] Translation: X:-89.19, Y:5.25, Z:-5.65 [[ 9.92005398e-01 -3.41040366e-02 -1.21499817e-01 -8.91923046e+01] [ 3.50084246e-02 9.99372878e-01 5.31603232e-03 5.25422833e+00] [ 1.21242323e-01 -9.52704993e-03 9.92577218e-01 -5.65381523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.92534707000002 meters Centerline goodness [0,1] 0.9998519030458607 Centerline is valid? [True, True] Translation: X:-89.22, Y:5.26, Z:-5.66 [[ 9.91881555e-01 -3.42101255e-02 -1.22477134e-01 -8.92199256e+01] [ 3.51307587e-02 9.99368326e-01 5.36455874e-03 5.25855449e+00] [ 1.22216246e-01 -9.62372149e-03 9.92456837e-01 -5.65534923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95534707000002 meters Centerline goodness [0,1] 0.9998556304138595 Centerline is valid? [True, True] Translation: X:-89.25, Y:5.26, Z:-5.66 [[ 9.92034992e-01 -3.21054302e-02 -1.21802366e-01 -8.92490263e+01] [ 3.30018278e-02 9.99440979e-01 5.34870935e-03 5.25557173e+00] [ 1.21562553e-01 -9.32580754e-03 9.92539961e-01 -5.66040467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.98534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-89.28, Y:5.27, Z:-5.66 [[ 9.91966816e-01 -3.10230068e-02 -1.22635270e-01 -8.92760265e+01] [ 3.19252091e-02 9.99475683e-01 5.39817908e-03 5.26578797e+00] [ 1.22403503e-01 -9.26997116e-03 9.92437127e-01 -5.66144123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.01534707000002 meters Centerline goodness [0,1] 0.9997146254458977 Centerline is valid? [True, True] Translation: X:-89.30, Y:5.28, Z:-5.67 [[ 9.92105028e-01 -2.83581695e-02 -1.22161479e-01 -8.93034395e+01] [ 2.92352641e-02 9.99558010e-01 5.39300169e-03 5.27528461e+00] [ 1.21954550e-01 -8.92184721e-03 9.92495586e-01 -5.66701441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.04534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-89.33, Y:5.29, Z:-5.67 [[ 9.92165651e-01 -2.37339128e-02 -1.22654074e-01 -8.93318188e+01] [ 2.45843518e-02 9.99683041e-01 5.42468145e-03 5.28698267e+00] [ 1.22486449e-01 -8.39755351e-03 9.92434658e-01 -5.66940815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.07534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-89.36, Y:5.29, Z:-5.68 [[ 9.92256848e-01 -1.93331345e-02 -1.22688950e-01 -8.93608318e+01] [ 2.01509790e-02 9.99782211e-01 5.42854887e-03 5.28937991e+00] [ 1.22557279e-01 -7.85881724e-03 9.92430326e-01 -5.67639206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.10534707000001 meters Centerline goodness [0,1] 0.9999532207512747 Centerline is valid? [True, True] Translation: X:-89.39, Y:5.31, Z:-5.68 [[ 9.92160649e-01 -1.25952945e-02 -1.24332641e-01 -8.93892364e+01] [ 1.33832428e-02 9.99895291e-01 5.50419634e-03 5.30702532e+00] [ 1.24250295e-01 -7.12502094e-03 9.92225326e-01 -5.68210426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13534707000001 meters Centerline goodness [0,1] 0.9997213708553915 Centerline is valid? [True, True] Translation: X:-89.42, Y:5.32, Z:-5.69 [[ 9.92132942e-01 -6.77461300e-03 -1.25005320e-01 -8.94186822e+01] [ 7.52568685e-03 9.99956351e-01 5.53708058e-03 5.31795844e+00] [ 1.24962352e-01 -6.43427094e-03 9.92140620e-01 -5.68681097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.16534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-89.45, Y:5.32, Z:-5.69 [[ 9.92142442e-01 -2.32440854e-03 -1.25091854e-01 -8.94481390e+01] [ 3.04184384e-03 9.99980002e-01 5.54456820e-03 5.32444510e+00] [ 1.25076465e-01 -5.88151132e-03 9.92129672e-01 -5.69412496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19534707000001 meters Centerline goodness [0,1] 0.999724099875845 Centerline is valid? [True, True] Translation: X:-89.48, Y:5.33, Z:-5.70 [[ 9.92193250e-01 -2.57684062e-03 -1.24683256e-01 -8.94760816e+01] [ 3.29191502e-03 9.99979294e-01 5.52944006e-03 5.32989014e+00] [ 1.24666426e-01 -5.89671979e-03 9.92181189e-01 -5.69561959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22534707000001 meters Centerline goodness [0,1] 0.9998632198057721 Centerline is valid? [True, True] Translation: X:-89.50, Y:5.34, Z:-5.70 [[ 9.92293299e-01 -7.13803146e-04 -1.23909242e-01 -8.95031093e+01] [ 1.40730620e-03 9.99983833e-01 5.50942683e-03 5.33690681e+00] [ 1.23903306e-01 -5.64134556e-03 9.92278260e-01 -5.69795669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-89.53, Y:5.34, Z:-5.70 [[ 9.92204049e-01 -1.90988447e-03 -1.24609298e-01 -8.95306616e+01] [ 2.62293509e-03 9.99981112e-01 5.55848104e-03 5.34363553e+00] [ 1.24596328e-01 -5.84198950e-03 9.92190317e-01 -5.69801442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.28534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-89.56, Y:5.34, Z:-5.70 [[ 9.92259357e-01 4.20794388e-03 -1.24111486e-01 -8.95608262e+01] [-3.54563348e-03 9.99978275e-01 5.55681417e-03 5.34383666e+00] [ 1.24132172e-01 -5.07374701e-03 9.92252720e-01 -5.70487532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-89.59, Y:5.35, Z:-5.71 [[ 9.92184800e-01 5.76677712e-03 -1.24643761e-01 -8.95883176e+01] [-5.10943538e-03 9.99971307e-01 5.59279923e-03 5.35176304e+00] [ 1.24672437e-01 -4.91223114e-03 9.92185796e-01 -5.70914669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.34534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-89.62, Y:5.36, Z:-5.71 [[ 9.91998718e-01 7.40920043e-03 -1.26030344e-01 -8.96157182e+01] [-6.74845064e-03 9.99961160e-01 5.66893849e-03 5.36239732e+00] [ 1.26067451e-01 -4.77307015e-03 9.92010189e-01 -5.71167472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.37534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-89.64, Y:5.36, Z:-5.72 [[ 9.92158475e-01 9.35198815e-03 -1.24635870e-01 -8.96446411e+01] [-8.71873557e-03 9.99946168e-01 5.62532535e-03 5.36109079e+00] [ 1.24681769e-01 -4.49454703e-03 9.92186603e-01 -5.71645858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.40534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-89.67, Y:5.37, Z:-5.72 [[ 9.92073068e-01 1.06593988e-02 -1.25209445e-01 -8.96726830e+01] [-1.00255549e-02 9.99933546e-01 5.69132306e-03 5.36761486e+00] [ 1.25261790e-01 -4.39091416e-03 9.92114007e-01 -5.71727653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.43534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-89.70, Y:5.37, Z:-5.72 [[ 9.92262565e-01 1.01968095e-02 -1.23737733e-01 -8.97006368e+01] [-9.57181567e-03 9.99938259e-01 5.64440236e-03 5.37303608e+00] [ 1.23787648e-01 -4.41633439e-03 9.92298904e-01 -5.71548798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.46534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-89.73, Y:5.37, Z:-5.72 [[ 9.92282951e-01 1.13625207e-02 -1.23472419e-01 -8.97284115e+01] [-1.07473998e-02 9.99926301e-01 5.64678082e-03 5.37490526e+00] [ 1.23527481e-01 -4.27619689e-03 9.92331938e-01 -5.71649546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-89.76, Y:5.38, Z:-5.72 [[ 9.92520699e-01 8.70760486e-03 -1.21765509e-01 -8.97574819e+01] [-8.08749573e-03 9.99951694e-01 5.58596037e-03 5.37638672e+00] [ 1.21808267e-01 -4.55940326e-03 9.92543177e-01 -5.72085697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.52534707000001 meters Centerline goodness [0,1] 0.9997290462427746 Centerline is valid? [True, True] Translation: X:-89.79, Y:5.38, Z:-5.72 [[ 9.92317775e-01 1.00748526e-02 -1.23304218e-01 -8.97857874e+01] [-9.44447489e-03 9.99939178e-01 5.69582742e-03 5.37848700e+00] [ 1.23354103e-01 -4.48752720e-03 9.92352572e-01 -5.72386298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-89.81, Y:5.37, Z:-5.73 [[ 9.92232755e-01 6.88413916e-03 -1.24204541e-01 -8.98149987e+01] [-6.21445695e-03 9.99963995e-01 5.77840029e-03 5.37353480e+00] [ 1.24239849e-01 -4.96165426e-03 9.92239811e-01 -5.73167425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-89.84, Y:5.37, Z:-5.74 [[ 9.92285738e-01 1.65720172e-03 -1.23960748e-01 -8.98445771e+01] [-9.45412039e-04 9.99982729e-01 5.80066049e-03 5.36933891e+00] [ 1.23968220e-01 -5.63871870e-03 9.92270167e-01 -5.73645778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-89.87, Y:5.37, Z:-5.74 [[ 9.91991419e-01 1.76070531e-04 -1.26305164e-01 -8.98722076e+01] [ 5.75674340e-04 9.99982339e-01 5.91528806e-03 5.37408570e+00] [ 1.26303974e-01 -5.94062564e-03 9.91973798e-01 -5.73765286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.64534707000001 meters Centerline goodness [0,1] 0.9999102575608005 Centerline is valid? [True, True] Translation: X:-89.90, Y:5.37, Z:-5.74 [[ 9.92293947e-01 -4.80293156e-03 -1.23812982e-01 -8.99023494e+01] [ 5.56523371e-03 9.99967625e-01 5.81176258e-03 5.36914221e+00] [ 1.23781060e-01 -6.45602501e-03 9.92288551e-01 -5.74355839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67534707000002 meters Centerline goodness [0,1] 0.9999534970238095 Centerline is valid? [True, True] Translation: X:-89.93, Y:5.37, Z:-5.74 [[ 9.92003643e-01 -6.10543791e-03 -1.26061479e-01 -8.99309695e+01] [ 6.90692464e-03 9.99958613e-01 5.92178667e-03 5.36945250e+00] [ 1.26020106e-01 -6.74513108e-03 9.92004756e-01 -5.74421299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.70534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-89.96, Y:5.37, Z:-5.75 [[ 9.92035943e-01 -5.28997046e-03 -1.25843963e-01 -8.99599193e+01] [ 6.08422502e-03 9.99963920e-01 5.92789901e-03 5.37101243e+00] [ 1.25808064e-01 -6.64635187e-03 9.92032337e-01 -5.74636016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.73534707000002 meters Centerline goodness [0,1] 0.9999099950497278 Centerline is valid? [True, True] Translation: X:-89.99, Y:5.37, Z:-5.75 [[ 9.92155027e-01 -4.41840009e-03 -1.24935506e-01 -8.99884770e+01] [ 5.19944111e-03 9.99968923e-01 5.92616840e-03 5.36541216e+00] [ 1.24905440e-01 -6.52927257e-03 9.92147166e-01 -5.75309090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.76534707000002 meters Centerline goodness [0,1] 0.9998190454648269 Centerline is valid? [True, True] Translation: X:-90.02, Y:5.38, Z:-5.75 [[ 9.92050234e-01 8.92204025e-04 -1.25839331e-01 -9.00166734e+01] [-1.37619170e-04 9.99981960e-01 6.00498106e-03 5.38036613e+00] [ 1.25842419e-01 -5.93992496e-03 9.92032461e-01 -5.75374245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.79534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-90.04, Y:5.39, Z:-5.76 [[ 9.92017933e-01 3.46664763e-03 -1.26049210e-01 -9.00444275e+01] [-2.72965118e-03 9.99978159e-01 6.01914918e-03 5.38719575e+00] [ 1.26067323e-01 -5.62703355e-03 9.92005729e-01 -5.75626961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.82534707 meters Centerline goodness [0,1] 0.9997309417040359 Centerline is valid? [True, True] Translation: X:-90.07, Y:5.39, Z:-5.76 [[ 9.92144556e-01 7.77166996e-03 -1.24855042e-01 -9.00740278e+01] [-7.08135384e-03 9.99957095e-01 5.97180408e-03 5.39393119e+00] [ 1.24896096e-01 -5.04075017e-03 9.92157022e-01 -5.75855852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.85534707000001 meters Centerline goodness [0,1] 0.9999548675362188 Centerline is valid? [True, True] Translation: X:-90.10, Y:5.41, Z:-5.76 [[ 9.92026074e-01 1.38196902e-02 -1.25272844e-01 -9.01028193e+01] [-1.31725942e-02 9.99895281e-01 5.99240922e-03 5.40500995e+00] [ 1.25342539e-01 -4.29445784e-03 9.92104231e-01 -5.76132166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.88534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-90.13, Y:5.41, Z:-5.76 [[ 9.92158512e-01 1.50510650e-02 -1.24076396e-01 -9.01308192e+01] [-1.44253892e-02 9.99878307e-01 5.93957203e-03 5.40954853e+00] [ 1.24150694e-01 -4.10314665e-03 9.92254891e-01 -5.76304757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-90.16, Y:5.41, Z:-5.77 [[ 9.92060981e-01 1.85719818e-02 -1.24378820e-01 -9.01599193e+01] [-1.79684745e-02 9.99820717e-01 5.97231603e-03 5.41123200e+00] [ 1.24467439e-01 -3.69000404e-03 9.92216831e-01 -5.76604117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.94534707000001 meters Centerline goodness [0,1] 0.9998652956759913 Centerline is valid? [True, True] Translation: X:-90.19, Y:5.42, Z:-5.77 [[ 9.92079330e-01 1.91744966e-02 -1.24140817e-01 -9.01875971e+01] [-1.85733945e-02 9.99809510e-01 5.99773123e-03 5.41513021e+00] [ 1.24232173e-01 -3.64450881e-03 9.92246484e-01 -5.76821070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-90.22, Y:5.42, Z:-5.77 [[ 9.91880880e-01 2.12629134e-02 -1.25380253e-01 -9.02150515e+01] [-2.06640235e-02 9.99768017e-01 6.07536585e-03 5.41792513e+00] [ 1.25480347e-01 -3.43517873e-03 9.92090158e-01 -5.77230964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.00534707000001 meters Centerline goodness [0,1] 0.9994656692492653 Centerline is valid? [True, True] Translation: X:-90.24, Y:5.42, Z:-5.78 [[ 9.91872839e-01 2.15912239e-02 -1.25387758e-01 -9.02430737e+01] [-2.09898270e-02 9.99760985e-01 6.11562109e-03 5.41748478e+00] [ 1.25489833e-01 -3.43405111e-03 9.92088962e-01 -5.77562461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-90.27, Y:5.42, Z:-5.78 [[ 9.91775648e-01 2.19866998e-02 -1.26085879e-01 -9.02706336e+01] [-2.13759333e-02 9.99752314e-01 6.19517386e-03 5.41600248e+00] [ 1.26190860e-01 -3.44901924e-03 9.91999985e-01 -5.77981190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.06534707000002 meters Centerline goodness [0,1] 0.9997767657826592 Centerline is valid? [True, True] Translation: X:-90.30, Y:5.42, Z:-5.78 [[ 9.91841625e-01 1.85316959e-02 -1.26122034e-01 -9.02985476e+01] [-1.78877246e-02 9.99820551e-01 6.23666250e-03 5.41748344e+00] [ 1.26214977e-01 -3.92974526e-03 9.91995129e-01 -5.77939808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.09534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-90.33, Y:5.42, Z:-5.78 [[ 9.91886740e-01 1.67788649e-02 -1.26012560e-01 -9.03274449e+01] [-1.61195918e-02 9.99850538e-01 6.24975582e-03 5.41615975e+00] [ 1.26098589e-01 -4.16777890e-03 9.92008959e-01 -5.78113247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.12534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-90.36, Y:5.41, Z:-5.79 [[ 9.91907897e-01 1.61724057e-02 -1.25925285e-01 -9.03556512e+01] [-1.55039923e-02 9.99860044e-01 6.28634601e-03 5.40925780e+00] [ 1.26009326e-01 -4.28313161e-03 9.92019811e-01 -5.79036680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.15534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-90.38, Y:5.41, Z:-5.79 [[ 9.91908520e-01 1.67824331e-02 -1.25840529e-01 -9.03847933e+01] [-1.61146408e-02 9.99850159e-01 6.32283480e-03 5.40751079e+00] [ 1.25927786e-01 -4.24379878e-03 9.92030334e-01 -5.79169533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.18534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-90.41, Y:5.41, Z:-5.79 [[ 9.91957879e-01 1.52974244e-02 -1.25640579e-01 -9.04132119e+01] [-1.46155684e-02 9.99873042e-01 6.34710504e-03 5.40776501e+00] [ 1.25721722e-01 -4.45975238e-03 9.92055522e-01 -5.79381037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.21534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-90.44, Y:5.41, Z:-5.80 [[ 9.91895902e-01 1.67816606e-02 -1.25940045e-01 -9.04417620e+01] [-1.61056610e-02 9.99849915e-01 6.38401246e-03 5.40597302e+00] [ 1.26028277e-01 -4.30392813e-03 9.92017313e-01 -5.79688178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.24534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-90.47, Y:5.41, Z:-5.80 [[ 9.91919593e-01 1.72943494e-02 -1.25683838e-01 -9.04689805e+01] [-1.66208643e-02 9.99841347e-01 6.40531546e-03 5.40741454e+00] [ 1.25774673e-01 -4.26458389e-03 9.92049669e-01 -5.80019980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-90.50, Y:5.41, Z:-5.80 [[ 9.91943048e-01 1.67780251e-02 -1.25568656e-01 -9.04977858e+01] [-1.60985200e-02 9.99849772e-01 6.42429094e-03 5.40570131e+00] [ 1.25657579e-01 -4.35106122e-03 9.92064132e-01 -5.80356716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.30534707000001 meters Centerline goodness [0,1] 0.9999548593869905 Centerline is valid? [True, True] Translation: X:-90.53, Y:5.41, Z:-5.81 [[ 9.91865419e-01 1.91202677e-02 -1.25846759e-01 -9.05266505e+01] [-1.84517908e-02 9.99808781e-01 6.47548159e-03 5.40569295e+00] [ 1.25946508e-01 -4.10070818e-03 9.92028559e-01 -5.80841948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33534707000001 meters Centerline goodness [0,1] 0.9999548593869905 Centerline is valid? [True, True] Translation: X:-90.55, Y:5.41, Z:-5.81 [[ 9.91859208e-01 1.94523570e-02 -1.25844815e-01 -9.05541705e+01] [-1.87817748e-02 9.99802393e-01 6.51307510e-03 5.40685725e+00] [ 1.25946641e-01 -4.09646454e-03 9.92028559e-01 -5.81136079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.36534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-90.58, Y:5.41, Z:-5.81 [[ 9.91843809e-01 1.86835682e-02 -1.26082448e-01 -9.05819081e+01] [-1.79994595e-02 9.99816456e-01 6.56305883e-03 5.40610190e+00] [ 1.26181928e-01 -4.24011335e-03 9.91998056e-01 -5.81477114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-90.61, Y:5.40, Z:-5.82 [[ 9.91801780e-01 1.75771667e-02 -1.26571214e-01 -9.06104148e+01] [-1.68770355e-02 9.99835777e-01 6.60186642e-03 5.40490111e+00] [ 1.26666471e-01 -4.41159598e-03 9.91935554e-01 -5.81512411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.42534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-90.64, Y:5.40, Z:-5.82 [[ 9.91844571e-01 1.70629674e-02 -1.26305985e-01 -9.06392007e+01] [-1.63594963e-02 9.99844359e-01 6.60486604e-03 5.40471948e+00] [ 1.26399026e-01 -4.48469824e-03 9.91969341e-01 -5.81691291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-90.67, Y:5.40, Z:-5.82 [[ 9.91820305e-01 1.76201753e-02 -1.26419980e-01 -9.06674693e+01] [-1.69152787e-02 9.99834830e-01 6.64727296e-03 5.40236680e+00] [ 1.26516225e-01 -4.45447111e-03 9.91954536e-01 -5.82069112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.48534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-90.70, Y:5.40, Z:-5.82 [[ 9.91822166e-01 1.56871715e-02 -1.26659795e-01 -9.06954051e+01] [-1.49589110e-02 9.99865669e-01 6.69892687e-03 5.40044631e+00] [ 1.26747868e-01 -4.74945156e-03 9.91923596e-01 -5.82345350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.51534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-90.72, Y:5.40, Z:-5.82 [[ 9.91736616e-01 1.65161137e-02 -1.27223045e-01 -9.07240423e+01] [-1.57856686e-02 9.99852630e-01 6.74763088e-03 5.39831473e+00] [ 1.27315741e-01 -4.68357178e-03 9.91851181e-01 -5.82445545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.54534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-90.75, Y:5.40, Z:-5.82 [[ 9.91799015e-01 1.35273941e-02 -1.27089433e-01 -9.07528116e+01] [-1.27690542e-02 9.99895487e-01 6.77983127e-03 5.39618436e+00] [ 1.27167864e-01 -5.10141811e-03 9.91868091e-01 -5.82438475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.57534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-90.78, Y:5.40, Z:-5.83 [[ 9.91896894e-01 1.01184521e-02 -1.26641888e-01 -9.07809234e+01] [-9.33620578e-03 9.99933506e-01 6.76889567e-03 5.39589356e+00] [ 1.26701958e-01 -5.53169187e-03 9.91925408e-01 -5.82674306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.60534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-90.81, Y:5.39, Z:-5.83 [[ 9.91858727e-01 1.29663154e-02 -1.26681256e-01 -9.08100387e+01] [-1.22041579e-02 9.99902468e-01 6.79066772e-03 5.39432180e+00] [ 1.26756950e-01 -5.18934499e-03 9.91920232e-01 -5.82946203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-90.84, Y:5.39, Z:-5.83 [[ 9.91847011e-01 1.38060478e-02 -1.26684250e-01 -9.08393015e+01] [-1.30485123e-02 9.99891690e-01 6.80767054e-03 5.39142954e+00] [ 1.26764516e-01 -5.09912669e-03 9.91919733e-01 -5.83494077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.66534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-90.87, Y:5.39, Z:-5.84 [[ 9.91896850e-01 1.37929755e-02 -1.26294864e-01 -9.08671553e+01] [-1.30347619e-02 9.99891731e-01 6.82801215e-03 5.38975213e+00] [ 1.26375368e-01 -5.12646027e-03 9.91969246e-01 -5.83795948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-90.90, Y:5.39, Z:-5.84 [[ 9.91915708e-01 1.43107808e-02 -1.26088979e-01 -9.08956300e+01] [-1.35540896e-02 9.99884626e-01 6.85718398e-03 5.38676571e+00] [ 1.26172564e-01 -5.09272717e-03 9.91995236e-01 -5.84087316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-90.92, Y:5.39, Z:-5.84 [[ 9.91917453e-01 1.38565855e-02 -1.26125975e-01 -9.09240398e+01] [-1.30940132e-02 9.99890647e-01 6.87320797e-03 5.38593657e+00] [ 1.26207422e-01 -5.16615976e-03 9.91990422e-01 -5.84251332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-90.95, Y:5.39, Z:-5.84 [[ 9.91925702e-01 1.15574477e-02 -1.26292623e-01 -9.09516895e+01] [-1.07725188e-02 9.99918193e-01 6.89639575e-03 5.38513667e+00] [ 1.26361996e-01 -5.48022254e-03 9.91969059e-01 -5.84431542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.78534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-90.98, Y:5.39, Z:-5.84 [[ 9.91963953e-01 9.42296436e-03 -1.26169427e-01 -9.09794202e+01] [-8.62055889e-03 9.99939007e-01 6.90425536e-03 5.38580346e+00] [ 1.26226791e-01 -5.76112146e-03 9.91984681e-01 -5.84466483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-91.01, Y:5.38, Z:-5.85 [[ 9.91958501e-01 1.22636132e-02 -1.25967998e-01 -9.10086225e+01] [-1.14840923e-02 9.99910162e-01 6.91261640e-03 5.37905791e+00] [ 1.26041455e-01 -5.41040049e-03 9.92010221e-01 -5.84859607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.84534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-91.04, Y:5.38, Z:-5.85 [[ 9.91838552e-01 9.61984608e-03 -1.27136723e-01 -9.10367026e+01] [-8.79908865e-03 9.99936676e-01 7.01576654e-03 5.38052220e+00] [ 1.27196162e-01 -5.83982043e-03 9.91860390e-01 -5.84932940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.87534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-91.06, Y:5.37, Z:-5.85 [[ 9.91979177e-01 9.24708950e-03 -1.26062699e-01 -9.10648925e+01] [-8.43468479e-03 9.99940089e-01 6.97671740e-03 5.37197524e+00] [ 1.26119661e-01 -5.85745925e-03 9.91997743e-01 -5.85462377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.90534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-91.09, Y:5.37, Z:-5.86 [[ 9.91966821e-01 8.00307569e-03 -1.26244906e-01 -9.10939643e+01] [-7.17231039e-03 9.99949541e-01 7.03377230e-03 5.36779282e+00] [ 1.26294828e-01 -6.07180109e-03 9.91974168e-01 -5.85588520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.93534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-91.12, Y:5.37, Z:-5.85 [[ 9.91876133e-01 1.85150258e-03 -1.27193984e-01 -9.11235327e+01] [-9.53837894e-04 9.99974212e-01 7.11799226e-03 5.36949536e+00] [ 1.27203883e-01 -6.93884419e-03 9.91852320e-01 -5.85251053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.96534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-91.15, Y:5.37, Z:-5.85 [[ 9.92005479e-01 1.79023190e-03 -1.26182112e-01 -9.11516727e+01] [-9.04800563e-04 9.99974569e-01 7.07405542e-03 5.36890378e+00] [ 1.26191567e-01 -6.90333209e-03 9.91981871e-01 -5.85335439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-91.18, Y:5.37, Z:-5.85 [[ 9.92029674e-01 -4.40987666e-03 -1.25927279e-01 -9.11817881e+01] [ 5.34669792e-03 9.99960484e-01 7.10235774e-03 5.36989558e+00] [ 1.25890982e-01 -7.71904475e-03 9.92014051e-01 -5.84854398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-91.21, Y:5.36, Z:-5.86 [[ 9.92060820e-01 2.29538990e-03 -1.25738060e-01 -9.12115962e+01] [-1.41419071e-03 9.99973816e-01 7.09702860e-03 5.36309404e+00] [ 1.25751058e-01 -6.86286642e-03 9.92038090e-01 -5.85831581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-91.24, Y:5.37, Z:-5.86 [[ 9.91983681e-01 -2.84540135e-03 -1.26334005e-01 -9.12409758e+01] [ 3.77655006e-03 9.99967438e-01 7.13162959e-03 5.36676136e+00] [ 1.26309599e-01 -7.55156686e-03 9.91962126e-01 -5.85687866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08534707000001 meters Centerline goodness [0,1] 0.9999483150713252 Centerline is valid? [True, True] Translation: X:-91.27, Y:5.36, Z:-5.86 [[ 9.92164733e-01 1.69132959e-03 -1.24925105e-01 -9.12711219e+01] [-8.15979722e-04 9.99974760e-01 7.05783355e-03 5.35672794e+00] [ 1.24933889e-01 -6.90059719e-03 9.92141071e-01 -5.86431693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11534707000001 meters Centerline goodness [0,1] 0.9998483699772555 Centerline is valid? [True, True] Translation: X:-91.30, Y:5.35, Z:-5.87 [[ 9.92362228e-01 6.28260998e-03 -1.23197962e-01 -9.13009733e+01] [-5.46655631e-03 9.99960831e-01 6.96082860e-03 5.34570168e+00] [ 1.23236868e-01 -6.23419478e-03 9.92357702e-01 -5.87465628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.14534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-91.33, Y:5.35, Z:-5.87 [[ 9.92204570e-01 2.42556308e-03 -1.24596177e-01 -9.13300590e+01] [-1.56010944e-03 9.99973980e-01 7.04317159e-03 5.35151369e+00] [ 1.24610018e-01 -6.79388337e-03 9.92182537e-01 -5.87301149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-91.36, Y:5.35, Z:-5.88 [[ 9.92163198e-01 4.93754456e-03 -1.24851145e-01 -9.13590445e+01] [-4.08692214e-03 9.99966667e-01 7.06830710e-03 5.35078285e+00] [ 1.24881884e-01 -6.50265727e-03 9.92150306e-01 -5.87881649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.20534707000002 meters Centerline goodness [0,1] 0.9997898607827685 Centerline is valid? [True, True] Translation: X:-91.39, Y:5.35, Z:-5.88 [[ 9.92166881e-01 2.26605627e-03 -1.24898939e-01 -9.13891108e+01] [-1.38875741e-03 9.99973754e-01 7.11069039e-03 5.34579283e+00] [ 1.24911774e-01 -6.88153718e-03 9.92143988e-01 -5.87908182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.23534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-91.42, Y:5.34, Z:-5.88 [[ 9.92291771e-01 3.63161738e-03 -1.23870309e-01 -9.14184647e+01] [-2.77477890e-03 9.99971023e-01 7.08904248e-03 5.34352885e+00] [ 1.23892464e-01 -6.69068580e-03 9.92273094e-01 -5.88090589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.26534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-91.45, Y:5.34, Z:-5.88 [[ 9.92398450e-01 5.54453567e-03 -1.22941342e-01 -9.14484437e+01] [-4.71117128e-03 9.99963922e-01 7.06822081e-03 5.34091698e+00] [ 1.22976097e-01 -6.43529366e-03 9.92388768e-01 -5.88435360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.29534707 meters Centerline goodness [0,1] 0.9997350853025326 Centerline is valid? [True, True] Translation: X:-91.48, Y:5.34, Z:-5.88 [[ 9.92435762e-01 4.70142536e-03 -1.22674996e-01 -9.14762170e+01] [-3.86446730e-03 9.99967613e-01 7.05960933e-03 5.34067004e+00] [ 1.22704213e-01 -6.53213526e-03 9.92421789e-01 -5.88467704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.32534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-91.51, Y:5.34, Z:-5.89 [[ 9.92361426e-01 6.62105062e-03 -1.23186697e-01 -9.15050294e+01] [-5.78954425e-03 9.99957987e-01 7.10670942e-03 5.34229341e+00] [ 1.23228576e-01 -6.33922946e-03 9.92358067e-01 -5.88678352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.35534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-91.53, Y:5.35, Z:-5.89 [[ 9.92277326e-01 1.46954746e-02 -1.23165543e-01 -9.15326057e+01] [-1.39216597e-02 9.99877589e-01 7.14102726e-03 5.35449618e+00] [ 1.23255407e-01 -5.37121066e-03 9.92360446e-01 -5.89233514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.38534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-91.56, Y:5.36, Z:-5.90 [[ 9.92044493e-01 2.01827820e-02 -1.24259326e-01 -9.15600304e+01] [-1.94367107e-02 9.99785066e-01 7.21364114e-03 5.36084035e+00] [ 1.24378210e-01 -4.74106039e-03 9.92223555e-01 -5.89628564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-91.59, Y:5.37, Z:-5.90 [[ 9.92072877e-01 2.78583729e-02 -1.22537005e-01 -9.15900019e+01] [-2.71899500e-02 9.99604900e-01 7.12400368e-03 5.36587795e+00] [ 1.22687054e-01 -3.73575579e-03 9.92438376e-01 -5.89985170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-91.62, Y:5.37, Z:-5.90 [[ 9.91946405e-01 3.39936979e-02 -1.22011306e-01 -9.16189551e+01] [-3.33770023e-02 9.99417647e-01 7.09527815e-03 5.37213404e+00] [ 1.22181447e-01 -2.96576401e-03 9.92503349e-01 -5.90252254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-91.65, Y:5.38, Z:-5.91 [[ 9.91573232e-01 4.04780320e-02 -1.23061183e-01 -9.16472601e+01] [-3.98987099e-02 9.99178009e-01 7.16933369e-03 5.37761176e+00] [ 1.23250229e-01 -2.19893693e-03 9.92373189e-01 -5.90740721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.50534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-91.67, Y:5.38, Z:-5.91 [[ 9.91449170e-01 4.03684339e-02 -1.24092433e-01 -9.16747204e+01] [-3.97736602e-02 9.99182284e-01 7.26765984e-03 5.38143052e+00] [ 1.24284345e-01 -2.26990504e-03 9.92244047e-01 -5.91259350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53534707000001 meters Centerline goodness [0,1] 0.9994959169271096 Centerline is valid? [True, True] Translation: X:-91.70, Y:5.37, Z:-5.92 [[ 9.91464057e-01 4.26396694e-02 -1.23210721e-01 -9.17035750e+01] [-4.20676640e-02 9.99088521e-01 7.24147470e-03 5.37495680e+00] [ 1.23407191e-01 -1.99647465e-03 9.92354110e-01 -5.91947582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.56534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-91.73, Y:5.38, Z:-5.91 [[ 9.91929437e-01 3.50053491e-02 -1.21863114e-01 -9.17327760e+01] [-3.43837485e-02 9.99382764e-01 7.20062240e-03 5.37622817e+00] [ 1.22039956e-01 -2.95239867e-03 9.92520797e-01 -5.90903022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.59534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-91.76, Y:5.37, Z:-5.91 [[ 9.92136186e-01 3.62470548e-02 -1.19799584e-01 -9.17616674e+01] [-3.56535958e-02 9.99339029e-01 7.09413155e-03 5.37336733e+00] [ 1.19977541e-01 -2.76705868e-03 9.92772750e-01 -5.90862857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.62534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-91.79, Y:5.37, Z:-5.91 [[ 9.91848229e-01 3.62804084e-02 -1.22150817e-01 -9.17894271e+01] [-3.56607904e-02 9.99337612e-01 7.25566059e-03 5.37488744e+00] [ 1.22333144e-01 -2.84051943e-03 9.92485029e-01 -5.91486832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.65534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-91.82, Y:5.38, Z:-5.92 [[ 9.91610768e-01 3.75477537e-02 -1.23686101e-01 -9.18163250e+01] [-3.69198229e-02 9.99291085e-01 7.36575540e-03 5.37629269e+00] [ 1.23874986e-01 -2.73749342e-03 9.92294056e-01 -5.92226498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.68534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-91.85, Y:5.37, Z:-5.93 [[ 9.91860458e-01 3.38755393e-02 -1.22740702e-01 -9.18453527e+01] [-3.32236856e-02 9.99420883e-01 7.35421423e-03 5.37260658e+00] [ 1.22918749e-01 -3.21645580e-03 9.92411525e-01 -5.92629425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.71534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-91.88, Y:5.38, Z:-5.92 [[ 9.92091797e-01 2.75750875e-02 -1.22447870e-01 -9.18750278e+01] [-2.68741662e-02 9.99611638e-01 7.37243163e-03 5.37907778e+00] [ 1.22603612e-01 -4.02344452e-03 9.92447563e-01 -5.92050396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-91.90, Y:5.37, Z:-5.93 [[ 9.92156312e-01 2.77052915e-02 -1.21894501e-01 -9.19032223e+01] [-2.70104834e-02 9.99608136e-01 7.34908583e-03 5.37452622e+00] [ 1.22050343e-01 -3.99901250e-03 9.92515855e-01 -5.92610905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77534707000001 meters Centerline goodness [0,1] 0.9999458112062426 Centerline is valid? [True, True] Translation: X:-91.93, Y:5.38, Z:-5.93 [[ 9.92279750e-01 2.57297625e-02 -1.21321379e-01 -9.19325775e+01] [-2.50229681e-02 9.99659886e-01 7.34600056e-03 5.37515551e+00] [ 1.21469127e-01 -4.25346660e-03 9.92586097e-01 -5.92830552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.80534707000001 meters Centerline goodness [0,1] 0.9997848421279113 Centerline is valid? [True, True] Translation: X:-91.96, Y:5.37, Z:-5.94 [[ 9.92511028e-01 2.23596464e-02 -1.20091234e-01 -9.19599485e+01] [-2.16402520e-02 9.99739234e-01 7.29134798e-03 5.37237635e+00] [ 1.20222951e-01 -4.63793871e-03 9.92736084e-01 -5.93501719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-91.99, Y:5.37, Z:-5.94 [[ 9.92522835e-01 2.30959115e-02 -1.19854082e-01 -9.19894539e+01] [-2.23826482e-02 9.99722869e-01 7.29404815e-03 5.36672370e+00] [ 1.19989330e-01 -4.55685758e-03 9.92764723e-01 -5.93948148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.86534707000001 meters Centerline goodness [0,1] 0.9994646680942184 Centerline is valid? [True, True] Translation: X:-92.02, Y:5.36, Z:-5.94 [[ 9.92754031e-01 1.71875494e-02 -1.18928639e-01 -9.20191157e+01] [-1.64388289e-02 9.99838416e-01 7.27376075e-03 5.36356328e+00] [ 1.19034440e-01 -5.26600776e-03 9.92876161e-01 -5.94433911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89534707000001 meters Centerline goodness [0,1] 0.9996197718631179 Centerline is valid? [True, True] Translation: X:-92.05, Y:5.36, Z:-5.94 [[ 9.92886243e-01 1.17634201e-02 -1.18484304e-01 -9.20483338e+01] [-1.09812824e-02 9.99913407e-01 7.25190802e-03 5.36444414e+00] [ 1.18559351e-01 -5.89921011e-03 9.92929443e-01 -5.94226401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.92534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-92.08, Y:5.36, Z:-5.95 [[ 9.92896034e-01 7.96830587e-03 -1.18718034e-01 -9.20783596e+01] [-7.15545344e-03 9.99947960e-01 7.27159832e-03 5.35797306e+00] [ 1.18769798e-01 -6.37045977e-03 9.92901381e-01 -5.94648185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95534707000002 meters Centerline goodness [0,1] 0.9997299195160158 Centerline is valid? [True, True] Translation: X:-92.11, Y:5.36, Z:-5.95 [[ 9.92773386e-01 5.10846882e-03 -1.19895406e-01 -9.21066688e+01] [-4.25794892e-03 9.99963931e-01 7.34895709e-03 5.36499652e+00] [ 1.19928624e-01 -6.78534050e-03 9.92759329e-01 -5.95100285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.98534707000002 meters Centerline goodness [0,1] 0.9997824431632764 Centerline is valid? [True, True] Translation: X:-92.13, Y:5.37, Z:-5.96 [[ 9.92791823e-01 4.42237846e-03 -1.19769942e-01 -9.21334528e+01] [-3.56822208e-03 9.99966658e-01 7.34515928e-03 5.36748286e+00] [ 1.19798432e-01 -6.86484832e-03 9.92774501e-01 -5.95825174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.01534707000002 meters Centerline goodness [0,1] 0.9996285881042075 Centerline is valid? [True, True] Translation: X:-92.16, Y:5.36, Z:-5.96 [[ 9.92989213e-01 2.04718896e-03 -1.18187275e-01 -9.21627433e+01] [-1.19699483e-03 9.99972899e-01 7.26415368e-03 5.36163492e+00] [ 1.18198943e-01 -7.07175668e-03 9.92964753e-01 -5.96273971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.04534707 meters Centerline goodness [0,1] 0.999836538985452 Centerline is valid? [True, True] Translation: X:-92.19, Y:5.36, Z:-5.96 [[ 9.93144590e-01 -2.29032651e-03 -1.16869916e-01 -9.21919384e+01] [ 3.15523741e-03 9.99968985e-01 7.21615555e-03 5.36294209e+00] [ 1.16849764e-01 -7.53543817e-03 9.93121015e-01 -5.96286265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.07534707 meters Centerline goodness [0,1] 0.9998880555244599 Centerline is valid? [True, True] Translation: X:-92.22, Y:5.36, Z:-5.96 [[ 9.93204219e-01 -8.30669706e-03 -1.16087802e-01 -9.22221262e+01] [ 9.20135987e-03 9.99931939e-01 7.17299946e-03 5.36238611e+00] [ 1.16020317e-01 -8.19241897e-03 9.93213054e-01 -5.96007132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.10534707000001 meters Centerline goodness [0,1] 0.9995123272825792 Centerline is valid? [True, True] Translation: X:-92.25, Y:5.35, Z:-5.97 [[ 9.92998056e-01 -8.34334578e-03 -1.17835690e-01 -9.22501455e+01] [ 9.26642444e-03 9.99930507e-01 7.28790636e-03 5.35261747e+00] [ 1.17766696e-01 -8.32879236e-03 9.93006363e-01 -5.97446403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13534707000001 meters Centerline goodness [0,1] 0.9996641853696759 Centerline is valid? [True, True] Translation: X:-92.28, Y:5.35, Z:-5.98 [[ 9.92998250e-01 -1.27785562e-02 -1.17435868e-01 -9.22802331e+01] [ 1.37302424e-02 9.99879100e-01 7.29841244e-03 5.35141589e+00] [ 1.17328407e-01 -8.85973372e-03 9.93053649e-01 -5.97613347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16534707000001 meters Centerline goodness [0,1] 0.9997677928712412 Centerline is valid? [True, True] Translation: X:-92.31, Y:5.37, Z:-5.97 [[ 9.93137020e-01 -1.29625404e-02 -1.16236102e-01 -9.23071094e+01] [ 1.38963510e-02 9.99877324e-01 7.22693234e-03 5.37032189e+00] [ 1.16128163e-01 -8.79259173e-03 9.93195318e-01 -5.97251164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19534707000001 meters Centerline goodness [0,1] 0.9999415512303466 Centerline is valid? [True, True] Translation: X:-92.34, Y:5.37, Z:-5.98 [[ 9.93196209e-01 -1.57553768e-02 -1.15382228e-01 -9.23369237e+01] [ 1.66957207e-02 9.99834780e-01 7.18787247e-03 5.36737484e+00] [ 1.15249917e-01 -9.06535714e-03 9.93295161e-01 -5.97533178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22534707000001 meters Centerline goodness [0,1] 0.9999415512303466 Centerline is valid? [True, True] Translation: X:-92.36, Y:5.37, Z:-5.98 [[ 9.93202563e-01 -1.53538320e-02 -1.15381662e-01 -9.23645907e+01] [ 1.62925391e-02 9.99841366e-01 7.19694277e-03 5.36884429e+00] [ 1.15252857e-01 -9.02788224e-03 9.93295161e-01 -5.97830520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25534707000001 meters Centerline goodness [0,1] 0.9995490925487543 Centerline is valid? [True, True] Translation: X:-92.39, Y:5.35, Z:-5.99 [[ 9.93003509e-01 -1.16411857e-02 -1.17509632e-01 -9.23945794e+01] [ 1.25946008e-02 9.99893493e-01 7.37417830e-03 5.35434458e+00] [ 1.17411272e-01 -8.80257183e-03 9.93044364e-01 -5.99043103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.28534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-92.42, Y:5.36, Z:-5.99 [[ 9.92953365e-01 -9.50757385e-03 -1.18123752e-01 -9.24231064e+01] [ 1.04565423e-02 9.99917825e-01 7.41651227e-03 5.35758973e+00] [ 1.18043532e-01 -8.59941682e-03 9.92971185e-01 -5.99245697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31534707000002 meters Centerline goodness [0,1] 0.9998871013265594 Centerline is valid? [True, True] Translation: X:-92.45, Y:5.37, Z:-6.00 [[ 9.92892031e-01 -3.19858614e-03 -1.18975558e-01 -9.24520449e+01] [ 4.11774487e-03 9.99963542e-01 7.48058308e-03 5.36856427e+00] [ 1.18947293e-01 -7.91732233e-03 9.92869003e-01 -5.99630788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.34534707000002 meters Centerline goodness [0,1] 0.9998295938653792 Centerline is valid? [True, True] Translation: X:-92.48, Y:5.38, Z:-5.99 [[ 9.92909687e-01 -4.17766764e-04 -1.18870427e-01 -9.24802711e+01] [ 1.31605189e-03 9.99971170e-01 7.47844498e-03 5.37853192e+00] [ 1.18863876e-01 -7.58186011e-03 9.92881611e-01 -5.99480228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.37534707000002 meters Centerline goodness [0,1] 0.9994915828719919 Centerline is valid? [True, True] Translation: X:-92.51, Y:5.39, Z:-6.00 [[ 9.92774461e-01 6.79718249e-03 -1.19802619e-01 -9.25079909e+01] [-5.93557586e-03 9.99953903e-01 7.54725592e-03 5.39293324e+00] [ 1.19848396e-01 -6.78162540e-03 9.92769042e-01 -6.00497843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.40534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-92.54, Y:5.40, Z:-6.00 [[ 9.93048325e-01 7.99795555e-03 -1.17435330e-01 -9.25365521e+01] [-7.17792126e-03 9.99946827e-01 7.40413966e-03 5.39976302e+00] [ 1.17488304e-01 -6.50972693e-03 9.93052930e-01 -5.99915054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.43534707 meters Centerline goodness [0,1] 0.9999444135630906 Centerline is valid? [True, True] Translation: X:-92.57, Y:5.39, Z:-6.01 [[ 9.92833747e-01 1.15041742e-02 -1.18948753e-01 -9.25661951e+01] [-1.06851812e-02 9.99914629e-01 7.52074846e-03 5.39238920e+00] [ 1.19025118e-01 -6.19586389e-03 9.92871911e-01 -6.00649787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.46534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-92.59, Y:5.41, Z:-6.02 [[ 9.91902549e-01 2.01082992e-02 -1.25399319e-01 -9.25942631e+01] [-1.92649006e-02 9.99782927e-01 7.93489348e-03 5.40716772e+00] [ 1.25531656e-01 -5.45483565e-03 9.92074618e-01 -6.01788086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49534707000001 meters Centerline goodness [0,1] 0.9998885793871867 Centerline is valid? [True, True] Translation: X:-92.62, Y:5.43, Z:-6.02 [[ 9.91706176e-01 2.76513339e-02 -1.25515992e-01 -9.26217798e+01] [-2.68658226e-02 9.99607459e-01 7.94701423e-03 5.43143748e+00] [ 1.25686468e-01 -4.50901270e-03 9.92059767e-01 -6.01611689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.52534707000001 meters Centerline goodness [0,1] 0.9996735226901731 Centerline is valid? [True, True] Translation: X:-92.65, Y:5.43, Z:-6.03 [[ 9.91465548e-01 2.92592525e-02 -1.27043154e-01 -9.26494868e+01] [-2.84656616e-02 9.99562291e-01 8.05806988e-03 5.42955546e+00] [ 1.27223319e-01 -4.37293123e-03 9.91864459e-01 -6.02522375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-92.68, Y:5.43, Z:-6.03 [[ 9.91479430e-01 2.64723430e-02 -1.27545110e-01 -9.26781499e+01] [-2.56436595e-02 9.99638045e-01 8.13516326e-03 5.42933836e+00] [ 1.27714301e-01 -4.79512365e-03 9.91799407e-01 -6.03234404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-92.71, Y:5.44, Z:-6.02 [[ 9.92026093e-01 2.28485519e-02 -1.23944242e-01 -9.27064825e+01] [-2.20367065e-02 9.99725813e-01 7.91726394e-03 5.43776508e+00] [ 1.24091156e-01 -5.12280954e-03 9.92257599e-01 -6.02346819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-92.74, Y:5.43, Z:-6.03 [[ 9.92057365e-01 1.83798389e-02 -1.24436195e-01 -9.27366892e+01] [-1.75248028e-02 9.99814723e-01 7.96250566e-03 5.43457686e+00] [ 1.24559489e-01 -5.71854261e-03 9.92195662e-01 -6.02705308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.64534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-92.77, Y:5.43, Z:-6.03 [[ 9.92064912e-01 1.32043407e-02 -1.25031422e-01 -9.27665205e+01] [-1.22997412e-02 9.99892319e-01 8.00420566e-03 5.43401854e+00] [ 1.25123649e-01 -6.40283745e-03 9.92120495e-01 -6.03102445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-92.80, Y:5.43, Z:-6.04 [[ 9.91900574e-01 7.69559727e-03 -1.26783397e-01 -9.27955019e+01] [-6.71990235e-03 9.99944439e-01 8.12168409e-03 5.43112691e+00] [ 1.26838854e-01 -7.20393106e-03 9.91897176e-01 -6.04054659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.70534707000002 meters Centerline goodness [0,1] 0.9983837077743656 Centerline is valid? [True, True] Translation: X:-92.83, Y:5.42, Z:-6.04 [[ 9.91985308e-01 -9.07572380e-03 -1.26026906e-01 -9.28259606e+01] [ 1.01740501e-02 9.99915645e-01 8.07406958e-03 5.41548337e+00] [ 1.25942997e-01 -9.29156245e-03 9.91993966e-01 -6.04458082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.73534707000002 meters Centerline goodness [0,1] 0.995385951579633 Centerline is valid? [True, True] Translation: X:-92.86, Y:5.41, Z:-6.04 [[ 9.91761205e-01 -2.36255421e-02 -1.25902919e-01 -9.28554687e+01] [ 2.48382993e-02 9.99658900e-01 8.07112526e-03 5.41098909e+00] [ 1.25669289e-01 -1.11318433e-02 9.92009734e-01 -6.04407209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.76534707000002 meters Centerline goodness [0,1] 0.9752488712397324 Centerline is valid? [True, True] Translation: X:-92.89, Y:5.40, Z:-6.05 [[ 9.91232896e-01 -3.99884745e-02 -1.25929611e-01 -9.28862084e+01] [ 4.13325698e-02 9.99112792e-01 8.07757930e-03 5.39796256e+00] [ 1.25494875e-01 -1.32117568e-02 9.92006293e-01 -6.04585603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.79534707 meters Centerline goodness [0,1] 0.9860213271451461 Centerline is valid? [True, True] Translation: X:-92.91, Y:5.41, Z:-6.04 [[ 9.90713516e-01 -5.54981677e-02 -1.24123655e-01 -9.29149450e+01] [ 5.69236648e-02 9.98346762e-01 7.96486463e-03 5.41023847e+00] [ 1.23476414e-01 -1.49564724e-02 9.92234790e-01 -6.04293204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.82534707 meters Centerline goodness [0,1] 0.8640375377052844 Centerline is valid? [True, False] Translation: X:-92.91, Y:5.41, Z:-6.04 [[ 9.90376504e-01 -5.93797743e-02 -1.25013692e-01 -9.29113806e+01] [ 6.09615890e-02 9.98100767e-01 8.86244587e-03 5.40731917e+00] [ 1.24250012e-01 -1.63981915e-02 9.92115434e-01 -6.04032335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.85534707000001 meters Centerline goodness [0,1] 0.8608999945322324 Centerline is valid? [False, False] Translation: X:-92.89, Y:5.41, Z:-6.04 [[ 9.89890592e-01 -6.87275307e-02 -1.24069101e-01 -9.28938515e+01] [ 7.09380266e-02 9.97389602e-01 1.34824923e-02 5.41319334e+00] [ 1.22818613e-01 -2.21474094e-02 9.92181980e-01 -6.03606860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.88534707000001 meters Centerline goodness [0,1] 0.8638459452129102 Centerline is valid? [False, False] Translation: X:-92.88, Y:5.42, Z:-6.03 [[ 9.89954457e-01 -6.18120354e-02 -1.27159136e-01 -9.28836051e+01] [ 6.49281098e-02 9.97679268e-01 2.05041138e-02 5.42176479e+00] [ 1.25596633e-01 -2.85543412e-02 9.91670376e-01 -6.02505812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91534707000001 meters Centerline goodness [0,1] 0.8694413077378071 Centerline is valid? [False, False] Translation: X:-92.89, Y:5.43, Z:-6.02 [[ 9.90388391e-01 -4.85134427e-02 -1.29527142e-01 -9.28859638e+01] [ 5.11591448e-02 9.98542813e-01 1.71753473e-02 5.43231445e+00] [ 1.28505162e-01 -2.36367624e-02 9.91427116e-01 -6.02430067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94534707000001 meters Centerline goodness [0,1] 0.9537670325009279 Centerline is valid? [False, True] Translation: X:-92.91, Y:5.45, Z:-6.02 [[ 9.90638653e-01 -2.73124499e-02 -1.33750100e-01 -9.29056251e+01] [ 3.15450600e-02 9.99063074e-01 2.96291039e-02 5.44867818e+00] [ 1.32815543e-01 -3.35708905e-02 9.90572070e-01 -6.02189471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97534707000001 meters Centerline goodness [0,1] 0.9785979360479894 Centerline is valid? [True, True] Translation: X:-92.93, Y:5.46, Z:-6.05 [[ 9.90263771e-01 -8.51630681e-03 -1.38942927e-01 -9.29301723e+01] [ 1.04041946e-02 9.99863089e-01 1.28668378e-02 5.46499988e+00] [ 1.38814326e-01 -1.41871526e-02 9.90216798e-01 -6.05030067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.00534707000001 meters Centerline goodness [0,1] 0.9878305068178486 Centerline is valid? [True, True] Translation: X:-92.96, Y:5.49, Z:-6.06 [[ 9.90019479e-01 1.58738029e-02 -1.40033761e-01 -9.29575786e+01] [-1.41962910e-02 9.99815103e-01 1.29701817e-02 5.48773291e+00] [ 1.40213756e-01 -1.08527725e-02 9.90061776e-01 -6.06282110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03534707000001 meters Centerline goodness [0,1] 0.9982928494780997 Centerline is valid? [True, True] Translation: X:-92.99, Y:5.51, Z:-6.06 [[ 9.89720269e-01 2.37916439e-02 -1.41023926e-01 -9.29850577e+01] [-2.21688996e-02 9.99668842e-01 1.30669730e-02 5.50568739e+00] [ 1.41288109e-01 -9.80630276e-03 9.89919950e-01 -6.06422809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.06534707000002 meters Centerline goodness [0,1] 0.9999511313101695 Centerline is valid? [True, True] Translation: X:-93.01, Y:5.53, Z:-6.07 [[ 9.88817384e-01 4.01447231e-02 -1.43626535e-01 -9.30114908e+01] [-3.86310079e-02 9.99164848e-01 1.33135842e-02 5.53109536e+00] [ 1.44041055e-01 -7.61626570e-03 9.89542403e-01 -6.06932954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.09534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-93.04, Y:5.54, Z:-6.07 [[ 9.88711758e-01 4.71192571e-02 -1.42228112e-01 -9.30407358e+01] [-4.57059586e-02 9.98867863e-01 1.31893264e-02 5.54087645e+00] [ 1.42688561e-01 -6.53976992e-03 9.89746031e-01 -6.06803809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.12534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-93.07, Y:5.55, Z:-6.07 [[ 9.88551419e-01 5.30796531e-02 -1.41239666e-01 -9.30708583e+01] [-5.17461627e-02 9.98574346e-01 1.30999838e-02 5.54757186e+00] [ 1.41733650e-01 -5.64139681e-03 9.89888755e-01 -6.06539683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.15534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-93.10, Y:5.56, Z:-6.07 [[ 9.87306086e-01 6.86298225e-02 -1.43236310e-01 -9.30987009e+01] [-6.74195839e-02 9.97636174e-01 1.32915183e-02 5.56245065e+00] [ 1.43809919e-01 -3.46586452e-03 9.89599260e-01 -6.07115550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.18534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-93.13, Y:5.58, Z:-6.07 [[ 9.86354924e-01 8.09291701e-02 -1.43368175e-01 -9.31268130e+01] [-7.98444217e-02 9.96718432e-01 1.33129752e-02 5.57623417e+00] [ 1.43975110e-01 -1.68416962e-03 9.89579876e-01 -6.06946655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.21534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-93.15, Y:5.59, Z:-6.07 [[ 9.85415463e-01 8.97639962e-02 -1.44564137e-01 -9.31540912e+01] [-8.87534885e-02 9.95962979e-01 1.34373377e-02 5.58717102e+00] [ 1.45186718e-01 -4.10788830e-04 9.89404188e-01 -6.07315045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-93.18, Y:5.60, Z:-6.08 [[ 9.84031957e-01 1.00304866e-01 -1.47037554e-01 -9.31811168e+01] [-9.93715574e-02 9.94956106e-01 1.36982042e-02 5.59842227e+00] [ 1.47669909e-01 1.13188004e-03 9.89036054e-01 -6.07987694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27534707000001 meters Centerline goodness [0,1] 0.9998576647530484 Centerline is valid? [True, True] Translation: X:-93.21, Y:5.61, Z:-6.08 [[ 9.82819715e-01 1.09618363e-01 -1.48489805e-01 -9.32092975e+01] [-1.08765419e-01 9.93970576e-01 1.38772451e-02 5.61185049e+00] [ 1.49115698e-01 2.51172581e-03 9.88816565e-01 -6.08445021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.30534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-93.24, Y:5.62, Z:-6.09 [[ 9.82210213e-01 1.13767335e-01 -1.49399100e-01 -9.32366577e+01] [-1.12945931e-01 9.93502509e-01 1.39993179e-02 5.61771641e+00] [ 1.50021046e-01 3.12374741e-03 9.88677869e-01 -6.08772805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33534707000001 meters Centerline goodness [0,1] 0.999951413856768 Centerline is valid? [True, True] Translation: X:-93.26, Y:5.62, Z:-6.09 [[ 9.81855267e-01 1.16240746e-01 -1.49827647e-01 -9.32642038e+01] [-1.15440588e-01 9.93214920e-01 1.40567756e-02 5.62142768e+00] [ 1.50445025e-01 3.49447262e-03 9.88612201e-01 -6.09041722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.36534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-93.29, Y:5.63, Z:-6.10 [[ 9.81596818e-01 1.16965760e-01 -1.50952631e-01 -9.32922102e+01] [-1.16158143e-01 9.93129395e-01 1.41877017e-02 5.62536627e+00] [ 1.51574971e-01 3.60777446e-03 9.88439180e-01 -6.09661167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-93.32, Y:5.63, Z:-6.10 [[ 9.81839785e-01 1.15462726e-01 -1.50529051e-01 -9.33206543e+01] [-1.14634609e-01 9.93306276e-01 1.41967958e-02 5.62665646e+00] [ 1.51160652e-01 3.31686000e-03 9.88503645e-01 -6.09691678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.42534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-93.35, Y:5.63, Z:-6.10 [[ 9.82163738e-01 1.12794113e-01 -1.50438960e-01 -9.33488562e+01] [-1.11928640e-01 9.93614275e-01 1.42356048e-02 5.62794067e+00] [ 1.51083991e-01 2.85673344e-03 9.88516802e-01 -6.10444862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.45534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-93.38, Y:5.63, Z:-6.11 [[ 9.82382656e-01 1.10806624e-01 -1.50486576e-01 -9.33766960e+01] [-1.09911241e-01 9.93838813e-01 1.42805240e-02 5.62808580e+00] [ 1.51141777e-01 2.51122715e-03 9.88508906e-01 -6.10855707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.48534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-93.40, Y:5.63, Z:-6.12 [[ 9.82782648e-01 1.06609525e-01 -1.50906179e-01 -9.34045290e+01] [-1.05657235e-01 9.94299238e-01 1.43378650e-02 5.62704902e+00] [ 1.51574452e-01 1.85332470e-03 9.88444106e-01 -6.11660217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.51534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-93.43, Y:5.63, Z:-6.12 [[ 9.83271760e-01 1.01682037e-01 -1.51120510e-01 -9.34324930e+01] [-1.00666441e-01 9.94816366e-01 1.43758534e-02 5.62519309e+00] [ 1.51798922e-01 1.07739313e-03 9.88410809e-01 -6.11972904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.54534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-93.46, Y:5.62, Z:-6.13 [[ 9.83764003e-01 9.70529772e-02 -1.50960610e-01 -9.34610309e+01] [-9.59814956e-02 9.95279160e-01 1.43856412e-02 5.62359983e+00] [ 1.51644118e-01 3.37349060e-04 9.88435100e-01 -6.12545066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.57534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-93.49, Y:5.62, Z:-6.13 [[ 9.84327823e-01 9.14500318e-02 -1.50783385e-01 -9.34894134e+01] [-9.03080014e-02 9.95809500e-01 1.44189100e-02 5.61875871e+00] [ 1.51470137e-01 -5.75988153e-04 9.88461666e-01 -6.13151041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.60534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-93.52, Y:5.62, Z:-6.14 [[ 9.84472646e-01 9.06299289e-02 -1.50332384e-01 -9.35182208e+01] [-8.94774085e-02 9.95884356e-01 1.44271467e-02 5.61903654e+00] [ 1.51021200e-01 -7.51779134e-04 9.88530238e-01 -6.13611836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-93.55, Y:5.62, Z:-6.13 [[ 9.84440263e-01 8.86791566e-02 -1.51701598e-01 -9.35461601e+01] [-8.74763610e-02 9.96059635e-01 1.45975822e-02 5.61912024e+00] [ 1.52398340e-01 -1.10014394e-03 9.88318540e-01 -6.13486075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.66534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-93.57, Y:5.62, Z:-6.15 [[ 9.84408216e-01 8.78591318e-02 -1.52385162e-01 -9.35744290e+01] [-8.66315525e-02 9.96132113e-01 1.46896892e-02 5.61895100e+00] [ 1.53086377e-01 -1.25928757e-03 9.88212009e-01 -6.14569180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-93.60, Y:5.62, Z:-6.15 [[ 9.84449030e-01 8.70524124e-02 -1.52584354e-01 -9.36027620e+01] [-8.58055736e-02 9.96202709e-01 1.47501058e-02 5.62187268e+00] [ 1.53288979e-01 -1.42813931e-03 9.88180373e-01 -6.14590329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-93.63, Y:5.63, Z:-6.15 [[ 9.83795780e-01 9.12164214e-02 -1.54354876e-01 -9.36297706e+01] [-8.99883581e-02 9.95830765e-01 1.49392872e-02 5.62709879e+00] [ 1.55074042e-01 -8.07065890e-04 9.87902521e-01 -6.15108575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-93.66, Y:5.63, Z:-6.15 [[ 9.83520597e-01 9.38985077e-02 -1.54500182e-01 -9.36569081e+01] [-9.26977446e-02 9.95581692e-01 1.49740544e-02 5.63173269e+00] [ 1.55223594e-01 -4.05472510e-04 9.87879280e-01 -6.15336182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.78534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-93.68, Y:5.64, Z:-6.16 [[ 9.83285257e-01 9.82711706e-02 -1.53273872e-01 -9.36848411e+01] [-9.71371792e-02 9.95159643e-01 1.48880353e-02 5.63552355e+00] [ 1.53995037e-01 2.49405925e-04 9.88071590e-01 -6.15869022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-93.71, Y:5.64, Z:-6.17 [[ 9.82984976e-01 1.01722120e-01 -1.52948183e-01 -9.37122535e+01] [-1.00626217e-01 9.94812581e-01 1.49095279e-02 5.63977179e+00] [ 1.53671406e-01 7.34755113e-04 9.88121733e-01 -6.16520963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.84534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-93.74, Y:5.64, Z:-6.17 [[ 9.82748318e-01 1.05066773e-01 -1.52206166e-01 -9.37391533e+01] [-1.04012982e-01 9.94464449e-01 1.48915611e-02 5.64373742e+00] [ 1.52928229e-01 1.19676053e-03 9.88236573e-01 -6.17272579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.87534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-93.77, Y:5.64, Z:-6.17 [[ 9.82768185e-01 1.04543111e-01 -1.52438293e-01 -9.37668742e+01] [-1.03471304e-01 9.94519789e-01 1.49692530e-02 5.64376615e+00] [ 1.53167832e-01 1.06168336e-03 9.88199620e-01 -6.17252513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.90534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-93.80, Y:5.64, Z:-6.18 [[ 9.83049105e-01 1.01124733e-01 -1.52932162e-01 -9.37955043e+01] [-9.99961900e-02 9.94873642e-01 1.50731300e-02 5.64143137e+00] [ 1.53672443e-01 4.75006589e-04 9.88121731e-01 -6.17729030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.93534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-93.82, Y:5.64, Z:-6.18 [[ 9.83311779e-01 9.79807212e-02 -1.53289672e-01 -9.38238382e+01] [-9.68016493e-02 9.95188311e-01 1.51547489e-02 5.64038219e+00] [ 1.54036963e-01 -6.31500635e-05 9.88065084e-01 -6.18044488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.96534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-93.85, Y:5.64, Z:-6.19 [[ 9.83598941e-01 9.46635717e-02 -1.53531531e-01 -9.38524985e+01] [-9.34364963e-02 9.95509134e-01 1.52047687e-02 5.63763345e+00] [ 1.54281379e-01 -6.09946072e-04 9.88026763e-01 -6.18807135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99534707000001 meters Centerline goodness [0,1] 0.9998535871156662 Centerline is valid? [True, True] Translation: X:-93.88, Y:5.63, Z:-6.20 [[ 9.83821906e-01 9.18079275e-02 -1.53836800e-01 -9.38811793e+01] [-9.05335331e-02 9.95776116e-01 1.52841739e-02 5.63422335e+00] [ 1.54590220e-01 -1.10951604e-03 9.87978053e-01 -6.19507915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.02534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-93.91, Y:5.63, Z:-6.20 [[ 9.83953475e-01 9.02610237e-02 -1.53910713e-01 -9.39100237e+01] [-8.89595331e-02 9.95917161e-01 1.53365593e-02 5.63123613e+00] [ 1.54666613e-01 -1.39863563e-03 9.87965729e-01 -6.19832779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-93.94, Y:5.63, Z:-6.19 [[ 9.84632468e-01 8.57069283e-02 -1.52161841e-01 -9.39387233e+01] [-8.43749035e-02 9.96318116e-01 1.52015502e-02 5.63060898e+00] [ 1.52904477e-01 -2.12929926e-03 9.88238679e-01 -6.19095873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-93.97, Y:5.63, Z:-6.21 [[ 9.84567060e-01 8.72365307e-02 -1.51715168e-01 -9.39661512e+01] [-8.59263101e-02 9.96185790e-01 1.51835693e-02 5.62985300e+00] [ 1.52461057e-01 -1.91291756e-03 9.88307628e-01 -6.20678860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-93.99, Y:5.63, Z:-6.21 [[ 9.84208349e-01 9.00397729e-02 -1.52403295e-01 -9.39935516e+01] [-8.87441897e-02 9.95936996e-01 1.52960500e-02 5.63338597e+00] [ 1.53161333e-01 -1.52959324e-03 9.88200013e-01 -6.21027456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.14534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-94.02, Y:5.64, Z:-6.21 [[ 9.84178198e-01 9.03729388e-02 -1.52400811e-01 -9.40209575e+01] [-8.90774997e-02 9.95906860e-01 1.53207624e-02 5.63587950e+00] [ 1.53161595e-01 -1.50287720e-03 9.88200014e-01 -6.21346467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-94.05, Y:5.64, Z:-6.21 [[ 9.83931035e-01 9.21168968e-02 -1.52951615e-01 -9.40487511e+01] [-9.08261736e-02 9.95747377e-01 1.54196958e-02 5.64171521e+00] [ 1.53721584e-01 -1.27990734e-03 9.88113372e-01 -6.21312200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.20534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-94.08, Y:5.65, Z:-6.22 [[ 9.82903712e-01 9.99737877e-02 -1.54614146e-01 -9.40764893e+01] [-9.87471631e-02 9.94990068e-01 1.56128838e-02 5.64733561e+00] [ 1.55400419e-01 -7.82531149e-05 9.87851560e-01 -6.22430925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.23534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-94.10, Y:5.65, Z:-6.23 [[ 9.82113736e-01 1.05619442e-01 -1.55875409e-01 -9.41041159e+01] [-1.04435385e-01 9.94406324e-01 1.57896264e-02 5.65493047e+00] [ 1.56671184e-01 7.71699472e-04 9.87650517e-01 -6.22605894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.26534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-94.13, Y:5.66, Z:-6.24 [[ 9.81583880e-01 1.10507688e-01 -1.55824060e-01 -9.41317500e+01] [-1.09377846e-01 9.93874134e-01 1.58332596e-02 5.66095602e+00] [ 1.56619200e-01 1.50202765e-03 9.87657922e-01 -6.23538074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.29534707 meters Centerline goodness [0,1] 0.9999516394235419 Centerline is valid? [True, True] Translation: X:-94.16, Y:5.66, Z:-6.24 [[ 9.81972593e-01 1.08780266e-01 -1.54585513e-01 -9.41606619e+01] [-1.07639636e-01 9.94065133e-01 1.57550193e-02 5.66328818e+00] [ 1.55381904e-01 1.16853123e-03 9.87853784e-01 -6.23680472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.32534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-94.19, Y:5.66, Z:-6.24 [[ 9.81805418e-01 1.10404336e-01 -1.54495965e-01 -9.41881598e+01] [-1.09277492e-01 9.93885802e-01 1.57937364e-02 5.66362797e+00] [ 1.55295043e-01 1.37655564e-03 9.87867175e-01 -6.23725658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.35534707000001 meters Centerline goodness [0,1] 0.9999514916323066 Centerline is valid? [True, True] Translation: X:-94.22, Y:5.66, Z:-6.24 [[ 9.82082721e-01 1.09854266e-01 -1.53119458e-01 -9.42157903e+01] [-1.08734214e-01 9.93946938e-01 1.56957115e-02 5.66224194e+00] [ 1.53916857e-01 1.23483688e-03 9.88083031e-01 -6.24058086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.38534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-94.24, Y:5.66, Z:-6.24 [[ 9.82144062e-01 1.09847670e-01 -1.52730257e-01 -9.42445575e+01] [-1.08730624e-01 9.93947693e-01 1.56727397e-02 5.66115036e+00] [ 1.53527500e-01 1.21356793e-03 9.88143630e-01 -6.23900708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-94.27, Y:5.66, Z:-6.24 [[ 9.82094385e-01 1.10058062e-01 -1.52898144e-01 -9.42722758e+01] [-1.08937480e-01 9.93924405e-01 1.57131159e-02 5.65899764e+00] [ 1.53698552e-01 1.22457558e-03 9.88117025e-01 -6.23999268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-94.30, Y:5.66, Z:-6.25 [[ 9.81852446e-01 1.11389006e-01 -1.53487015e-01 -9.43011364e+01] [-1.10270226e-01 9.93775892e-01 1.58099245e-02 5.66003635e+00] [ 1.54292747e-01 1.40203465e-03 9.88024181e-01 -6.24646388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-94.33, Y:5.66, Z:-6.25 [[ 9.81217302e-01 1.15363539e-01 -1.54608730e-01 -9.43300102e+01] [-1.14272234e-01 9.93321305e-01 1.59574946e-02 5.66110733e+00] [ 1.55417059e-01 2.00971514e-03 9.87846901e-01 -6.25078751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.50534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-94.36, Y:5.66, Z:-6.26 [[ 9.81416631e-01 1.14076793e-01 -1.54298030e-01 -9.43581544e+01] [-1.12967486e-01 9.93470376e-01 1.59674425e-02 5.66115573e+00] [ 1.55112037e-01 1.75994689e-03 9.87895318e-01 -6.25609853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-94.39, Y:5.66, Z:-6.27 [[ 9.81000655e-01 1.16816872e-01 -1.54892008e-01 -9.43860899e+01] [-1.15728699e-01 9.93151090e-01 1.60555389e-02 5.66416618e+00] [ 1.55706724e-01 2.17495636e-03 9.87800934e-01 -6.26665774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.56534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-94.41, Y:5.66, Z:-6.27 [[ 9.80740507e-01 1.18128893e-01 -1.55542995e-01 -9.44143298e+01] [-1.17041253e-01 9.92995487e-01 1.61650453e-02 5.66296801e+00] [ 1.56363051e-01 2.35123238e-03 9.87696850e-01 -6.26750351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.59534707000002 meters Centerline goodness [0,1] 0.9995405350214417 Centerline is valid? [True, True] Translation: X:-94.44, Y:5.66, Z:-6.26 [[ 9.81114719e-01 1.16656716e-01 -1.54289075e-01 -9.44430139e+01] [-1.15565849e-01 9.93170114e-01 1.60517407e-02 5.65999337e+00] [ 1.55107842e-01 2.08194893e-03 9.87895350e-01 -6.26494157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.62534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-94.47, Y:5.66, Z:-6.28 [[ 9.80955690e-01 1.17613496e-01 -1.54573605e-01 -9.44709143e+01] [-1.16526091e-01 9.93056988e-01 1.61086510e-02 5.66289998e+00] [ 1.55394994e-01 2.20998511e-03 9.87849944e-01 -6.27512199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.65534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-94.50, Y:5.66, Z:-6.27 [[ 9.80562161e-01 1.19594436e-01 -1.55547481e-01 -9.44992989e+01] [-1.18511046e-01 9.92819692e-01 1.62539672e-02 5.66173849e+00] [ 1.56374486e-01 2.49606962e-03 9.87694684e-01 -6.27360809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.68534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-94.53, Y:5.66, Z:-6.28 [[ 9.80649120e-01 1.19867001e-01 -1.54787616e-01 -9.45271491e+01] [-1.18794699e-01 9.92786790e-01 1.61928868e-02 5.66190693e+00] [ 1.55612093e-01 2.50840807e-03 9.87815056e-01 -6.27727209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.71534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-94.55, Y:5.66, Z:-6.29 [[ 9.80401686e-01 1.20568716e-01 -1.55806670e-01 -9.45549009e+01] [-1.19486478e-01 9.92701556e-01 1.63279775e-02 5.66397714e+00] [ 1.56638167e-01 2.60881356e-03 9.87652610e-01 -6.28552652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.74534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-94.58, Y:5.67, Z:-6.29 [[ 9.80294157e-01 1.21856656e-01 -1.55480937e-01 -9.45827156e+01] [-1.20786431e-01 9.92543889e-01 1.63482825e-02 5.66651865e+00] [ 1.56313801e-01 2.75386171e-03 9.87703605e-01 -6.29066263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77534707000001 meters Centerline goodness [0,1] 0.9997 Centerline is valid? [True, True] Translation: X:-94.61, Y:5.67, Z:-6.30 [[ 9.80183646e-01 1.22534467e-01 -1.55644868e-01 -9.46105054e+01] [-1.21461597e-01 9.92460284e-01 1.64214897e-02 5.66698735e+00] [ 1.56483548e-01 2.80879866e-03 9.87676571e-01 -6.29894786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80534707000001 meters Centerline goodness [0,1] 0.9998477311948025 Centerline is valid? [True, True] Translation: X:-94.64, Y:5.66, Z:-6.30 [[ 9.79913446e-01 1.23762166e-01 -1.56373157e-01 -9.46396132e+01] [-1.22686102e-01 9.92307481e-01 1.65524754e-02 5.66456659e+00] [ 1.57218823e-01 2.96481976e-03 9.87559341e-01 -6.29666425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83534707000001 meters Centerline goodness [0,1] 0.9997456635637622 Centerline is valid? [True, True] Translation: X:-94.67, Y:5.67, Z:-6.30 [[ 9.79977864e-01 1.24144628e-01 -1.55664695e-01 -9.46678674e+01] [-1.23075255e-01 9.92259712e-01 1.65271049e-02 5.66654315e+00] [ 1.56511557e-01 2.96227517e-03 9.87671685e-01 -6.30256395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.86534707000001 meters Centerline goodness [0,1] 0.9997959079544875 Centerline is valid? [True, True] Translation: X:-94.70, Y:5.67, Z:-6.30 [[ 9.80221041e-01 1.22925112e-01 -1.55100377e-01 -9.46963585e+01] [-1.21841741e-01 9.92412235e-01 1.65089694e-02 5.66642695e+00] [ 1.55952879e-01 2.71526067e-03 9.87760764e-01 -6.30308271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89534707000001 meters Centerline goodness [0,1] 0.9998451612903225 Centerline is valid? [True, True] Translation: X:-94.72, Y:5.67, Z:-6.31 [[ 9.79819417e-01 1.25578312e-01 -1.55512046e-01 -9.47242161e+01] [-1.24519468e-01 9.92078780e-01 1.65709767e-02 5.66674255e+00] [ 1.56361156e-01 3.12771247e-03 9.87694997e-01 -6.30658143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.92534707000002 meters Centerline goodness [0,1] 0.9997444024128412 Centerline is valid? [True, True] Translation: X:-94.75, Y:5.67, Z:-6.32 [[ 9.79811929e-01 1.26174491e-01 -1.55076050e-01 -9.47518441e+01] [-1.25124706e-01 9.92002947e-01 1.65517976e-02 5.67162746e+00] [ 1.55924313e-01 3.18619637e-03 9.87763867e-01 -6.31664147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95534707000002 meters Centerline goodness [0,1] 0.9997959600081616 Centerline is valid? [True, True] Translation: X:-94.78, Y:5.67, Z:-6.32 [[ 9.79383825e-01 1.28415284e-01 -1.55938571e-01 -9.47804783e+01] [-1.27374709e-01 9.91714245e-01 1.66894990e-02 5.67208508e+00] [ 1.56789689e-01 3.51720479e-03 9.87625750e-01 -6.31723169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.98534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-94.81, Y:5.68, Z:-6.33 [[ 9.79276387e-01 1.29656781e-01 -1.55585591e-01 -9.48070878e+01] [-1.28631145e-01 9.91552129e-01 1.66854417e-02 5.67742050e+00] [ 1.56434605e-01 3.67349374e-03 9.87681487e-01 -6.32568183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.01534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-94.83, Y:5.68, Z:-6.33 [[ 9.79106330e-01 1.31196044e-01 -1.55365352e-01 -9.48346671e+01] [-1.30185191e-01 9.91348902e-01 1.67084250e-02 5.67943975e+00] [ 1.56213350e-01 3.86694323e-03 9.87715767e-01 -6.33096722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.04534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-94.86, Y:5.68, Z:-6.33 [[ 9.78851715e-01 1.31951810e-01 -1.56326707e-01 -9.48631675e+01] [-1.30934817e-01 9.91248090e-01 1.68314780e-02 5.67782218e+00] [ 1.57179494e-01 3.99308769e-03 9.87561979e-01 -6.32741092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.07534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-94.89, Y:5.68, Z:-6.34 [[ 9.78881424e-01 1.31189230e-01 -1.56781836e-01 -9.48898320e+01] [-1.30152264e-01 9.91349850e-01 1.69075052e-02 5.68042620e+00] [ 1.57643732e-01 3.85506813e-03 9.87488528e-01 -6.33591928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.10534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-94.92, Y:5.68, Z:-6.34 [[ 9.78522175e-01 1.33281253e-01 -1.57259215e-01 -9.49175038e+01] [-1.32259534e-01 9.91069473e-01 1.69916516e-02 5.68361407e+00] [ 1.58119476e-01 4.17232263e-03 9.87411172e-01 -6.34461175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-94.95, Y:5.68, Z:-6.35 [[ 9.78384182e-01 1.33854528e-01 -1.57630446e-01 -9.49464539e+01] [-1.32827362e-01 9.90991984e-01 1.70815629e-02 5.68476638e+00] [ 1.58496953e-01 4.22530547e-03 9.87350425e-01 -6.34959062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.16534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-94.97, Y:5.68, Z:-6.35 [[ 9.78518047e-01 1.32733244e-01 -1.57747641e-01 -9.49747307e+01] [-1.31683239e-01 9.91143710e-01 1.71368260e-02 5.68332805e+00] [ 1.58625208e-01 4.00402670e-03 9.87330751e-01 -6.34935638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19534707000001 meters Centerline goodness [0,1] 0.9998960120626007 Centerline is valid? [True, True] Translation: X:-95.00, Y:5.68, Z:-6.36 [[ 9.78803431e-01 1.31378150e-01 -1.57110234e-01 -9.50030648e+01] [-1.30313911e-01 9.91325291e-01 1.71012368e-02 5.68433908e+00] [ 1.57994077e-01 3.73489982e-03 9.87432996e-01 -6.35561010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-95.03, Y:5.69, Z:-6.37 [[ 9.78589105e-01 1.32489323e-01 -1.57511724e-01 -9.50308815e+01] [-1.31425900e-01 9.91176860e-01 1.71948938e-02 5.68950093e+00] [ 1.58400116e-01 3.87438436e-03 9.87367405e-01 -6.36790697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-95.06, Y:5.69, Z:-6.37 [[ 9.78745302e-01 1.31585646e-01 -1.57298606e-01 -9.50594175e+01] [-1.30507347e-01 9.91297959e-01 1.72101303e-02 5.69028757e+00] [ 1.58194393e-01 3.68428952e-03 9.87401114e-01 -6.36720076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.28534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-95.09, Y:5.69, Z:-6.37 [[ 9.78464673e-01 1.32564230e-01 -1.58220128e-01 -9.50877531e+01] [-1.31483168e-01 9.91166946e-01 1.73280593e-02 5.69045511e+00] [ 1.59119642e-01 3.84838991e-03 9.87251807e-01 -6.36747049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-95.12, Y:5.70, Z:-6.37 [[ 9.78624316e-01 1.32186275e-01 -1.57547568e-01 -9.51159986e+01] [-1.31105257e-01 9.91217824e-01 1.72811262e-02 5.69525236e+00] [ 1.58448285e-01 3.74358396e-03 9.87360181e-01 -6.37438395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.34534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-95.14, Y:5.70, Z:-6.38 [[ 9.79038045e-01 1.29825323e-01 -1.56939135e-01 -9.51438551e+01] [-1.28715943e-01 9.91531367e-01 1.72555688e-02 5.69718120e+00] [ 1.57850285e-01 3.30671047e-03 9.87457520e-01 -6.38007727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.37534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-95.17, Y:5.70, Z:-6.38 [[ 9.78974727e-01 1.30050771e-01 -1.57147322e-01 -9.51721405e+01] [-1.28938227e-01 9.91501750e-01 1.72977901e-02 5.69793279e+00] [ 1.58061436e-01 3.32819767e-03 9.87423671e-01 -6.38266819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.40534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-95.20, Y:5.70, Z:-6.39 [[ 9.78771494e-01 1.30420167e-01 -1.58104216e-01 -9.51992628e+01] [-1.29294986e-01 9.91453034e-01 1.74266315e-02 5.70031213e+00] [ 1.59025689e-01 3.38539238e-03 9.87268641e-01 -6.38659215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.43534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-95.23, Y:5.70, Z:-6.39 [[ 9.79014912e-01 1.29164417e-01 -1.57627266e-01 -9.52277280e+01] [-1.28025877e-01 9.91618199e-01 1.73989183e-02 5.70226025e+00] [ 1.58553387e-01 3.14656849e-03 9.87345392e-01 -6.39104579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.46534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-95.26, Y:5.71, Z:-6.40 [[ 9.78938957e-01 1.28729883e-01 -1.58452312e-01 -9.52561946e+01] [-1.27566224e-01 9.91675016e-01 1.75362728e-02 5.70526929e+00] [ 1.59390641e-01 3.04622246e-03 9.87210891e-01 -6.39914238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-95.28, Y:5.71, Z:-6.40 [[ 9.78864270e-01 1.29148737e-01 -1.58572838e-01 -9.52838730e+01] [-1.27980675e-01 9.91620492e-01 1.75996406e-02 5.70858143e+00] [ 1.59517047e-01 3.06659944e-03 9.87190411e-01 -6.40306985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.52534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-95.31, Y:5.71, Z:-6.41 [[ 9.78776173e-01 1.29795446e-01 -1.58588606e-01 -9.53119262e+01] [-1.28628504e-01 9.91535857e-01 1.76451731e-02 5.71025099e+00] [ 1.59536552e-01 3.12834019e-03 9.87187065e-01 -6.40682332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-95.34, Y:5.71, Z:-6.41 [[ 9.78588832e-01 1.30256235e-01 -1.59365024e-01 -9.53401917e+01] [-1.29081044e-01 9.91475194e-01 1.77489276e-02 5.71066752e+00] [ 1.60318377e-01 3.20210131e-03 9.87060163e-01 -6.40517414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-95.37, Y:5.71, Z:-6.41 [[ 9.78809870e-01 1.28758259e-01 -1.59224839e-01 -9.53693393e+01] [-1.27560968e-01 9.91671694e-01 1.77609575e-02 5.71320705e+00] [ 1.60185635e-01 2.92627416e-03 9.87082570e-01 -6.40728666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-95.40, Y:5.72, Z:-6.42 [[ 9.78531452e-01 1.30535641e-01 -1.59488697e-01 -9.53961253e+01] [-1.29349417e-01 9.91438547e-01 1.78419705e-02 5.72006970e+00] [ 1.60452255e-01 3.17084083e-03 9.87038510e-01 -6.41919519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.64534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-95.42, Y:5.72, Z:-6.43 [[ 9.78415836e-01 1.31627978e-01 -1.59300116e-01 -9.54237557e+01] [-1.30450500e-01 9.91293714e-01 1.78728830e-02 5.72388318e+00] [ 1.60265775e-01 3.29366804e-03 9.87068403e-01 -6.42621858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-95.45, Y:5.73, Z:-6.42 [[ 9.78412103e-01 1.32168157e-01 -1.58875215e-01 -9.54517971e+01] [-1.30996980e-01 9.91221719e-01 1.78688527e-02 5.72504068e+00] [ 1.59842257e-01 3.32907160e-03 9.87136956e-01 -6.42462510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.70534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-95.48, Y:5.73, Z:-6.43 [[ 9.78095013e-01 1.33810073e-01 -1.59452219e-01 -9.54801286e+01] [-1.32647541e-01 9.91000517e-01 1.79611956e-02 5.72892893e+00] [ 1.60420620e-01 3.58318900e-03 9.87042241e-01 -6.42577642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.73534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-95.51, Y:5.74, Z:-6.44 [[ 9.78035274e-01 1.34369164e-01 -1.59348455e-01 -9.55069254e+01] [-1.33206833e-01 9.90924736e-01 1.80029760e-02 5.73544199e+00] [ 1.60321371e-01 3.61875759e-03 9.87058237e-01 -6.43748834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.76534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-95.53, Y:5.74, Z:-6.45 [[ 9.77617745e-01 1.36799348e-01 -1.59842056e-01 -9.55349598e+01] [-1.35652829e-01 9.90590809e-01 1.81151524e-02 5.74083565e+00] [ 1.60816213e-01 3.97333276e-03 9.86976372e-01 -6.44695352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.79534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-95.56, Y:5.74, Z:-6.44 [[ 9.77603784e-01 1.36313929e-01 -1.60341370e-01 -9.55640209e+01] [-1.35147267e-01 9.90658147e-01 1.82112998e-02 5.74135385e+00] [ 1.61325938e-01 3.86626235e-03 9.86893608e-01 -6.44274448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.82534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-95.59, Y:5.74, Z:-6.45 [[ 9.77542861e-01 1.37192353e-01 -1.59963164e-01 -9.55906763e+01] [-1.36039675e-01 9.90536422e-01 1.81879944e-02 5.74460503e+00] [ 1.60944594e-01 3.98179271e-03 9.86955411e-01 -6.44517750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.85534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-95.62, Y:5.75, Z:-6.45 [[ 9.77626568e-01 1.37223606e-01 -1.59423886e-01 -9.56185635e+01] [-1.36075410e-01 9.90532219e-01 1.81495179e-02 5.74702089e+00] [ 1.60405038e-01 3.95021973e-03 9.87043373e-01 -6.45044734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.88534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-95.65, Y:5.75, Z:-6.46 [[ 9.77199857e-01 1.38828551e-01 -1.60645797e-01 -9.56462402e+01] [-1.37679740e-01 9.90307441e-01 1.83156061e-02 5.74912254e+00] [ 1.61631457e-01 4.21966384e-03 9.86842169e-01 -6.46013166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-95.67, Y:5.75, Z:-6.46 [[ 9.77506743e-01 1.37329346e-01 -1.60066290e-01 -9.56743572e+01] [-1.36162366e-01 9.90517697e-01 1.82893965e-02 5.75030970e+00] [ 1.61060164e-01 3.91699650e-03 9.86936817e-01 -6.45867682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-95.70, Y:5.75, Z:-6.47 [[ 9.77195867e-01 1.38682777e-01 -1.60795912e-01 -9.57024989e+01] [-1.37518801e-01 9.90328236e-01 1.84001351e-02 5.75389138e+00] [ 1.61792514e-01 4.13192511e-03 9.86816148e-01 -6.46841265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-95.73, Y:5.76, Z:-6.48 [[ 9.76695016e-01 1.41670093e-01 -1.61234086e-01 -9.57298763e+01] [-1.40533471e-01 9.89903245e-01 1.84907818e-02 5.75884078e+00] [ 1.62225736e-01 4.59893146e-03 9.86742956e-01 -6.47831186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.00534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-95.76, Y:5.76, Z:-6.49 [[ 9.76172082e-01 1.43897442e-01 -1.62424114e-01 -9.57580292e+01] [-1.42772065e-01 9.89580016e-01 1.86421137e-02 5.76290741e+00] [ 1.63414210e-01 4.99171533e-03 9.86544920e-01 -6.48522537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-95.79, Y:5.77, Z:-6.49 [[ 9.76125145e-01 1.44218768e-01 -1.62421204e-01 -9.57854286e+01] [-1.43093595e-01 9.89533097e-01 1.86674356e-02 5.76581498e+00] [ 1.63413351e-01 5.01968066e-03 9.86544920e-01 -6.48842038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.06534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-95.81, Y:5.77, Z:-6.49 [[ 9.75599064e-01 1.47493816e-01 -1.62640834e-01 -9.58136847e+01] [-1.46403534e-01 9.89047505e-01 1.87360135e-02 5.76751468e+00] [ 1.63622957e-01 5.53235564e-03 9.86507436e-01 -6.48894871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.09534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-95.84, Y:5.77, Z:-6.49 [[ 9.75376756e-01 1.48175536e-01 -1.63352977e-01 -9.58414733e+01] [-1.47082151e-01 9.88944914e-01 1.88360880e-02 5.76904775e+00] [ 1.64338143e-01 5.65402478e-03 9.86387858e-01 -6.48849104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.12534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-95.87, Y:5.77, Z:-6.49 [[ 9.75369838e-01 1.48685864e-01 -1.62930024e-01 -9.58698485e+01] [-1.47600464e-01 9.88868074e-01 1.88158255e-02 5.77111590e+00] [ 1.63913947e-01 5.69615861e-03 9.86458196e-01 -6.49227879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.15534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-95.90, Y:5.77, Z:-6.50 [[ 9.75153337e-01 1.50019985e-01 -1.63002987e-01 -9.58986489e+01] [-1.48943404e-01 9.88665534e-01 1.88765322e-02 5.77235668e+00] [ 1.63987293e-01 5.87070652e-03 9.86444982e-01 -6.49949546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.18534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-95.93, Y:5.78, Z:-6.51 [[ 9.75072941e-01 1.50780974e-01 -1.62781622e-01 -9.59257122e+01] [-1.49708869e-01 9.88549371e-01 1.89049015e-02 5.77679146e+00] [ 1.63768170e-01 5.93619456e-03 9.86480992e-01 -6.51028498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.21534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-95.95, Y:5.77, Z:-6.51 [[ 9.75416136e-01 1.47896954e-01 -1.63370291e-01 -9.59546813e+01] [-1.46769146e-01 9.88987895e-01 1.90200063e-02 5.77260531e+00] [ 1.64384241e-01 5.42529701e-03 9.86381461e-01 -6.50689487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.24534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-95.98, Y:5.77, Z:-6.51 [[ 9.75791770e-01 1.45213094e-01 -1.63534642e-01 -9.59831477e+01] [-1.44040969e-01 9.89388019e-01 1.90669267e-02 5.77495515e+00] [ 1.64567983e-01 4.95033809e-03 9.86353321e-01 -6.51490098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27534707000001 meters Centerline goodness [0,1] 0.9999480977837754 Centerline is valid? [True, True] Translation: X:-96.01, Y:5.77, Z:-6.52 [[ 9.75846489e-01 1.44326537e-01 -1.63992317e-01 -9.60113560e+01] [-1.43128483e-01 9.89518604e-01 1.91616628e-02 5.77087853e+00] [ 1.65038985e-01 4.77313009e-03 9.86275494e-01 -6.51541704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30534707000001 meters Centerline goodness [0,1] 0.9998954904112453 Centerline is valid? [True, True] Translation: X:-96.04, Y:5.77, Z:-6.52 [[ 9.75851289e-01 1.43814727e-01 -1.64412851e-01 -9.60396575e+01] [-1.42597911e-01 9.89593627e-01 1.92429115e-02 5.77296512e+00] [ 1.65469323e-01 4.66670919e-03 9.86203896e-01 -6.51796676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33534707000001 meters Centerline goodness [0,1] 0.9999498042365225 Centerline is valid? [True, True] Translation: X:-96.07, Y:5.78, Z:-6.53 [[ 9.75879550e-01 1.44465656e-01 -1.63672779e-01 -9.60671106e+01] [-1.43259073e-01 9.89498672e-01 1.92150175e-02 5.77942185e+00] [ 1.64729907e-01 4.69606790e-03 9.86327534e-01 -6.53158437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.36534707000001 meters Centerline goodness [0,1] 0.999897509480373 Centerline is valid? [True, True] Translation: X:-96.09, Y:5.78, Z:-6.53 [[ 9.76130767e-01 1.42805990e-01 -1.63631214e-01 -9.60946741e+01] [-1.41569833e-01 9.89741042e-01 1.92523144e-02 5.78092697e+00] [ 1.64701874e-01 4.37246727e-03 9.86333703e-01 -6.53269856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-96.12, Y:5.79, Z:-6.54 [[ 9.75857853e-01 1.44550631e-01 -1.63727105e-01 -9.61234923e+01] [-1.43332807e-01 9.89486516e-01 1.92909714e-02 5.78504751e+00] [ 1.64794285e-01 4.64221955e-03 9.86317035e-01 -6.53699871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.42534707000002 meters Centerline goodness [0,1] 0.9999496373892023 Centerline is valid? [True, True] Translation: X:-96.15, Y:5.79, Z:-6.55 [[ 9.75648534e-01 1.45668208e-01 -1.63983874e-01 -9.61511887e+01] [-1.44453849e-01 9.89321910e-01 1.93711931e-02 5.79092375e+00] [ 1.65054606e-01 4.78862560e-03 9.86272805e-01 -6.54829389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45534707000002 meters Centerline goodness [0,1] 0.9999496018546518 Centerline is valid? [True, True] Translation: X:-96.18, Y:5.80, Z:-6.56 [[ 9.75223780e-01 1.47271524e-01 -1.65074764e-01 -9.61797035e+01] [-1.46055479e-01 9.89083232e-01 1.95488308e-02 5.79632420e+00] [ 1.66151667e-01 5.04558911e-03 9.86087301e-01 -6.55557142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.48534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-96.21, Y:5.80, Z:-6.56 [[ 9.75018407e-01 1.47510369e-01 -1.66071665e-01 -9.62074909e+01] [-1.46276814e-01 9.89047457e-01 1.97033529e-02 5.79946763e+00] [ 1.67159207e-01 5.08130228e-03 9.85916822e-01 -6.55964699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.51534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-96.24, Y:5.80, Z:-6.56 [[ 9.74883745e-01 1.47561683e-01 -1.66814970e-01 -9.62358283e+01] [-1.46313076e-01 9.89039779e-01 1.98191691e-02 5.80398807e+00] [ 1.67911191e-01 5.08582573e-03 9.85789007e-01 -6.56333944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.54534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-96.26, Y:5.81, Z:-6.57 [[ 9.74611636e-01 1.48948888e-01 -1.67171732e-01 -9.62635651e+01] [-1.47706662e-01 9.88830765e-01 1.99113289e-02 5.80846224e+00] [ 1.68270322e-01 5.28656565e-03 9.85726712e-01 -6.57019823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.57534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-96.29, Y:5.81, Z:-6.57 [[ 9.74899839e-01 1.47782419e-01 -1.66525256e-01 -9.62917462e+01] [-1.46526196e-01 9.89007130e-01 1.98738710e-02 5.81258899e+00] [ 1.67631675e-01 5.02527866e-03 9.85836887e-01 -6.57198326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.60534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-96.32, Y:5.82, Z:-6.58 [[ 9.74892302e-01 1.48895644e-01 -1.65575018e-01 -9.63196650e+01] [-1.47665037e-01 9.88839459e-01 1.97878908e-02 5.81662074e+00] [ 1.66673442e-01 5.15857878e-03 9.85998658e-01 -6.57759524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-96.35, Y:5.82, Z:-6.58 [[ 9.75332760e-01 1.46131888e-01 -1.65443277e-01 -9.63487550e+01] [-1.44855431e-01 9.89254269e-01 1.98215744e-02 5.82009105e+00] [ 1.66562033e-01 4.63272635e-03 9.86020095e-01 -6.57823625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.66534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-96.38, Y:5.82, Z:-6.58 [[ 9.74816275e-01 1.48583752e-01 -1.66301227e-01 -9.63774835e+01] [-1.47321083e-01 9.88887037e-01 1.99731321e-02 5.82475129e+00] [ 1.67420811e-01 5.02954270e-03 9.85872698e-01 -6.58392902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-96.40, Y:5.83, Z:-6.59 [[ 9.74856211e-01 1.47802073e-01 -1.66763053e-01 -9.64044776e+01] [-1.46514243e-01 9.89004973e-01 2.00683872e-02 5.82662166e+00] [ 1.67895638e-01 4.86937063e-03 9.85792749e-01 -6.59016438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-96.43, Y:5.83, Z:-6.59 [[ 9.74743253e-01 1.47429725e-01 -1.67750012e-01 -9.64332937e+01] [-1.46115310e-01 9.89060883e-01 2.02209329e-02 5.82903067e+00] [ 1.68896141e-01 4.80062701e-03 9.85622163e-01 -6.59445101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75534707000001 meters Centerline goodness [0,1] 0.9996948738812043 Centerline is valid? [True, True] Translation: X:-96.46, Y:5.83, Z:-6.60 [[ 9.74778419e-01 1.46642368e-01 -1.68235102e-01 -9.64601149e+01] [-1.45301201e-01 9.89178719e-01 2.03229590e-02 5.83048148e+00] [ 1.69394790e-01 4.63438052e-03 9.85537380e-01 -6.59656527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.78534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-96.49, Y:5.84, Z:-6.61 [[ 9.74650232e-01 1.47607853e-01 -1.68133418e-01 -9.64864583e+01] [-1.46276070e-01 9.89034505e-01 2.03484537e-02 5.83658447e+00] [ 1.69293344e-01 4.76127052e-03 9.85554207e-01 -6.60673815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-96.52, Y:5.84, Z:-6.60 [[ 9.75353893e-01 1.43642987e-01 -1.67485750e-01 -9.65162336e+01] [-1.42255473e-01 9.89621450e-01 2.03166615e-02 5.83505889e+00] [ 1.68665836e-01 4.00982974e-03 9.85665134e-01 -6.59945026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.84534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-96.54, Y:5.84, Z:-6.61 [[ 9.75167283e-01 1.46242291e-01 -1.66318856e-01 -9.65417829e+01] [-1.44906419e-01 9.89239031e-01 2.02056627e-02 5.84408643e+00] [ 1.67484027e-01 4.39676871e-03 9.85864985e-01 -6.61451195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.87534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-96.57, Y:5.85, Z:-6.62 [[ 9.75285968e-01 1.46008203e-01 -1.65827876e-01 -9.65696556e+01] [-1.44668576e-01 9.89274059e-01 2.01950130e-02 5.84786068e+00] [ 1.66997854e-01 4.29416980e-03 9.85947908e-01 -6.61635683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.90534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-96.60, Y:5.85, Z:-6.62 [[ 9.74967513e-01 1.47198440e-01 -1.66646238e-01 -9.65972205e+01] [-1.45857948e-01 9.89096778e-01 2.03229423e-02 5.85370923e+00] [ 1.67820763e-01 4.49246987e-03 9.85807288e-01 -6.62472070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.93534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-96.63, Y:5.86, Z:-6.63 [[ 9.74904802e-01 1.46801338e-01 -1.67361865e-01 -9.66253700e+01] [-1.45434770e-01 9.89156242e-01 2.04610782e-02 5.85757983e+00] [ 1.68550747e-01 4.39263097e-03 9.85683190e-01 -6.63206377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.96534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-96.65, Y:5.86, Z:-6.64 [[ 9.74927149e-01 1.45532742e-01 -1.68336788e-01 -9.66522381e+01] [-1.44124454e-01 9.89344699e-01 2.06205871e-02 5.86233772e+00] [ 1.69544080e-01 4.15787761e-03 9.85513834e-01 -6.63602808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-96.68, Y:5.87, Z:-6.64 [[ 9.74484459e-01 1.47854061e-01 -1.68876335e-01 -9.66806790e+01] [-1.46466479e-01 9.88998728e-01 2.07143949e-02 5.86830534e+00] [ 1.70081188e-01 4.54886614e-03 9.85419554e-01 -6.64269872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.02534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-96.71, Y:5.87, Z:-6.65 [[ 9.74421600e-01 1.47964031e-01 -1.69142514e-01 -9.67079792e+01] [-1.46567082e-01 9.88982336e-01 2.07853266e-02 5.87136940e+00] [ 1.70354439e-01 4.53705348e-03 9.85372407e-01 -6.64521910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-96.74, Y:5.88, Z:-6.65 [[ 9.74169780e-01 1.50297229e-01 -1.68534813e-01 -9.67355538e+01] [-1.48939900e-01 9.88628727e-01 2.07399801e-02 5.87943989e+00] [ 1.69735520e-01 4.89729639e-03 9.85477483e-01 -6.65495412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-96.76, Y:5.88, Z:-6.66 [[ 9.74301933e-01 1.49686651e-01 -1.68314141e-01 -9.67641531e+01] [-1.48315057e-01 9.88722157e-01 2.07639210e-02 5.88325236e+00] [ 1.69524002e-01 4.73319309e-03 9.85514693e-01 -6.65725628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-96.79, Y:5.89, Z:-6.66 [[ 9.74092951e-01 1.51915813e-01 -1.67524648e-01 -9.67921913e+01] [-1.50583112e-01 9.88380498e-01 2.07054865e-02 5.88574209e+00] [ 1.68723586e-01 5.05731435e-03 9.85650433e-01 -6.65885576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.14534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-96.82, Y:5.89, Z:-6.67 [[ 9.74355304e-01 1.52086898e-01 -1.65835210e-01 -9.68200117e+01] [-1.50778647e-01 9.88354450e-01 2.05251269e-02 5.89402827e+00] [ 1.67025571e-01 5.00564219e-03 9.85939857e-01 -6.66524599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17534707000002 meters Centerline goodness [0,1] 0.9999040122864273 Centerline is valid? [True, True] Translation: X:-96.85, Y:5.90, Z:-6.67 [[ 9.74157155e-01 1.52130337e-01 -1.66955677e-01 -9.68479932e+01] [-1.50797849e-01 9.88347761e-01 2.07053449e-02 5.89529807e+00] [ 1.68160180e-01 5.00629700e-03 9.85746971e-01 -6.66688845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.20534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-96.87, Y:5.90, Z:-6.67 [[ 9.73681279e-01 1.53830240e-01 -1.68169627e-01 -9.68745771e+01] [-1.52499681e-01 9.88082981e-01 2.08774780e-02 5.90135372e+00] [ 1.69377134e-01 5.31780494e-03 9.85536964e-01 -6.67260519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.23534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-96.90, Y:5.91, Z:-6.68 [[ 9.73685396e-01 1.55087796e-01 -1.66986601e-01 -9.69015410e+01] [-1.53788268e-01 9.87885596e-01 2.07657937e-02 5.90973731e+00] [ 1.68184179e-01 5.46123003e-03 9.85740461e-01 -6.68322047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.26534707000002 meters Centerline goodness [0,1] 0.9999522627458468 Centerline is valid? [True, True] Translation: X:-96.93, Y:5.91, Z:-6.68 [[ 9.73630327e-01 1.54279271e-01 -1.68053243e-01 -9.69299421e+01] [-1.52943743e-01 9.88012992e-01 2.09413265e-02 5.91060624e+00] [ 1.69269600e-01 5.31358139e-03 9.85555462e-01 -6.68392762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.29534707 meters Centerline goodness [0,1] 0.9995718159760217 Centerline is valid? [True, True] Translation: X:-96.96, Y:5.92, Z:-6.69 [[ 9.73441311e-01 1.55154294e-01 -1.68342389e-01 -9.69576870e+01] [-1.53821934e-01 9.87875243e-01 2.10075456e-02 5.91682068e+00] [ 1.69560690e-01 5.44513916e-03 9.85504705e-01 -6.69159333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.32534707 meters Centerline goodness [0,1] 0.9996204213323211 Centerline is valid? [True, True] Translation: X:-96.99, Y:5.92, Z:-6.69 [[ 9.73698041e-01 1.54619399e-01 -1.67346844e-01 -9.69856291e+01] [-1.53287696e-01 9.87960017e-01 2.09257325e-02 5.91822062e+00] [ 1.68567515e-01 5.27686733e-03 9.85675985e-01 -6.69480113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35534707000001 meters Centerline goodness [0,1] 0.9996697645893287 Centerline is valid? [True, True] Translation: X:-97.01, Y:5.92, Z:-6.71 [[ 9.74020599e-01 1.53372759e-01 -1.66615332e-01 -9.70128674e+01] [-1.52029479e-01 9.88155714e-01 2.08643692e-02 5.92470173e+00] [ 1.67841918e-01 5.00811668e-03 9.85801202e-01 -6.70502958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.38534707000001 meters Centerline goodness [0,1] 0.9995669954293962 Centerline is valid? [True, True] Translation: X:-97.04, Y:5.92, Z:-6.70 [[ 9.74045793e-01 1.52742850e-01 -1.67046148e-01 -9.70411809e+01] [-1.51375485e-01 9.88253987e-01 2.09647250e-02 5.92298761e+00] [ 1.68286234e-01 4.86608943e-03 9.85726161e-01 -6.70132205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41534707000001 meters Centerline goodness [0,1] 0.9993940523911625 Centerline is valid? [True, True] Translation: X:-97.07, Y:5.93, Z:-6.71 [[ 9.74341347e-01 1.53130974e-01 -1.64954070e-01 -9.70685525e+01] [-1.51797099e-01 9.88194084e-01 2.07386995e-02 5.93102930e+00] [ 1.66182373e-01 4.83297678e-03 9.86083192e-01 -6.71359225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44534707000001 meters Centerline goodness [0,1] 0.99944011570942 Centerline is valid? [True, True] Translation: X:-97.10, Y:5.93, Z:-6.72 [[ 9.74553826e-01 1.51735560e-01 -1.64988365e-01 -9.70968639e+01] [-1.50372104e-01 9.88410692e-01 2.07974712e-02 5.93361689e+00] [ 1.66231980e-01 4.54139250e-03 9.86076216e-01 -6.71786525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47534707000001 meters Centerline goodness [0,1] 0.9993012205347992 Centerline is valid? [True, True] Translation: X:-97.12, Y:5.94, Z:-6.72 [[ 9.74664073e-01 1.51475985e-01 -1.64575120e-01 -9.71248704e+01] [-1.50107321e-01 9.88450986e-01 2.07952080e-02 5.93633354e+00] [ 1.65824414e-01 4.43558815e-03 9.86145318e-01 -6.72408063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.50534707000001 meters Centerline goodness [0,1] 0.9992177434198417 Centerline is valid? [True, True] Translation: X:-97.15, Y:5.94, Z:-6.73 [[ 9.74982117e-01 1.50586209e-01 -1.63504331e-01 -9.71532075e+01] [-1.49214689e-01 9.88587934e-01 2.07092695e-02 5.94055623e+00] [ 1.64756939e-01 4.20608051e-03 9.86325230e-01 -6.72940951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53534707000001 meters Centerline goodness [0,1] 0.999576311081819 Centerline is valid? [True, True] Translation: X:-97.18, Y:5.94, Z:-6.73 [[ 9.74830865e-01 1.49526588e-01 -1.65368027e-01 -9.71806728e+01] [-1.48101561e-01 9.88749477e-01 2.09856955e-02 5.94201203e+00] [ 1.66645469e-01 4.03375926e-03 9.86008629e-01 -6.73207211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.56534707000002 meters Centerline goodness [0,1] 0.9994548923412374 Centerline is valid? [True, True] Translation: X:-97.21, Y:5.95, Z:-6.74 [[ 9.75238478e-01 1.49705928e-01 -1.62782205e-01 -9.72095796e+01] [-1.48325136e-01 9.88722544e-01 2.06733043e-02 5.94825314e+00] [ 1.64041352e-01 3.98329099e-03 9.86445421e-01 -6.73846835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.59534707000002 meters Centerline goodness [0,1] 0.9994921514312096 Centerline is valid? [True, True] Translation: X:-97.24, Y:5.95, Z:-6.75 [[ 9.75013461e-01 1.49967024e-01 -1.63886067e-01 -9.72375975e+01] [-1.48567177e-01 9.88682777e-01 2.08365245e-02 5.95166121e+00] [ 1.65156123e-01 4.03219847e-03 9.86259193e-01 -6.74521501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.62534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-97.27, Y:5.96, Z:-6.75 [[ 9.74608002e-01 1.50672701e-01 -1.65641117e-01 -9.72655428e+01] [-1.49246311e-01 9.88574952e-01 2.10974713e-02 5.95502849e+00] [ 1.66927472e-01 4.15956128e-03 9.85960403e-01 -6.75231913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.65534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-97.30, Y:5.96, Z:-6.75 [[ 9.75322541e-01 1.49115076e-01 -1.62820867e-01 -9.72951893e+01] [-1.47712960e-01 9.88812511e-01 2.07533163e-02 5.95909178e+00] [ 1.64093943e-01 3.80957505e-03 9.86437360e-01 -6.75189472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.68534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-97.32, Y:5.96, Z:-6.76 [[ 9.74134233e-01 1.52922368e-01 -1.66364797e-01 -9.73227539e+01] [-1.51510184e-01 9.88227817e-01 2.12237307e-02 5.96035158e+00] [ 1.67651903e-01 4.53119835e-03 9.85835842e-01 -6.75881660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.71534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-97.35, Y:5.97, Z:-6.76 [[ 9.74371225e-01 1.53223972e-01 -1.64691016e-01 -9.73511369e+01] [-1.51839995e-01 9.88181198e-01 2.10365223e-02 5.96604316e+00] [ 1.65967865e-01 4.50930108e-03 9.86120852e-01 -6.76065526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.74534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-97.38, Y:5.97, Z:-6.77 [[ 9.73789428e-01 1.55144053e-01 -1.66326407e-01 -9.73787134e+01] [-1.53752947e-01 9.87879985e-01 2.12877228e-02 5.96940688e+00] [ 1.67613192e-01 4.84341571e-03 9.85840940e-01 -6.76507668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-97.41, Y:5.97, Z:-6.77 [[ 9.73441655e-01 1.56252806e-01 -1.67321263e-01 -9.74062610e+01] [-1.54857925e-01 9.87704206e-01 2.14342083e-02 5.97289233e+00] [ 1.68613070e-01 5.04607241e-03 9.85669402e-01 -6.76745743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80534707000001 meters Centerline goodness [0,1] 0.9999079613437644 Centerline is valid? [True, True] Translation: X:-97.43, Y:5.98, Z:-6.77 [[ 9.73319219e-01 1.59491331e-01 -1.64961245e-01 -9.74340464e+01] [-1.58176793e-01 9.87184028e-01 2.11612243e-02 5.98315514e+00] [ 1.66222139e-01 5.49641448e-03 9.86073015e-01 -6.77375154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83534707000001 meters Centerline goodness [0,1] 0.9999055623760507 Centerline is valid? [True, True] Translation: X:-97.46, Y:5.98, Z:-6.77 [[ 9.72782920e-01 1.60389793e-01 -1.67237870e-01 -9.74625861e+01] [-1.59044260e-01 9.87037378e-01 2.14974090e-02 5.98119094e+00] [ 1.68517993e-01 5.68591088e-03 9.85682178e-01 -6.77230464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.86534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-97.49, Y:6.00, Z:-6.78 [[ 9.72755829e-01 1.64240700e-01 -1.63618732e-01 -9.74894846e+01] [-1.63001699e-01 9.86400928e-01 2.10631524e-02 5.99694241e+00] [ 1.64853096e-01 6.18082692e-03 9.86298765e-01 -6.77923640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-97.52, Y:6.01, Z:-6.78 [[ 9.72312229e-01 1.67738260e-01 -1.62704658e-01 -9.75174282e+01] [-1.66554331e-01 9.85808859e-01 2.09892613e-02 6.00525874e+00] [ 1.63916396e-01 6.69105003e-03 9.86451542e-01 -6.78318427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.92534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-97.55, Y:6.01, Z:-6.79 [[ 9.71542762e-01 1.70537386e-01 -1.64382670e-01 -9.75455926e+01] [-1.69366294e-01 9.85324715e-01 2.12194197e-02 6.00754431e+00] [ 1.65589012e-01 7.22530996e-03 9.86168380e-01 -6.78825464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.95534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-97.57, Y:6.01, Z:-6.79 [[ 9.71483103e-01 1.70880115e-01 -1.64379336e-01 -9.75729648e+01] [-1.69709529e-01 9.85265100e-01 2.12452123e-02 6.01086075e+00] [ 1.65587608e-01 7.25737503e-03 9.86168381e-01 -6.79145309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.98534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-97.60, Y:6.01, Z:-6.79 [[ 9.70550532e-01 1.74297124e-01 -1.66289438e-01 -9.76010393e+01] [-1.73140864e-01 9.84661521e-01 2.15390327e-02 6.01165875e+00] [ 1.67493003e-01 7.88677741e-03 9.85841718e-01 -6.79297568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.01534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-97.63, Y:6.02, Z:-6.80 [[ 9.70499937e-01 1.76990672e-01 -1.63719804e-01 -9.76280450e+01] [-1.75902984e-01 9.84178449e-01 2.12348812e-02 6.02465044e+00] [ 1.64887879e-01 8.19035113e-03 9.86278310e-01 -6.80103231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.04534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-97.66, Y:6.03, Z:-6.80 [[ 9.70243508e-01 1.78279175e-01 -1.63841606e-01 -9.76560116e+01] [-1.77199109e-01 9.83944413e-01 2.13041905e-02 6.03039007e+00] [ 1.65009126e-01 8.36233406e-03 9.86256589e-01 -6.80411757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.07534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-97.68, Y:6.04, Z:-6.80 [[ 9.70539350e-01 1.79786993e-01 -1.60405756e-01 -9.76844694e+01] [-1.78765606e-01 9.83669752e-01 2.08968344e-02 6.03633933e+00] [ 1.61543269e-01 8.39383194e-03 9.86829933e-01 -6.79744144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.10534707000001 meters Centerline goodness [0,1] 0.999864105816271 Centerline is valid? [True, True] Translation: X:-97.71, Y:6.04, Z:-6.80 [[ 9.69530793e-01 1.82620284e-01 -1.63278517e-01 -9.77129726e+01] [-1.81599024e-01 9.83142216e-01 2.12879499e-02 6.03743033e+00] [ 1.64413614e-01 9.01189642e-03 9.86350318e-01 -6.80302699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13534707000001 meters Centerline goodness [0,1] 0.9994187606187964 Centerline is valid? [True, True] Translation: X:-97.74, Y:6.05, Z:-6.81 [[ 9.69727034e-01 1.82564322e-01 -1.62171970e-01 -9.77403393e+01] [-1.81551858e-01 9.83153497e-01 2.11689259e-02 6.04725437e+00] [ 1.63304630e-01 8.91454279e-03 9.86535417e-01 -6.80960034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.16534707000001 meters Centerline goodness [0,1] 0.9998221985153576 Centerline is valid? [True, True] Translation: X:-97.77, Y:6.05, Z:-6.81 [[ 9.69505162e-01 1.84143856e-01 -1.61712030e-01 -9.77692158e+01] [-1.83150222e-01 9.82857161e-01 2.11612113e-02 6.05355359e+00] [ 1.62836534e-01 9.10169049e-03 9.86611080e-01 -6.81075279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-97.80, Y:6.06, Z:-6.81 [[ 9.69223533e-01 1.85520733e-01 -1.61826452e-01 -9.77970960e+01] [-1.84536430e-01 9.82596435e-01 2.12262021e-02 6.06014873e+00] [ 1.62947995e-01 9.28994111e-03 9.86590922e-01 -6.81491771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22534707000001 meters Centerline goodness [0,1] 0.9995618838992333 Centerline is valid? [True, True] Translation: X:-97.83, Y:6.06, Z:-6.81 [[ 9.69741128e-01 1.84590282e-01 -1.59776633e-01 -9.78261815e+01] [-1.83611996e-01 9.82774562e-01 2.09951222e-02 6.06479566e+00] [ 1.60899906e-01 8.97707301e-03 9.86929902e-01 -6.81446086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25534707000001 meters Centerline goodness [0,1] 0.9991627005111934 Centerline is valid? [True, True] Translation: X:-97.85, Y:6.07, Z:-6.82 [[ 9.69883605e-01 1.84182298e-01 -1.59382164e-01 -9.78541255e+01] [-1.83201338e-01 9.82852037e-01 2.09557515e-02 6.06817879e+00] [ 1.60508763e-01 8.87438586e-03 9.86994520e-01 -6.81503188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.28534707000001 meters Centerline goodness [0,1] 0.9996927263948027 Centerline is valid? [True, True] Translation: X:-97.88, Y:6.08, Z:-6.82 [[ 9.70686305e-01 1.81540530e-01 -1.57515505e-01 -9.78829544e+01] [-1.80545202e-01 9.83348272e-01 2.07269218e-02 6.07523672e+00] [ 1.58655376e-01 8.31932939e-03 9.87298972e-01 -6.81650815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31534707000002 meters Centerline goodness [0,1] 0.999316093182304 Centerline is valid? [True, True] Translation: X:-97.91, Y:6.08, Z:-6.82 [[ 9.71237108e-01 1.80755835e-01 -1.55002610e-01 -9.79124115e+01] [-1.79779734e-01 9.83495117e-01 2.04108342e-02 6.07778430e+00] [ 1.56133687e-01 8.04256832e-03 9.87703189e-01 -6.81638354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.34534707000002 meters Centerline goodness [0,1] 0.9998647795907329 Centerline is valid? [True, True] Translation: X:-97.94, Y:6.07, Z:-6.82 [[ 9.70513536e-01 1.80217874e-01 -1.60078091e-01 -9.79425244e+01] [-1.79167236e-01 9.83592465e-01 2.10941737e-02 6.06816389e+00] [ 1.61253151e-01 8.20856807e-03 9.86878939e-01 -6.81791008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.37534707000002 meters Centerline goodness [0,1] 0.9992057852276053 Centerline is valid? [True, True] Translation: X:-97.97, Y:6.08, Z:-6.82 [[ 9.72217886e-01 1.77818520e-01 -1.52226658e-01 -9.79703218e+01] [-1.76835746e-01 9.84035504e-01 2.00809920e-02 6.08493588e+00] [ 1.53367209e-01 7.39601510e-03 9.88141588e-01 -6.82165593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.40534707000002 meters Centerline goodness [0,1] 0.9996570203644158 Centerline is valid? [True, True] Translation: X:-98.00, Y:6.08, Z:-6.83 [[ 9.71982346e-01 1.76565719e-01 -1.55160775e-01 -9.79981102e+01] [-1.75522523e-01 9.84261779e-01 2.05083701e-02 6.08277266e+00] [ 1.56339896e-01 7.30043708e-03 9.87676334e-01 -6.82699586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.43534707 meters Centerline goodness [0,1] 0.9995476043594489 Centerline is valid? [True, True] Translation: X:-98.03, Y:6.09, Z:-6.83 [[ 9.73133721e-01 1.74119381e-01 -1.50642629e-01 -9.80279615e+01] [-1.73104489e-01 9.84701858e-01 1.99270437e-02 6.08759702e+00] [ 1.51807761e-01 6.68523711e-03 9.88387430e-01 -6.82586855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.46534707 meters Centerline goodness [0,1] 0.9994533221194281 Centerline is valid? [True, True] Translation: X:-98.06, Y:6.09, Z:-6.83 [[ 9.73106087e-01 1.73134014e-01 -1.51951167e-01 -9.80560506e+01] [-1.72085724e-01 9.84876393e-01 2.01244761e-02 6.08882666e+00] [ 1.53137348e-01 6.56537639e-03 9.88183105e-01 -6.83233560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49534707000001 meters Centerline goodness [0,1] 0.9992992002638305 Centerline is valid? [True, True] Translation: X:-98.09, Y:6.09, Z:-6.83 [[ 9.73999402e-01 1.70694312e-01 -1.48958440e-01 -9.80855292e+01] [-1.69652258e-01 9.85305672e-01 1.97697810e-02 6.09222004e+00] [ 1.50144185e-01 6.01538074e-03 9.88645811e-01 -6.83362544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.52534707000001 meters Centerline goodness [0,1] 0.9996682837832235 Centerline is valid? [True, True] Translation: X:-98.11, Y:6.09, Z:-6.84 [[ 9.74259693e-01 1.69344420e-01 -1.48796905e-01 -9.81135939e+01] [-1.68287321e-01 9.85539926e-01 1.97593715e-02 6.09454963e+00] [ 1.49991430e-01 5.78987328e-03 9.88670344e-01 -6.83742919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-98.14, Y:6.09, Z:-6.84 [[ 9.73888071e-01 1.69498271e-01 -1.51037612e-01 -9.81422574e+01] [-1.68408248e-01 9.85512908e-01 2.00741416e-02 6.09211181e+00] [ 1.52252048e-01 5.88601258e-03 9.88324172e-01 -6.83729854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58534707000001 meters Centerline goodness [0,1] 0.9991819706327457 Centerline is valid? [True, True] Translation: X:-98.17, Y:6.10, Z:-6.84 [[ 9.74821419e-01 1.68152403e-01 -1.46451255e-01 -9.81699466e+01] [-1.67110178e-01 9.85745758e-01 1.94804492e-02 6.10215520e+00] [ 1.47639388e-01 5.48353626e-03 9.89026057e-01 -6.84318867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-98.20, Y:6.10, Z:-6.84 [[ 9.74636505e-01 1.66496415e-01 -1.49541386e-01 -9.81989109e+01] [-1.65388351e-01 9.86027639e-01 1.99044791e-02 6.09747049e+00] [ 1.50765964e-01 5.33277117e-03 9.88555100e-01 -6.84459154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.64534707000001 meters Centerline goodness [0,1] 0.9997921948381198 Centerline is valid? [True, True] Translation: X:-98.23, Y:6.11, Z:-6.85 [[ 9.75070807e-01 1.66828532e-01 -1.46305029e-01 -9.82254538e+01] [-1.65767869e-01 9.85972002e-01 1.94993373e-02 6.11012248e+00] [ 1.47505708e-01 5.23943830e-03 9.89047327e-01 -6.85256307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67534707000002 meters Centerline goodness [0,1] 0.9998739124952717 Centerline is valid? [True, True] Translation: X:-98.25, Y:6.11, Z:-6.85 [[ 9.75446736e-01 1.65387629e-01 -1.45432447e-01 -9.82533105e+01] [-1.64316760e-01 9.86216247e-01 1.94297734e-02 6.11122498e+00] [ 1.46641286e-01 4.94427946e-03 9.89177379e-01 -6.85239191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.70534707000002 meters Centerline goodness [0,1] 0.9997953503601834 Centerline is valid? [True, True] Translation: X:-98.28, Y:6.12, Z:-6.86 [[ 9.76264026e-01 1.63849226e-01 -1.41640331e-01 -9.82818486e+01] [-1.62813889e-01 9.86474841e-01 1.89479670e-02 6.12074988e+00] [ 1.42829233e-01 4.56279458e-03 9.89736829e-01 -6.85638245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.73534707000002 meters Centerline goodness [0,1] 0.9999585251544938 Centerline is valid? [True, True] Translation: X:-98.31, Y:6.12, Z:-6.86 [[ 9.76096589e-01 1.63407092e-01 -1.43295398e-01 -9.83097001e+01] [-1.62340562e-01 9.86548292e-01 1.91835773e-02 6.12106936e+00] [ 1.44502562e-01 4.53763099e-03 9.89494022e-01 -6.85854371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.76534707000002 meters Centerline goodness [0,1] 0.9997928663159203 Centerline is valid? [True, True] Translation: X:-98.34, Y:6.12, Z:-6.86 [[ 9.76209470e-01 1.63491664e-01 -1.42427336e-01 -9.83384534e+01] [-1.62435818e-01 9.86534450e-01 1.90888569e-02 6.12486484e+00] [ 1.43630343e-01 4.50057801e-03 9.89621175e-01 -6.86106248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.79534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-98.37, Y:6.12, Z:-6.86 [[ 9.76308610e-01 1.61627026e-01 -1.43868698e-01 -9.83667553e+01] [-1.60523655e-01 9.86842851e-01 1.93221162e-02 6.12219264e+00] [ 1.45098772e-01 4.22998092e-03 9.89408133e-01 -6.86226794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.82534707 meters Centerline goodness [0,1] 0.9991361934926577 Centerline is valid? [True, True] Translation: X:-98.39, Y:6.14, Z:-6.87 [[ 9.76757135e-01 1.62168979e-01 -1.40166761e-01 -9.83940861e+01] [-1.61123973e-01 9.86754175e-01 1.88484549e-02 6.13551872e+00] [ 1.41366772e-01 4.17386260e-03 9.89948491e-01 -6.86774788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85534707000001 meters Centerline goodness [0,1] 0.9999586366644606 Centerline is valid? [True, True] Translation: X:-98.42, Y:6.14, Z:-6.87 [[ 9.77118420e-01 1.61246645e-01 -1.38705130e-01 -9.84212561e+01] [-1.60207688e-01 9.86906227e-01 1.86974667e-02 6.14005907e+00] [ 1.39903860e-01 3.95198904e-03 9.90157206e-01 -6.86832402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.88534707000001 meters Centerline goodness [0,1] 0.9999588274044796 Centerline is valid? [True, True] Translation: X:-98.45, Y:6.15, Z:-6.87 [[ 9.77186184e-01 1.60783961e-01 -1.38764837e-01 -9.84489898e+01] [-1.59735158e-01 9.86982088e-01 1.87360152e-02 6.14567073e+00] [ 1.39970860e-01 3.85704797e-03 9.90148111e-01 -6.87324892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91534707000001 meters Centerline goodness [0,1] 0.9997919094389879 Centerline is valid? [True, True] Translation: X:-98.48, Y:6.15, Z:-6.87 [[ 9.77250082e-01 1.60437657e-01 -1.38715667e-01 -9.84774518e+01] [-1.59380629e-01 9.87038786e-01 1.87683054e-02 6.14701884e+00] [ 1.39928887e-01 3.76726225e-03 9.90154389e-01 -6.87371394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.94534707000001 meters Centerline goodness [0,1] 0.9998780785174348 Centerline is valid? [True, True] Translation: X:-98.50, Y:6.16, Z:-6.88 [[ 9.77172700e-01 1.61503590e-01 -1.38022115e-01 -9.85047405e+01] [-1.60464551e-01 9.86864507e-01 1.86968771e-02 6.15515285e+00] [ 1.39228739e-01 3.87757881e-03 9.90252656e-01 -6.87911605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97534707000001 meters Centerline goodness [0,1] 0.9997535833093761 Centerline is valid? [True, True] Translation: X:-98.53, Y:6.16, Z:-6.88 [[ 9.77230301e-01 1.61101329e-01 -1.38084395e-01 -9.85326730e+01] [-1.60050640e-01 9.86930654e-01 1.87530562e-02 6.15836771e+00] [ 1.39300864e-01 3.77444104e-03 9.90242911e-01 -6.88071205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.00534707000001 meters Centerline goodness [0,1] 0.999483306836248 Centerline is valid? [True, True] Translation: X:-98.56, Y:6.17, Z:-6.89 [[ 9.77276436e-01 1.62462025e-01 -1.36150129e-01 -9.85609812e+01] [-1.61450013e-01 9.86707149e-01 1.85174154e-02 6.16617286e+00] [ 1.37348683e-01 3.88480639e-03 9.90515143e-01 -6.88527439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03534707000001 meters Centerline goodness [0,1] 0.9996005113454778 Centerline is valid? [True, True] Translation: X:-98.59, Y:6.17, Z:-6.89 [[ 9.77859756e-01 1.60280826e-01 -1.34537557e-01 -9.85900119e+01] [-1.59266228e-01 9.87065278e-01 1.83413704e-02 6.16936984e+00] [ 1.35737121e-01 3.49200118e-03 9.90738734e-01 -6.88700711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.06534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-98.62, Y:6.17, Z:-6.89 [[ 9.78128835e-01 1.58883951e-01 -1.34238117e-01 -9.86186000e+01] [-1.57855046e-01 9.87291920e-01 1.83425431e-02 6.17294573e+00] [ 1.35446544e-01 3.24879387e-03 9.90779329e-01 -6.88882800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.09534707000002 meters Centerline goodness [0,1] 0.9995606151388057 Centerline is valid? [True, True] Translation: X:-98.65, Y:6.18, Z:-6.89 [[ 9.78535357e-01 1.56903323e-01 -1.33603530e-01 -9.86477285e+01] [-1.55860053e-01 9.87609655e-01 1.82979054e-02 6.17568220e+00] [ 1.34819138e-01 2.91830579e-03 9.90865926e-01 -6.89134123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.12534707000002 meters Centerline goodness [0,1] 0.9994111643244092 Centerline is valid? [True, True] Translation: X:-98.68, Y:6.18, Z:-6.90 [[ 9.78660997e-01 1.55899616e-01 -1.33857992e-01 -9.86762463e+01] [-1.54837280e-01 9.87769094e-01 1.83748186e-02 6.17868716e+00] [ 1.35085415e-01 2.74348904e-03 9.90830159e-01 -6.89619465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.15534707000002 meters Centerline goodness [0,1] 0.9998813854183141 Centerline is valid? [True, True] Translation: X:-98.70, Y:6.18, Z:-6.90 [[ 9.78875881e-01 1.54366779e-01 -1.34063075e-01 -9.87041912e+01] [-1.53281668e-01 9.88010454e-01 1.84410493e-02 6.18234788e+00] [ 1.35302405e-01 2.49791339e-03 9.90801201e-01 -6.89721895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.18534707 meters Centerline goodness [0,1] 0.9999203092003028 Centerline is valid? [True, True] Translation: X:-98.73, Y:6.19, Z:-6.90 [[ 9.79343566e-01 1.51984284e-01 -1.33367754e-01 -9.87326468e+01] [-1.50885889e-01 9.88380597e-01 1.83642068e-02 6.18659437e+00] [ 1.34609171e-01 2.13844437e-03 9.90896462e-01 -6.90038902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.21534707 meters Centerline goodness [0,1] 0.9998781428977619 Centerline is valid? [True, True] Translation: X:-98.76, Y:6.19, Z:-6.90 [[ 9.79357678e-01 1.51660750e-01 -1.33632167e-01 -9.87599198e+01] [-1.50549588e-01 9.88430462e-01 1.84402511e-02 6.18884460e+00] [ 1.34882767e-01 2.05866608e-03 9.90859425e-01 -6.90046831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.24534707000001 meters Centerline goodness [0,1] 0.9996766892984158 Centerline is valid? [True, True] Translation: X:-98.79, Y:6.20, Z:-6.91 [[ 9.79263928e-01 1.52647276e-01 -1.33195224e-01 -9.87864031e+01] [-1.51548758e-01 9.88278374e-01 1.84073372e-02 6.19641657e+00] [ 1.34443789e-01 2.15992945e-03 9.90918868e-01 -6.90686518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-98.81, Y:6.20, Z:-6.91 [[ 9.78932413e-01 1.53656686e-01 -1.34465437e-01 -9.88144085e+01] [-1.52539861e-01 9.88121682e-01 1.86314664e-02 6.20055757e+00] [ 1.35731063e-01 2.27239266e-03 9.90743112e-01 -6.90703886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30534707000001 meters Centerline goodness [0,1] 0.999457111834962 Centerline is valid? [True, True] Translation: X:-98.84, Y:6.21, Z:-6.91 [[ 9.78663541e-01 1.56533778e-01 -1.33097144e-01 -9.88417321e+01] [-1.55463371e-01 9.87669121e-01 1.84620477e-02 6.21107427e+00] [ 1.34345873e-01 2.62359775e-03 9.90931028e-01 -6.91274711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33534707000001 meters Centerline goodness [0,1] 0.9996100148194369 Centerline is valid? [True, True] Translation: X:-98.87, Y:6.22, Z:-6.91 [[ 9.78712064e-01 1.55714462e-01 -1.33700047e-01 -9.88689711e+01] [-1.54620454e-01 9.87799003e-01 1.85915174e-02 6.21736563e+00] [ 1.34963741e-01 2.47701958e-03 9.90847442e-01 -6.91424590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.36534707000001 meters Centerline goodness [0,1] 0.9997208152195589 Centerline is valid? [True, True] Translation: X:-98.90, Y:6.22, Z:-6.92 [[ 9.78602521e-01 1.56113090e-01 -1.34036599e-01 -9.88969799e+01] [-1.55011565e-01 9.87736032e-01 1.86800892e-02 6.21912793e+00] [ 1.35308985e-01 2.49684053e-03 9.90800305e-01 -6.91768145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39534707000001 meters Centerline goodness [0,1] 0.9995244511373543 Centerline is valid? [True, True] Translation: X:-98.92, Y:6.22, Z:-6.92 [[ 9.78553751e-01 1.55929713e-01 -1.34604910e-01 -9.89240705e+01] [-1.54814978e-01 9.87765073e-01 1.87745553e-02 6.22318591e+00] [ 1.35885539e-01 2.46694459e-03 9.90721472e-01 -6.91987981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.42534707000002 meters Centerline goodness [0,1] 0.9994599598827342 Centerline is valid? [True, True] Translation: X:-98.95, Y:6.23, Z:-6.92 [[ 9.78810527e-01 1.55360429e-01 -1.33390743e-01 -9.89516514e+01] [-1.54257817e-01 9.87855067e-01 1.86250659e-02 6.23211714e+00] [ 1.34664319e-01 2.34615420e-03 9.90888499e-01 -6.92443758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45534707000002 meters Centerline goodness [0,1] 0.9996520394355306 Centerline is valid? [True, True] Translation: X:-98.98, Y:6.24, Z:-6.93 [[ 9.78618003e-01 1.56387241e-01 -1.33603275e-01 -9.89790380e+01] [-1.55285120e-01 9.87692777e-01 1.86951593e-02 6.23678815e+00] [ 1.34882674e-01 2.45118102e-03 9.90858545e-01 -6.92758982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.48534707000002 meters Centerline goodness [0,1] 0.9996053047047679 Centerline is valid? [True, True] Translation: X:-99.01, Y:6.24, Z:-6.93 [[ 9.78915797e-01 1.54640259e-01 -1.33455058e-01 -9.90072126e+01] [-1.53522378e-01 9.87968411e-01 1.86895173e-02 6.23776827e+00] [ 1.34739534e-01 2.19287419e-03 9.90878625e-01 -6.92886358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.51534707000002 meters Centerline goodness [0,1] 0.9994507650058847 Centerline is valid? [True, True] Translation: X:-99.03, Y:6.24, Z:-6.93 [[ 9.78973832e-01 1.53275434e-01 -1.34598953e-01 -9.90334599e+01] [-1.52122263e-01 9.88181482e-01 1.88725944e-02 6.24295299e+00] [ 1.35900898e-01 1.99972123e-03 9.90720418e-01 -6.92948575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.54534707 meters Centerline goodness [0,1] 0.9998813572727991 Centerline is valid? [True, True] Translation: X:-99.06, Y:6.25, Z:-6.93 [[ 9.79152445e-01 1.52102931e-01 -1.34629820e-01 -9.90622906e+01] [-1.50934767e-01 9.88362997e-01 1.89019232e-02 6.24754818e+00] [ 1.35938171e-01 1.81245625e-03 9.90715665e-01 -6.93105100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.57534707 meters Centerline goodness [0,1] 0.9995288389807216 Centerline is valid? [True, True] Translation: X:-99.09, Y:6.25, Z:-6.93 [[ 9.79375218e-01 1.51120224e-01 -1.34115100e-01 -9.90913135e+01] [-1.49945921e-01 9.88514053e-01 1.88729415e-02 6.25226003e+00] [ 1.35426744e-01 1.62632093e-03 9.90786027e-01 -6.93271450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.60534707000001 meters Centerline goodness [0,1] 0.9996126433219709 Centerline is valid? [True, True] Translation: X:-99.12, Y:6.26, Z:-6.94 [[ 9.79357007e-01 1.51326434e-01 -1.34015534e-01 -9.91184838e+01] [-1.50149742e-01 9.88482534e-01 1.89032895e-02 6.25587611e+00] [ 1.35332583e-01 1.60932900e-03 9.90798921e-01 -6.93725043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63534707000001 meters Centerline goodness [0,1] 0.9994202898550725 Centerline is valid? [True, True] Translation: X:-99.15, Y:6.26, Z:-6.94 [[ 9.79376982e-01 1.50419455e-01 -1.34887785e-01 -9.91470306e+01] [-1.49212107e-01 9.88621211e-01 1.90748242e-02 6.25856400e+00] [ 1.36222150e-01 1.44544694e-03 9.90677261e-01 -6.93908636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66534707000001 meters Centerline goodness [0,1] 0.9998050074097184 Centerline is valid? [True, True] Translation: X:-99.17, Y:6.26, Z:-6.94 [[ 9.79786062e-01 1.47856772e-01 -1.34750314e-01 -9.91748425e+01] [-1.46622301e-01 9.89008229e-01 1.90951490e-02 6.25987981e+00] [ 1.36092517e-01 1.04824018e-03 9.90695578e-01 -6.93975123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69534707000001 meters Centerline goodness [0,1] 0.9998448108632396 Centerline is valid? [True, True] Translation: X:-99.20, Y:6.26, Z:-6.94 [[ 9.80118312e-01 1.46032994e-01 -1.34322221e-01 -9.92036545e+01] [-1.44786704e-01 9.89279418e-01 1.90536985e-02 6.26198117e+00] [ 1.35664678e-01 7.73192898e-04 9.90754509e-01 -6.94273257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-99.23, Y:6.26, Z:-6.94 [[ 9.80223496e-01 1.43199716e-01 -1.36586017e-01 -9.92325779e+01] [-1.41877216e-01 9.89693753e-01 1.94198744e-02 6.26244066e+00] [ 1.37959248e-01 3.42626735e-04 9.90437847e-01 -6.94298925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75534707000001 meters Centerline goodness [0,1] 0.9999606949139218 Centerline is valid? [True, True] Translation: X:-99.26, Y:6.26, Z:-6.95 [[ 9.80743634e-01 1.40930637e-01 -1.35205324e-01 -9.92615858e+01] [-1.39606742e-01 9.90019472e-01 1.92718101e-02 6.26496011e+00] [ 1.36571892e-01 -2.51302039e-05 9.90630162e-01 -6.94593209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.78534707000001 meters Centerline goodness [0,1] 0.9998019723553409 Centerline is valid? [True, True] Translation: X:-99.29, Y:6.27, Z:-6.95 [[ 9.81370834e-01 1.36357985e-01 -1.35343218e-01 -9.92896039e+01] [-1.34981984e-01 9.90659377e-01 1.93355384e-02 6.26545695e+00] [ 1.36715583e-01 -7.06437270e-04 9.90610090e-01 -6.94794119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.81534707000002 meters Centerline goodness [0,1] 0.9996046649535482 Centerline is valid? [True, True] Translation: X:-99.32, Y:6.27, Z:-6.95 [[ 9.81732912e-01 1.34379620e-01 -1.34694493e-01 -9.93175847e+01] [-1.32995452e-01 9.90929423e-01 1.92636492e-02 6.26564727e+00] [ 1.36061378e-01 -9.98003487e-04 9.90699907e-01 -6.94939124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.84534707000002 meters Centerline goodness [0,1] 0.9996046649535482 Centerline is valid? [True, True] Translation: X:-99.34, Y:6.27, Z:-6.95 [[ 9.81684957e-01 1.34736522e-01 -1.34687470e-01 -9.93448508e+01] [-1.33348976e-01 9.90880958e-01 1.93126378e-02 6.26934811e+00] [ 1.36061367e-01 -9.98489799e-04 9.90699908e-01 -6.95256348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.87534707000002 meters Centerline goodness [0,1] 0.9998043052837573 Centerline is valid? [True, True] Translation: X:-99.37, Y:6.27, Z:-6.95 [[ 9.82594309e-01 1.30549780e-01 -1.32155886e-01 -9.93731005e+01] [-1.29170000e-01 9.91440471e-01 1.89974744e-02 6.27041613e+00] [ 1.33504810e-01 -1.59623442e-03 9.91046880e-01 -6.95221797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.90534707000002 meters Centerline goodness [0,1] 0.9997214595519478 Centerline is valid? [True, True] Translation: X:-99.40, Y:6.27, Z:-6.94 [[ 9.83233571e-01 1.25993339e-01 -1.31823458e-01 -9.94021772e+01] [-1.24573801e-01 9.92028528e-01 1.89939108e-02 6.27433561e+00] [ 1.33165737e-01 -2.25370146e-03 9.91091220e-01 -6.94113667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.93534707 meters Centerline goodness [0,1] 0.9998831775700935 Centerline is valid? [True, True] Translation: X:-99.43, Y:6.27, Z:-6.96 [[ 9.83291251e-01 1.26054546e-01 -1.31333799e-01 -9.94295892e+01] [-1.24643555e-01 9.92020746e-01 1.89426339e-02 6.27352330e+00] [ 1.32673659e-01 -2.25621457e-03 9.91157207e-01 -6.95665628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.96534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-99.46, Y:6.28, Z:-6.96 [[ 9.83366083e-01 1.22631835e-01 -1.33987236e-01 -9.94567706e+01] [-1.21125118e-01 9.92448228e-01 1.93706135e-02 6.27752442e+00] [ 1.35350849e-01 -2.81918450e-03 9.90793722e-01 -6.96144161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99534707000001 meters Centerline goodness [0,1] 0.9998822328648819 Centerline is valid? [True, True] Translation: X:-99.48, Y:6.28, Z:-6.97 [[ 9.83457293e-01 1.22466800e-01 -1.33467733e-01 -9.94847086e+01] [-1.20967323e-01 9.92468511e-01 1.93173791e-02 6.27845392e+00] [ 1.34828260e-01 -2.85258301e-03 9.90864876e-01 -6.96967774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.02534707000001 meters Centerline goodness [0,1] 0.9996434090098657 Centerline is valid? [True, True] Translation: X:-99.51, Y:6.29, Z:-6.96 [[ 9.83397899e-01 1.23584739e-01 -1.32873564e-01 -9.95125625e+01] [-1.22102332e-01 9.92330254e-01 1.92792224e-02 6.28606914e+00] [ 1.34237075e-01 -2.73497482e-03 9.90945472e-01 -6.96449736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-99.54, Y:6.29, Z:-6.97 [[ 9.83363534e-01 1.25321757e-01 -1.31493792e-01 -9.95409653e+01] [-1.23883106e-01 9.92113026e-01 1.90976222e-02 6.29331836e+00] [ 1.32850052e-01 -2.49004589e-03 9.91133020e-01 -6.96635211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-99.57, Y:6.30, Z:-6.97 [[ 9.82733831e-01 1.27399769e-01 -1.34177181e-01 -9.95677075e+01] [-1.25915223e-01 9.91848794e-01 1.95275930e-02 6.30185912e+00] [ 1.35571286e-01 -2.29547664e-03 9.90764935e-01 -6.96786869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11534707000001 meters Centerline goodness [0,1] 0.9998427178357974 Centerline is valid? [True, True] Translation: X:-99.60, Y:6.31, Z:-6.98 [[ 9.81979586e-01 1.33066605e-01 -1.34198996e-01 -9.95952111e+01] [-1.31631202e-01 9.91105908e-01 1.95526423e-02 6.30760711e+00] [ 1.35607222e-01 -1.53552036e-03 9.90761487e-01 -6.97750314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.14534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-99.62, Y:6.31, Z:-6.98 [[ 9.81218449e-01 1.36884642e-01 -1.35915229e-01 -9.96213394e+01] [-1.35442247e-01 9.90586421e-01 1.98479267e-02 6.31415978e+00] [ 1.37352657e-01 -1.06648776e-03 9.90521635e-01 -6.98101529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-99.65, Y:6.32, Z:-6.99 [[ 9.80655469e-01 1.38945094e-01 -1.37873535e-01 -9.96492011e+01] [-1.37477112e-01 9.90299750e-01 2.01605776e-02 6.31976578e+00] [ 1.39337341e-01 -8.16125161e-04 9.90244636e-01 -6.98517466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.20534707000002 meters Centerline goodness [0,1] 0.9995742210179989 Centerline is valid? [True, True] Translation: X:-99.68, Y:6.33, Z:-6.99 [[ 9.80490096e-01 1.41827554e-01 -1.36103331e-01 -9.96772810e+01] [-1.40419009e-01 9.89891281e-01 1.99437577e-02 6.32609341e+00] [ 1.37556075e-01 -4.43162027e-04 9.90493882e-01 -6.98641222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.23534707000002 meters Centerline goodness [0,1] 0.9997247670349546 Centerline is valid? [True, True] Translation: X:-99.70, Y:6.33, Z:-6.99 [[ 9.80077523e-01 1.44053546e-01 -1.36735600e-01 -9.97036890e+01] [-1.42647308e-01 9.89569879e-01 2.00798485e-02 6.33111277e+00] [ 1.38202004e-01 -1.74842965e-04 9.90404047e-01 -6.99022027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.26534707000002 meters Centerline goodness [0,1] 0.9997560578955927 Centerline is valid? [True, True] Translation: X:-99.73, Y:6.34, Z:-6.98 [[ 9.79742684e-01 1.46125263e-01 -1.36936775e-01 -9.97312345e+01] [-1.44730434e-01 9.89266092e-01 2.01420248e-02 6.33545733e+00] [ 1.38410167e-01 8.49174186e-05 9.90374989e-01 -6.98394348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.29534707 meters Centerline goodness [0,1] 0.999960987789178 Centerline is valid? [True, True] Translation: X:-99.76, Y:6.34, Z:-6.99 [[ 9.79917207e-01 1.49745505e-01 -1.31675933e-01 -9.97591884e+01] [-1.48485255e-01 9.88724423e-01 1.93944458e-02 6.34293005e+00] [ 1.33095442e-01 5.46983313e-04 9.91103074e-01 -6.98896582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.32534707 meters Centerline goodness [0,1] 0.999843321582452 Centerline is valid? [True, True] Translation: X:-99.79, Y:6.35, Z:-6.99 [[ 9.79613471e-01 1.52573355e-01 -1.30685953e-01 -9.97860904e+01] [-1.51351274e-01 9.88291757e-01 1.92923749e-02 6.34942363e+00] [ 1.32099352e-01 8.80415159e-04 9.91236090e-01 -6.98927984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35534707000001 meters Centerline goodness [0,1] 0.9999178070932478 Centerline is valid? [True, True] Translation: X:-99.81, Y:6.35, Z:-6.99 [[ 9.79208366e-01 1.53532045e-01 -1.32585395e-01 -9.98142143e+01] [-1.52279923e-01 9.88143160e-01 1.95939088e-02 6.35418786e+00] [ 1.34021644e-01 1.00357421e-03 9.90977897e-01 -6.98922054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.38534707000001 meters Centerline goodness [0,1] 0.9997669631413368 Centerline is valid? [True, True] Translation: X:-99.84, Y:6.36, Z:-7.00 [[ 9.78236784e-01 1.59667732e-01 -1.32510417e-01 -9.98415758e+01] [-1.58470108e-01 9.87169134e-01 1.96042490e-02 6.36413291e+00] [ 1.33940360e-01 1.82134271e-03 9.90987721e-01 -6.99674373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41534707000001 meters Centerline goodness [0,1] 0.9995732298739088 Centerline is valid? [True, True] Translation: X:-99.87, Y:6.37, Z:-7.00 [[ 9.77356839e-01 1.62964527e-01 -1.34967298e-01 -9.98701041e+01] [-1.61746817e-01 9.86629318e-01 2.00139067e-02 6.37354003e+00] [ 1.36424250e-01 2.26980213e-03 9.90647905e-01 -6.99689959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44534707000001 meters Centerline goodness [0,1] 0.999883842490417 Centerline is valid? [True, True] Translation: X:-99.90, Y:6.38, Z:-7.01 [[ 9.75984626e-01 1.67649400e-01 -1.39095968e-01 -9.98976928e+01] [-1.66397063e-01 9.85842198e-01 2.06683062e-02 6.38008892e+00] [ 1.40591704e-01 2.97321139e-03 9.90063196e-01 -7.01134161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47534707000001 meters Centerline goodness [0,1] 0.9998066362441024 Centerline is valid? [True, True] Translation: X:-99.92, Y:6.39, Z:-7.01 [[ 9.75791709e-01 1.69020842e-01 -1.38789395e-01 -9.99249590e+01] [-1.67782003e-01 9.85607530e-01 2.06638774e-02 6.38555296e+00] [ 1.40284499e-01 3.12272251e-03 9.90106311e-01 -7.01347335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.50534707000001 meters Centerline goodness [0,1] 0.9998825371965544 Centerline is valid? [True, True] Translation: X:-99.95, Y:6.39, Z:-7.01 [[ 9.76375978e-01 1.66490837e-01 -1.37734350e-01 -9.99532558e+01] [-1.65239602e-01 9.86039322e-01 2.05506772e-02 6.38740042e+00] [ 1.39232985e-01 2.69398169e-03 9.90255986e-01 -7.01214758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-99.98, Y:6.39, Z:-7.01 [[ 9.77007173e-01 1.62868878e-01 -1.37588929e-01 -9.99813347e+01] [-1.61582016e-01 9.86645364e-01 2.05469590e-02 6.38619116e+00] [ 1.39097939e-01 2.15737030e-03 9.90276279e-01 -7.01301105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.56534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-100.01, Y:6.39, Z:-7.01 [[ 9.77944691e-01 1.59835917e-01 -1.34449474e-01 -1.00011043e+02] [-1.58574670e-01 9.87142208e-01 2.01081026e-02 6.38751504e+00] [ 1.35934748e-01 1.65566869e-03 9.90716409e-01 -7.01391126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.59534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-100.04, Y:6.38, Z:-7.01 [[ 9.79285278e-01 1.51778866e-01 -1.34028055e-01 -1.00041105e+02] [-1.50444711e-01 9.88414352e-01 2.00862323e-02 6.38428973e+00] [ 1.35523918e-01 4.93660447e-04 9.90773952e-01 -7.01437502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.62534707000002 meters Centerline goodness [0,1] 0.9999221153471708 Centerline is valid? [True, True] Translation: X:-100.07, Y:6.39, Z:-7.02 [[ 9.79451860e-01 1.50963875e-01 -1.33730933e-01 -1.00068438e+02] [-1.49621987e-01 9.88539223e-01 2.00864408e-02 6.38573038e+00] [ 1.35230600e-01 3.35386178e-04 9.90814096e-01 -7.02029355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.65534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-100.10, Y:6.39, Z:-7.03 [[ 9.79755229e-01 1.48211884e-01 -1.34584278e-01 -1.00096889e+02] [-1.46820058e-01 9.88955625e-01 2.02643035e-02 6.38734598e+00] [ 1.36101289e-01 -9.43859063e-05 9.90694923e-01 -7.02652759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.68534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-100.12, Y:6.39, Z:-7.03 [[ 9.79638306e-01 1.45795623e-01 -1.38030525e-01 -1.00124782e+02] [-1.44301691e-01 9.89314614e-01 2.08234784e-02 6.38825631e+00] [ 1.39591588e-01 -4.81438891e-04 9.90209047e-01 -7.03263604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.71534707 meters Centerline goodness [0,1] 0.999960999961 Centerline is valid? [True, True] Translation: X:-100.15, Y:6.39, Z:-7.04 [[ 9.79181007e-01 1.45467994e-01 -1.41575484e-01 -1.00152768e+02] [-1.43889233e-01 9.89362797e-01 2.13809426e-02 6.38963696e+00] [ 1.43179759e-01 -5.64625169e-04 9.89696538e-01 -7.04146918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.74534707000001 meters Centerline goodness [0,1] 0.9997646135739505 Centerline is valid? [True, True] Translation: X:-100.18, Y:6.39, Z:-7.04 [[ 9.79282312e-01 1.43311768e-01 -1.43066038e-01 -1.00181336e+02] [-1.41670559e-01 9.89677156e-01 2.16467176e-02 6.39184842e+00] [ 1.44691418e-01 -9.30002201e-04 9.89476391e-01 -7.04019598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77534707000001 meters Centerline goodness [0,1] 0.9996399711976958 Centerline is valid? [True, True] Translation: X:-100.21, Y:6.39, Z:-7.04 [[ 9.79133676e-01 1.42572370e-01 -1.44811473e-01 -1.00210123e+02] [-1.40879085e-01 9.89783795e-01 2.19344867e-02 6.39472684e+00] [ 1.46459302e-01 -1.07588678e-03 9.89216112e-01 -7.04462228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-100.24, Y:6.40, Z:-7.05 [[ 9.78620672e-01 1.48451424e-01 -1.42350815e-01 -1.00237813e+02] [-1.46871178e-01 9.88919673e-01 2.16041067e-02 6.40092367e+00] [ 1.43980681e-01 -2.34993510e-04 9.89580471e-01 -7.04682080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83534707000001 meters Centerline goodness [0,1] 0.9999598844672657 Centerline is valid? [True, True] Translation: X:-100.27, Y:6.41, Z:-7.05 [[ 9.78434374e-01 1.51531289e-01 -1.40372522e-01 -1.00265641e+02] [-1.50022827e-01 9.88452443e-01 2.13288344e-02 6.40702785e+00] [ 1.41983548e-01 1.90217859e-04 9.89868999e-01 -7.04783075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.86534707000001 meters Centerline goodness [0,1] 0.9998408086918454 Centerline is valid? [True, True] Translation: X:-100.29, Y:6.42, Z:-7.05 [[ 9.77897171e-01 1.57256745e-01 -1.37794914e-01 -1.00294263e+02] [-1.55855959e-01 9.87557273e-01 2.09655088e-02 6.41513861e+00] [ 1.39377337e-01 9.74046661e-04 9.90238865e-01 -7.04755268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89534707000001 meters Centerline goodness [0,1] 0.9998828308076863 Centerline is valid? [True, True] Translation: X:-100.32, Y:6.42, Z:-7.05 [[ 9.78058401e-01 1.56975639e-01 -1.36968654e-01 -1.00322262e+02] [-1.55583208e-01 9.87602076e-01 2.08807115e-02 6.41923898e+00] [ 1.38548290e-01 8.87467294e-04 9.90355282e-01 -7.05024223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.92534707000002 meters Centerline goodness [0,1] 0.9994163197011557 Centerline is valid? [True, True] Translation: X:-100.35, Y:6.42, Z:-7.05 [[ 9.77282073e-01 1.57813817e-01 -1.41472788e-01 -1.00350641e+02] [-1.56334257e-01 9.87468354e-01 2.15835382e-02 6.42157694e+00] [ 1.43106082e-01 1.02383835e-03 9.89706826e-01 -7.05408271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-100.38, Y:6.42, Z:-7.06 [[ 9.77390355e-01 1.54394779e-01 -1.44465724e-01 -1.00378403e+02] [-1.52812401e-01 9.88009100e-01 2.20542293e-02 6.41959955e+00] [ 1.46138508e-01 5.20563044e-04 9.89264002e-01 -7.05974174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.98534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-100.41, Y:6.42, Z:-7.06 [[ 9.77901823e-01 1.52925502e-01 -1.42554607e-01 -1.00407390e+02] [-1.51366116e-01 9.88237682e-01 2.17849349e-02 6.41930271e+00] [ 1.44209306e-01 2.74409669e-04 9.89547170e-01 -7.06221313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.01534707000002 meters Centerline goodness [0,1] 0.9996418908164889 Centerline is valid? [True, True] Translation: X:-100.44, Y:6.42, Z:-7.06 [[ 9.78596929e-01 1.50847210e-01 -1.39975606e-01 -1.00437219e+02] [-1.49316377e-01 9.88557087e-01 2.14360923e-02 6.42134139e+00] [ 1.41607452e-01 -7.66436964e-05 9.89922888e-01 -7.06011897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.04534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-100.47, Y:6.42, Z:-7.06 [[ 9.79245085e-01 1.48957569e-01 -1.37443466e-01 -1.00466021e+02] [-1.47457831e-01 9.88843514e-01 2.10877233e-02 6.42155306e+00] [ 1.39051256e-01 -3.82934113e-04 9.90285111e-01 -7.05952883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.07534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-100.50, Y:6.42, Z:-7.06 [[ 9.79034478e-01 1.51325176e-01 -1.36353149e-01 -1.00495202e+02] [-1.49869203e-01 9.88484035e-01 2.09412388e-02 6.42410349e+00] [ 1.37951848e-01 -6.70569863e-05 9.90438935e-01 -7.06301996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.10534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-100.52, Y:6.43, Z:-7.07 [[ 9.79116985e-01 1.49994680e-01 -1.37228007e-01 -1.00523524e+02] [-1.48500473e-01 9.88686758e-01 2.11211817e-02 6.42641422e+00] [ 1.38843578e-01 -3.01683795e-04 9.90314278e-01 -7.06637072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-100.55, Y:6.43, Z:-7.07 [[ 9.78921560e-01 1.52079283e-01 -1.36324877e-01 -1.00551692e+02] [-1.50618809e-01 9.88368296e-01 2.10258225e-02 6.42947799e+00] [ 1.37936778e-01 -4.95403702e-05 9.90441034e-01 -7.07051080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-100.58, Y:6.43, Z:-7.07 [[ 9.79040510e-01 1.50101840e-01 -1.37655791e-01 -1.00579837e+02] [-1.48587528e-01 9.88670471e-01 2.12707952e-02 6.43229047e+00] [ 1.39289001e-01 -3.71036522e-04 9.90251704e-01 -7.07279012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-100.61, Y:6.43, Z:-7.08 [[ 9.78874055e-01 1.49102330e-01 -1.39907396e-01 -1.00607465e+02] [-1.47525175e-01 9.88821624e-01 2.16360392e-02 6.43493597e+00] [ 1.41569443e-01 -5.39094332e-04 9.89928180e-01 -7.07698264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22534707000001 meters Centerline goodness [0,1] 0.9996733760666313 Centerline is valid? [True, True] Translation: X:-100.64, Y:6.44, Z:-7.08 [[ 9.78326387e-01 1.51823656e-01 -1.40808586e-01 -1.00635101e+02] [-1.50250583e-01 9.88407582e-01 2.17994005e-02 6.43951138e+00] [ 1.42485939e-01 -1.70356559e-04 9.89796812e-01 -7.08485572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-100.66, Y:6.44, Z:-7.09 [[ 9.77947212e-01 1.53595488e-01 -1.41519176e-01 -1.00663515e+02] [-1.52017652e-01 9.88133809e-01 2.19592583e-02 6.44355845e+00] [ 1.43212725e-01 3.84172892e-05 9.89691929e-01 -7.08975392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.28534707000001 meters Centerline goodness [0,1] 0.9999600718706328 Centerline is valid? [True, True] Translation: X:-100.69, Y:6.45, Z:-7.09 [[ 9.77962902e-01 1.55841684e-01 -1.38931395e-01 -1.00691678e+02] [-1.54337520e-01 9.87781995e-01 2.16023250e-02 6.44958590e+00] [ 1.40600473e-01 3.16054452e-04 9.90066365e-01 -7.09242917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31534707000002 meters Centerline goodness [0,1] 0.9997931662116323 Centerline is valid? [True, True] Translation: X:-100.72, Y:6.45, Z:-7.09 [[ 9.77686207e-01 1.56142524e-01 -1.40531823e-01 -1.00719571e+02] [-1.54600774e-01 9.87734482e-01 2.18904952e-02 6.45160215e+00] [ 1.42226165e-01 3.24293392e-04 9.89834134e-01 -7.09448327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.34534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-100.75, Y:6.46, Z:-7.10 [[ 9.77945900e-01 1.55577929e-01 -1.39346064e-01 -1.00747015e+02] [-1.54054023e-01 9.87823597e-01 2.17232444e-02 6.45565611e+00] [ 1.41028988e-01 2.22664030e-04 9.90005442e-01 -7.09561132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.37534707000002 meters Centerline goodness [0,1] 0.9999181803305515 Centerline is valid? [True, True] Translation: X:-100.78, Y:6.46, Z:-7.10 [[ 9.77450636e-01 1.57061702e-01 -1.41144874e-01 -1.00775269e+02] [-1.55509133e-01 9.87588706e-01 2.20331203e-02 6.45899078e+00] [ 1.42853643e-01 4.13029409e-04 9.89743738e-01 -7.10178168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.40534707000002 meters Centerline goodness [0,1] 0.999709193635495 Centerline is valid? [True, True] Translation: X:-100.80, Y:6.46, Z:-7.11 [[ 9.77394869e-01 1.57391985e-01 -1.41163144e-01 -1.00802951e+02] [-1.55835495e-01 9.87536122e-01 2.20840687e-02 6.46325602e+00] [ 1.42879559e-01 4.13373115e-04 9.89739996e-01 -7.10722324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.43534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-100.83, Y:6.47, Z:-7.11 [[ 9.77138726e-01 1.59510681e-01 -1.40556939e-01 -1.00830639e+02] [-1.57982700e-01 9.87195973e-01 2.20358202e-02 6.46890756e+00] [ 1.42272193e-01 6.73511511e-04 9.89827343e-01 -7.10627799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.46534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-100.86, Y:6.47, Z:-7.11 [[ 9.76400372e-01 1.61578904e-01 -1.43298891e-01 -1.00859043e+02] [-1.60009792e-01 9.86859315e-01 2.24846543e-02 6.47478733e+00] [ 1.45048891e-01 9.75200927e-04 9.89424008e-01 -7.11066027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-100.89, Y:6.48, Z:-7.12 [[ 9.76148359e-01 1.65374394e-01 -1.40661620e-01 -1.00886496e+02] [-1.63897884e-01 9.86229747e-01 2.20991071e-02 6.48178485e+00] [ 1.42379300e-01 1.48213466e-03 9.89811062e-01 -7.11590299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.52534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-100.91, Y:6.49, Z:-7.12 [[ 9.76200073e-01 1.66372764e-01 -1.39116933e-01 -1.00914603e+02] [-1.64932151e-01 9.86061691e-01 2.19026650e-02 6.48911324e+00] [ 1.40821885e-01 1.56347179e-03 9.90033713e-01 -7.11747552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-100.94, Y:6.50, Z:-7.12 [[ 9.76263149e-01 1.68250849e-01 -1.36388840e-01 -1.00942594e+02] [-1.66879313e-01 9.85742642e-01 2.15113853e-02 6.49543265e+00] [ 1.38063605e-01 1.75970315e-03 9.90421801e-01 -7.11761837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-100.97, Y:6.50, Z:-7.12 [[ 9.76165551e-01 1.66836278e-01 -1.38803722e-01 -1.00971574e+02] [-1.65398815e-01 9.85983362e-01 2.19098482e-02 6.49519150e+00] [ 1.40513518e-01 1.57033205e-03 9.90077515e-01 -7.11604774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61534707000001 meters Centerline goodness [0,1] 0.9999597601706168 Centerline is valid? [True, True] Translation: X:-101.00, Y:6.51, Z:-7.12 [[ 9.76215262e-01 1.70151866e-01 -1.34358120e-01 -1.00999025e+02] [-1.68832632e-01 9.85415918e-01 2.12370110e-02 6.50576516e+00] [ 1.36012147e-01 1.95214087e-03 9.90705246e-01 -7.12239731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.64534707000001 meters Centerline goodness [0,1] 0.999878182482641 Centerline is valid? [True, True] Translation: X:-101.03, Y:6.51, Z:-7.12 [[ 9.76562770e-01 1.69298121e-01 -1.32903356e-01 -1.01027686e+02] [-1.67993652e-01 9.85563298e-01 2.10503949e-02 6.50687412e+00] [ 1.34548462e-01 1.76988822e-03 9.90905434e-01 -7.11976534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-101.06, Y:6.51, Z:-7.12 [[ 9.76250053e-01 1.69174726e-01 -1.35335679e-01 -1.01055229e+02] [-1.67818362e-01 9.85584488e-01 2.14525919e-02 6.51087870e+00] [ 1.37013983e-01 1.76871806e-03 9.90567534e-01 -7.12273017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.70534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-101.08, Y:6.52, Z:-7.13 [[ 9.76214579e-01 1.69999222e-01 -1.34556162e-01 -1.01082492e+02] [-1.68662486e-01 9.85442468e-01 2.13566927e-02 6.51613727e+00] [ 1.36227977e-01 1.84586203e-03 9.90675795e-01 -7.12523101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.73534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-101.11, Y:6.52, Z:-7.13 [[ 9.76499011e-01 1.67851268e-01 -1.35187401e-01 -1.01110823e+02] [-1.66475042e-01 9.85811178e-01 2.15030566e-02 6.51816347e+00] [ 1.36878566e-01 1.50761478e-03 9.90586687e-01 -7.12661645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.76534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-101.14, Y:6.52, Z:-7.13 [[ 9.76434899e-01 1.68226598e-01 -1.35183945e-01 -1.01138045e+02] [-1.66850947e-01 9.85747151e-01 2.15247607e-02 6.52229168e+00] [ 1.36878226e-01 1.53804163e-03 9.90586688e-01 -7.12980719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.79534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-101.17, Y:6.53, Z:-7.13 [[ 9.76461015e-01 1.69999744e-01 -1.32755317e-01 -1.01165709e+02] [-1.68682712e-01 9.85442634e-01 2.11886274e-02 6.52961819e+00] [ 1.34424811e-01 1.70365832e-03 9.90922332e-01 -7.13389787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.82534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-101.19, Y:6.53, Z:-7.14 [[ 9.76187020e-01 1.71731455e-01 -1.32541353e-01 -1.01193274e+02] [-1.70428376e-01 9.85141981e-01 2.12001534e-02 6.53401888e+00] [ 1.34212784e-01 1.89349301e-03 9.90950727e-01 -7.13844162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85534707000001 meters Centerline goodness [0,1] 0.9997580352461991 Centerline is valid? [True, True] Translation: X:-101.22, Y:6.54, Z:-7.14 [[ 9.76271746e-01 1.71873910e-01 -1.31730170e-01 -1.01221812e+02] [-1.70581995e-01 9.85117208e-01 2.11156217e-02 6.53993539e+00] [ 1.33398882e-01 1.85621043e-03 9.91060691e-01 -7.14151364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.88534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-101.25, Y:6.54, Z:-7.14 [[ 9.76406795e-01 1.71200573e-01 -1.31605984e-01 -1.01249740e+02] [-1.69900038e-01 9.85234685e-01 2.11327123e-02 6.54320271e+00] [ 1.33280713e-01 1.72573784e-03 9.91076825e-01 -7.14225244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-101.28, Y:6.54, Z:-7.14 [[ 9.76279201e-01 1.69298472e-01 -1.34970177e-01 -1.01277835e+02] [-1.67910031e-01 9.85563703e-01 2.16889221e-02 6.54457182e+00] [ 1.36693608e-01 1.48840304e-03 9.90612256e-01 -7.14427077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-101.30, Y:6.55, Z:-7.15 [[ 9.76006685e-01 1.71665942e-01 -1.33946835e-01 -1.01303827e+02] [-1.70317518e-01 9.85153606e-01 2.15479938e-02 6.55290938e+00] [ 1.35657264e-01 1.78250649e-03 9.90754223e-01 -7.15230310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-101.33, Y:6.56, Z:-7.16 [[ 9.75717339e-01 1.72381105e-01 -1.35131152e-01 -1.01332396e+02] [-1.71007794e-01 9.85028606e-01 2.17940159e-02 6.55825416e+00] [ 1.36864927e-01 1.84368103e-03 9.90588003e-01 -7.15624021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.00534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-101.36, Y:6.56, Z:-7.16 [[ 9.75562580e-01 1.72492896e-01 -1.36102360e-01 -1.01360794e+02] [-1.71094768e-01 9.85009062e-01 2.19938307e-02 6.56343632e+00] [ 1.37855838e-01 1.83004346e-03 9.90450614e-01 -7.16127572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-101.39, Y:6.57, Z:-7.17 [[ 9.75491678e-01 1.72506115e-01 -1.36592922e-01 -1.01387912e+02] [-1.71091766e-01 9.85006812e-01 2.21175745e-02 6.56784903e+00] [ 1.38360376e-01 1.79441448e-03 9.90380324e-01 -7.16585062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.06534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-101.42, Y:6.57, Z:-7.17 [[ 9.75731941e-01 1.72036080e-01 -1.35465001e-01 -1.01416339e+02] [-1.70633894e-01 9.85089242e-01 2.19831780e-02 6.57217391e+00] [ 1.37227014e-01 1.66523152e-03 9.90538224e-01 -7.16937043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.09534707000002 meters Centerline goodness [0,1] 0.9998797064838205 Centerline is valid? [True, True] Translation: X:-101.44, Y:6.58, Z:-7.17 [[ 9.75780127e-01 1.72563738e-01 -1.34442922e-01 -1.01444776e+02] [-1.71181884e-01 9.84996914e-01 2.18596036e-02 6.57968695e+00] [ 1.36198038e-01 1.68402576e-03 9.90680200e-01 -7.17134595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.12534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-101.47, Y:6.58, Z:-7.17 [[ 9.75358703e-01 1.74572684e-01 -1.34906554e-01 -1.01472484e+02] [-1.73195065e-01 9.84642392e-01 2.19733732e-02 6.58436436e+00] [ 1.36670662e-01 1.93322845e-03 9.90614654e-01 -7.17386415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.15534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-101.50, Y:6.59, Z:-7.18 [[ 9.74927692e-01 1.77012527e-01 -1.34842724e-01 -1.01500636e+02] [-1.75656719e-01 9.84206016e-01 2.19826003e-02 6.59241606e+00] [ 1.36604216e-01 2.25458481e-03 9.90623140e-01 -7.17819065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.18534707 meters Centerline goodness [0,1] 0.9999186264138661 Centerline is valid? [True, True] Translation: X:-101.53, Y:6.60, Z:-7.18 [[ 9.73883842e-01 1.81546943e-01 -1.36348709e-01 -1.01527249e+02] [-1.80199082e-01 9.83378054e-01 2.22686726e-02 6.60062620e+00] [ 1.38125138e-01 2.88281193e-03 9.90410589e-01 -7.18492368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.21534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-101.55, Y:6.61, Z:-7.19 [[ 9.73062617e-01 1.84428830e-01 -1.38329861e-01 -1.01554766e+02] [-1.83067352e-01 9.82840265e-01 2.26132171e-02 6.60843744e+00] [ 1.40126686e-01 3.31960508e-03 9.90128018e-01 -7.18850296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.24534707000001 meters Centerline goodness [0,1] 0.9999200287896357 Centerline is valid? [True, True] Translation: X:-101.58, Y:6.62, Z:-7.20 [[ 9.72396411e-01 1.87636392e-01 -1.38700412e-01 -1.01582384e+02] [-1.86297467e-01 9.82231307e-01 2.26917095e-02 6.61877584e+00] [ 1.40493677e-01 3.77419862e-03 9.90074382e-01 -7.19520211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27534707000001 meters Centerline goodness [0,1] 0.9999185899784263 Centerline is valid? [True, True] Translation: X:-101.61, Y:6.62, Z:-7.20 [[ 9.71822164e-01 1.90201908e-01 -1.39229722e-01 -1.01609743e+02] [-1.88873585e-01 9.81736332e-01 2.28154409e-02 6.62380304e+00] [ 1.41026417e-01 4.12426559e-03 9.89997242e-01 -7.19879500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30534707000001 meters Centerline goodness [0,1] 0.9997603163823753 Centerline is valid? [True, True] Translation: X:-101.64, Y:6.63, Z:-7.20 [[ 9.71662379e-01 1.91112997e-01 -1.39097244e-01 -1.01636664e+02] [-1.89793251e-01 9.81558929e-01 2.28164656e-02 6.63242398e+00] [ 1.40892665e-01 4.22981690e-03 9.90015841e-01 -7.19869171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-101.66, Y:6.64, Z:-7.20 [[ 9.71835124e-01 1.90777006e-01 -1.38349648e-01 -1.01663580e+02] [-1.89461662e-01 9.81624783e-01 2.27390439e-02 6.63705727e+00] [ 1.40145530e-01 4.11335268e-03 9.90122372e-01 -7.20286779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.36534707000001 meters Centerline goodness [0,1] 0.9998786260468503 Centerline is valid? [True, True] Translation: X:-101.69, Y:6.64, Z:-7.21 [[ 9.71836485e-01 1.91520354e-01 -1.37309140e-01 -1.01691784e+02] [-1.90229356e-01 9.81479790e-01 2.25879205e-02 6.64248980e+00] [ 1.39092192e-01 4.16846399e-03 9.90270663e-01 -7.20514149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-101.72, Y:6.65, Z:-7.21 [[ 9.71999971e-01 1.90283258e-01 -1.37870726e-01 -1.01718813e+02] [-1.88963745e-01 9.81721206e-01 2.27195072e-02 6.64561620e+00] [ 1.39673757e-01 3.96920835e-03 9.90189622e-01 -7.20877492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.42534707000002 meters Centerline goodness [0,1] 0.9999601466602901 Centerline is valid? [True, True] Translation: X:-101.75, Y:6.65, Z:-7.21 [[ 9.72413601e-01 1.88006596e-01 -1.38077182e-01 -1.01746703e+02] [-1.86656990e-01 9.82161078e-01 2.27768656e-02 6.65111832e+00] [ 1.39896235e-01 3.62453719e-03 9.90159536e-01 -7.21298278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45534707000002 meters Centerline goodness [0,1] 0.9999588172308707 Centerline is valid? [True, True] Translation: X:-101.78, Y:6.65, Z:-7.21 [[ 9.72446344e-01 1.86232184e-01 -1.40234380e-01 -1.01775520e+02] [-1.84815781e-01 9.82499939e-01 2.31731950e-02 6.65074812e+00] [ 1.42095865e-01 3.38283770e-03 9.89847120e-01 -7.21294482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.48534707000002 meters Centerline goodness [0,1] 0.9999583714927983 Centerline is valid? [True, True] Translation: X:-101.80, Y:6.65, Z:-7.22 [[ 9.72395066e-01 1.86441062e-01 -1.40312387e-01 -1.01802404e+02] [-1.85022458e-01 9.82460278e-01 2.32054525e-02 6.65451445e+00] [ 1.42177796e-01 3.39607534e-03 9.89835310e-01 -7.21571788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.51534707000002 meters Centerline goodness [0,1] 0.9998027846803139 Centerline is valid? [True, True] Translation: X:-101.83, Y:6.67, Z:-7.22 [[ 9.72692990e-01 1.85864288e-01 -1.39006523e-01 -1.01829212e+02] [-1.84461983e-01 9.82570047e-01 2.30190995e-02 6.66751874e+00] [ 1.40862074e-01 3.25090211e-03 9.90023892e-01 -7.22347455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.54534707000002 meters Centerline goodness [0,1] 0.9999603379209138 Centerline is valid? [True, True] Translation: X:-101.86, Y:6.67, Z:-7.22 [[ 9.72592363e-01 1.85843179e-01 -1.39736924e-01 -1.01858115e+02] [-1.84419216e-01 9.82574144e-01 2.31862939e-02 6.66857359e+00] [ 1.41610903e-01 3.21936150e-03 9.89917162e-01 -7.21935634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.57534707 meters Centerline goodness [0,1] 0.9999600989545926 Centerline is valid? [True, True] Translation: X:-101.89, Y:6.68, Z:-7.22 [[ 9.72341845e-01 1.87239253e-01 -1.39616610e-01 -1.01885650e+02] [-1.85827833e-01 9.82308489e-01 2.31958760e-02 6.67693015e+00] [ 1.41489760e-01 3.39033132e-03 9.89933914e-01 -7.22325247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.60534707000001 meters Centerline goodness [0,1] 0.9998417032727849 Centerline is valid? [True, True] Translation: X:-101.91, Y:6.69, Z:-7.23 [[ 9.72090067e-01 1.88927999e-01 -1.39093901e-01 -1.01913666e+02] [-1.87537810e-01 9.81984429e-01 2.31549440e-02 6.68536950e+00] [ 1.40962662e-01 3.57667447e-03 9.90008452e-01 -7.22896160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63534707000001 meters Centerline goodness [0,1] 0.9997637981261318 Centerline is valid? [True, True] Translation: X:-101.94, Y:6.69, Z:-7.23 [[ 9.71980698e-01 1.89735871e-01 -1.38758144e-01 -1.01940861e+02] [-1.88354601e-01 9.81828411e-01 2.31412150e-02 6.69174709e+00] [ 1.40627407e-01 3.64292059e-03 9.90055888e-01 -7.22981803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66534707000001 meters Centerline goodness [0,1] 0.9996028909538559 Centerline is valid? [True, True] Translation: X:-101.97, Y:6.70, Z:-7.23 [[ 9.71674365e-01 1.91645657e-01 -1.38278235e-01 -1.01967991e+02] [-1.90287302e-01 9.81456575e-01 2.31026732e-02 6.70087008e+00] [ 1.40141610e-01 3.86431699e-03 9.90123930e-01 -7.23096540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69534707000001 meters Centerline goodness [0,1] 0.9991833242591585 Centerline is valid? [True, True] Translation: X:-102.00, Y:6.71, Z:-7.23 [[ 9.71296420e-01 1.94355079e-01 -1.37147250e-01 -1.01996102e+02] [-1.93043038e-01 9.80922249e-01 2.29330858e-02 6.71010557e+00] [ 1.38987951e-01 4.20049761e-03 9.90285164e-01 -7.23103190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72534707000001 meters Centerline goodness [0,1] 0.9996853738152358 Centerline is valid? [True, True] Translation: X:-102.02, Y:6.72, Z:-7.23 [[ 9.70597404e-01 1.97286814e-01 -1.37907912e-01 -1.02023464e+02] [-1.95984306e-01 9.80334976e-01 2.30973330e-02 6.71751635e+00] [ 1.39752748e-01 4.60957496e-03 9.90175702e-01 -7.23494384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75534707000001 meters Centerline goodness [0,1] 0.9997173087795816 Centerline is valid? [True, True] Translation: X:-102.05, Y:6.73, Z:-7.24 [[ 9.69818945e-01 1.99914409e-01 -1.39590267e-01 -1.02051192e+02] [-1.98605073e-01 9.79800414e-01 2.33917388e-02 6.72561974e+00] [ 1.41446947e-01 5.03758354e-03 9.89933020e-01 -7.23971030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.78534707000001 meters Centerline goodness [0,1] 0.999510962588638 Centerline is valid? [True, True] Translation: X:-102.08, Y:6.73, Z:-7.24 [[ 9.69385437e-01 2.01752975e-01 -1.39955751e-01 -1.02080119e+02] [-2.00453831e-01 9.79422064e-01 2.34666345e-02 6.72599773e+00] [ 1.41810214e-01 5.30645276e-03 9.89879642e-01 -7.23570984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81534707000002 meters Centerline goodness [0,1] 0.999715551221098 Centerline is valid? [True, True] Translation: X:-102.11, Y:6.74, Z:-7.25 [[ 9.68703396e-01 2.04546384e-01 -1.40621862e-01 -1.02106561e+02] [-2.03261497e-01 9.78840127e-01 2.35959459e-02 6.73620493e+00] [ 1.42472787e-01 5.72553737e-03 9.89782159e-01 -7.24511195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.84534707000002 meters Centerline goodness [0,1] 0.9995615957913196 Centerline is valid? [True, True] Translation: X:-102.13, Y:6.74, Z:-7.25 [[ 9.68688071e-01 2.04421006e-01 -1.40909448e-01 -1.02133926e+02] [-2.03126308e-01 9.78866486e-01 2.36665471e-02 6.74101668e+00] [ 1.42769476e-01 5.69691409e-03 9.89739573e-01 -7.24994827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.87534707000002 meters Centerline goodness [0,1] 0.999724864397453 Centerline is valid? [True, True] Translation: X:-102.16, Y:6.75, Z:-7.25 [[ 9.68701413e-01 2.04733131e-01 -1.40363517e-01 -1.02162412e+02] [-2.03444308e-01 9.78801413e-01 2.36264311e-02 6.74578872e+00] [ 1.42225122e-01 5.66920136e-03 9.89818102e-01 -7.25160853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.90534707000002 meters Centerline goodness [0,1] 0.9997984764822054 Centerline is valid? [True, True] Translation: X:-102.19, Y:6.75, Z:-7.25 [[ 9.69151137e-01 2.02683230e-01 -1.40234025e-01 -1.02190450e+02] [-2.01369477e-01 9.79229894e-01 2.36463250e-02 6.75022915e+00] [ 1.42114063e-01 5.32198950e-03 9.89835981e-01 -7.25436104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.93534707 meters Centerline goodness [0,1] 0.999682464078749 Centerline is valid? [True, True] Translation: X:-102.22, Y:6.75, Z:-7.26 [[ 9.69638550e-01 2.00249605e-01 -1.40360888e-01 -1.02219057e+02] [-1.98904778e-01 9.79732425e-01 2.36910040e-02 6.74837857e+00] [ 1.42260227e-01 4.94674053e-03 9.89816931e-01 -7.25502025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.96534707 meters Centerline goodness [0,1] 0.9994915519399249 Centerline is valid? [True, True] Translation: X:-102.25, Y:6.76, Z:-7.26 [[ 9.69596067e-01 2.00152585e-01 -1.40792079e-01 -1.02245126e+02] [-1.98795041e-01 9.79752362e-01 2.37874060e-02 6.75528252e+00] [ 1.42702483e-01 4.92459185e-03 9.89753378e-01 -7.26401010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99534707000001 meters Centerline goodness [0,1] 0.9997647612326511 Centerline is valid? [True, True] Translation: X:-102.27, Y:6.75, Z:-7.27 [[ 9.69948723e-01 1.97936263e-01 -1.41494560e-01 -1.02274080e+02] [-1.96534938e-01 9.80204212e-01 2.39524877e-02 6.75396486e+00] [ 1.43434629e-01 4.57593954e-03 9.89649215e-01 -7.26547559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02534707000001 meters Centerline goodness [0,1] 0.9993279835553623 Centerline is valid? [True, True] Translation: X:-102.30, Y:6.76, Z:-7.27 [[ 9.70049815e-01 1.96946942e-01 -1.42180375e-01 -1.02303075e+02] [-1.95518264e-01 9.80404139e-01 2.40901151e-02 6.75576675e+00] [ 1.44138703e-01 4.43024843e-03 9.89547577e-01 -7.26848000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05534707000001 meters Centerline goodness [0,1] 0.9995278750442617 Centerline is valid? [True, True] Translation: X:-102.33, Y:6.76, Z:-7.28 [[ 9.69655400e-01 1.97898540e-01 -1.43542932e-01 -1.02330749e+02] [-1.96446000e-01 9.80211848e-01 2.43660112e-02 6.75981891e+00] [ 1.45524481e-01 4.57180050e-03 9.89344088e-01 -7.27551215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08534707000001 meters Centerline goodness [0,1] 0.9995588883987648 Centerline is valid? [True, True] Translation: X:-102.36, Y:6.76, Z:-7.28 [[ 9.69732527e-01 1.97068047e-01 -1.44163142e-01 -1.02358481e+02] [-1.95587810e-01 9.80379818e-01 2.45116390e-02 6.76170448e+00] [ 1.46165096e-01 4.42681956e-03 9.89250306e-01 -7.27653500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11534707000001 meters Centerline goodness [0,1] 0.9995176267234795 Centerline is valid? [True, True] Translation: X:-102.39, Y:6.77, Z:-7.28 [[ 9.69398635e-01 1.98824046e-01 -1.43997518e-01 -1.02387329e+02] [-1.97362290e-01 9.80024133e-01 2.45117293e-02 6.76763376e+00] [ 1.45994564e-01 4.65804305e-03 9.89274426e-01 -7.27875763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.14534707000001 meters Centerline goodness [0,1] 0.999302878700894 Centerline is valid? [True, True] Translation: X:-102.42, Y:6.76, Z:-7.28 [[ 9.69292310e-01 1.99416921e-01 -1.43893393e-01 -1.02416744e+02] [-1.97958320e-01 9.79903431e-01 2.45309943e-02 6.76462442e+00] [ 1.45893525e-01 4.70719020e-03 9.89289099e-01 -7.27795207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17534707000002 meters Centerline goodness [0,1] 0.99928092042186 Centerline is valid? [True, True] Translation: X:-102.44, Y:6.77, Z:-7.28 [[ 9.69094918e-01 2.01023471e-01 -1.42984628e-01 -1.02443238e+02] [-1.99596988e-01 9.79574208e-01 2.44010843e-02 6.77177236e+00] [ 1.44969244e-01 4.89233422e-03 9.89424067e-01 -7.28497256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.20534707000002 meters Centerline goodness [0,1] 0.9991253528406154 Centerline is valid? [True, True] Translation: X:-102.47, Y:6.78, Z:-7.29 [[ 9.68957149e-01 2.01920107e-01 -1.42654529e-01 -1.02470582e+02] [-2.00501882e-01 9.79389434e-01 2.43994202e-02 6.77612708e+00] [ 1.44641072e-01 4.96050884e-03 9.89471755e-01 -7.28897796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.23534707000002 meters Centerline goodness [0,1] 0.9991225621186136 Centerline is valid? [True, True] Translation: X:-102.50, Y:6.78, Z:-7.29 [[ 9.68710865e-01 2.02684898e-01 -1.43241379e-01 -1.02498079e+02] [-2.01256730e-01 9.79230978e-01 2.45442351e-02 6.77775777e+00] [ 1.45241141e-01 5.05202425e-03 9.89383388e-01 -7.29395200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.26534707000002 meters Centerline goodness [0,1] 0.9991197921032777 Centerline is valid? [True, True] Translation: X:-102.53, Y:6.77, Z:-7.29 [[ 9.69602627e-01 1.97731619e-01 -1.44128249e-01 -1.02529146e+02] [-1.96229023e-01 9.80246666e-01 2.47112160e-02 6.77166206e+00] [ 1.46167424e-01 4.32208546e-03 9.89250425e-01 -7.28793365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.29534707000002 meters Centerline goodness [0,1] 0.9986843728158533 Centerline is valid? [True, True] Translation: X:-102.56, Y:6.78, Z:-7.29 [[ 9.69859742e-01 1.97277181e-01 -1.43016763e-01 -1.02556588e+02] [-1.95790960e-01 9.80338723e-01 2.45334177e-02 6.77759072e+00] [ 1.45044755e-01 4.20741522e-03 9.89416149e-01 -7.29258120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.32534707 meters Centerline goodness [0,1] 0.9990949109310076 Centerline is valid? [True, True] Translation: X:-102.59, Y:6.78, Z:-7.30 [[ 9.70139049e-01 1.96098288e-01 -1.42743429e-01 -1.02585800e+02] [-1.94601652e-01 9.80576086e-01 2.45099256e-02 6.77954062e+00] [ 1.44777147e-01 4.00007110e-03 9.89456203e-01 -7.29677805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35534707000001 meters Centerline goodness [0,1] 0.99865777271618 Centerline is valid? [True, True] Translation: X:-102.61, Y:6.78, Z:-7.30 [[ 9.69614341e-01 1.97983732e-01 -1.43702718e-01 -1.02613288e+02] [-1.96481582e-01 9.80195998e-01 2.47142348e-02 6.78069757e+00] [ 1.45749846e-01 4.27166088e-03 9.89312254e-01 -7.30095109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.38534707000001 meters Centerline goodness [0,1] 0.9990052638123265 Centerline is valid? [True, True] Translation: X:-102.64, Y:6.79, Z:-7.30 [[ 9.70194677e-01 1.95072828e-01 -1.43766756e-01 -1.02641651e+02] [-1.93534198e-01 9.80781347e-01 2.47480193e-02 6.78507737e+00] [ 1.45831419e-01 3.81338711e-03 9.89302105e-01 -7.30445356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41534707000001 meters Centerline goodness [0,1] 0.9989035532994924 Centerline is valid? [True, True] Translation: X:-102.67, Y:6.79, Z:-7.31 [[ 9.69163750e-01 1.98922090e-01 -1.45435990e-01 -1.02669212e+02] [-1.97384196e-01 9.80005417e-01 2.50771367e-02 6.78603914e+00] [ 1.47516454e-01 4.40291408e-03 9.89049802e-01 -7.31196643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44534707000001 meters Centerline goodness [0,1] 0.9988973741168783 Centerline is valid? [True, True] Translation: X:-102.70, Y:6.79, Z:-7.32 [[ 9.69192285e-01 1.97938371e-01 -1.46583478e-01 -1.02696209e+02] [-1.96360673e-01 9.80205210e-01 2.53028070e-02 6.78897095e+00] [ 1.48690286e-01 4.25994510e-03 9.88874639e-01 -7.31906698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47534707000001 meters Centerline goodness [0,1] 0.9987907126733312 Centerline is valid? [True, True] Translation: X:-102.72, Y:6.79, Z:-7.32 [[ 9.68246685e-01 2.01560048e-01 -1.47891525e-01 -1.02724773e+02] [-1.99988876e-01 9.79464330e-01 2.55749058e-02 6.79348872e+00] [ 1.50009353e-01 4.81384212e-03 9.88672858e-01 -7.32480378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.50534707000001 meters Centerline goodness [0,1] 0.9987755102040816 Centerline is valid? [True, True] Translation: X:-102.75, Y:6.79, Z:-7.33 [[ 9.68395971e-01 2.00204840e-01 -1.48752360e-01 -1.02753109e+02] [-1.98596550e-01 9.79743202e-01 2.57423277e-02 6.79403950e+00] [ 1.50892852e-01 4.61293909e-03 9.88539361e-01 -7.32681418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53534707000001 meters Centerline goodness [0,1] 0.9986677213872351 Centerline is valid? [True, True] Translation: X:-102.78, Y:6.79, Z:-7.33 [[ 9.69323838e-01 1.96271736e-01 -1.47948310e-01 -1.02782014e+02] [-1.94632730e-01 9.80541541e-01 2.56200607e-02 6.79367582e+00] [ 1.50097957e-01 3.96144786e-03 9.88663193e-01 -7.32670476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.56534707000002 meters Centerline goodness [0,1] 0.9987948302372938 Centerline is valid? [True, True] Translation: X:-102.81, Y:6.80, Z:-7.33 [[ 9.69220595e-01 1.96976651e-01 -1.47687635e-01 -1.02810087e+02] [-1.95347521e-01 9.80399869e-01 2.56016181e-02 6.79557494e+00] [ 1.49835859e-01 4.03679798e-03 9.88702645e-01 -7.33013479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.59534707000002 meters Centerline goodness [0,1] 0.998890643000384 Centerline is valid? [True, True] Translation: X:-102.84, Y:6.79, Z:-7.33 [[ 9.69473119e-01 1.95411082e-01 -1.48109352e-01 -1.02838650e+02] [-1.93747463e-01 9.80714214e-01 2.57206476e-02 6.79399122e+00] [ 1.50279047e-01 3.76033488e-03 9.88636469e-01 -7.33048062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.62534707000002 meters Centerline goodness [0,1] 0.9985213176702539 Centerline is valid? [True, True] Translation: X:-102.87, Y:6.80, Z:-7.34 [[ 9.68019445e-01 2.01999104e-01 -1.48777403e-01 -1.02866178e+02] [-2.00393770e-01 9.79374044e-01 2.58615429e-02 6.80244618e+00] [ 1.50932735e-01 4.77958833e-03 9.88532480e-01 -7.34216715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.65534707000002 meters Centerline goodness [0,1] 0.9985213176702539 Centerline is valid? [True, True] Translation: X:-102.89, Y:6.81, Z:-7.35 [[ 9.67948720e-01 2.02343769e-01 -1.48769197e-01 -1.02893343e+02] [-2.00735242e-01 9.79302866e-01 2.59086716e-02 6.80696698e+00] [ 1.50932560e-01 4.78495530e-03 9.88532481e-01 -7.34534565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.68534707 meters Centerline goodness [0,1] 0.9989657027015846 Centerline is valid? [True, True] Translation: X:-102.92, Y:6.81, Z:-7.35 [[ 9.67935487e-01 2.02304084e-01 -1.48909199e-01 -1.02920753e+02] [-2.00683777e-01 9.79311333e-01 2.59871986e-02 6.81306232e+00] [ 1.51085783e-01 4.72972879e-03 9.88509340e-01 -7.35088162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.71534707 meters Centerline goodness [0,1] 0.9995803608896349 Centerline is valid? [True, True] Translation: X:-102.95, Y:6.81, Z:-7.35 [[ 9.68003807e-01 2.01805257e-01 -1.49141770e-01 -1.02949679e+02] [-2.00167022e-01 9.79414798e-01 2.60732829e-02 6.81330170e+00] [ 1.51333382e-01 4.61422687e-03 9.88472011e-01 -7.34500593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74534707000001 meters Centerline goodness [0,1] 0.9997937634053786 Centerline is valid? [True, True] Translation: X:-102.98, Y:6.82, Z:-7.35 [[ 9.67329363e-01 2.05273710e-01 -1.48783760e-01 -1.02976535e+02] [-2.03680292e-01 9.78691215e-01 2.60354363e-02 6.82276365e+00] [ 1.50957749e-01 5.11947765e-03 9.88526959e-01 -7.35487071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77534707000001 meters Centerline goodness [0,1] 0.9999581537431477 Centerline is valid? [True, True] Translation: X:-103.00, Y:6.82, Z:-7.36 [[ 9.67408459e-01 2.04477260e-01 -1.49365065e-01 -1.03004132e+02] [-2.02855227e-01 9.78858687e-01 2.61806892e-02 6.82457631e+00] [ 1.51560647e-01 4.97206386e-03 9.88435455e-01 -7.35706821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80534707000001 meters Centerline goodness [0,1] 0.999792151646159 Centerline is valid? [True, True] Translation: X:-103.03, Y:6.83, Z:-7.36 [[ 9.66752865e-01 2.08184531e-01 -1.48486023e-01 -1.03032056e+02] [-2.06621203e-01 9.78074131e-01 2.60513643e-02 6.82921776e+00] [ 1.50653829e-01 5.49512972e-03 9.88571306e-01 -7.35643596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-103.06, Y:6.83, Z:-7.35 [[ 9.67344310e-01 2.04628016e-01 -1.49573929e-01 -1.03061693e+02] [-2.02995748e-01 9.78827271e-01 2.62659456e-02 6.82618510e+00] [ 1.51781789e-01 4.95465851e-03 9.88401609e-01 -7.35368740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.86534707000001 meters Centerline goodness [0,1] 0.9995885958777307 Centerline is valid? [True, True] Translation: X:-103.09, Y:6.84, Z:-7.37 [[ 9.65743255e-01 2.12101634e-01 -1.49508738e-01 -1.03088048e+02] [-2.10555795e-01 9.77228567e-01 2.62789765e-02 6.83905914e+00] [ 1.51678024e-01 6.10118696e-03 9.88411125e-01 -7.36705674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89534707000001 meters Centerline goodness [0,1] 0.9999157256025619 Centerline is valid? [True, True] Translation: X:-103.12, Y:6.84, Z:-7.37 [[ 9.66144526e-01 2.09103538e-01 -1.51130621e-01 -1.03116756e+02] [-2.07480615e-01 9.77877189e-01 2.66082375e-02 6.84094724e+00] [ 1.53351063e-01 5.64927130e-03 9.88155624e-01 -7.37209432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.92534707000002 meters Centerline goodness [0,1] 0.9999583541562552 Centerline is valid? [True, True] Translation: X:-103.14, Y:6.85, Z:-7.38 [[ 9.65273912e-01 2.13289176e-01 -1.50844296e-01 -1.03143914e+02] [-2.11716846e-01 9.76969046e-01 2.65981188e-02 6.84562919e+00] [ 1.53043299e-01 6.26180850e-03 9.88199645e-01 -7.37501508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95534707000002 meters Centerline goodness [0,1] 0.9998753013550586 Centerline is valid? [True, True] Translation: X:-103.17, Y:6.85, Z:-7.38 [[ 9.65023512e-01 2.14336744e-01 -1.50961524e-01 -1.03172189e+02] [-2.12770503e-01 9.76738818e-01 2.66457292e-02 6.85277301e+00] [ 1.53161139e-01 6.40640420e-03 9.88180461e-01 -7.37993133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.98534707000002 meters Centerline goodness [0,1] 0.9998766193707588 Centerline is valid? [True, True] Translation: X:-103.20, Y:6.86, Z:-7.38 [[ 9.63828130e-01 2.19299372e-01 -1.51469866e-01 -1.03200839e+02] [-2.17776357e-01 9.75631231e-01 2.67798318e-02 6.85818091e+00] [ 1.53651532e-01 7.17540046e-03 9.88099044e-01 -7.38315556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.01534707000002 meters Centerline goodness [0,1] 0.9996736026111791 Centerline is valid? [True, True] Translation: X:-103.23, Y:6.86, Z:-7.39 [[ 9.62978218e-01 2.22702936e-01 -1.51909033e-01 -1.03228571e+02] [-2.21207404e-01 9.74855900e-01 2.68934585e-02 6.86453762e+00] [ 1.54078669e-01 7.70558803e-03 9.88028536e-01 -7.38865476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.04534707000002 meters Centerline goodness [0,1] 0.9997902948454473 Centerline is valid? [True, True] Translation: X:-103.26, Y:6.87, Z:-7.39 [[ 9.62604773e-01 2.22689132e-01 -1.54277674e-01 -1.03257284e+02] [-2.21142765e-01 9.74858270e-01 2.73355269e-02 6.86740299e+00] [ 1.56486191e-01 7.80408259e-03 9.87649314e-01 -7.39452246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.07534707 meters Centerline goodness [0,1] 0.9999145992570135 Centerline is valid? [True, True] Translation: X:-103.29, Y:6.87, Z:-7.39 [[ 9.62445072e-01 2.22311136e-01 -1.55811559e-01 -1.03285441e+02] [-2.20722436e-01 9.74944719e-01 2.76478024e-02 6.86710552e+00] [ 1.58054071e-01 7.78161555e-03 9.87399796e-01 -7.39490705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.10534707000001 meters Centerline goodness [0,1] 0.9995019506931186 Centerline is valid? [True, True] Translation: X:-103.31, Y:6.87, Z:-7.40 [[ 9.62121912e-01 2.25146738e-01 -1.53721736e-01 -1.03313060e+02] [-2.23632145e-01 9.74291129e-01 2.73031114e-02 6.87378250e+00] [ 1.55916930e-01 8.10819977e-03 9.87736892e-01 -7.39920304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13534707000001 meters Centerline goodness [0,1] 0.9996255149169891 Centerline is valid? [True, True] Translation: X:-103.34, Y:6.88, Z:-7.40 [[ 9.61650776e-01 2.27712782e-01 -1.52887782e-01 -1.03341663e+02] [-2.26238909e-01 9.73691872e-01 2.72046782e-02 6.87827289e+00] [ 1.55060444e-01 8.42776513e-03 9.87869036e-01 -7.39710121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16534707000001 meters Centerline goodness [0,1] 0.9994876830465782 Centerline is valid? [True, True] Translation: X:-103.37, Y:6.88, Z:-7.40 [[ 9.62032239e-01 2.25555677e-01 -1.53683464e-01 -1.03370265e+02] [-2.24031196e-01 9.74196825e-01 2.73965146e-02 6.88078028e+00] [ 1.55897382e-01 8.07355998e-03 9.87740261e-01 -7.40055639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19534707000001 meters Centerline goodness [0,1] 0.9998693721153009 Centerline is valid? [True, True] Translation: X:-103.40, Y:6.88, Z:-7.40 [[ 9.62167416e-01 2.24568519e-01 -1.54281703e-01 -1.03398872e+02] [-2.23012833e-01 9.74426250e-01 2.75455751e-02 6.88213464e+00] [ 1.56522010e-01 7.90334488e-03 9.87642849e-01 -7.40155139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22534707000001 meters Centerline goodness [0,1] 0.9987425074401644 Centerline is valid? [True, True] Translation: X:-103.42, Y:6.90, Z:-7.41 [[ 9.62130850e-01 2.26172992e-01 -1.52151255e-01 -1.03424737e+02] [-2.24675739e-01 9.74054113e-01 2.71918471e-02 6.89770687e+00] [ 1.54353618e-01 8.02258081e-03 9.87983096e-01 -7.41328947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25534707000001 meters Centerline goodness [0,1] 0.9977694245941592 Centerline is valid? [True, True] Translation: X:-103.45, Y:6.90, Z:-7.41 [[ 9.62310317e-01 2.26790296e-01 -1.50083364e-01 -1.03453052e+02] [-2.25333394e-01 9.73911082e-01 2.68712886e-02 6.90353144e+00] [ 1.52261999e-01 7.96027553e-03 9.88308109e-01 -7.41423827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.28534707000001 meters Centerline goodness [0,1] 0.999284240663551 Centerline is valid? [True, True] Translation: X:-103.48, Y:6.90, Z:-7.41 [[ 9.61637572e-01 2.28396572e-01 -1.51947970e-01 -1.03482308e+02] [-2.26916417e-01 9.73532998e-01 2.72477955e-02 6.90356414e+00] [ 1.54149666e-01 8.27698503e-03 9.88012840e-01 -7.41406650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31534707000002 meters Centerline goodness [0,1] 0.9984553727978626 Centerline is valid? [True, True] Translation: X:-103.51, Y:6.91, Z:-7.41 [[ 9.61788783e-01 2.28636290e-01 -1.50624649e-01 -1.03510921e+02] [-2.27179049e-01 9.73477337e-01 2.70472694e-02 6.91151184e+00] [ 1.52813669e-01 8.20500416e-03 9.88220957e-01 -7.41367114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.34534707000002 meters Centerline goodness [0,1] 0.9977082054430121 Centerline is valid? [True, True] Translation: X:-103.54, Y:6.92, Z:-7.42 [[ 9.62049023e-01 2.28583751e-01 -1.49034042e-01 -1.03538216e+02] [-2.27149291e-01 9.73490874e-01 2.68089170e-02 6.92197691e+00] [ 1.51211362e-01 8.06148454e-03 9.88468581e-01 -7.41781604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.37534707000002 meters Centerline goodness [0,1] 0.9990798059227037 Centerline is valid? [True, True] Translation: X:-103.57, Y:6.92, Z:-7.42 [[ 9.61419957e-01 2.29901900e-01 -1.51052251e-01 -1.03566127e+02] [-2.28438067e-01 9.73178046e-01 2.72128662e-02 6.92290566e+00] [ 1.53257024e-01 8.34309151e-03 9.88151141e-01 -7.42174127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.40534707000002 meters Centerline goodness [0,1] 0.9988849337393318 Centerline is valid? [True, True] Translation: X:-103.59, Y:6.92, Z:-7.42 [[ 9.61266521e-01 2.29373573e-01 -1.52821595e-01 -1.03594257e+02] [-2.27865417e-01 9.73302749e-01 2.75519454e-02 6.92425657e+00] [ 1.55061367e-01 8.33799390e-03 9.87869652e-01 -7.42059857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.43534707 meters Centerline goodness [0,1] 0.9981351788156313 Centerline is valid? [True, True] Translation: X:-103.62, Y:6.94, Z:-7.43 [[ 9.61438346e-01 2.30311843e-01 -1.50308886e-01 -1.03621197e+02] [-2.28859210e-01 9.73081359e-01 2.71317350e-02 6.93575591e+00] [ 1.52511535e-01 8.31408235e-03 9.88266719e-01 -7.42884268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.46534707 meters Centerline goodness [0,1] 0.9984540820589956 Centerline is valid? [True, True] Translation: X:-103.65, Y:6.94, Z:-7.44 [[ 9.61871352e-01 2.28452621e-01 -1.50375873e-01 -1.03648903e+02] [-2.26969390e-01 9.73522329e-01 2.71876982e-02 6.93832112e+00] [ 1.52605371e-01 7.97965207e-03 9.88254990e-01 -7.43539383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49534707000001 meters Centerline goodness [0,1] 0.9991201240206142 Centerline is valid? [True, True] Translation: X:-103.68, Y:6.94, Z:-7.44 [[ 9.61938634e-01 2.27904283e-01 -1.50776994e-01 -1.03676623e+02] [-2.26402710e-01 9.73651569e-01 2.72843320e-02 6.93867250e+00] [ 1.53022473e-01 7.89046705e-03 9.88191208e-01 -7.43817847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52534707000001 meters Centerline goodness [0,1] 0.9982432487641459 Centerline is valid? [True, True] Translation: X:-103.70, Y:6.95, Z:-7.44 [[ 9.63616586e-01 2.22916920e-01 -1.47482616e-01 -1.03703920e+02] [-2.21417077e-01 9.74812993e-01 2.67227532e-02 6.94809724e+00] [ 1.49724924e-01 6.90468162e-03 9.88703582e-01 -7.44417824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55534707000001 meters Centerline goodness [0,1] 0.9987934674882578 Centerline is valid? [True, True] Translation: X:-103.73, Y:6.94, Z:-7.45 [[ 9.62695141e-01 2.22427440e-01 -1.54091205e-01 -1.03732910e+02] [-2.20777044e-01 9.74923388e-01 2.79621851e-02 6.94249096e+00] [ 1.56446677e-01 7.10074099e-03 9.87660881e-01 -7.45187061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58534707000001 meters Centerline goodness [0,1] 0.9990558679857149 Centerline is valid? [True, True] Translation: X:-103.76, Y:6.95, Z:-7.46 [[ 9.64935856e-01 2.16160303e-01 -1.48907745e-01 -1.03760440e+02] [-2.14542984e-01 9.76340304e-01 2.70355198e-02 6.95121887e+00] [ 1.51228639e-01 5.85956945e-03 9.88481443e-01 -7.45599333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61534707000001 meters Centerline goodness [0,1] 0.9985913742387207 Centerline is valid? [True, True] Translation: X:-103.79, Y:6.95, Z:-7.46 [[ 9.65784280e-01 2.13266905e-01 -1.47573545e-01 -1.03790099e+02] [-2.11642952e-01 9.76979362e-01 2.68064902e-02 6.95024687e+00] [ 1.49893245e-01 5.34361375e-03 9.88687747e-01 -7.45566563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.64534707000001 meters Centerline goodness [0,1] 0.9989946380697051 Centerline is valid? [True, True] Translation: X:-103.82, Y:6.95, Z:-7.45 [[ 9.66504735e-01 2.11050188e-01 -1.46035663e-01 -1.03819270e+02] [-2.09433421e-01 9.77462759e-01 2.65367117e-02 6.95160413e+00] [ 1.48345000e-01 4.93689103e-03 9.88923348e-01 -7.45334055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67534707000002 meters Centerline goodness [0,1] 0.9990858472533866 Centerline is valid? [True, True] Translation: X:-103.85, Y:6.96, Z:-7.46 [[ 9.66488580e-01 2.12421643e-01 -1.44141840e-01 -1.03846518e+02] [-2.10859205e-01 9.77164993e-01 2.62101569e-02 6.96149603e+00] [ 1.46417965e-01 5.06181637e-03 9.89209865e-01 -7.45689938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.70534707000002 meters Centerline goodness [0,1] 0.9982318351905917 Centerline is valid? [True, True] Translation: X:-103.87, Y:6.97, Z:-7.46 [[ 9.65786849e-01 2.15571403e-01 -1.44169113e-01 -1.03872849e+02] [-2.14037294e-01 9.76472586e-01 2.62550157e-02 6.97252581e+00] [ 1.46437017e-01 5.50081791e-03 9.89204701e-01 -7.46021249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.73534707000002 meters Centerline goodness [0,1] 0.9983546542717289 Centerline is valid? [True, True] Translation: X:-103.90, Y:6.99, Z:-7.47 [[ 9.63962138e-01 2.22472341e-01 -1.45887131e-01 -1.03898789e+02] [-2.20977356e-01 9.74916578e-01 2.65833508e-02 6.98510571e+00] [ 1.48141843e-01 6.61240875e-03 9.88944018e-01 -7.46725213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.76534707000002 meters Centerline goodness [0,1] 0.9983536384590056 Centerline is valid? [True, True] Translation: X:-103.93, Y:7.00, Z:-7.47 [[ 9.62201786e-01 2.28927761e-01 -1.47512042e-01 -1.03925437e+02] [-2.27472334e-01 9.73413128e-01 2.68927319e-02 6.99667093e+00] [ 1.49746651e-01 7.67867376e-03 9.88694583e-01 -7.47133474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.79534707000002 meters Centerline goodness [0,1] 0.9978575470935404 Centerline is valid? [True, True] Translation: X:-103.95, Y:7.01, Z:-7.47 [[ 9.61342397e-01 2.33710625e-01 -1.45602675e-01 -1.03952099e+02] [-2.32344781e-01 9.72270795e-01 2.65594436e-02 7.00723244e+00] [ 1.47772453e-01 8.29730257e-03 9.88986581e-01 -7.47285660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.82534707 meters Centerline goodness [0,1] 0.9962709009984362 Centerline is valid? [True, True] Translation: X:-103.98, Y:7.03, Z:-7.48 [[ 9.60833247e-01 2.36898243e-01 -1.43800881e-01 -1.03977034e+02] [-2.35598062e-01 9.71495921e-01 2.62531494e-02 7.02848354e+00] [ 1.45921295e-01 8.65431023e-03 9.89258348e-01 -7.48118793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85534707000001 meters Centerline goodness [0,1] 0.998031173092699 Centerline is valid? [True, True] Translation: X:-104.01, Y:7.02, Z:-7.48 [[ 9.60877274e-01 2.36194760e-01 -1.44661329e-01 -1.04007378e+02] [-2.34865291e-01 9.71668017e-01 2.64491787e-02 7.02000615e+00] [ 1.46809944e-01 8.56151044e-03 9.89127667e-01 -7.47787870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.88534707000001 meters Centerline goodness [0,1] 0.9971914620446156 Centerline is valid? [True, True] Translation: X:-104.03, Y:7.03, Z:-7.48 [[ 9.62884726e-01 2.29999918e-01 -1.41255236e-01 -1.04034379e+02] [-2.28662755e-01 9.73162441e-01 2.58497164e-02 7.03287801e+00] [ 1.43409723e-01 7.40951441e-03 9.89635665e-01 -7.48431383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91534707000001 meters Centerline goodness [0,1] 0.9974874371859297 Centerline is valid? [True, True] Translation: X:-104.06, Y:7.04, Z:-7.49 [[ 9.63924039e-01 2.26145620e-01 -1.40387342e-01 -1.04062924e+02] [-2.24777698e-01 9.74070133e-01 2.57364180e-02 7.03855139e+00] [ 1.42567295e-01 6.74799168e-03 9.89762108e-01 -7.49166100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94534707000001 meters Centerline goodness [0,1] 0.9985020242914979 Centerline is valid? [True, True] Translation: X:-104.09, Y:7.04, Z:-7.49 [[ 9.64792429e-01 2.21932379e-01 -1.41143854e-01 -1.04092112e+02] [-2.20500000e-01 9.75042816e-01 2.59086098e-02 7.03683269e+00] [ 1.43371261e-01 6.12578931e-03 9.89650017e-01 -7.49405826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97534707000001 meters Centerline goodness [0,1] 0.999060956191565 Centerline is valid? [True, True] Translation: X:-104.12, Y:7.04, Z:-7.49 [[ 9.65647272e-01 2.18339597e-01 -1.40901264e-01 -1.04121315e+02] [-2.16872338e-01 9.75856954e-01 2.58765089e-02 7.03784400e+00] [ 1.43149345e-01 5.57000633e-03 9.89685425e-01 -7.49490832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.00534707000001 meters Centerline goodness [0,1] 0.9987562688064192 Centerline is valid? [True, True] Translation: X:-104.15, Y:7.04, Z:-7.50 [[ 9.66957205e-01 2.14494469e-01 -1.37789284e-01 -1.04149699e+02] [-2.13050605e-01 9.76713045e-01 2.53193017e-02 7.04494237e+00] [ 1.40011441e-01 4.87340912e-03 9.90137893e-01 -7.50058447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03534707000001 meters Centerline goodness [0,1] 0.9988231952278538 Centerline is valid? [True, True] Translation: X:-104.18, Y:7.05, Z:-7.50 [[ 9.66996007e-01 2.14332095e-01 -1.37769650e-01 -1.04178098e+02] [-2.12881732e-01 9.76748992e-01 2.53529936e-02 7.05139600e+00] [ 1.40000327e-01 4.81239803e-03 9.90139763e-01 -7.50352837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.06534707000002 meters Centerline goodness [0,1] 0.999261205056641 Centerline is valid? [True, True] Translation: X:-104.21, Y:7.06, Z:-7.51 [[ 9.67320783e-01 2.13016772e-01 -1.37529476e-01 -1.04205545e+02] [-2.11552709e-01 9.77037832e-01 2.53481166e-02 7.05636140e+00] [ 1.39771075e-01 4.57497316e-03 9.90173276e-01 -7.50840124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.09534707000002 meters Centerline goodness [0,1] 0.9993482422909283 Centerline is valid? [True, True] Translation: X:-104.23, Y:7.06, Z:-7.51 [[ 9.67891371e-01 2.11207103e-01 -1.36300602e-01 -1.04233097e+02] [-2.09748478e-01 9.77432075e-01 2.51418882e-02 7.06456504e+00] [ 1.38534726e-01 4.25422731e-03 9.90348439e-01 -7.51194686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.12534707000002 meters Centerline goodness [0,1] 0.9989515706278479 Centerline is valid? [True, True] Translation: X:-104.26, Y:7.07, Z:-7.52 [[ 9.68621423e-01 2.08713790e-01 -1.34948479e-01 -1.04261469e+02] [-2.07254651e-01 9.77969305e-01 2.49308855e-02 7.06986754e+00] [ 1.37178890e-01 3.82011012e-03 9.90538923e-01 -7.51609389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.15534707000002 meters Centerline goodness [0,1] 0.999156651908075 Centerline is valid? [True, True] Translation: X:-104.29, Y:7.07, Z:-7.52 [[ 9.68881203e-01 2.06338436e-01 -1.36724774e-01 -1.04289677e+02] [-2.04814973e-01 9.78474366e-01 2.52733462e-02 7.07070448e+00] [ 1.38996549e-01 3.51641085e-03 9.90286622e-01 -7.51933493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.18534707 meters Centerline goodness [0,1] 0.9991908403123356 Centerline is valid? [True, True] Translation: X:-104.32, Y:7.08, Z:-7.52 [[ 9.69469962e-01 2.04878781e-01 -1.34731878e-01 -1.04317430e+02] [-2.03383324e-01 9.78781985e-01 2.49208771e-02 7.07797839e+00] [ 1.36978893e-01 3.24217537e-03 9.90568660e-01 -7.51959174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.21534707 meters Centerline goodness [0,1] 0.9989399005137405 Centerline is valid? [True, True] Translation: X:-104.34, Y:7.08, Z:-7.52 [[ 9.69998159e-01 2.03217492e-01 -1.33439958e-01 -1.04344573e+02] [-2.01732850e-01 9.79129141e-01 2.46978075e-02 7.08322605e+00] [ 1.35673978e-01 2.96239534e-03 9.90749108e-01 -7.52162451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24534707000001 meters Centerline goodness [0,1] 0.9987784518913636 Centerline is valid? [True, True] Translation: X:-104.37, Y:7.09, Z:-7.52 [[ 9.70083494e-01 2.03532116e-01 -1.32335528e-01 -1.04372346e+02] [-2.02072250e-01 9.79063791e-01 2.45132246e-02 7.09210199e+00] [ 1.34554152e-01 2.96146323e-03 9.90901816e-01 -7.52405716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27534707000001 meters Centerline goodness [0,1] 0.9989550679205852 Centerline is valid? [True, True] Translation: X:-104.40, Y:7.10, Z:-7.53 [[ 9.69970376e-01 2.04809954e-01 -1.31188233e-01 -1.04399281e+02] [-2.03380993e-01 9.78796954e-01 2.43453354e-02 7.10016357e+00] [ 1.33392810e-01 3.06693881e-03 9.91058501e-01 -7.52751174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30534707000001 meters Centerline goodness [0,1] 0.9985696187012137 Centerline is valid? [True, True] Translation: X:-104.43, Y:7.11, Z:-7.53 [[ 9.69636890e-01 2.05668228e-01 -1.32306015e-01 -1.04426416e+02] [-2.04216460e-01 9.78616650e-01 2.45985757e-02 7.10661467e+00] [ 1.34536015e-01 3.16737962e-03 9.90903642e-01 -7.52932970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33534707000001 meters Centerline goodness [0,1] 0.9986793660957259 Centerline is valid? [True, True] Translation: X:-104.45, Y:7.12, Z:-7.53 [[ 9.69146764e-01 2.07865640e-01 -1.32462921e-01 -1.04453758e+02] [-2.06427168e-01 9.78151304e-01 2.46546294e-02 7.11776431e+00] [ 1.34693629e-01 3.44999131e-03 9.90881286e-01 -7.53251261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.36534707000001 meters Centerline goodness [0,1] 0.9985469682689286 Centerline is valid? [True, True] Translation: X:-104.48, Y:7.13, Z:-7.54 [[ 9.68591720e-01 2.10330878e-01 -1.32631070e-01 -1.04480736e+02] [-2.08905645e-01 9.77623052e-01 2.47305345e-02 7.12867839e+00] [ 1.34864786e-01 3.75358820e-03 9.90856902e-01 -7.53856684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39534707000001 meters Centerline goodness [0,1] 0.9988442992069502 Centerline is valid? [True, True] Translation: X:-104.51, Y:7.13, Z:-7.54 [[ 9.68296315e-01 2.11831043e-01 -1.32400358e-01 -1.04507714e+02] [-2.10419265e-01 9.77298457e-01 2.47276755e-02 7.13418133e+00] [ 1.34632755e-01 3.91586894e-03 9.90887828e-01 -7.54006382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.42534707000002 meters Centerline goodness [0,1] 0.9987765411634699 Centerline is valid? [True, True] Translation: X:-104.53, Y:7.15, Z:-7.55 [[ 9.68026132e-01 2.13460151e-01 -1.31758004e-01 -1.04534972e+02] [-2.12073573e-01 9.76943183e-01 2.46336377e-02 7.14600485e+00] [ 1.33978384e-01 4.09638555e-03 9.90975788e-01 -7.54538784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45534707000002 meters Centerline goodness [0,1] 0.9986635220125786 Centerline is valid? [True, True] Translation: X:-104.56, Y:7.15, Z:-7.54 [[ 9.67971986e-01 2.14483987e-01 -1.30486989e-01 -1.04561790e+02] [-2.13128014e-01 9.76718658e-01 2.44358797e-02 7.15190796e+00] [ 1.32690181e-01 4.15718573e-03 9.91148845e-01 -7.54460488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.48534707000002 meters Centerline goodness [0,1] 0.9987082632011587 Centerline is valid? [True, True] Translation: X:-104.59, Y:7.17, Z:-7.55 [[ 9.67307789e-01 2.17714147e-01 -1.30062261e-01 -1.04587991e+02] [-2.16392900e-01 9.76001916e-01 2.43797650e-02 7.16516968e+00] [ 1.32248836e-01 4.56181325e-03 9.91206051e-01 -7.55133124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.51534707000002 meters Centerline goodness [0,1] 0.9987527770199166 Centerline is valid? [True, True] Translation: X:-104.62, Y:7.17, Z:-7.55 [[ 9.67036856e-01 2.18672748e-01 -1.30468192e-01 -1.04615846e+02] [-2.17346622e-01 9.75787082e-01 2.44952337e-02 7.17011142e+00] [ 1.32665616e-01 4.66902694e-03 9.91149855e-01 -7.55081872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.54534707000002 meters Centerline goodness [0,1] 0.9998361864198542 Centerline is valid? [True, True] Translation: X:-104.65, Y:7.17, Z:-7.55 [[ 9.66774016e-01 2.18959599e-01 -1.31926856e-01 -1.04645034e+02] [-2.17603161e-01 9.75722414e-01 2.47918204e-02 7.16972615e+00] [ 1.34152397e-01 4.73961298e-03 9.90949378e-01 -7.54991343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.57534707 meters Centerline goodness [0,1] 0.9998361864198542 Centerline is valid? [True, True] Translation: X:-104.67, Y:7.17, Z:-7.55 [[ 9.66684912e-01 2.19355950e-01 -1.31921373e-01 -1.04672132e+02] [-2.17999209e-01 9.75633263e-01 2.48209627e-02 7.17464542e+00] [ 1.34151505e-01 4.76470474e-03 9.90949379e-01 -7.55310133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60534707000001 meters Centerline goodness [0,1] 0.9995694210670529 Centerline is valid? [True, True] Translation: X:-104.70, Y:7.19, Z:-7.56 [[ 9.66814955e-01 2.19570308e-01 -1.30605218e-01 -1.04698211e+02] [-2.18235288e-01 9.75585393e-01 2.46272310e-02 7.18951634e+00] [ 1.32823952e-01 4.69269215e-03 9.91128537e-01 -7.55765685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63534707000001 meters Centerline goodness [0,1] 0.9996522411128285 Centerline is valid? [True, True] Translation: X:-104.73, Y:7.20, Z:-7.56 [[ 9.66256899e-01 2.21182580e-01 -1.32007091e-01 -1.04725921e+02] [-2.19827494e-01 9.75219989e-01 2.49368483e-02 7.19914747e+00] [ 1.34251550e-01 4.92338632e-03 9.90935054e-01 -7.56239777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66534707000001 meters Centerline goodness [0,1] 0.9995749777829296 Centerline is valid? [True, True] Translation: X:-104.75, Y:7.21, Z:-7.56 [[ 9.66134090e-01 2.22041544e-01 -1.31462821e-01 -1.04752987e+02] [-2.20702152e-01 9.75024402e-01 2.48591229e-02 7.20842911e+00] [ 1.33699216e-01 4.99688144e-03 9.91009360e-01 -7.56323329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69534707000001 meters Centerline goodness [0,1] 0.9998068155474847 Centerline is valid? [True, True] Translation: X:-104.78, Y:7.22, Z:-7.57 [[ 9.66243684e-01 2.21591216e-01 -1.31417186e-01 -1.04780700e+02] [-2.20242466e-01 9.75127397e-01 2.48960839e-02 7.21502522e+00] [ 1.33665252e-01 4.88796141e-03 9.91014484e-01 -7.56736461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72534707000001 meters Centerline goodness [0,1] 0.9998394025775886 Centerline is valid? [True, True] Translation: X:-104.81, Y:7.21, Z:-7.56 [[ 9.66108862e-01 2.21892393e-01 -1.31899328e-01 -1.04810007e+02] [-2.20531532e-01 9.75058787e-01 2.50240923e-02 7.21145787e+00] [ 1.34162255e-01 4.91196347e-03 9.90947204e-01 -7.56493525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75534707000001 meters Centerline goodness [0,1] 0.9996525901335598 Centerline is valid? [True, True] Translation: X:-104.84, Y:7.23, Z:-7.57 [[ 9.66061584e-01 2.22677627e-01 -1.30918641e-01 -1.04835009e+02] [-2.21341225e-01 9.74879509e-01 2.48597196e-02 7.22640484e+00] [ 1.33165603e-01 4.96167220e-03 9.91081381e-01 -7.56960562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.78534707000001 meters Centerline goodness [0,1] 0.9996487667811427 Centerline is valid? [True, True] Translation: X:-104.86, Y:7.23, Z:-7.57 [[ 9.65922680e-01 2.22673898e-01 -1.31945864e-01 -1.04863579e+02] [-2.21309655e-01 9.74880409e-01 2.51042790e-02 7.22804134e+00] [ 1.34221505e-01 4.95210108e-03 9.90938981e-01 -7.56982474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81534707000002 meters Centerline goodness [0,1] 0.9996807406816186 Centerline is valid? [True, True] Translation: X:-104.89, Y:7.23, Z:-7.57 [[ 9.65852710e-01 2.22390230e-01 -1.32932794e-01 -1.04890528e+02] [-2.21000458e-01 9.74945254e-01 2.53090934e-02 7.23289738e+00] [ 1.35230691e-01 4.93335184e-03 9.90801858e-01 -7.57263559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.84534707000002 meters Centerline goodness [0,1] 0.9996101972401965 Centerline is valid? [True, True] Translation: X:-104.92, Y:7.24, Z:-7.58 [[ 9.65797404e-01 2.22561309e-01 -1.33048255e-01 -1.04917291e+02] [-2.21166933e-01 9.74906209e-01 2.53588608e-02 7.24128319e+00] [ 1.35353471e-01 4.93435259e-03 9.90785088e-01 -7.57779991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.87534707000002 meters Centerline goodness [0,1] 0.9995227110015115 Centerline is valid? [True, True] Translation: X:-104.95, Y:7.24, Z:-7.58 [[ 9.65266785e-01 2.22822141e-01 -1.36419671e-01 -1.04945544e+02] [-2.21350918e-01 9.74846059e-01 2.60563352e-02 7.24478093e+00] [ 1.38794108e-01 5.04530458e-03 9.90308407e-01 -7.57971259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.90534707000002 meters Centerline goodness [0,1] 0.9990950226244344 Centerline is valid? [True, True] Translation: X:-104.97, Y:7.26, Z:-7.59 [[ 9.65207251e-01 2.23336060e-01 -1.35999878e-01 -1.04970691e+02] [-2.21872060e-01 9.74728402e-01 2.60256074e-02 7.25983330e+00] [ 1.38375400e-01 5.05446808e-03 9.90366953e-01 -7.58811434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.93534707 meters Centerline goodness [0,1] 0.9993873252919778 Centerline is valid? [True, True] Translation: X:-105.00, Y:7.27, Z:-7.59 [[ 9.65725049e-01 2.21417133e-01 -1.35460630e-01 -1.04998596e+02] [-2.19939194e-01 9.75167806e-01 2.59711715e-02 7.26521129e+00] [ 1.37847308e-01 4.71209096e-03 9.90442283e-01 -7.58989143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.96534707 meters Centerline goodness [0,1] 0.9994541484716157 Centerline is valid? [True, True] Translation: X:-105.03, Y:7.27, Z:-7.59 [[ 9.66126802e-01 2.20013277e-01 -1.34882027e-01 -1.05026888e+02] [-2.18532288e-01 9.75486602e-01 2.58752281e-02 7.26782055e+00] [ 1.37268504e-01 4.47732670e-03 9.90523756e-01 -7.58548515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99534707000001 meters Centerline goodness [0,1] 0.9997604981638193 Centerline is valid? [True, True] Translation: X:-105.06, Y:7.27, Z:-7.58 [[ 9.66049125e-01 2.19452267e-01 -1.36344384e-01 -1.05055137e+02] [-2.17930076e-01 9.75613211e-01 2.61790873e-02 7.26992512e+00] [ 1.38764443e-01 4.42325772e-03 9.90315538e-01 -7.58497413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02534707000001 meters Centerline goodness [0,1] 0.9995387453874539 Centerline is valid? [True, True] Translation: X:-105.08, Y:7.28, Z:-7.59 [[ 9.65765979e-01 2.20635304e-01 -1.36440961e-01 -1.05081811e+02] [-2.19114769e-01 9.75345807e-01 2.62540558e-02 7.28372433e+00] [ 1.38869691e-01 4.54095591e-03 9.90300252e-01 -7.59167058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05534707000001 meters Centerline goodness [0,1] 0.9991302703724712 Centerline is valid? [True, True] Translation: X:-105.11, Y:7.29, Z:-7.59 [[ 9.65406054e-01 2.22529784e-01 -1.35910435e-01 -1.05109321e+02] [-2.21032833e-01 9.74914342e-01 2.62013865e-02 7.29124003e+00] [ 1.38331621e-01 4.74569135e-03 9.90374596e-01 -7.59340331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08534707000001 meters Centerline goodness [0,1] 0.9999228037671761 Centerline is valid? [True, True] Translation: X:-105.14, Y:7.30, Z:-7.60 [[ 9.65516364e-01 2.21921950e-01 -1.36120531e-01 -1.05137234e+02] [-2.20408153e-01 9.75053477e-01 2.62861913e-02 7.29852727e+00] [ 1.38558280e-01 4.62232701e-03 9.90343495e-01 -7.59566776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11534707000001 meters Centerline goodness [0,1] 0.9997348484848485 Centerline is valid? [True, True] Translation: X:-105.16, Y:7.31, Z:-7.60 [[ 9.65127134e-01 2.23345303e-01 -1.36552157e-01 -1.05164856e+02] [-2.21829695e-01 9.74727580e-01 2.64145859e-02 7.30712519e+00] [ 1.39000727e-01 4.79788984e-03 9.90280656e-01 -7.59767393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.14534707000001 meters Centerline goodness [0,1] 0.9993558654137618 Centerline is valid? [True, True] Translation: X:-105.19, Y:7.32, Z:-7.60 [[ 9.64364243e-01 2.26159711e-01 -1.37307654e-01 -1.05191547e+02] [-2.24649876e-01 9.74076392e-01 2.66010480e-02 7.31653732e+00] [ 1.39764230e-01 5.19304797e-03 9.90171193e-01 -7.59897673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17534707000002 meters Centerline goodness [0,1] 0.9997691064419303 Centerline is valid? [True, True] Translation: X:-105.22, Y:7.32, Z:-7.60 [[ 9.64150503e-01 2.26531946e-01 -1.38192205e-01 -1.05219147e+02] [-2.25004053e-01 9.73989502e-01 2.67885343e-02 7.32059465e+00] [ 1.40666216e-01 5.26562735e-03 9.90043074e-01 -7.60226037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.20534707000002 meters Centerline goodness [0,1] 0.9991335794469977 Centerline is valid? [True, True] Translation: X:-105.25, Y:7.33, Z:-7.60 [[ 9.63891430e-01 2.28306615e-01 -1.37074433e-01 -1.05246836e+02] [-2.26818201e-01 9.73573983e-01 2.65932900e-02 7.32989875e+00] [ 1.39523526e-01 5.45793204e-03 9.90203715e-01 -7.60399096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.23534707000002 meters Centerline goodness [0,1] 0.9996150588959889 Centerline is valid? [True, True] Translation: X:-105.27, Y:7.33, Z:-7.60 [[ 9.63791960e-01 2.28234565e-01 -1.37891407e-01 -1.05274611e+02] [-2.26721716e-01 9.73590977e-01 2.67931616e-02 7.33443440e+00] [ 1.40364955e-01 5.43994255e-03 9.90084888e-01 -7.60381644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.26534707000002 meters Centerline goodness [0,1] 0.9998031030952194 Centerline is valid? [True, True] Translation: X:-105.30, Y:7.34, Z:-7.60 [[ 9.62875040e-01 2.30520342e-01 -1.40470740e-01 -1.05302193e+02] [-2.28971810e-01 9.73049826e-01 2.73120051e-02 7.33829333e+00] [ 1.42981002e-01 5.86579154e-03 9.89708051e-01 -7.60398858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.29534707000002 meters Centerline goodness [0,1] 0.9990944421386259 Centerline is valid? [True, True] Translation: X:-105.33, Y:7.35, Z:-7.61 [[ 9.62667113e-01 2.32512191e-01 -1.38600540e-01 -1.05327127e+02] [-2.31021602e-01 9.72574646e-01 2.69736593e-02 7.35395133e+00] [ 1.41071075e-01 6.05306393e-03 9.89980966e-01 -7.61124396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.32534707 meters Centerline goodness [0,1] 0.9995802167607999 Centerline is valid? [True, True] Translation: X:-105.35, Y:7.36, Z:-7.61 [[ 9.62420605e-01 2.33117533e-01 -1.39293914e-01 -1.05353569e+02] [-2.31610713e-01 9.72429300e-01 2.71612518e-02 7.36084036e+00] [ 1.41785248e-01 6.12141447e-03 9.89878514e-01 -7.61454439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35534707000001 meters Centerline goodness [0,1] 0.9993962036303257 Centerline is valid? [True, True] Translation: X:-105.38, Y:7.37, Z:-7.61 [[ 9.61910902e-01 2.36052616e-01 -1.37864351e-01 -1.05381437e+02] [-2.34602595e-01 9.71718816e-01 2.69103219e-02 7.36850373e+00] [ 1.40317636e-01 6.45800259e-03 9.90085479e-01 -7.61380746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38534707000001 meters Centerline goodness [0,1] 0.9991582813635842 Centerline is valid? [True, True] Translation: X:-105.41, Y:7.38, Z:-7.61 [[ 9.61634418e-01 2.37718947e-01 -1.36926799e-01 -1.05409620e+02] [-2.36299027e-01 9.71311487e-01 2.67724560e-02 7.37590664e+00] [ 1.39362893e-01 6.61035432e-03 9.90219313e-01 -7.61256012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41534707000001 meters Centerline goodness [0,1] 0.9996975310975841 Centerline is valid? [True, True] Translation: X:-105.44, Y:7.38, Z:-7.62 [[ 9.61355419e-01 2.38862878e-01 -1.36895157e-01 -1.05437555e+02] [-2.37448680e-01 9.71029988e-01 2.68120680e-02 7.38181513e+00] [ 1.39333711e-01 6.72964754e-03 9.90222616e-01 -7.61874847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44534707000001 meters Centerline goodness [0,1] 0.9993903832965023 Centerline is valid? [True, True] Translation: X:-105.47, Y:7.38, Z:-7.62 [[ 9.61737346e-01 2.36669338e-01 -1.38017760e-01 -1.05465175e+02] [-2.35203501e-01 9.71569013e-01 2.70733631e-02 7.38477007e+00] [ 1.40501214e-01 6.42479589e-03 9.90059660e-01 -7.61963961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47534707000001 meters Centerline goodness [0,1] 0.9995453167626553 Centerline is valid? [True, True] Translation: X:-105.49, Y:7.39, Z:-7.63 [[ 9.61395298e-01 2.36775255e-01 -1.40201856e-01 -1.05493134e+02] [-2.35260309e-01 9.71542563e-01 2.75251880e-02 7.39214855e+00] [ 1.42729354e-01 6.52134569e-03 9.89740271e-01 -7.62698598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.50534707000001 meters Centerline goodness [0,1] 0.9995376613369293 Centerline is valid? [True, True] Translation: X:-105.52, Y:7.40, Z:-7.63 [[ 9.61642122e-01 2.34930049e-01 -1.41606151e-01 -1.05521969e+02] [-2.33357763e-01 9.71992091e-01 2.78483272e-02 7.39712704e+00] [ 1.44182468e-01 6.26477027e-03 9.89531287e-01 -7.62881590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53534707000001 meters Centerline goodness [0,1] 0.9992499812495312 Centerline is valid? [True, True] Translation: X:-105.55, Y:7.40, Z:-7.63 [[ 9.62007324e-01 2.34268007e-01 -1.40215582e-01 -1.05549642e+02] [-2.32712728e-01 9.72153182e-01 2.76220375e-02 7.40408299e+00] [ 1.42781984e-01 6.05734818e-03 9.89735628e-01 -7.63182893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.56534707000002 meters Centerline goodness [0,1] 0.999767675985441 Centerline is valid? [True, True] Translation: X:-105.58, Y:7.41, Z:-7.63 [[ 9.61950735e-01 2.33609453e-01 -1.41694767e-01 -1.05578307e+02] [-2.32007899e-01 9.72312106e-01 2.79553710e-02 7.40548189e+00] [ 1.44302177e-01 5.98261567e-03 9.89515584e-01 -7.63223605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.59534707000002 meters Centerline goodness [0,1] 0.9997277641659861 Centerline is valid? [True, True] Translation: X:-105.61, Y:7.41, Z:-7.63 [[ 9.61725824e-01 2.35094737e-01 -1.40761868e-01 -1.05606619e+02] [-2.33526610e-01 9.71953064e-01 2.77950190e-02 7.40974165e+00] [ 1.43348391e-01 6.14045419e-03 9.89653239e-01 -7.63273549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.62534707000002 meters Centerline goodness [0,1] 0.9999618539004387 Centerline is valid? [True, True] Translation: X:-105.63, Y:7.42, Z:-7.63 [[ 9.62123156e-01 2.34366414e-01 -1.39253068e-01 -1.05634763e+02] [-2.32817073e-01 9.72130328e-01 2.75469836e-02 7.41825818e+00] [ 1.41828218e-01 5.91690079e-03 9.89873601e-01 -7.63409910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.65534707000002 meters Centerline goodness [0,1] 0.9994016007180792 Centerline is valid? [True, True] Translation: X:-105.66, Y:7.43, Z:-7.64 [[ 9.61726665e-01 2.36093440e-01 -1.39074471e-01 -1.05661617e+02] [-2.34558819e-01 9.71711122e-01 2.75618562e-02 7.43001321e+00] [ 1.41647384e-01 6.11417164e-03 9.89898296e-01 -7.63922108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.68534707 meters Centerline goodness [0,1] 0.999344969753015 Centerline is valid? [True, True] Translation: X:-105.69, Y:7.43, Z:-7.64 [[ 9.61070521e-01 2.37251509e-01 -1.41616296e-01 -1.05689175e+02] [-2.35665990e-01 9.71427458e-01 2.81111325e-02 7.43475982e+00] [ 1.44239367e-01 6.35736378e-03 9.89522405e-01 -7.64150901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.71534707 meters Centerline goodness [0,1] 0.999885561701316 Centerline is valid? [True, True] Translation: X:-105.72, Y:7.44, Z:-7.65 [[ 9.61244792e-01 2.35702367e-01 -1.43013443e-01 -1.05716570e+02] [-2.34063951e-01 9.71805782e-01 2.84180912e-02 7.44272204e+00] [ 1.45679502e-01 6.15754948e-03 9.89312674e-01 -7.64962218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.74534707000001 meters Centerline goodness [0,1] 0.9995164769768653 Centerline is valid? [True, True] Translation: X:-105.74, Y:7.45, Z:-7.65 [[ 9.61218581e-01 2.36302984e-01 -1.42196129e-01 -1.05743986e+02] [-2.34682784e-01 9.71659865e-01 2.83036748e-02 7.44930834e+00] [ 1.44854514e-01 6.16496516e-03 9.89433759e-01 -7.65498421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77534707000001 meters Centerline goodness [0,1] 0.9998108925869894 Centerline is valid? [True, True] Translation: X:-105.77, Y:7.46, Z:-7.66 [[ 9.60949358e-01 2.36452589e-01 -1.43758490e-01 -1.05771771e+02] [-2.34790926e-01 9.71623189e-01 2.86635577e-02 7.45685828e+00] [ 1.46456655e-01 6.20896162e-03 9.89197603e-01 -7.65704415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80534707000001 meters Centerline goodness [0,1] 0.9995503091624508 Centerline is valid? [True, True] Translation: X:-105.80, Y:7.46, Z:-7.65 [[ 9.61157468e-01 2.36710167e-01 -1.41931739e-01 -1.05799739e+02] [-2.35087350e-01 9.71560991e-01 2.83404034e-02 7.46089799e+00] [ 1.44603803e-01 6.12676611e-03 9.89470668e-01 -7.65368333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83534707000001 meters Centerline goodness [0,1] 0.9999621212121212 Centerline is valid? [True, True] Translation: X:-105.83, Y:7.47, Z:-7.66 [[ 9.61432419e-01 2.36363147e-01 -1.40641978e-01 -1.05826612e+02] [-2.34763613e-01 9.71646255e-01 2.80998463e-02 7.46572778e+00] [ 1.43296019e-01 6.00151573e-03 9.89661676e-01 -7.65702798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.86534707000001 meters Centerline goodness [0,1] 0.9999231360491929 Centerline is valid? [True, True] Translation: X:-105.85, Y:7.47, Z:-7.66 [[ 9.61600634e-01 2.36007407e-01 -1.40088272e-01 -1.05853815e+02] [-2.34414246e-01 9.71733298e-01 2.80063981e-02 7.47224287e+00] [ 1.42738156e-01 5.90771640e-03 9.89742854e-01 -7.65650168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89534707000001 meters Centerline goodness [0,1] 0.999771776340814 Centerline is valid? [True, True] Translation: X:-105.88, Y:7.48, Z:-7.66 [[ 9.61414376e-01 2.37646768e-01 -1.38587195e-01 -1.05881017e+02] [-2.36101107e-01 9.71332738e-01 2.77304667e-02 7.47989866e+00] [ 1.41204335e-01 6.06012063e-03 9.89961924e-01 -7.65783918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.92534707000002 meters Centerline goodness [0,1] 0.9997006100071105 Centerline is valid? [True, True] Translation: X:-105.91, Y:7.49, Z:-7.66 [[ 9.60997172e-01 2.38976689e-01 -1.39192593e-01 -1.05907828e+02] [-2.37424070e-01 9.71005295e-01 2.79021332e-02 7.48750544e+00] [ 1.41824704e-01 6.23380087e-03 9.89872160e-01 -7.66191971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95534707000002 meters Centerline goodness [0,1] 0.9998502545672358 Centerline is valid? [True, True] Translation: X:-105.93, Y:7.50, Z:-7.68 [[ 9.60461681e-01 2.39346909e-01 -1.42219606e-01 -1.05933987e+02] [-2.37725287e-01 9.70913041e-01 2.85404127e-02 7.50016816e+00] [ 1.44913930e-01 6.39722396e-03 9.89423584e-01 -7.67544008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.98534707000002 meters Centerline goodness [0,1] 0.9998870609494409 Centerline is valid? [True, True] Translation: X:-105.96, Y:7.50, Z:-7.67 [[ 9.60191696e-01 2.39392436e-01 -1.43955442e-01 -1.05962788e+02] [-2.37725152e-01 9.70901516e-01 2.89309165e-02 7.49953171e+00] [ 1.46692400e-01 6.44260352e-03 9.89161176e-01 -7.67435396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.01534707000002 meters Centerline goodness [0,1] 0.9996671351431319 Centerline is valid? [True, True] Translation: X:-105.99, Y:7.51, Z:-7.68 [[ 9.60318695e-01 2.39549216e-01 -1.42843193e-01 -1.05988861e+02] [-2.37905595e-01 9.70863192e-01 2.87330847e-02 7.51164482e+00] [ 1.45564186e-01 6.39027645e-03 9.89328172e-01 -7.68203412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.04534707000002 meters Centerline goodness [0,1] 0.9995103024823897 Centerline is valid? [True, True] Translation: X:-106.02, Y:7.51, Z:-7.68 [[ 9.60840851e-01 2.37981630e-01 -1.41949298e-01 -1.06016816e+02] [-2.36334566e-01 9.71250711e-01 2.86012093e-02 7.51491847e+00] [ 1.44674919e-01 6.06631555e-03 9.89460645e-01 -7.67946924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.07534707 meters Centerline goodness [0,1] 0.9989114114114114 Centerline is valid? [True, True] Translation: X:-106.04, Y:7.52, Z:-7.68 [[ 9.61363157e-01 2.37727816e-01 -1.38803338e-01 -1.06044867e+02] [-2.36145734e-01 9.71314139e-01 2.80006316e-02 7.52485993e+00] [ 1.41478174e-01 5.85904051e-03 9.89924036e-01 -7.67525345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.10534707000001 meters Centerline goodness [0,1] 0.999213217938631 Centerline is valid? [True, True] Translation: X:-106.07, Y:7.54, Z:-7.68 [[ 9.61031921e-01 2.39460897e-01 -1.38116346e-01 -1.06070508e+02] [-2.37905474e-01 9.70887243e-01 2.79096205e-02 7.53931621e+00] [ 1.40778661e-01 6.03659856e-03 9.90022691e-01 -7.68306912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13534707000001 meters Centerline goodness [0,1] 0.999618218608025 Centerline is valid? [True, True] Translation: X:-106.10, Y:7.54, Z:-7.68 [[ 9.61427015e-01 2.37989013e-01 -1.37910566e-01 -1.06099564e+02] [-2.36417439e-01 9.71250693e-01 2.79085272e-02 7.53814651e+00] [ 1.40587655e-01 5.77245072e-03 9.90051408e-01 -7.68163834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.16534707000001 meters Centerline goodness [0,1] 0.999699021820918 Centerline is valid? [True, True] Translation: X:-106.13, Y:7.54, Z:-7.68 [[ 9.61202624e-01 2.39034408e-01 -1.37666510e-01 -1.06127009e+02] [-2.37476626e-01 9.70993186e-01 2.78762446e-02 7.54433419e+00] [ 1.40336625e-01 5.89785889e-03 9.90086283e-01 -7.68363827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19534707000001 meters Centerline goodness [0,1] 0.9995563934789842 Centerline is valid? [True, True] Translation: X:-106.15, Y:7.56, Z:-7.69 [[ 9.60478420e-01 2.40720404e-01 -1.39767277e-01 -1.06153987e+02] [-2.39129236e-01 9.70574579e-01 2.83230423e-02 7.55529453e+00] [ 1.42472501e-01 6.21877127e-03 9.89779225e-01 -7.69349102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.22534707000001 meters Centerline goodness [0,1] 0.9998494032604194 Centerline is valid? [True, True] Translation: X:-106.18, Y:7.56, Z:-7.70 [[ 9.61170064e-01 2.37338982e-01 -1.40791743e-01 -1.06182386e+02] [-2.35683630e-01 9.71410002e-01 2.85628327e-02 7.55633005e+00] [ 1.43545581e-01 5.72856920e-03 9.89627127e-01 -7.69621883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25534707000001 meters Centerline goodness [0,1] 0.9995139641828991 Centerline is valid? [True, True] Translation: X:-106.21, Y:7.56, Z:-7.70 [[ 9.61535417e-01 2.36084557e-01 -1.40405566e-01 -1.06210756e+02] [-2.34421407e-01 9.71716943e-01 2.85094007e-02 7.56403004e+00] [ 1.43165096e-01 5.50127177e-03 9.89683531e-01 -7.69778973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.28534707000001 meters Centerline goodness [0,1] 0.9996613485851896 Centerline is valid? [True, True] Translation: X:-106.24, Y:7.57, Z:-7.70 [[ 9.62367100e-01 2.33653040e-01 -1.38765347e-01 -1.06237977e+02] [-2.31997282e-01 9.72307000e-01 2.82198271e-02 7.57433739e+00] [ 1.41516167e-01 5.03535030e-03 9.89923138e-01 -7.70381037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31534707000002 meters Centerline goodness [0,1] 0.9998870269252494 Centerline is valid? [True, True] Translation: X:-106.27, Y:7.58, Z:-7.70 [[ 9.62379861e-01 2.33423350e-01 -1.39063091e-01 -1.06266610e+02] [-2.31755825e-01 9.72362365e-01 2.82960915e-02 7.57548530e+00] [ 1.41824685e-01 4.99709282e-03 9.89879178e-01 -7.70343350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.34534707000002 meters Centerline goodness [0,1] 0.999735339710386 Centerline is valid? [True, True] Translation: X:-106.29, Y:7.58, Z:-7.71 [[ 9.62483271e-01 2.33221289e-01 -1.38685914e-01 -1.06294911e+02] [-2.31557386e-01 9.72411189e-01 2.82428122e-02 7.58300502e+00] [ 1.41446560e-01 4.93051349e-03 9.89933614e-01 -7.70550503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.37534707000002 meters Centerline goodness [0,1] 0.9999252000897599 Centerline is valid? [True, True] Translation: X:-106.32, Y:7.59, Z:-7.71 [[ 9.63165653e-01 2.31566329e-01 -1.36707573e-01 -1.06322285e+02] [-2.29926329e-01 9.72808375e-01 2.78881532e-02 7.59370039e+00] [ 1.39448229e-01 4.57175902e-03 9.90218809e-01 -7.70855266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.40534707000002 meters Centerline goodness [0,1] 0.9997407599437079 Centerline is valid? [True, True] Translation: X:-106.35, Y:7.60, Z:-7.71 [[ 9.63132958e-01 2.31996879e-01 -1.36207025e-01 -1.06348814e+02] [-2.30366658e-01 9.72705789e-01 2.78325349e-02 7.60154224e+00] [ 1.38946423e-01 4.57112546e-03 9.90289350e-01 -7.71046367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.43534707 meters Centerline goodness [0,1] 0.9996673442986509 Centerline is valid? [True, True] Translation: X:-106.38, Y:7.61, Z:-7.71 [[ 9.62683870e-01 2.33724265e-01 -1.36428494e-01 -1.06377058e+02] [-2.32100548e-01 9.72291118e-01 2.79162571e-02 7.60956412e+00] [ 1.39172919e-01 4.79059782e-03 9.90256506e-01 -7.71273091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.46534707 meters Centerline goodness [0,1] 0.9996673442986509 Centerline is valid? [True, True] Translation: X:-106.40, Y:7.61, Z:-7.72 [[ 9.62595756e-01 2.34092391e-01 -1.36419073e-01 -1.06404026e+02] [-2.32465842e-01 9.72202523e-01 2.79622251e-02 7.61488592e+00] [ 1.39172711e-01 4.79645546e-03 9.90256507e-01 -7.71590792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49534707000001 meters Centerline goodness [0,1] 0.9998881765319815 Centerline is valid? [True, True] Translation: X:-106.43, Y:7.62, Z:-7.72 [[ 9.62928308e-01 2.32335474e-01 -1.37074072e-01 -1.06430807e+02] [-2.30668758e-01 9.72625220e-01 2.81443789e-02 7.62394470e+00] [ 1.39860637e-01 4.51768695e-03 9.90160892e-01 -7.71955227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52534707000001 meters Centerline goodness [0,1] 0.9995537042546861 Centerline is valid? [True, True] Translation: X:-106.46, Y:7.63, Z:-7.72 [[ 9.63029973e-01 2.32692310e-01 -1.35748148e-01 -1.06458581e+02] [-2.31058228e-01 9.72539980e-01 2.78941194e-02 7.63274881e+00] [ 1.38511248e-01 4.50285347e-03 9.90350624e-01 -7.71943959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55534707000001 meters Centerline goodness [0,1] 0.9999273994482358 Centerline is valid? [True, True] Translation: X:-106.49, Y:7.64, Z:-7.72 [[ 9.62912092e-01 2.33997556e-01 -1.34333343e-01 -1.06485086e+02] [-2.32403450e-01 9.72226332e-01 2.76513100e-02 7.64296867e+00] [ 1.37072753e-01 4.59375169e-03 9.90550331e-01 -7.72404046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58534707000001 meters Centerline goodness [0,1] 0.9997753818508536 Centerline is valid? [True, True] Translation: X:-106.51, Y:7.65, Z:-7.72 [[ 9.63043370e-01 2.33324520e-01 -1.34562759e-01 -1.06512794e+02] [-2.31711783e-01 9.72388702e-01 2.77463858e-02 7.64715651e+00] [ 1.37321219e-01 4.45880410e-03 9.90516533e-01 -7.72303605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-106.54, Y:7.65, Z:-7.72 [[ 9.62620444e-01 2.34519455e-01 -1.35508323e-01 -1.06540876e+02] [-2.32892573e-01 9.72100350e-01 2.79635447e-02 7.65129183e+00] [ 1.38285684e-01 4.64060215e-03 9.90381510e-01 -7.72355122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.64534707000001 meters Centerline goodness [0,1] 0.9999632136550912 Centerline is valid? [True, True] Translation: X:-106.57, Y:7.66, Z:-7.73 [[ 9.62346590e-01 2.35923678e-01 -1.35015031e-01 -1.06568490e+02] [-2.34315689e-01 9.71759845e-01 2.79098746e-02 7.65952907e+00] [ 1.37786786e-01 4.77716730e-03 9.90450393e-01 -7.73187239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67534707000002 meters Centerline goodness [0,1] 0.9999628914947306 Centerline is valid? [True, True] Translation: X:-106.60, Y:7.67, Z:-7.74 [[ 9.61856137e-01 2.36983101e-01 -1.36644727e-01 -1.06595444e+02] [-2.35339826e-01 9.71501200e-01 2.82946230e-02 7.66908740e+00] [ 1.39455864e-01 4.94258957e-03 9.90215953e-01 -7.73636771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.70534707000002 meters Centerline goodness [0,1] 0.9997427699996325 Centerline is valid? [True, True] Translation: X:-106.62, Y:7.68, Z:-7.74 [[ 9.62619553e-01 2.35224427e-01 -1.34287247e-01 -1.06623817e+02] [-2.33614679e-01 9.71930368e-01 2.78485563e-02 7.67709833e+00] [ 1.37068514e-01 4.56390725e-03 9.90551055e-01 -7.73785165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.73534707000002 meters Centerline goodness [0,1] 0.9999631608030944 Centerline is valid? [True, True] Translation: X:-106.65, Y:7.68, Z:-7.74 [[ 9.62727418e-01 2.34808146e-01 -1.34242513e-01 -1.06652070e+02] [-2.33193259e-01 9.72031376e-01 2.78551188e-02 7.68461105e+00] [ 1.37028544e-01 4.48756255e-03 9.90556934e-01 -7.74075625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.76534707000002 meters Centerline goodness [0,1] 0.999926267281106 Centerline is valid? [True, True] Translation: X:-106.68, Y:7.69, Z:-7.75 [[ 9.62871006e-01 2.34303088e-01 -1.34095073e-01 -1.06679209e+02] [-2.32681079e-01 9.72153779e-01 2.78665524e-02 7.68916174e+00] [ 1.36890251e-01 4.36949095e-03 9.90576583e-01 -7.74508180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.79534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-106.71, Y:7.69, Z:-7.75 [[ 9.62744594e-01 2.34477443e-01 -1.34696604e-01 -1.06707252e+02] [-2.32839412e-01 9.72111637e-01 2.80138132e-02 7.69473531e+00] [ 1.37508744e-01 4.39253092e-03 9.90490813e-01 -7.74703362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.82534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-106.73, Y:7.70, Z:-7.75 [[ 9.62582761e-01 2.35356143e-01 -1.34320192e-01 -1.06734839e+02] [-2.33729532e-01 9.71898959e-01 2.79806962e-02 7.69956239e+00] [ 1.37131084e-01 4.46085982e-03 9.90542865e-01 -7.74871001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85534707000001 meters Centerline goodness [0,1] 0.9998898031148986 Centerline is valid? [True, True] Translation: X:-106.76, Y:7.71, Z:-7.76 [[ 9.62308538e-01 2.36554124e-01 -1.34180564e-01 -1.06761374e+02] [-2.34939358e-01 9.71607403e-01 2.79741562e-02 7.71042642e+00] [ 1.36988232e-01 4.60452631e-03 9.90561973e-01 -7.75527316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.88534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-106.79, Y:7.72, Z:-7.76 [[ 9.61712430e-01 2.38554104e-01 -1.34911607e-01 -1.06788448e+02] [-2.36935002e-01 9.71116983e-01 2.81710779e-02 7.71684684e+00] [ 1.37735279e-01 4.87280592e-03 9.90457091e-01 -7.75927368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-106.81, Y:7.72, Z:-7.76 [[ 9.61681237e-01 2.39252999e-01 -1.33892495e-01 -1.06814561e+02] [-2.37662378e-01 9.70944818e-01 2.79777471e-02 7.72252135e+00] [ 1.36695984e-01 4.91553438e-03 9.90600851e-01 -7.76052609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.94534707000001 meters Centerline goodness [0,1] 0.9999256809483111 Centerline is valid? [True, True] Translation: X:-106.84, Y:7.73, Z:-7.76 [[ 9.61493870e-01 2.39426002e-01 -1.34924893e-01 -1.06842211e+02] [-2.37806815e-01 9.70902049e-01 2.82334939e-02 7.72860125e+00] [ 1.37758688e-01 4.93972766e-03 9.90453504e-01 -7.76316806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97534707000001 meters Centerline goodness [0,1] 0.999963115963411 Centerline is valid? [True, True] Translation: X:-106.87, Y:7.74, Z:-7.77 [[ 9.61518646e-01 2.39930464e-01 -1.33847923e-01 -1.06869756e+02] [-2.38334725e-01 9.70777609e-01 2.80605068e-02 7.73623974e+00] [ 1.36669137e-01 4.91990745e-03 9.90604533e-01 -7.76527712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.00534707000001 meters Centerline goodness [0,1] 0.9997769931239546 Centerline is valid? [True, True] Translation: X:-106.90, Y:7.74, Z:-7.77 [[ 9.61129345e-01 2.41228983e-01 -1.34309196e-01 -1.06896993e+02] [-2.39628887e-01 9.70454927e-01 2.81998588e-02 7.74039394e+00] [ 1.37143645e-01 5.08065142e-03 9.90538140e-01 -7.76774871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-106.92, Y:7.75, Z:-7.77 [[ 9.60904548e-01 2.41789788e-01 -1.34907925e-01 -1.06923992e+02] [-2.40178244e-01 9.70314904e-01 2.83442780e-02 7.74674722e+00] [ 1.37756527e-01 5.16580279e-03 9.90452651e-01 -7.77365517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.06534707000002 meters Centerline goodness [0,1] 0.9998152390806296 Centerline is valid? [True, True] Translation: X:-106.95, Y:7.76, Z:-7.78 [[ 9.60235919e-01 2.44009757e-01 -1.35669518e-01 -1.06951430e+02] [-2.42397666e-01 9.69757260e-01 2.85346920e-02 7.75554562e+00] [ 1.38529244e-01 5.48593844e-03 9.90343149e-01 -7.77777707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.09534707000002 meters Centerline goodness [0,1] 0.9999632379972061 Centerline is valid? [True, True] Translation: X:-106.98, Y:7.76, Z:-7.78 [[ 9.59817468e-01 2.45834726e-01 -1.35335569e-01 -1.06979143e+02] [-2.44241779e-01 9.69295076e-01 2.85132999e-02 7.76189084e+00] [ 1.38189660e-01 5.68703691e-03 9.90389456e-01 -7.77966166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.12534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-107.01, Y:7.77, Z:-7.78 [[ 9.59866059e-01 2.46287789e-01 -1.34162116e-01 -1.07006097e+02] [-2.44720343e-01 9.69180240e-01 2.83128126e-02 7.77275211e+00] [ 1.37000372e-01 5.65569114e-03 9.90554850e-01 -7.78248939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.15534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-107.03, Y:7.78, Z:-7.79 [[ 9.59723007e-01 2.47251829e-01 -1.33410204e-01 -1.07033357e+02] [-2.45704636e-01 9.68934409e-01 2.82018345e-02 7.78118742e+00] [ 1.36238692e-01 5.71355620e-03 9.90659565e-01 -7.78568179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.18534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-107.06, Y:7.79, Z:-7.79 [[ 9.59618584e-01 2.47562908e-01 -1.33584352e-01 -1.07060571e+02] [-2.46008234e-01 9.68854938e-01 2.82852927e-02 7.78679240e+00] [ 1.36426248e-01 5.71975796e-03 9.90633718e-01 -7.78589338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.21534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-107.09, Y:7.80, Z:-7.80 [[ 9.59161117e-01 2.49436283e-01 -1.33384755e-01 -1.07085478e+02] [-2.47901412e-01 9.68372891e-01 2.82636475e-02 7.80212967e+00] [ 1.36216160e-01 5.95687744e-03 9.90661230e-01 -7.79663321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.24534707000001 meters Centerline goodness [0,1] 0.999962834950013 Centerline is valid? [True, True] Translation: X:-107.12, Y:7.79, Z:-7.79 [[ 9.59176882e-01 2.48590359e-01 -1.34842659e-01 -1.07116520e+02] [-2.47007530e-01 9.68590979e-01 2.86145844e-02 7.79430596e+00] [ 1.37720693e-01 5.86070449e-03 9.90453766e-01 -7.79136756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-107.14, Y:7.80, Z:-7.80 [[ 9.58973492e-01 2.49598435e-01 -1.34426422e-01 -1.07143919e+02] [-2.48032078e-01 9.68331063e-01 2.85489243e-02 7.80424250e+00] [ 1.37295047e-01 5.96440325e-03 9.90512239e-01 -7.79785277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30534707000001 meters Centerline goodness [0,1] 0.9998516265440113 Centerline is valid? [True, True] Translation: X:-107.17, Y:7.81, Z:-7.80 [[ 9.58412587e-01 2.51240637e-01 -1.35364159e-01 -1.07172033e+02] [-2.49661860e-01 9.67904821e-01 2.87960668e-02 7.81039656e+00] [ 1.38254364e-01 6.19675474e-03 9.90377368e-01 -7.79975248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33534707000001 meters Centerline goodness [0,1] 0.9998885835252173 Centerline is valid? [True, True] Translation: X:-107.20, Y:7.83, Z:-7.81 [[ 9.58623501e-01 2.50742838e-01 -1.34792478e-01 -1.07197637e+02] [-2.49165817e-01 9.68034818e-01 2.87225943e-02 7.82564963e+00] [ 1.37685796e-01 6.05152401e-03 9.90457470e-01 -7.80789870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.36534707000001 meters Centerline goodness [0,1] 0.9997046117490677 Centerline is valid? [True, True] Translation: X:-107.22, Y:7.83, Z:-7.81 [[ 9.58685235e-01 2.50997968e-01 -1.33875468e-01 -1.07224626e+02] [-2.49438769e-01 9.67969000e-01 2.85712382e-02 7.83158201e+00] [ 1.36758626e-01 6.00290775e-03 9.90586212e-01 -7.80783749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-107.25, Y:7.84, Z:-7.81 [[ 9.58818999e-01 2.50188063e-01 -1.34432365e-01 -1.07251907e+02] [-2.48604898e-01 9.68179337e-01 2.87119362e-02 7.83656531e+00] [ 1.37338022e-01 5.89099451e-03 9.90506721e-01 -7.81343301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.42534707000002 meters Centerline goodness [0,1] 0.9999628680702536 Centerline is valid? [True, True] Translation: X:-107.28, Y:7.84, Z:-7.81 [[ 9.58534062e-01 2.50940495e-01 -1.35060429e-01 -1.07279956e+02] [-2.49347519e-01 9.67983853e-01 2.88630514e-02 7.83918597e+00] [ 1.37979223e-01 6.01076496e-03 9.90416884e-01 -7.81436236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45534707000002 meters Centerline goodness [0,1] 0.9999629231396685 Centerline is valid? [True, True] Translation: X:-107.31, Y:7.85, Z:-7.82 [[ 9.58490043e-01 2.50855754e-01 -1.35529438e-01 -1.07305322e+02] [-2.49246646e-01 9.68005942e-01 2.89932005e-02 7.85111610e+00] [ 1.38466413e-01 5.99056396e-03 9.90349012e-01 -7.82031507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.48534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-107.33, Y:7.86, Z:-7.83 [[ 9.58558785e-01 2.51519306e-01 -1.33802447e-01 -1.07332213e+02] [-2.49950406e-01 9.67833946e-01 2.86748472e-02 7.86384476e+00] [ 1.36710828e-01 5.95744921e-03 9.90593084e-01 -7.82582537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.51534707000002 meters Centerline goodness [0,1] 0.9998903949435534 Centerline is valid? [True, True] Translation: X:-107.36, Y:7.87, Z:-7.83 [[ 9.59122228e-01 2.49661058e-01 -1.33243794e-01 -1.07360087e+02] [-2.48082263e-01 9.68316912e-01 2.85927974e-02 7.86933953e+00] [ 1.36160727e-01 5.63143436e-03 9.90670754e-01 -7.82600036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.54534707000002 meters Centerline goodness [0,1] 0.9998529519888244 Centerline is valid? [True, True] Translation: X:-107.39, Y:7.88, Z:-7.83 [[ 9.58557418e-01 2.51123399e-01 -1.34553763e-01 -1.07387792e+02] [-2.49525507e-01 9.67937205e-01 2.88892346e-02 7.87761812e+00] [ 1.37494356e-01 5.88260586e-03 9.90485082e-01 -7.83091266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.57534707 meters Centerline goodness [0,1] 0.9996370762865646 Centerline is valid? [True, True] Translation: X:-107.41, Y:7.88, Z:-7.83 [[ 9.58861745e-01 2.50638277e-01 -1.33283940e-01 -1.07414597e+02] [-2.49060703e-01 9.68063906e-01 2.86537812e-02 7.88454196e+00] [ 1.36209106e-01 5.72077721e-03 9.90663592e-01 -7.82978955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.60534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-107.44, Y:7.89, Z:-7.83 [[ 9.58307366e-01 2.51768694e-01 -1.35127783e-01 -1.07442949e+02] [-2.50155032e-01 9.67769196e-01 2.90730541e-02 7.88630535e+00] [ 1.38092191e-01 5.94197301e-03 9.90401555e-01 -7.83471344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63534707000001 meters Centerline goodness [0,1] 0.9998905389134163 Centerline is valid? [True, True] Translation: X:-107.47, Y:7.90, Z:-7.84 [[ 9.57878223e-01 2.52697347e-01 -1.36430788e-01 -1.07469525e+02] [-2.51055131e-01 9.67526207e-01 2.93999845e-02 7.89923738e+00] [ 1.39429661e-01 6.09004444e-03 9.90213250e-01 -7.84284064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.66534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-107.50, Y:7.91, Z:-7.85 [[ 9.57494479e-01 2.53832947e-01 -1.37015172e-01 -1.07497659e+02] [-2.52181976e-01 9.67227944e-01 2.95694959e-02 7.90595705e+00] [ 1.40030615e-01 6.24012774e-03 9.90127511e-01 -7.84735067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-107.52, Y:7.91, Z:-7.85 [[ 9.57450126e-01 2.54232735e-01 -1.36583208e-01 -1.07524887e+02] [-2.52590350e-01 9.67122954e-01 2.95179111e-02 7.91353840e+00] [ 1.39597175e-01 6.23767257e-03 9.90188730e-01 -7.85037059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-107.55, Y:7.92, Z:-7.85 [[ 9.57374661e-01 2.55154178e-01 -1.35388718e-01 -1.07551674e+02] [-2.53543369e-01 9.66880040e-01 2.93043938e-02 7.92083714e+00] [ 1.38381788e-01 6.27162777e-03 9.90359100e-01 -7.84982919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75534707000001 meters Centerline goodness [0,1] 0.9999270924467775 Centerline is valid? [True, True] Translation: X:-107.58, Y:7.93, Z:-7.85 [[ 9.57727478e-01 2.54522964e-01 -1.34075121e-01 -1.07580185e+02] [-2.52933713e-01 9.67047524e-01 2.90451759e-02 7.92782761e+00] [ 1.37049678e-01 6.09475521e-03 9.90545425e-01 -7.85073594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.78534707000001 meters Centerline goodness [0,1] 0.999820027355842 Centerline is valid? [True, True] Translation: X:-107.61, Y:7.94, Z:-7.85 [[ 9.58227746e-01 2.53930022e-01 -1.31602173e-01 -1.07608192e+02] [-2.52387649e-01 9.67204869e-01 2.85520040e-02 7.93697552e+00] [ 1.34536473e-01 5.85544050e-03 9.90891342e-01 -7.85061033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-107.64, Y:7.94, Z:-7.85 [[ 9.57936692e-01 2.54425169e-01 -1.32759661e-01 -1.07635240e+02] [-2.52854731e-01 9.67074227e-01 2.88430882e-02 7.94339367e+00] [ 1.35726854e-01 5.93905594e-03 9.90728494e-01 -7.85494125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.84534707000002 meters Centerline goodness [0,1] 0.9999638414810529 Centerline is valid? [True, True] Translation: X:-107.66, Y:7.95, Z:-7.86 [[ 9.57058168e-01 2.56221211e-01 -1.35611037e-01 -1.07661407e+02] [-2.54597841e-01 9.66597564e-01 2.94803060e-02 7.95150072e+00] [ 1.38634778e-01 6.31190955e-03 9.90323461e-01 -7.86148764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.87534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-107.69, Y:7.96, Z:-7.87 [[ 9.57516507e-01 2.55029306e-01 -1.34618692e-01 -1.07688528e+02] [-2.53414213e-01 9.66914289e-01 2.92915396e-02 7.95950264e+00] [ 1.37634938e-01 6.06715723e-03 9.90464443e-01 -7.86730512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.90534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-107.72, Y:7.97, Z:-7.87 [[ 9.57856181e-01 2.53389620e-01 -1.35296850e-01 -1.07715464e+02] [-2.51736078e-01 9.67346795e-01 2.94809372e-02 7.96581593e+00] [ 1.38349137e-01 5.82060041e-03 9.90366415e-01 -7.86807595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.93534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-107.74, Y:7.98, Z:-7.87 [[ 9.59091805e-01 2.50265535e-01 -1.32325630e-01 -1.07743607e+02] [-2.48652205e-01 9.68163092e-01 2.88497564e-02 7.97610503e+00] [ 1.35332891e-01 5.23349473e-03 9.90786364e-01 -7.87048003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.96534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-107.77, Y:7.98, Z:-7.87 [[ 9.59371941e-01 2.49602093e-01 -1.31545710e-01 -1.07771552e+02] [-2.47999032e-01 9.68335107e-01 2.86984420e-02 7.97755756e+00] [ 1.34543520e-01 5.09072855e-03 9.90894609e-01 -7.87040464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99534707000001 meters Centerline goodness [0,1] 0.9998926923489645 Centerline is valid? [True, True] Translation: X:-107.80, Y:7.98, Z:-7.87 [[ 9.59500119e-01 2.49293953e-01 -1.31194693e-01 -1.07799463e+02] [-2.47692267e-01 9.68414942e-01 2.86538203e-02 7.98369072e+00] [ 1.34194125e-01 5.00256702e-03 9.90942436e-01 -7.87354543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.02534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-107.83, Y:7.99, Z:-7.88 [[ 9.59389342e-01 2.49422472e-01 -1.31759330e-01 -1.07826955e+02] [-2.47802285e-01 9.68381859e-01 2.88201642e-02 7.98846637e+00] [ 1.34781742e-01 5.00050478e-03 9.90862693e-01 -7.87678794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05534707000001 meters Centerline goodness [0,1] 0.9999644823299592 Centerline is valid? [True, True] Translation: X:-107.85, Y:8.00, Z:-7.88 [[ 9.59329612e-01 2.49884634e-01 -1.31317806e-01 -1.07853846e+02] [-2.48276607e-01 9.68262570e-01 2.87458085e-02 7.99573422e+00] [ 1.34333252e-01 5.02643399e-03 9.90923464e-01 -7.87986200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.08534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-107.88, Y:8.01, Z:-7.88 [[ 9.59205497e-01 2.50407936e-01 -1.31227590e-01 -1.07880337e+02] [-2.48799990e-01 9.68127268e-01 2.87777379e-02 8.00669537e+00] [ 1.34251183e-01 5.04565880e-03 9.90934489e-01 -7.88456332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-107.91, Y:8.01, Z:-7.89 [[ 9.59566916e-01 2.49359367e-01 -1.30580395e-01 -1.07907386e+02] [-2.47753368e-01 9.68398909e-01 2.86674294e-02 8.01297043e+00] [ 1.33602404e-01 4.84341585e-03 9.91023178e-01 -7.88504177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.14534707000001 meters Centerline goodness [0,1] 0.9998919269426132 Centerline is valid? [True, True] Translation: X:-107.94, Y:8.02, Z:-7.89 [[ 9.59270131e-01 2.50277993e-01 -1.31002831e-01 -1.07935423e+02] [-2.48667221e-01 9.68161275e-01 2.87812339e-02 8.01704758e+00] [ 1.34035177e-01 4.96713189e-03 9.90964126e-01 -7.88704283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-107.96, Y:8.03, Z:-7.89 [[ 9.59486309e-01 2.50136058e-01 -1.29684137e-01 -1.07961700e+02] [-2.48549990e-01 9.68198548e-01 2.85390019e-02 8.02966065e+00] [ 1.32698626e-01 4.85020929e-03 9.91144566e-01 -7.89015545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.20534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-107.99, Y:8.04, Z:-7.89 [[ 9.59616560e-01 2.50066620e-01 -1.28851631e-01 -1.07989516e+02] [-2.48493883e-01 9.68216922e-01 2.84038965e-02 8.03852532e+00] [ 1.31859196e-01 4.76199269e-03 9.91257018e-01 -7.89442411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.23534707000002 meters Centerline goodness [0,1] 0.9999644646601045 Centerline is valid? [True, True] Translation: X:-108.02, Y:8.04, Z:-7.90 [[ 9.59254609e-01 2.50746525e-01 -1.30218181e-01 -1.08016867e+02] [-2.49140595e-01 9.68040549e-01 2.87482075e-02 8.04228901e+00] [ 1.33264993e-01 4.86578468e-03 9.91068497e-01 -7.89765505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.26534707000002 meters Centerline goodness [0,1] 0.9998598752890072 Centerline is valid? [True, True] Translation: X:-108.05, Y:8.05, Z:-7.90 [[ 9.59404562e-01 2.51000191e-01 -1.28614888e-01 -1.08045289e+02] [-2.49433161e-01 9.67975041e-01 2.84151232e-02 8.05006380e+00] [ 1.31628203e-01 4.81921930e-03 9.91287441e-01 -7.89907352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.29534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-108.07, Y:8.06, Z:-7.90 [[ 9.59298819e-01 2.51016627e-01 -1.29369348e-01 -1.08072067e+02] [-2.49425248e-01 9.67970843e-01 2.86267962e-02 8.05589769e+00] [ 1.32411559e-01 4.80632988e-03 9.91183171e-01 -7.90044540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.32534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-108.10, Y:8.06, Z:-7.90 [[ 9.58675316e-01 2.54158746e-01 -1.27847453e-01 -1.08100186e+02] [-2.52629813e-01 9.67148761e-01 2.83099137e-02 8.06372110e+00] [ 1.30842718e-01 5.15806268e-03 9.91389720e-01 -7.90407813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35534707000001 meters Centerline goodness [0,1] 0.9997890146986427 Centerline is valid? [True, True] Translation: X:-108.13, Y:8.07, Z:-7.91 [[ 9.57875024e-01 2.57075084e-01 -1.28015001e-01 -1.08128094e+02] [-2.55562119e-01 9.66375666e-01 2.83914771e-02 8.07286792e+00] [ 1.31009323e-01 5.52029808e-03 9.91365767e-01 -7.90849526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38534707000001 meters Centerline goodness [0,1] 0.9997890146986427 Centerline is valid? [True, True] Translation: X:-108.15, Y:8.08, Z:-7.91 [[ 9.57773454e-01 2.57458007e-01 -1.28005415e-01 -1.08154943e+02] [-2.55942683e-01 9.66273675e-01 2.84346359e-02 8.07863085e+00] [ 1.31008987e-01 5.52810989e-03 9.91365768e-01 -7.91167276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41534707000001 meters Centerline goodness [0,1] 0.9996070586554262 Centerline is valid? [True, True] Translation: X:-108.18, Y:8.08, Z:-7.91 [[ 9.57064290e-01 2.59188096e-01 -1.29805530e-01 -1.08183547e+02] [-2.57638263e-01 9.65809483e-01 2.88889040e-02 8.08069985e+00] [ 1.32855072e-01 5.79433281e-03 9.91118538e-01 -7.91376738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44534707000001 meters Centerline goodness [0,1] 0.9998585822874315 Centerline is valid? [True, True] Translation: X:-108.21, Y:8.09, Z:-7.92 [[ 9.56571590e-01 2.61574119e-01 -1.28645924e-01 -1.08209664e+02] [-2.60066625e-01 9.65164613e-01 2.86813461e-02 8.09449340e+00] [ 1.31666791e-01 6.02075048e-03 9.91275747e-01 -7.92217794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47534707000001 meters Centerline goodness [0,1] 0.9995764506565015 Centerline is valid? [True, True] Translation: X:-108.24, Y:8.10, Z:-7.92 [[ 9.56959562e-01 2.60745820e-01 -1.27436314e-01 -1.08238593e+02] [-2.59253023e-01 9.65390042e-01 2.84593878e-02 8.09687273e+00] [ 1.30446415e-01 5.80376637e-03 9.91438374e-01 -7.91918152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.50534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-108.26, Y:8.11, Z:-7.93 [[ 9.56919565e-01 2.61191871e-01 -1.26821739e-01 -1.08264954e+02] [-2.59713549e-01 9.65269434e-01 2.83512345e-02 8.10521495e+00] [ 1.29822260e-01 5.80747290e-03 9.91520274e-01 -7.92564545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53534707000001 meters Centerline goodness [0,1] 0.9998923689592079 Centerline is valid? [True, True] Translation: X:-108.29, Y:8.11, Z:-7.92 [[ 9.57297391e-01 2.59925978e-01 -1.26570896e-01 -1.08294038e+02] [-2.58435853e-01 9.65612452e-01 2.83461130e-02 8.10608233e+00] [ 1.29586325e-01 5.57479765e-03 9.91552473e-01 -7.92385482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.56534707000002 meters Centerline goodness [0,1] 0.9996780770468935 Centerline is valid? [True, True] Translation: X:-108.32, Y:8.11, Z:-7.93 [[ 9.58178620e-01 2.57948146e-01 -1.23921292e-01 -1.08323212e+02] [-2.56500997e-01 9.66144900e-01 2.77717767e-02 8.11279642e+00] [ 1.26889602e-01 5.17561220e-03 9.91903343e-01 -7.92703989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.59534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-108.35, Y:8.12, Z:-7.93 [[ 9.58921396e-01 2.55469380e-01 -1.23309173e-01 -1.08351809e+02] [-2.54011041e-01 9.66805310e-01 2.76745896e-02 8.11722563e+00] [ 1.26285973e-01 4.78413527e-03 9.91982341e-01 -7.92936464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.62534707000002 meters Centerline goodness [0,1] 0.9996418338108882 Centerline is valid? [True, True] Translation: X:-108.38, Y:8.12, Z:-7.93 [[ 9.59524972e-01 2.53788388e-01 -1.22078996e-01 -1.08380170e+02] [-2.52339664e-01 9.67249432e-01 2.74450598e-02 8.12326885e+00] [ 1.25046077e-01 4.47115264e-03 9.92140861e-01 -7.93167930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.65534707000002 meters Centerline goodness [0,1] 0.999534450651769 Centerline is valid? [True, True] Translation: X:-108.41, Y:8.13, Z:-7.94 [[ 9.60196758e-01 2.51210217e-01 -1.22129494e-01 -1.08408225e+02] [-2.49733526e-01 9.67923909e-01 2.75040342e-02 8.12925209e+00] [ 1.25121352e-01 4.09054471e-03 9.92133013e-01 -7.93755880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.68534707000002 meters Centerline goodness [0,1] 0.9996815286624203 Centerline is valid? [True, True] Translation: X:-108.44, Y:8.14, Z:-7.94 [[ 9.61314895e-01 2.48110217e-01 -1.19645277e-01 -1.08436480e+02] [-2.46664034e-01 9.68725234e-01 2.69865837e-02 8.13557631e+00] [ 1.22599046e-01 3.56958185e-03 9.92449864e-01 -7.94016978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.71534707 meters Centerline goodness [0,1] 0.9997479294202377 Centerline is valid? [True, True] Translation: X:-108.46, Y:8.14, Z:-7.94 [[ 9.61313781e-01 2.47829465e-01 -1.20234653e-01 -1.08464357e+02] [-2.46365527e-01 9.68797199e-01 2.71295784e-02 8.13891215e+00] [ 1.23206504e-01 3.54163598e-03 9.92374735e-01 -7.94061896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.74534707000001 meters Centerline goodness [0,1] 0.9998601007274762 Centerline is valid? [True, True] Translation: X:-108.49, Y:8.15, Z:-7.94 [[ 9.62159569e-01 2.46632506e-01 -1.15850638e-01 -1.08491350e+02] [-2.45263109e-01 9.69103638e-01 2.61561846e-02 8.14982994e+00] [ 1.18722240e-01 3.24746443e-03 9.92922194e-01 -7.94273448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77534707000001 meters Centerline goodness [0,1] 0.9998578081120472 Centerline is valid? [True, True] Translation: X:-108.52, Y:8.15, Z:-7.95 [[ 9.62926681e-01 2.43803009e-01 -1.15465581e-01 -1.08519581e+02] [-2.42417309e-01 9.69820597e-01 2.61124086e-02 8.15142238e+00] [ 1.18347182e-01 2.84652057e-03 9.92968198e-01 -7.94629492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.80534707000001 meters Centerline goodness [0,1] 0.9994272008019188 Centerline is valid? [True, True] Translation: X:-108.55, Y:8.16, Z:-7.95 [[ 9.62791681e-01 2.44370000e-01 -1.15392727e-01 -1.08546774e+02] [-2.42987282e-01 9.69677753e-01 2.61196544e-02 8.15919506e+00] [ 1.18276621e-01 2.89117925e-03 9.92976476e-01 -7.94788238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83534707000001 meters Centerline goodness [0,1] 0.9996774771546317 Centerline is valid? [True, True] Translation: X:-108.57, Y:8.16, Z:-7.95 [[ 9.63443154e-01 2.42947762e-01 -1.12932167e-01 -1.08573850e+02] [-2.41608303e-01 9.70035857e-01 2.56098467e-02 8.16399744e+00] [ 1.15770107e-01 2.61171791e-03 9.93272602e-01 -7.94918460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.86534707000001 meters Centerline goodness [0,1] 0.9995686246315335 Centerline is valid? [True, True] Translation: X:-108.60, Y:8.17, Z:-7.95 [[ 9.63747772e-01 2.42859763e-01 -1.10496008e-01 -1.08601188e+02] [-2.41575409e-01 9.70058108e-01 2.50716743e-02 8.17244908e+00] [ 1.13276449e-01 2.53034809e-03 9.93560287e-01 -7.95120612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89534707000001 meters Centerline goodness [0,1] 0.9993863258970471 Centerline is valid? [True, True] Translation: X:-108.63, Y:8.18, Z:-7.95 [[ 9.64065316e-01 2.42282584e-01 -1.08982639e-01 -1.08628516e+02] [-2.41024144e-01 9.70202803e-01 2.47766446e-02 8.18203736e+00] [ 1.11738212e-01 2.38114366e-03 9.93734825e-01 -7.95437786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.92534707000002 meters Centerline goodness [0,1] 0.9996440774487472 Centerline is valid? [True, True] Translation: X:-108.65, Y:8.19, Z:-7.95 [[ 9.64236973e-01 2.42201185e-01 -1.07636639e-01 -1.08654191e+02] [-2.40968662e-01 9.70223318e-01 2.45115816e-02 8.18963287e+00] [ 1.10368311e-01 2.30208364e-03 9.93888090e-01 -7.95497474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95534707000002 meters Centerline goodness [0,1] 0.9995711069016048 Centerline is valid? [True, True] Translation: X:-108.68, Y:8.20, Z:-7.95 [[ 9.64322229e-01 2.42352448e-01 -1.06526663e-01 -1.08681409e+02] [-2.41144259e-01 9.70185602e-01 2.42764188e-02 8.19698647e+00] [ 1.09234084e-01 2.27800284e-03 9.94013443e-01 -7.95442283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.98534707000002 meters Centerline goodness [0,1] 0.9993924882964658 Centerline is valid? [True, True] Translation: X:-108.71, Y:8.21, Z:-7.96 [[ 9.64400665e-01 2.43238032e-01 -1.03762308e-01 -1.08708826e+02] [-2.42092413e-01 9.69963962e-01 2.36891495e-02 8.20619797e+00] [ 1.06407801e-01 2.27423601e-03 9.94319972e-01 -7.95796384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.01534707000002 meters Centerline goodness [0,1] 0.9993850605896184 Centerline is valid? [True, True] Translation: X:-108.74, Y:8.21, Z:-7.96 [[ 9.65581012e-01 2.39250429e-01 -1.02041864e-01 -1.08736516e+02] [-2.38116216e-01 9.70956289e-01 2.33356384e-02 8.20964800e+00] [ 1.04661252e-01 1.76537329e-03 9.94506363e-01 -7.95854869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.04534707000002 meters Centerline goodness [0,1] 0.9992810152065283 Centerline is valid? [True, True] Translation: X:-108.76, Y:8.22, Z:-7.96 [[ 9.65727871e-01 2.39712426e-01 -9.95370875e-02 -1.08764154e+02] [-2.38634775e-01 9.70842341e-01 2.27726242e-02 8.21766276e+00] [ 1.02093700e-01 1.76085257e-03 9.94773228e-01 -7.95932704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.07534707 meters Centerline goodness [0,1] 0.9994298542564943 Centerline is valid? [True, True] Translation: X:-108.79, Y:8.22, Z:-7.96 [[ 9.66092594e-01 2.38578213e-01 -9.87194873e-02 -1.08791777e+02] [-2.37508214e-01 9.71121988e-01 2.26259434e-02 8.22387273e+00] [ 1.01266722e-01 1.58793281e-03 9.94858045e-01 -7.96006962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.10534707000001 meters Centerline goodness [0,1] 0.999601521463503 Centerline is valid? [True, True] Translation: X:-108.82, Y:8.23, Z:-7.96 [[ 9.66078324e-01 2.38951283e-01 -9.79538454e-02 -1.08819040e+02] [-2.37898928e-01 9.71030228e-01 2.24587544e-02 8.22949010e+00] [ 1.00482693e-01 1.60619902e-03 9.94937510e-01 -7.96322893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13534707000001 meters Centerline goodness [0,1] 0.9994207725446186 Centerline is valid? [True, True] Translation: X:-108.85, Y:8.24, Z:-7.96 [[ 9.66881331e-01 2.36637040e-01 -9.56211485e-02 -1.08845620e+02] [-2.35618874e-01 9.71597264e-01 2.19659577e-02 8.23536513e+00] [ 9.81032054e-02 1.29167296e-03 9.95175408e-01 -7.96418840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.16534707000001 meters Centerline goodness [0,1] 0.9993226139969339 Centerline is valid? [True, True] Translation: X:-108.87, Y:8.24, Z:-7.96 [[ 9.66792698e-01 2.37751615e-01 -9.37339293e-02 -1.08873938e+02] [-2.36776878e-01 9.71325033e-01 2.15497084e-02 8.24429736e+00] [ 9.61695899e-02 1.35992640e-03 9.95364034e-01 -7.96429525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19534707000001 meters Centerline goodness [0,1] 0.9995675052259785 Centerline is valid? [True, True] Translation: X:-108.90, Y:8.25, Z:-7.97 [[ 9.67375330e-01 2.35460616e-01 -9.35054509e-02 -1.08901369e+02] [-2.34477979e-01 9.71883258e-01 2.15176634e-02 8.24841468e+00] [ 9.59429446e-02 1.10931236e-03 9.95386217e-01 -7.96966296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.22534707000001 meters Centerline goodness [0,1] 0.9995639693325097 Centerline is valid? [True, True] Translation: X:-108.93, Y:8.25, Z:-7.97 [[ 9.68222500e-01 2.32577002e-01 -9.19409002e-02 -1.08928138e+02] [-2.31613447e-01 9.72577654e-01 2.11640762e-02 8.25383045e+00] [ 9.43419424e-02 8.03214044e-04 9.95539528e-01 -7.97455455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25534707000001 meters Centerline goodness [0,1] 0.9995387126534667 Centerline is valid? [True, True] Translation: X:-108.96, Y:8.26, Z:-7.97 [[ 9.67263654e-01 2.36204200e-01 -9.27825405e-02 -1.08955199e+02] [-2.35235332e-01 9.71702789e-01 2.14015778e-02 8.26073945e+00] [ 9.52121960e-02 1.12476337e-03 9.95456364e-01 -7.97388560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.28534707000001 meters Centerline goodness [0,1] 0.9996026011560694 Centerline is valid? [True, True] Translation: X:-108.98, Y:8.27, Z:-7.98 [[ 9.68347418e-01 2.32712598e-01 -9.02669659e-02 -1.08982108e+02] [-2.31776200e-01 9.72545287e-01 2.08676101e-02 8.26603869e+00] [ 9.26448681e-02 7.14638005e-04 9.95698959e-01 -7.97841907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31534707000002 meters Centerline goodness [0,1] 0.9995719941505867 Centerline is valid? [True, True] Translation: X:-109.01, Y:8.27, Z:-7.98 [[ 9.67544481e-01 2.36242446e-01 -8.97061007e-02 -1.09010225e+02] [-2.35332170e-01 9.71693587e-01 2.07447109e-02 8.27335913e+00] [ 9.20676240e-02 1.03930080e-03 9.95752214e-01 -7.98054545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.34534707000002 meters Centerline goodness [0,1] 0.9993938745676899 Centerline is valid? [True, True] Translation: X:-109.04, Y:8.28, Z:-7.98 [[ 9.67205124e-01 2.37586179e-01 -8.98167954e-02 -1.09037472e+02] [-2.36676221e-01 9.71365801e-01 2.08049676e-02 8.28054612e+00] [ 9.21879362e-02 1.13482842e-03 9.95740979e-01 -7.98094776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.37534707000002 meters Centerline goodness [0,1] 0.9995644125013612 Centerline is valid? [True, True] Translation: X:-109.07, Y:8.28, Z:-7.98 [[ 9.68111798e-01 2.34671324e-01 -8.76864635e-02 -1.09065063e+02] [-2.33788071e-01 9.72074453e-01 2.03567162e-02 8.28482604e+00] [ 9.00149086e-02 7.92472107e-04 9.95940103e-01 -7.98374314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.40534707000002 meters Centerline goodness [0,1] 0.9995283874478506 Centerline is valid? [True, True] Translation: X:-109.09, Y:8.29, Z:-7.99 [[ 9.67717751e-01 2.36078763e-01 -8.82562810e-02 -1.09092318e+02] [-2.35189366e-01 9.71733483e-01 2.04938841e-02 8.28980615e+00] [ 9.05997541e-02 9.24643356e-04 9.95886956e-01 -7.98797840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.43534707000002 meters Centerline goodness [0,1] 0.9997467255228308 Centerline is valid? [True, True] Translation: X:-109.12, Y:8.30, Z:-7.99 [[ 9.67092577e-01 2.38624268e-01 -8.82632801e-02 -1.09120153e+02] [-2.37741478e-01 9.71111322e-01 2.05375289e-02 8.29753570e+00] [ 9.06142234e-02 1.12215092e-03 9.95885437e-01 -7.98847736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.46534707 meters Centerline goodness [0,1] 0.9994208773707832 Centerline is valid? [True, True] Translation: X:-109.15, Y:8.30, Z:-7.99 [[ 9.66707542e-01 2.40347763e-01 -8.78036473e-02 -1.09147662e+02] [-2.39478046e-01 9.70686051e-01 2.04659848e-02 8.30293572e+00] [ 9.01487293e-02 1.24242399e-03 9.95927539e-01 -7.99212492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49534707000001 meters Centerline goodness [0,1] 0.9990201770939179 Centerline is valid? [True, True] Translation: X:-109.18, Y:8.31, Z:-7.99 [[ 9.65448810e-01 2.44791983e-01 -8.93615213e-02 -1.09175700e+02] [-2.43906923e-01 9.69574211e-01 2.08629509e-02 8.31187148e+00] [ 9.17497096e-02 1.65378256e-03 9.95780727e-01 -7.99351643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.52534707000001 meters Centerline goodness [0,1] 0.9995311767463666 Centerline is valid? [True, True] Translation: X:-109.20, Y:8.32, Z:-7.99 [[ 9.64648905e-01 2.47880334e-01 -8.94864809e-02 -1.09203030e+02] [-2.47002897e-01 9.68788762e-01 2.09261544e-02 8.32280490e+00] [ 9.18806792e-02 1.91702811e-03 9.95768179e-01 -7.99293057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55534707000001 meters Centerline goodness [0,1] 0.9992640565204592 Centerline is valid? [True, True] Translation: X:-109.23, Y:8.33, Z:-8.00 [[ 9.64170452e-01 2.49952709e-01 -8.88762192e-02 -1.09231090e+02] [-2.49092985e-01 9.68255838e-01 2.08162922e-02 8.32775162e+00] [ 9.12580067e-02 2.06798881e-03 9.95825135e-01 -7.99943290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.58534707000001 meters Centerline goodness [0,1] 0.9995226905566162 Centerline is valid? [True, True] Translation: X:-109.26, Y:8.34, Z:-8.00 [[ 9.63348950e-01 2.52724940e-01 -8.99383378e-02 -1.09258098e+02] [-2.51852929e-01 9.67535384e-01 2.11040948e-02 8.33506891e+00] [ 9.23520553e-02 2.32062622e-03 9.95723713e-01 -8.00267778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61534707000001 meters Centerline goodness [0,1] 0.9993021889231674 Centerline is valid? [True, True] Translation: X:-109.29, Y:8.34, Z:-8.01 [[ 9.62043525e-01 2.57344769e-01 -9.08070763e-02 -1.09286132e+02] [-2.56474468e-01 9.66315677e-01 2.13274534e-02 8.34289437e+00] [ 9.32368100e-02 2.77175805e-03 9.95640103e-01 -8.00620873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.64534707000001 meters Centerline goodness [0,1] 0.9995952757643769 Centerline is valid? [True, True] Translation: X:-109.31, Y:8.35, Z:-8.01 [[ 9.61121430e-01 2.60574321e-01 -9.13598425e-02 -1.09313748e+02] [-2.59706607e-01 9.65448845e-01 2.14710464e-02 8.35174590e+00] [ 9.37980578e-02 3.09047196e-03 9.95586447e-01 -8.00829335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67534707000002 meters Centerline goodness [0,1] 0.9994818652849741 Centerline is valid? [True, True] Translation: X:-109.34, Y:8.36, Z:-8.01 [[ 9.59811361e-01 2.64811964e-01 -9.29342542e-02 -1.09340952e+02] [-2.63929715e-01 9.64293631e-01 2.18837634e-02 8.36124052e+00] [ 9.54109918e-02 3.52382657e-03 9.95431728e-01 -8.01061647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.70534707000002 meters Centerline goodness [0,1] 0.999413188586518 Centerline is valid? [True, True] Translation: X:-109.37, Y:8.37, Z:-8.01 [[ 9.58718643e-01 2.68361301e-01 -9.40254024e-02 -1.09368694e+02] [-2.67474621e-01 9.63310369e-01 2.21463395e-02 8.37139115e+00] [ 9.65188656e-02 3.91730034e-03 9.95323447e-01 -8.01155910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.73534707000002 meters Centerline goodness [0,1] 0.9994937075075944 Centerline is valid? [True, True] Translation: X:-109.40, Y:8.38, Z:-8.01 [[ 9.58171332e-01 2.70068018e-01 -9.47151786e-02 -1.09395818e+02] [-2.69172861e-01 9.62832590e-01 2.23466917e-02 8.38430604e+00] [ 9.72299874e-02 4.08279619e-03 9.95253566e-01 -8.01015123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.76534707000002 meters Centerline goodness [0,1] 0.999189238990234 Centerline is valid? [True, True] Translation: X:-109.42, Y:8.39, Z:-8.01 [[ 9.58200847e-01 2.70210102e-01 -9.40087059e-02 -1.09423371e+02] [-2.69324980e-01 9.62792961e-01 2.22209203e-02 8.38673631e+00] [ 9.65152375e-02 4.02678816e-03 9.95323361e-01 -8.01342855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.79534707000002 meters Centerline goodness [0,1] 0.9994824781901523 Centerline is valid? [True, True] Translation: X:-109.45, Y:8.39, Z:-8.01 [[ 9.58256799e-01 2.70158902e-01 -9.35845888e-02 -1.09450102e+02] [-2.69280835e-01 9.62807455e-01 2.21277244e-02 8.39479300e+00] [ 9.60819415e-02 3.99649387e-03 9.95365405e-01 -8.01348551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.82534707 meters Centerline goodness [0,1] 0.9996383625054246 Centerline is valid? [True, True] Translation: X:-109.48, Y:8.40, Z:-8.01 [[ 9.57499446e-01 2.72090845e-01 -9.57151166e-02 -1.09477819e+02] [-2.71177409e-01 9.62262216e-01 2.26768800e-02 8.40344277e+00] [ 9.82732116e-02 4.24267731e-03 9.95150429e-01 -8.01453091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85534707000001 meters Centerline goodness [0,1] 0.9993712552703602 Centerline is valid? [True, True] Translation: X:-109.51, Y:8.41, Z:-8.01 [[ 9.58712045e-01 2.68177574e-01 -9.46150260e-02 -1.09506571e+02] [-2.67262070e-01 9.63362171e-01 2.24569422e-02 8.40721313e+00] [ 9.71709851e-02 3.75726668e-03 9.95260610e-01 -8.01345623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.88534707000001 meters Centerline goodness [0,1] 0.9993297337553528 Centerline is valid? [True, True] Translation: X:-109.53, Y:8.41, Z:-8.02 [[ 9.58620798e-01 2.68588815e-01 -9.43727383e-02 -1.09533656e+02] [-2.67679799e-01 9.63247478e-01 2.24013450e-02 8.41469499e+00] [ 9.69210529e-02 3.78728040e-03 9.95284867e-01 -8.01558125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91534707000001 meters Centerline goodness [0,1] 0.9992619109126472 Centerline is valid? [True, True] Translation: X:-109.56, Y:8.42, Z:-8.01 [[ 9.59425511e-01 2.65661273e-01 -9.44816279e-02 -1.09561143e+02] [-2.64731662e-01 9.64060252e-01 2.24717080e-02 8.42057367e+00] [ 9.70558445e-02 3.45234847e-03 9.95272950e-01 -8.01290330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.94534707000001 meters Centerline goodness [0,1] 0.9990990314588182 Centerline is valid? [True, True] Translation: X:-109.59, Y:8.43, Z:-8.01 [[ 9.59901201e-01 2.63588735e-01 -9.54497879e-02 -1.09589155e+02] [-2.62628812e-01 9.64629620e-01 2.27113081e-02 8.42892139e+00] [ 9.80601376e-02 3.26725250e-03 9.95175128e-01 -8.01250749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97534707000001 meters Centerline goodness [0,1] 0.9988518093262714 Centerline is valid? [True, True] Translation: X:-109.62, Y:8.44, Z:-8.01 [[ 9.61179158e-01 2.58489066e-01 -9.65299411e-02 -1.09618645e+02] [-2.57477167e-01 9.66010312e-01 2.30127140e-02 8.43509170e+00] [ 9.91974535e-02 2.73491470e-03 9.95064011e-01 -8.00570933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.00534707000001 meters Centerline goodness [0,1] 0.9987529758530779 Centerline is valid? [True, True] Translation: X:-109.65, Y:8.44, Z:-8.01 [[ 9.62135228e-01 2.54701304e-01 -9.70723947e-02 -1.09646967e+02] [-2.53658028e-01 9.67016919e-01 2.31491712e-02 8.43840078e+00] [ 9.97667721e-02 2.35055908e-03 9.95008073e-01 -8.00654272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03534707000001 meters Centerline goodness [0,1] 0.9990321259725272 Centerline is valid? [True, True] Translation: X:-109.68, Y:8.45, Z:-8.00 [[ 9.63073153e-01 2.50592487e-01 -9.84556148e-02 -1.09675759e+02] [-2.49496765e-01 9.68090714e-01 2.34889952e-02 8.44541775e+00] [ 1.01200132e-01 1.94273673e-03 9.94864191e-01 -8.00429006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.06534707000002 meters Centerline goodness [0,1] 0.9985748739311554 Centerline is valid? [True, True] Translation: X:-109.70, Y:8.45, Z:-8.00 [[ 9.63028784e-01 2.49560567e-01 -1.01464694e-01 -1.09704455e+02] [-2.48386804e-01 9.68357420e-01 2.42467090e-02 8.45167419e+00] [ 1.04305111e-01 1.85221225e-03 9.94543620e-01 -8.00340068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.09534707000002 meters Centerline goodness [0,1] 0.9988684066435481 Centerline is valid? [True, True] Translation: X:-109.73, Y:8.46, Z:-8.00 [[ 9.63249167e-01 2.47772506e-01 -1.03729584e-01 -1.09733252e+02] [-2.46531058e-01 9.68816824e-01 2.48274056e-02 8.45971765e+00] [ 1.06646514e-01 1.65758619e-03 9.94295617e-01 -7.99894767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.12534707000002 meters Centerline goodness [0,1] 0.9992741442542787 Centerline is valid? [True, True] Translation: X:-109.76, Y:8.46, Z:-8.00 [[ 9.64259623e-01 2.43947934e-01 -1.03405924e-01 -1.09761176e+02] [-2.42688348e-01 9.69787595e-01 2.47868351e-02 8.46425313e+00] [ 1.06328480e-01 1.19446867e-03 9.94330341e-01 -7.99753600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.15534707000002 meters Centerline goodness [0,1] 0.9996617558628984 Centerline is valid? [True, True] Translation: X:-109.79, Y:8.47, Z:-8.00 [[ 9.63216125e-01 2.47508761e-01 -1.04661885e-01 -1.09789121e+02] [-2.46234617e-01 9.68884391e-01 2.51306559e-02 8.47443461e+00] [ 1.07625324e-01 1.56512603e-03 9.94190294e-01 -7.99520426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.18534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-109.82, Y:8.48, Z:-7.99 [[ 9.62933794e-01 2.48371498e-01 -1.05214579e-01 -1.09816655e+02] [-2.47084239e-01 9.68663485e-01 2.53067347e-02 8.48363212e+00] [ 1.08202992e-01 1.62815405e-03 9.94127488e-01 -7.99404585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-109.84, Y:8.49, Z:-7.99 [[ 9.62213460e-01 2.50196299e-01 -1.07457292e-01 -1.09843357e+02] [-2.48859372e-01 9.68193410e-01 2.58946650e-02 8.49297495e+00] [ 1.10518191e-01 1.82555903e-03 9.93872425e-01 -7.99425856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.24534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-109.87, Y:8.50, Z:-7.99 [[ 9.62219949e-01 2.49602755e-01 -1.08771482e-01 -1.09870632e+02] [-2.48223898e-01 9.68346765e-01 2.62571963e-02 8.50028097e+00] [ 1.11882381e-01 1.73448318e-03 9.93719943e-01 -7.99320392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-109.90, Y:8.51, Z:-8.00 [[ 9.62107507e-01 2.50037302e-01 -1.08768066e-01 -1.09897352e+02] [-2.48659613e-01 9.68234586e-01 2.62713417e-02 8.50652891e+00] [ 1.11881818e-01 1.77037005e-03 9.93719943e-01 -7.99638712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-109.92, Y:8.52, Z:-7.99 [[ 9.61811512e-01 2.50515302e-01 -1.10275558e-01 -1.09923642e+02] [-2.49096060e-01 9.68110968e-01 2.66890785e-02 8.51933932e+00] [ 1.13445000e-01 1.79934416e-03 9.93542648e-01 -7.99269671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-109.95, Y:8.53, Z:-7.99 [[ 9.61901334e-01 2.50276268e-01 -1.10034601e-01 -1.09950064e+02] [-2.48855643e-01 9.68172942e-01 2.66837517e-02 8.52915312e+00] [ 1.13210833e-01 1.71559488e-03 9.93569506e-01 -7.99248277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.36534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-109.98, Y:8.54, Z:-7.99 [[ 9.62583434e-01 2.47218547e-01 -1.10978029e-01 -1.09977362e+02] [-2.45749656e-01 9.68958822e-01 2.69426719e-02 8.53556381e+00] [ 1.14193868e-01 1.33824267e-03 9.93457583e-01 -7.98945610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-110.00, Y:8.55, Z:-7.99 [[ 9.62262555e-01 2.48963162e-01 -1.09854990e-01 -1.10004295e+02] [-2.47533492e-01 9.68511771e-01 2.66855650e-02 8.54501094e+00] [ 1.13039574e-01 1.51426934e-03 9.93589333e-01 -7.99017423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.42534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-110.03, Y:8.55, Z:-7.99 [[ 9.62199216e-01 2.48368054e-01 -1.11740673e-01 -1.10031755e+02] [-2.46878312e-01 9.68664703e-01 2.71991288e-02 8.55281662e+00] [ 1.14994640e-01 1.41536829e-03 9.93365104e-01 -7.99156825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-110.06, Y:8.56, Z:-7.99 [[ 9.62601241e-01 2.47090772e-01 -1.11108057e-01 -1.10058932e+02] [-2.45604312e-01 9.68991579e-01 2.70894997e-02 8.55917876e+00] [ 1.14356337e-01 1.21223187e-03 9.93439056e-01 -7.99375118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.48534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-110.09, Y:8.57, Z:-7.99 [[ 9.62767456e-01 2.46708501e-01 -1.10515800e-01 -1.10086200e+02] [-2.45233600e-01 9.69089059e-01 2.69606630e-02 8.56678292e+00] [ 1.13751078e-01 1.14533868e-03 9.93508621e-01 -7.99427751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.51534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-110.11, Y:8.57, Z:-8.00 [[ 9.63261447e-01 2.44797575e-01 -1.10460543e-01 -1.10114170e+02] [-2.43306079e-01 9.69573817e-01 2.69956443e-02 8.57457462e+00] [ 1.13708119e-01 8.71858151e-04 9.93513817e-01 -7.99669869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.54534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-110.14, Y:8.58, Z:-8.00 [[ 9.63175924e-01 2.44419845e-01 -1.12031599e-01 -1.10141349e+02] [-2.42878081e-01 9.69669172e-01 2.74214402e-02 8.58225489e+00] [ 1.15335932e-01 7.98348906e-04 9.93326223e-01 -7.99792329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.57534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-110.17, Y:8.59, Z:-8.00 [[ 9.63122525e-01 2.44423844e-01 -1.12481044e-01 -1.10167391e+02] [-2.42867845e-01 9.69668173e-01 2.75471378e-02 8.58875496e+00] [ 1.15802466e-01 7.86759779e-04 9.93271952e-01 -7.99945766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.60534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-110.19, Y:8.60, Z:-8.00 [[ 9.62957117e-01 2.44551659e-01 -1.13613722e-01 -1.10193968e+02] [-2.42962015e-01 9.69635946e-01 2.78494355e-02 8.59716207e+00] [ 1.16974574e-01 7.86006623e-04 9.93134599e-01 -7.99986779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-110.22, Y:8.61, Z:-8.00 [[ 9.62623553e-01 2.45899640e-01 -1.13530889e-01 -1.10220852e+02] [-2.44315095e-01 9.69294881e-01 2.78849032e-02 8.60560517e+00] [ 1.16901797e-01 8.94645230e-04 9.93143076e-01 -8.00321253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-110.25, Y:8.61, Z:-8.00 [[ 9.62204832e-01 2.47540380e-01 -1.13514851e-01 -1.10247746e+02] [-2.45961411e-01 9.68877017e-01 2.79340301e-02 8.61318284e+00] [ 1.16896730e-01 1.04201410e-03 9.93143529e-01 -8.00464335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-110.27, Y:8.62, Z:-8.01 [[ 9.61990176e-01 2.48289972e-01 -1.13696923e-01 -1.10273536e+02] [-2.46705095e-01 9.68685146e-01 2.80300465e-02 8.62051893e+00] [ 1.17096100e-01 1.08498091e-03 9.93119996e-01 -8.00643259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-110.30, Y:8.63, Z:-8.01 [[ 9.60624520e-01 2.52667243e-01 -1.15584582e-01 -1.10300754e+02] [-2.51054066e-01 9.67551927e-01 2.85503973e-02 8.63181105e+00] [ 1.19047835e-01 1.59176752e-03 9.92887244e-01 -8.00964705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-110.33, Y:8.64, Z:-8.01 [[ 9.60543698e-01 2.53517259e-01 -1.14388825e-01 -1.10327020e+02] [-2.51937758e-01 9.67329485e-01 2.83025399e-02 8.63762057e+00] [ 1.17826866e-01 1.63303782e-03 9.93032811e-01 -8.01287639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.78534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-110.35, Y:8.65, Z:-8.02 [[ 9.59571112e-01 2.57044909e-01 -1.14678660e-01 -1.10354131e+02] [-2.55476057e-01 9.66397350e-01 2.84279174e-02 8.64911482e+00] [ 1.18132405e-01 2.01904363e-03 9.92995800e-01 -8.01598857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-110.38, Y:8.66, Z:-8.02 [[ 9.59474745e-01 2.57265103e-01 -1.14990785e-01 -1.10380243e+02] [-2.55683545e-01 9.66338784e-01 2.85530949e-02 8.65564893e+00] [ 1.18465770e-01 2.00527807e-03 9.92956112e-01 -8.01678575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.84534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-110.41, Y:8.67, Z:-8.02 [[ 9.58346154e-01 2.61748569e-01 -1.14281824e-01 -1.10407505e+02] [-2.60215409e-01 9.65132807e-01 2.84007924e-02 8.66591798e+00] [ 1.17731005e-01 2.52010154e-03 9.93042325e-01 -8.02137370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.87534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-110.43, Y:8.68, Z:-8.02 [[ 9.57526647e-01 2.64694722e-01 -1.14365313e-01 -1.10434136e+02] [-2.63174650e-01 9.64328080e-01 2.84685405e-02 8.67736450e+00] [ 1.17821156e-01 2.83866521e-03 9.93030774e-01 -8.02319688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.90534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-110.46, Y:8.69, Z:-8.03 [[ 9.56374041e-01 2.68559368e-01 -1.14998088e-01 -1.10460520e+02] [-2.67044578e-01 9.63257524e-01 2.86729103e-02 8.68993326e+00] [ 1.18473152e-01 3.28758878e-03 9.92951814e-01 -8.02594618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.93534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-110.49, Y:8.70, Z:-8.03 [[ 9.54634387e-01 2.74078295e-01 -1.16422833e-01 -1.10487247e+02] [-2.72561238e-01 9.61699146e-01 2.90710279e-02 8.69673566e+00] [ 1.19931477e-01 3.98014873e-03 9.92774193e-01 -8.02905183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-110.51, Y:8.71, Z:-8.03 [[ 9.52712626e-01 2.80246715e-01 -1.17475239e-01 -1.10514462e+02] [-2.78746261e-01 9.59916102e-01 2.93530137e-02 8.70930681e+00] [ 1.20992459e-01 4.78079675e-03 9.92641914e-01 -8.03329254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-110.54, Y:8.72, Z:-8.04 [[ 9.49977410e-01 2.88880752e-01 -1.18704811e-01 -1.10540758e+02] [-2.87412970e-01 9.57346775e-01 2.96805801e-02 8.72435798e+00] [ 1.22215817e-01 5.92142167e-03 9.92485885e-01 -8.03839096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02534707000001 meters Centerline goodness [0,1] 0.9999624483665039 Centerline is valid? [True, True] Translation: X:-110.57, Y:8.74, Z:-8.04 [[ 9.46714725e-01 2.98917935e-01 -1.19913711e-01 -1.10566775e+02] [-2.97497829e-01 9.54251095e-01 2.99981613e-02 8.73914872e+00] [ 1.23394778e-01 7.27436763e-03 9.92330999e-01 -8.04143865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05534707000001 meters Centerline goodness [0,1] 0.9994056905133348 Centerline is valid? [True, True] Translation: X:-110.59, Y:8.76, Z:-8.05 [[ 9.45177159e-01 3.04095550e-01 -1.19021155e-01 -1.10591768e+02] [-3.02735994e-01 9.52608943e-01 2.97845638e-02 8.75993721e+00] [ 1.22437970e-01 7.88029836e-03 9.92444882e-01 -8.04510165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08534707000001 meters Centerline goodness [0,1] 0.9994134682356391 Centerline is valid? [True, True] Translation: X:-110.62, Y:8.77, Z:-8.04 [[ 9.44280782e-01 3.07330307e-01 -1.17821418e-01 -1.10619990e+02] [-3.06018069e-01 9.51567778e-01 2.95246457e-02 8.77010661e+00] [ 1.21188883e-01 8.17592715e-03 9.92595793e-01 -8.04482264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11534707000001 meters Centerline goodness [0,1] 0.9999250318614589 Centerline is valid? [True, True] Translation: X:-110.65, Y:8.77, Z:-8.05 [[ 9.44452376e-01 3.06638951e-01 -1.18246618e-01 -1.10649199e+02] [-3.05307649e-01 9.51791575e-01 2.96654161e-02 8.76601975e+00] [ 1.21642706e-01 8.08402410e-03 9.92541032e-01 -8.04736869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.14534707000001 meters Centerline goodness [0,1] 0.9998159938173923 Centerline is valid? [True, True] Translation: X:-110.67, Y:8.78, Z:-8.05 [[ 9.44272480e-01 3.07346972e-01 -1.17844484e-01 -1.10674981e+02] [-3.06026344e-01 9.51562901e-01 2.95959684e-02 8.77867160e+00] [ 1.21232671e-01 8.11685823e-03 9.92590931e-01 -8.05032371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17534707000002 meters Centerline goodness [0,1] 0.9999239890544238 Centerline is valid? [True, True] Translation: X:-110.70, Y:8.78, Z:-8.05 [[ 9.45318594e-01 3.04033513e-01 -1.18052444e-01 -1.10704334e+02] [-3.02676084e-01 9.52630584e-01 2.97011462e-02 8.77757375e+00] [ 1.21490512e-01 7.65460561e-03 9.92563077e-01 -8.05221764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.20534707000002 meters Centerline goodness [0,1] 0.999924761116545 Centerline is valid? [True, True] Translation: X:-110.73, Y:8.79, Z:-8.05 [[ 9.45758779e-01 3.02149327e-01 -1.19357095e-01 -1.10731449e+02] [-3.00744934e-01 9.53231250e-01 3.00444565e-02 8.78549878e+00] [ 1.22852825e-01 7.48123302e-03 9.92396702e-01 -8.05402833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.23534707000002 meters Centerline goodness [0,1] 0.9998889546935149 Centerline is valid? [True, True] Translation: X:-110.76, Y:8.80, Z:-8.06 [[ 9.45837564e-01 3.01380575e-01 -1.20669185e-01 -1.10757471e+02] [-2.99935406e-01 9.53474928e-01 3.04025247e-02 8.79708445e+00] [ 1.24217773e-01 7.43711108e-03 9.92227108e-01 -8.05864781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.26534707000002 meters Centerline goodness [0,1] 0.9999621956751853 Centerline is valid? [True, True] Translation: X:-110.79, Y:8.79, Z:-8.06 [[ 9.46382382e-01 2.99666892e-01 -1.20665408e-01 -1.10786580e+02] [-2.98204668e-01 9.54016829e-01 3.04280581e-02 8.79424461e+00] [ 1.24235112e-01 7.18640998e-03 9.92226785e-01 -8.06038583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.29534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-110.81, Y:8.80, Z:-8.06 [[ 9.46727766e-01 2.98341464e-01 -1.21239054e-01 -1.10814894e+02] [-2.96850408e-01 9.54433423e-01 3.06051663e-02 8.80037178e+00] [ 1.24845395e-01 7.01510188e-03 9.92151408e-01 -8.06170286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.32534707 meters Centerline goodness [0,1] 0.9999241101920012 Centerline is valid? [True, True] Translation: X:-110.84, Y:8.81, Z:-8.06 [[ 9.46783632e-01 2.98446992e-01 -1.20541061e-01 -1.10843392e+02] [-2.96967892e-01 9.54400969e-01 3.04772412e-02 8.80657189e+00] [ 1.24140347e-01 6.94147174e-03 9.92240389e-01 -8.06393607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-110.87, Y:8.81, Z:-8.07 [[ 9.46629257e-01 2.98947346e-01 -1.20513629e-01 -1.10870864e+02] [-2.97466897e-01 9.54244234e-01 3.05186498e-02 8.81352775e+00] [ 1.24122905e-01 6.95896835e-03 9.92242449e-01 -8.06587600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38534707000001 meters Centerline goodness [0,1] 0.9999617868470327 Centerline is valid? [True, True] Translation: X:-110.90, Y:8.82, Z:-8.07 [[ 9.45208548e-01 3.02638729e-01 -1.22436108e-01 -1.10899575e+02] [-3.01134229e-01 9.53075753e-01 3.10609971e-02 8.81632372e+00] [ 1.26091147e-01 7.51058318e-03 9.91990229e-01 -8.06631791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-110.93, Y:8.83, Z:-8.07 [[ 9.45582552e-01 3.01671705e-01 -1.21933666e-01 -1.10926151e+02] [-3.00166361e-01 9.53383830e-01 3.09746412e-02 8.82510927e+00] [ 1.25593758e-01 7.31130448e-03 9.92054813e-01 -8.07115649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44534707000001 meters Centerline goodness [0,1] 0.9997361079695393 Centerline is valid? [True, True] Translation: X:-110.95, Y:8.84, Z:-8.08 [[ 9.44405836e-01 3.04909252e-01 -1.22995791e-01 -1.10952443e+02] [-3.03401498e-01 9.52349584e-01 3.12698027e-02 8.83806344e+00] [ 1.26669443e-01 7.78572314e-03 9.91914429e-01 -8.07548935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47534707000001 meters Centerline goodness [0,1] 0.9998878253066108 Centerline is valid? [True, True] Translation: X:-110.98, Y:8.85, Z:-8.08 [[ 9.43770713e-01 3.06920521e-01 -1.22868362e-01 -1.10979598e+02] [-3.05431296e-01 9.51701223e-01 3.12490796e-02 8.84548133e+00] [ 1.26524955e-01 8.03587693e-03 9.91930875e-01 -8.07501142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.50534707000001 meters Centerline goodness [0,1] 0.9988422900250215 Centerline is valid? [True, True] Translation: X:-111.00, Y:8.86, Z:-8.08 [[ 9.42951790e-01 3.09461923e-01 -1.22781267e-01 -1.11004635e+02] [-3.07993996e-01 9.50875134e-01 3.12438352e-02 8.86291189e+00] [ 1.26418431e-01 8.35446266e-03 9.91941825e-01 -8.08174163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53534707000001 meters Centerline goodness [0,1] 0.9999249192882349 Centerline is valid? [True, True] Translation: X:-111.03, Y:8.86, Z:-8.08 [[ 9.42342154e-01 3.11213334e-01 -1.23034649e-01 -1.11033501e+02] [-3.09751349e-01 9.50301285e-01 3.13300149e-02 8.86364444e+00] [ 1.26670304e-01 8.58655493e-03 9.91907710e-01 -8.08258558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.56534707000002 meters Centerline goodness [0,1] 0.9998469075321494 Centerline is valid? [True, True] Translation: X:-111.06, Y:8.87, Z:-8.08 [[ 9.41875956e-01 3.12495548e-01 -1.23354031e-01 -1.11061832e+02] [-3.11034355e-01 9.49878800e-01 3.14307937e-02 8.86748880e+00] [ 1.26993362e-01 8.76343270e-03 9.91864854e-01 -8.08345945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.59534707000002 meters Centerline goodness [0,1] 0.9996491228070176 Centerline is valid? [True, True] Translation: X:-111.09, Y:8.88, Z:-8.09 [[ 9.41341201e-01 3.13762866e-01 -1.24215974e-01 -1.11089902e+02] [-3.12285875e-01 9.49459178e-01 3.16985997e-02 8.87523076e+00] [ 1.27883840e-01 8.95169620e-03 9.91748754e-01 -8.08684699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.62534707000002 meters Centerline goodness [0,1] 0.9995699092899594 Centerline is valid? [True, True] Translation: X:-111.12, Y:8.88, Z:-8.09 [[ 9.40295384e-01 3.16463591e-01 -1.25281228e-01 -1.11118880e+02] [-3.14978875e-01 9.48558516e-01 3.20163862e-02 8.87970638e+00] [ 1.28968596e-01 9.35608010e-03 9.91604541e-01 -8.09235931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.65534707000002 meters Centerline goodness [0,1] 0.9990328820116054 Centerline is valid? [True, True] Translation: X:-111.15, Y:8.89, Z:-8.10 [[ 9.39458472e-01 3.18565315e-01 -1.26229632e-01 -1.11147322e+02] [-3.17070978e-01 9.47851522e-01 3.23030489e-02 8.88664602e+00] [ 1.29937580e-01 9.67637988e-03 9.91474958e-01 -8.09525890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.68534707000002 meters Centerline goodness [0,1] 0.9969960835012738 Centerline is valid? [True, True] Translation: X:-111.17, Y:8.90, Z:-8.10 [[ 9.39168510e-01 3.19526813e-01 -1.25956845e-01 -1.11174186e+02] [-3.18041508e-01 9.47527133e-01 3.22789566e-02 8.89735124e+00] [ 1.29661520e-01 9.74412530e-03 9.91510435e-01 -8.09946479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71534707 meters Centerline goodness [0,1] 0.9974222837796245 Centerline is valid? [True, True] Translation: X:-111.20, Y:8.91, Z:-8.10 [[ 9.38800873e-01 3.20560119e-01 -1.26071928e-01 -1.11201208e+02] [-3.19075437e-01 9.47176924e-01 3.23533478e-02 8.90621806e+00] [ 1.29783614e-01 9.85310455e-03 9.91493384e-01 -8.10329856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.74534707000001 meters Centerline goodness [0,1] 0.9994025332589819 Centerline is valid? [True, True] Translation: X:-111.23, Y:8.90, Z:-8.10 [[ 9.38880544e-01 3.20077664e-01 -1.26702852e-01 -1.11231359e+02] [-3.18568137e-01 9.47340665e-01 3.25577579e-02 8.90197195e+00] [ 1.30451775e-01 9.79564590e-03 9.91406264e-01 -8.10272354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77534707000001 meters Centerline goodness [0,1] 0.9994501826179162 Centerline is valid? [True, True] Translation: X:-111.26, Y:8.91, Z:-8.11 [[ 9.38656979e-01 3.20744707e-01 -1.26672446e-01 -1.11257785e+02] [-3.19239006e-01 9.47114311e-01 3.25720486e-02 8.91160371e+00] [ 1.30420599e-01 9.86480507e-03 9.91409680e-01 -8.10992180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80534707000001 meters Centerline goodness [0,1] 0.9998809854405523 Centerline is valid? [True, True] Translation: X:-111.29, Y:8.91, Z:-8.11 [[ 9.39171510e-01 3.19149661e-01 -1.26887230e-01 -1.11286820e+02] [-3.17618219e-01 9.47655554e-01 3.26744199e-02 8.91283622e+00] [ 1.30673418e-01 9.61481165e-03 9.91378844e-01 -8.10894953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83534707000001 meters Centerline goodness [0,1] 0.9989995767440071 Centerline is valid? [True, True] Translation: X:-111.31, Y:8.93, Z:-8.12 [[ 9.38649784e-01 3.20554712e-01 -1.27205578e-01 -1.11312350e+02] [-3.19025811e-01 9.47179128e-01 3.27754728e-02 8.92823858e+00] [ 1.30992801e-01 9.81717220e-03 9.91334711e-01 -8.11659290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.86534707000001 meters Centerline goodness [0,1] 0.9985962723231693 Centerline is valid? [True, True] Translation: X:-111.34, Y:8.93, Z:-8.12 [[ 9.38484498e-01 3.21022012e-01 -1.27246670e-01 -1.11339622e+02] [-3.19490470e-01 9.47020582e-01 3.28307136e-02 8.93401985e+00] [ 1.31044598e-01 9.84298284e-03 9.91327609e-01 -8.11788887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89534707000001 meters Centerline goodness [0,1] 0.9995606853308838 Centerline is valid? [True, True] Translation: X:-111.37, Y:8.94, Z:-8.12 [[ 9.38312313e-01 3.21445292e-01 -1.27447744e-01 -1.11367840e+02] [-3.19910346e-01 9.46876393e-01 3.29008708e-02 8.93553334e+00] [ 1.31253090e-01 9.90055976e-03 9.91299453e-01 -8.12051299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.92534707000002 meters Centerline goodness [0,1] 0.9987415942427936 Centerline is valid? [True, True] Translation: X:-111.39, Y:8.95, Z:-8.12 [[ 9.38059431e-01 3.22664260e-01 -1.26223132e-01 -1.11394271e+02] [-3.21165751e-01 9.46461241e-01 3.26141007e-02 8.94718880e+00] [ 1.29988707e-01 9.94458224e-03 9.91465603e-01 -8.12299067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95534707000002 meters Centerline goodness [0,1] 0.9985950122936424 Centerline is valid? [True, True] Translation: X:-111.42, Y:8.96, Z:-8.13 [[ 9.38170635e-01 3.22431394e-01 -1.25991493e-01 -1.11421774e+02] [-3.20929817e-01 9.46541622e-01 3.26038244e-02 8.95556356e+00] [ 1.29768689e-01 9.84647629e-03 9.91495403e-01 -8.12626775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.98534707000002 meters Centerline goodness [0,1] 0.9995654578494114 Centerline is valid? [True, True] Translation: X:-111.45, Y:8.96, Z:-8.13 [[ 9.37470650e-01 3.23983212e-01 -1.27215009e-01 -1.11450991e+02] [-3.22460553e-01 9.46008722e-01 3.29649808e-02 8.95552459e+00] [ 1.31026609e-01 1.01181202e-02 9.91327217e-01 -8.12692277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.01534707000002 meters Centerline goodness [0,1] 0.9868153769499061 Centerline is valid? [True, True] Translation: X:-111.47, Y:8.99, Z:-8.14 [[ 9.36490323e-01 3.26907386e-01 -1.26954464e-01 -1.11472016e+02] [-3.25415076e-01 9.44998187e-01 3.29158820e-02 8.98818185e+00] [ 1.30732183e-01 1.04874914e-02 9.91362249e-01 -8.13987131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.04534707000002 meters Centerline goodness [0,1] 0.997490294498255 Centerline is valid? [True, True] Translation: X:-111.50, Y:8.98, Z:-8.14 [[ 9.36509999e-01 3.26593560e-01 -1.27615315e-01 -1.11503019e+02] [-3.25077115e-01 9.45107016e-01 3.31300052e-02 8.97904427e+00] [ 1.31430176e-01 1.04582373e-02 9.91270263e-01 -8.13830934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.07534707 meters Centerline goodness [0,1] 0.9945589256772401 Centerline is valid? [True, True] Translation: X:-111.53, Y:8.99, Z:-8.14 [[ 9.36004361e-01 3.27985175e-01 -1.27755869e-01 -1.11528532e+02] [-3.26475540e-01 9.44622876e-01 3.31865000e-02 8.99300546e+00] [ 1.31565796e-01 1.06464576e-02 9.91250268e-01 -8.14458995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.10534707000001 meters Centerline goodness [0,1] 0.9993211133740665 Centerline is valid? [True, True] Translation: X:-111.56, Y:8.99, Z:-8.14 [[ 9.35574486e-01 3.29162847e-01 -1.27875724e-01 -1.11559119e+02] [-3.27659309e-01 9.44211310e-01 3.32322152e-02 8.98797618e+00] [ 1.31680515e-01 1.08084587e-02 9.91233282e-01 -8.14320203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13534707000001 meters Centerline goodness [0,1] 0.9984899662229286 Centerline is valid? [True, True] Translation: X:-111.59, Y:9.00, Z:-8.15 [[ 9.35010098e-01 3.30748928e-01 -1.27911155e-01 -1.11586179e+02] [-3.29256176e-01 9.43654523e-01 3.32642741e-02 8.99703263e+00] [ 1.31706063e-01 1.10131057e-02 9.91227635e-01 -8.14642672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.16534707000001 meters Centerline goodness [0,1] 0.993635050177672 Centerline is valid? [True, True] Translation: X:-111.61, Y:9.01, Z:-8.15 [[ 9.35307085e-01 3.30453287e-01 -1.26496172e-01 -1.11610542e+02] [-3.28983978e-01 9.43760565e-01 3.29475166e-02 9.01433411e+00] [ 1.30269713e-01 1.07991680e-02 9.91419780e-01 -8.15455057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19534707000001 meters Centerline goodness [0,1] 0.993635050177672 Centerline is valid? [True, True] Translation: X:-111.64, Y:9.02, Z:-8.16 [[ 9.35179755e-01 3.30818231e-01 -1.26483690e-01 -1.11637185e+02] [-3.29345797e-01 9.43632689e-01 3.29953671e-02 9.02107805e+00] [ 1.30269614e-01 1.08002724e-02 9.91419781e-01 -8.15773363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.22534707000001 meters Centerline goodness [0,1] 0.9973571062285511 Centerline is valid? [True, True] Translation: X:-111.67, Y:9.02, Z:-8.16 [[ 9.35486293e-01 3.29952819e-01 -1.26477403e-01 -1.11667206e+02] [-3.28465914e-01 9.43937573e-01 3.30454557e-02 9.01847457e+00] [ 1.30290214e-01 1.06299449e-02 9.91418915e-01 -8.15698104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25534707000001 meters Centerline goodness [0,1] 0.9948071510682999 Centerline is valid? [True, True] Translation: X:-111.69, Y:9.03, Z:-8.16 [[ 9.34710146e-01 3.31941828e-01 -1.27010101e-01 -1.11692936e+02] [-3.30454710e-01 9.43236741e-01 3.32285237e-02 9.03323861e+00] [ 1.30830531e-01 1.09120479e-02 9.91344693e-01 -8.16255887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.28534707000001 meters Centerline goodness [0,1] 0.995715071939618 Centerline is valid? [True, True] Translation: X:-111.72, Y:9.04, Z:-8.17 [[ 9.34699373e-01 3.31719411e-01 -1.27668769e-01 -1.11719777e+02] [-3.30212795e-01 9.43314844e-01 3.34157901e-02 9.03686159e+00] [ 1.31516512e-01 1.09241431e-02 9.91253787e-01 -8.16883668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31534707000002 meters Centerline goodness [0,1] 0.9934307133472448 Centerline is valid? [True, True] Translation: X:-111.75, Y:9.05, Z:-8.18 [[ 9.35048197e-01 3.31034899e-01 -1.26888791e-01 -1.11746540e+02] [-3.29536699e-01 9.43557461e-01 3.32397508e-02 9.04701473e+00] [ 1.30730383e-01 1.07337445e-02 9.91359851e-01 -8.17535612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.34534707000002 meters Centerline goodness [0,1] 0.9965122270223138 Centerline is valid? [True, True] Translation: X:-111.78, Y:9.05, Z:-8.18 [[ 9.34497461e-01 3.32371049e-01 -1.27451876e-01 -1.11776486e+02] [-3.30866004e-01 9.43085392e-01 3.34309693e-02 9.04534566e+00] [ 1.31309489e-01 1.09283371e-02 9.91281186e-01 -8.17599160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.37534707000002 meters Centerline goodness [0,1] 0.9972619287296155 Centerline is valid? [True, True] Translation: X:-111.80, Y:9.05, Z:-8.18 [[ 9.34352686e-01 3.32628511e-01 -1.27841038e-01 -1.11804098e+02] [-3.31114035e-01 9.42994016e-01 3.35526634e-02 9.05174898e+00] [ 1.31713906e-01 1.09799409e-02 9.91226961e-01 -8.17684607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.40534707000002 meters Centerline goodness [0,1] 0.991636335475877 Centerline is valid? [True, True] Translation: X:-111.83, Y:9.07, Z:-8.19 [[ 9.34610684e-01 3.32334367e-01 -1.26715188e-01 -1.11828669e+02] [-3.30836494e-01 9.43099938e-01 3.33124951e-02 9.06650248e+00] [ 1.30575973e-01 1.07877946e-02 9.91379614e-01 -8.18816547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.43534707000002 meters Centerline goodness [0,1] 0.9947869713479403 Centerline is valid? [True, True] Translation: X:-111.86, Y:9.07, Z:-8.19 [[ 9.34412355e-01 3.32637827e-01 -1.27379850e-01 -1.11856781e+02] [-3.31120958e-01 9.42992295e-01 3.35327265e-02 9.06802831e+00] [ 1.31272471e-01 1.08447440e-02 9.91287007e-01 -8.18872138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.46534707 meters Centerline goodness [0,1] 0.9908036164681231 Centerline is valid? [True, True] Translation: X:-111.88, Y:9.08, Z:-8.20 [[ 9.34807456e-01 3.31797065e-01 -1.26671737e-01 -1.11881943e+02] [-3.30287045e-01 9.43290679e-01 3.33640804e-02 9.08131583e+00] [ 1.30558373e-01 1.06490426e-02 9.91383432e-01 -8.19672086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49534707000001 meters Centerline goodness [0,1] 0.995340204557122 Centerline is valid? [True, True] Translation: X:-111.91, Y:9.08, Z:-8.20 [[ 9.34240988e-01 3.33065548e-01 -1.27519086e-01 -1.11911704e+02] [-3.31543084e-01 9.42840990e-01 3.36162387e-02 9.08008414e+00] [ 1.31426632e-01 1.08724031e-02 9.91266277e-01 -8.19719376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.52534707000001 meters Centerline goodness [0,1] 0.9968910677986369 Centerline is valid? [True, True] Translation: X:-111.94, Y:9.08, Z:-8.20 [[ 9.34500298e-01 3.32199331e-01 -1.27878059e-01 -1.11939828e+02] [-3.30654426e-01 9.43148061e-01 3.37547800e-02 9.08283622e+00] [ 1.31821259e-01 1.07395943e-02 9.91215323e-01 -8.20040646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55534707000001 meters Centerline goodness [0,1] 0.9967080171825444 Centerline is valid? [True, True] Translation: X:-111.97, Y:9.09, Z:-8.20 [[ 9.33998028e-01 3.33595917e-01 -1.27911871e-01 -1.11966735e+02] [-3.32060225e-01 9.42652928e-01 3.37855511e-02 9.09165309e+00] [ 1.31847221e-01 1.09188065e-02 9.91209912e-01 -8.20495509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.58534707000001 meters Centerline goodness [0,1] 0.9924534234729974 Centerline is valid? [True, True] Translation: X:-111.99, Y:9.10, Z:-8.21 [[ 9.33715976e-01 3.34520442e-01 -1.27556064e-01 -1.11993248e+02] [-3.32995233e-01 9.42324632e-01 3.37411143e-02 9.10375785e+00] [ 1.31486314e-01 1.09709438e-02 9.91257276e-01 -8.21112085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61534707000001 meters Centerline goodness [0,1] 0.9979293592959821 Centerline is valid? [True, True] Translation: X:-112.02, Y:9.10, Z:-8.22 [[ 9.33789282e-01 3.34276555e-01 -1.27658771e-01 -1.12021496e+02] [-3.32740687e-01 9.42411964e-01 3.38130848e-02 9.10296450e+00] [ 1.31610075e-01 1.09029710e-02 9.91241602e-01 -8.21526457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.64534707000001 meters Centerline goodness [0,1] 0.9947484798231067 Centerline is valid? [True, True] Translation: X:-112.05, Y:9.12, Z:-8.22 [[ 9.32956387e-01 3.36273831e-01 -1.28500156e-01 -1.12048122e+02] [-3.34734041e-01 9.41697139e-01 3.40532119e-02 9.11549903e+00] [ 1.32459433e-01 1.12432149e-02 9.91124658e-01 -8.21922156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67534707000002 meters Centerline goodness [0,1] 0.992490762445866 Centerline is valid? [True, True] Translation: X:-112.07, Y:9.13, Z:-8.22 [[ 9.33762838e-01 3.34427701e-01 -1.27456172e-01 -1.12074498e+02] [-3.32894123e-01 9.42358626e-01 3.37893971e-02 9.12792159e+00] [ 1.31409534e-01 1.08781276e-02 9.91268481e-01 -8.22395155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.70534707000002 meters Centerline goodness [0,1] 0.9909156108056418 Centerline is valid? [True, True] Translation: X:-112.10, Y:9.14, Z:-8.23 [[ 9.33826862e-01 3.34217849e-01 -1.27537531e-01 -1.12102467e+02] [-3.32677883e-01 9.42433537e-01 3.38297820e-02 9.13632279e+00] [ 1.31502163e-01 1.08377565e-02 9.91256639e-01 -8.22669495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.73534707000002 meters Centerline goodness [0,1] 0.9987758100057129 Centerline is valid? [True, True] Translation: X:-112.13, Y:9.13, Z:-8.23 [[ 9.33606074e-01 3.34561341e-01 -1.28251344e-01 -1.12133062e+02] [-3.33001585e-01 9.42310848e-01 3.40618563e-02 9.12969044e+00] [ 1.32248413e-01 1.09075449e-02 9.91156588e-01 -8.22651629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.76534707000002 meters Centerline goodness [0,1] 0.997344536482898 Centerline is valid? [True, True] Translation: X:-112.16, Y:9.14, Z:-8.23 [[ 9.33782157e-01 3.34362970e-01 -1.27484464e-01 -1.12158828e+02] [-3.32817079e-01 9.42382581e-01 3.38801193e-02 9.14269208e+00] [ 1.31467395e-01 1.07923560e-02 9.91261746e-01 -8.23478407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.79534707000002 meters Centerline goodness [0,1] 0.9793173159163362 Centerline is valid? [True, True] Translation: X:-112.18, Y:9.17, Z:-8.24 [[ 9.33426994e-01 3.35770681e-01 -1.26380758e-01 -1.12180034e+02] [-3.34257721e-01 9.41881305e-01 3.36360367e-02 9.17095124e+00] [ 1.30329668e-01 1.08469594e-02 9.91411378e-01 -8.24312770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.82534707 meters Centerline goodness [0,1] 0.9975697211155379 Centerline is valid? [True, True] Translation: X:-112.21, Y:9.16, Z:-8.24 [[ 9.33148762e-01 3.36156613e-01 -1.27405338e-01 -1.12212967e+02] [-3.34616652e-01 9.41742462e-01 3.39533752e-02 9.15873793e+00] [ 1.31396668e-01 1.09483975e-02 9.91269413e-01 -8.24068813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85534707000001 meters Centerline goodness [0,1] 0.9916329605837101 Centerline is valid? [True, True] Translation: X:-112.24, Y:9.18, Z:-8.25 [[ 9.32523874e-01 3.37891454e-01 -1.27391484e-01 -1.12237620e+02] [-3.36365539e-01 9.41118738e-01 3.39668132e-02 9.17670674e+00] [ 1.31367608e-01 1.11752410e-02 9.91270733e-01 -8.24779692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88534707000001 meters Centerline goodness [0,1] 0.9935953886798495 Centerline is valid? [True, True] Translation: X:-112.27, Y:9.18, Z:-8.25 [[ 9.31869827e-01 3.39126392e-01 -1.28887225e-01 -1.12265134e+02] [-3.37574160e-01 9.40670878e-01 3.43800314e-02 9.18278641e+00] [ 1.32899635e-01 1.14712826e-02 9.91063114e-01 -8.25237175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91534707000001 meters Centerline goodness [0,1] 0.9923691145812846 Centerline is valid? [True, True] Translation: X:-112.29, Y:9.19, Z:-8.26 [[ 9.32609439e-01 3.37537306e-01 -1.27703564e-01 -1.12292357e+02] [-3.35997021e-01 9.41246381e-01 3.40771568e-02 9.19306085e+00] [ 1.31702830e-01 1.11273391e-02 9.91226789e-01 -8.25742154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94534707000001 meters Centerline goodness [0,1] 0.9958092197166234 Centerline is valid? [True, True] Translation: X:-112.32, Y:9.20, Z:-8.26 [[ 9.31476317e-01 3.40330742e-01 -1.28556822e-01 -1.12321410e+02] [-3.38794118e-01 9.40234404e-01 3.43192584e-02 9.19543028e+00] [ 1.32553445e-01 1.15867187e-02 9.91108133e-01 -8.25892553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97534707000001 meters Centerline goodness [0,1] 0.997127366887846 Centerline is valid? [True, True] Translation: X:-112.35, Y:9.20, Z:-8.26 [[ 9.31656639e-01 3.39869320e-01 -1.28470825e-01 -1.12348446e+02] [-3.38325129e-01 9.40402656e-01 3.43358731e-02 9.19984625e+00] [ 1.32484015e-01 1.14756644e-02 9.91118709e-01 -8.26274826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.00534707000001 meters Centerline goodness [0,1] 0.9937757659041306 Centerline is valid? [True, True] Translation: X:-112.37, Y:9.21, Z:-8.27 [[ 9.31326188e-01 3.40559490e-01 -1.29037845e-01 -1.12373621e+02] [-3.39004007e-01 9.40151455e-01 3.45184839e-02 9.21401018e+00] [ 1.33070715e-01 1.15963786e-02 9.91038702e-01 -8.26892645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03534707000001 meters Centerline goodness [0,1] 0.9969055178234135 Centerline is valid? [True, True] Translation: X:-112.40, Y:9.22, Z:-8.27 [[ 9.32329201e-01 3.37974953e-01 -1.28589236e-01 -1.12401797e+02] [-3.36399854e-01 9.41089124e-01 3.44441415e-02 9.22084399e+00] [ 1.32655189e-01 1.11441212e-02 9.91099596e-01 -8.27144758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.06534707000002 meters Centerline goodness [0,1] 0.9956187949676434 Centerline is valid? [True, True] Translation: X:-112.43, Y:9.23, Z:-8.28 [[ 9.31690285e-01 3.39982107e-01 -1.27927246e-01 -1.12429403e+02] [-3.38440314e-01 9.40363304e-01 3.42784322e-02 9.22916717e+00] [ 1.31952141e-01 1.13588550e-02 9.91191005e-01 -8.27637381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.09534707000002 meters Centerline goodness [0,1] 0.9928478799072582 Centerline is valid? [True, True] Translation: X:-112.46, Y:9.25, Z:-8.28 [[ 9.33131833e-01 3.36703799e-01 -1.26077493e-01 -1.12455029e+02] [-3.35173225e-01 9.41549711e-01 3.38090386e-02 9.24523865e+00] [ 1.30091859e-01 1.07095099e-02 9.91444106e-01 -8.28412601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.12534707000002 meters Centerline goodness [0,1] 0.9912878635098616 Centerline is valid? [True, True] Translation: X:-112.48, Y:9.25, Z:-8.29 [[ 9.32205335e-01 3.38794328e-01 -1.27324850e-01 -1.12483601e+02] [-3.37248591e-01 9.40795175e-01 3.41734828e-02 9.25344004e+00] [ 1.31364387e-01 1.10834235e-02 9.91272190e-01 -8.28519691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.15534707000002 meters Centerline goodness [0,1] 0.9976808348994362 Centerline is valid? [True, True] Translation: X:-112.51, Y:9.25, Z:-8.29 [[ 9.32513507e-01 3.38266538e-01 -1.26468609e-01 -1.12512578e+02] [-3.36731873e-01 9.40987231e-01 3.39805478e-02 9.25163568e+00] [ 1.30499828e-01 1.08986918e-02 9.91388427e-01 -8.28766225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.18534707000002 meters Centerline goodness [0,1] 0.99788 Centerline is valid? [True, True] Translation: X:-112.54, Y:9.26, Z:-8.29 [[ 9.32744040e-01 3.37529100e-01 -1.26738561e-01 -1.12538814e+02] [-3.35975469e-01 9.41253387e-01 3.40961146e-02 9.26059691e+00] [ 1.30801531e-01 1.07781000e-02 9.91349985e-01 -8.29225291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21534707 meters Centerline goodness [0,1] 0.9945283692161294 Centerline is valid? [True, True] Translation: X:-112.56, Y:9.28, Z:-8.30 [[ 9.32582068e-01 3.37755501e-01 -1.27325993e-01 -1.12563563e+02] [-3.36186516e-01 9.41171466e-01 3.42767758e-02 9.27514150e+00] [ 1.31412761e-01 1.08393755e-02 9.91268477e-01 -8.29735208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24534707000001 meters Centerline goodness [0,1] 0.9958272644963193 Centerline is valid? [True, True] Translation: X:-112.59, Y:9.28, Z:-8.30 [[ 9.32732756e-01 3.37018131e-01 -1.28173262e-01 -1.12590784e+02] [-3.35413751e-01 9.41436732e-01 3.45614617e-02 9.28320396e+00] [ 1.32314856e-01 1.07544673e-02 9.91149393e-01 -8.30250032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27534707000001 meters Centerline goodness [0,1] 0.9957662001646478 Centerline is valid? [True, True] Translation: X:-112.62, Y:9.29, Z:-8.31 [[ 9.33260861e-01 3.35856710e-01 -1.27375175e-01 -1.12617909e+02] [-3.34255908e-01 9.41854763e-01 3.43888487e-02 9.29421063e+00] [ 1.31518641e-01 1.04821381e-02 9.91258277e-01 -8.30668377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30534707000001 meters Centerline goodness [0,1] 0.9985620131815458 Centerline is valid? [True, True] Translation: X:-112.65, Y:9.30, Z:-8.31 [[ 9.33079927e-01 3.36451681e-01 -1.27130313e-01 -1.12646341e+02] [-3.34860364e-01 9.41641855e-01 3.43387937e-02 9.29706240e+00] [ 1.31264569e-01 1.05300638e-02 9.91291446e-01 -8.30706401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33534707000001 meters Centerline goodness [0,1] 0.9964075638545655 Centerline is valid? [True, True] Translation: X:-112.67, Y:9.31, Z:-8.31 [[ 9.32897473e-01 3.37287033e-01 -1.26252769e-01 -1.12671519e+02] [-3.35717871e-01 9.41343076e-01 3.41573491e-02 9.31240999e+00] [ 1.30368000e-01 1.05200060e-02 9.91409862e-01 -8.31179728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.36534707000001 meters Centerline goodness [0,1] 0.9978642619838634 Centerline is valid? [True, True] Translation: X:-112.70, Y:9.32, Z:-8.31 [[ 9.32248978e-01 3.38944973e-01 -1.26602321e-01 -1.12698686e+02] [-3.37376127e-01 9.40744914e-01 3.42980262e-02 9.31994798e+00] [ 1.30725634e-01 1.07383011e-02 9.91360428e-01 -8.31396714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39534707000001 meters Centerline goodness [0,1] 0.9981252493019546 Centerline is valid? [True, True] Translation: X:-112.72, Y:9.33, Z:-8.32 [[ 9.32107796e-01 3.39570820e-01 -1.25963151e-01 -1.12724686e+02] [-3.38021527e-01 9.40518980e-01 3.41393620e-02 9.32741103e+00] [ 1.30063465e-01 1.07566910e-02 9.91447320e-01 -8.31863213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.42534707000002 meters Centerline goodness [0,1] 0.998232729843302 Centerline is valid? [True, True] Translation: X:-112.75, Y:9.34, Z:-8.32 [[ 9.31980078e-01 3.40086721e-01 -1.25515561e-01 -1.12749232e+02] [-3.38550116e-01 9.40332423e-01 3.40404503e-02 9.34024009e+00] [ 1.29603057e-01 1.07682864e-02 9.91507484e-01 -8.32489392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45534707000002 meters Centerline goodness [0,1] 0.9789301819312705 Centerline is valid? [True, True] Translation: X:-112.77, Y:9.37, Z:-8.33 [[ 9.31534914e-01 3.41044130e-01 -1.26220463e-01 -1.12769732e+02] [-3.39491295e-01 9.39983987e-01 3.42894194e-02 9.37282888e+00] [ 1.30339419e-01 1.09089571e-02 9.91409416e-01 -8.33293344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.48534707000002 meters Centerline goodness [0,1] 0.9984426101853294 Centerline is valid? [True, True] Translation: X:-112.80, Y:9.36, Z:-8.33 [[ 9.32144966e-01 3.39296237e-01 -1.26427157e-01 -1.12803106e+02] [-3.37716314e-01 9.40619418e-01 3.43918794e-02 9.36140021e+00] [ 1.30588874e-01 1.06382962e-02 9.91379530e-01 -8.33459480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.51534707000002 meters Centerline goodness [0,1] 0.9982781560616734 Centerline is valid? [True, True] Translation: X:-112.83, Y:9.37, Z:-8.34 [[ 9.31937316e-01 3.39178649e-01 -1.28260217e-01 -1.12829922e+02] [-3.37549847e-01 9.40660359e-01 3.49025719e-02 9.36876486e+00] [ 1.32487509e-01 1.07672073e-02 9.91126191e-01 -8.33786570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.54534707000002 meters Centerline goodness [0,1] 0.997362091706106 Centerline is valid? [True, True] Translation: X:-112.86, Y:9.38, Z:-8.34 [[ 9.32309274e-01 3.38537815e-01 -1.27246080e-01 -1.12855473e+02] [-3.36925802e-01 9.40893430e-01 3.46490523e-02 9.38227804e+00] [ 1.31455015e-01 1.05688548e-02 9.91265796e-01 -8.34399631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.57534707 meters Centerline goodness [0,1] 0.9919382835101254 Centerline is valid? [True, True] Translation: X:-112.88, Y:9.40, Z:-8.35 [[ 9.33048593e-01 3.36720845e-01 -1.26646735e-01 -1.12880040e+02] [-3.35101338e-01 9.41549061e-01 3.45319859e-02 9.40413340e+00] [ 1.30871754e-01 1.02194694e-02 9.91346633e-01 -8.34975568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.60534707000001 meters Centerline goodness [0,1] 0.9993328100470957 Centerline is valid? [True, True] Translation: X:-112.91, Y:9.40, Z:-8.35 [[ 9.33269162e-01 3.36258452e-01 -1.26249457e-01 -1.12912687e+02] [-3.34643301e-01 9.41715472e-01 3.44359000e-02 9.39672208e+00] [ 1.30470429e-01 1.01105715e-02 9.91400647e-01 -8.34769528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63534707000001 meters Centerline goodness [0,1] 0.996301433194637 Centerline is valid? [True, True] Translation: X:-112.94, Y:9.42, Z:-8.36 [[ 9.33879747e-01 3.34861265e-01 -1.25445410e-01 -1.12937690e+02] [-3.33248154e-01 9.42216402e-01 3.42625088e-02 9.41624939e+00] [ 1.29669910e-01 9.80738847e-03 9.91508714e-01 -8.35551331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.66534707000001 meters Centerline goodness [0,1] 0.9978378788453515 Centerline is valid? [True, True] Translation: X:-112.97, Y:9.42, Z:-8.36 [[ 9.34621217e-01 3.33215170e-01 -1.24301374e-01 -1.12966276e+02] [-3.31615074e-01 9.42803188e-01 3.39645539e-02 9.42250556e+00] [ 1.28509236e-01 9.47621657e-03 9.91663036e-01 -8.36069777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69534707000001 meters Centerline goodness [0,1] 0.9965045709456865 Centerline is valid? [True, True] Translation: X:-112.99, Y:9.43, Z:-8.36 [[ 9.34022120e-01 3.34593126e-01 -1.25100440e-01 -1.12992336e+02] [-3.32982167e-01 9.42312651e-01 3.42015299e-02 9.43421326e+00] [ 1.29327324e-01 9.71123006e-03 9.91554404e-01 -8.36458034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.72534707000001 meters Centerline goodness [0,1] 0.9971742664705427 Centerline is valid? [True, True] Translation: X:-113.02, Y:9.44, Z:-8.37 [[ 9.33415283e-01 3.35950924e-01 -1.25987644e-01 -1.13019160e+02] [-3.34327025e-01 9.41826885e-01 3.44609782e-02 9.44281284e+00] [ 1.30235748e-01 9.95467040e-03 9.91433081e-01 -8.36706488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75534707000001 meters Centerline goodness [0,1] 0.9970976977683649 Centerline is valid? [True, True] Translation: X:-113.04, Y:9.45, Z:-8.37 [[ 9.32986383e-01 3.36848172e-01 -1.26766394e-01 -1.13044982e+02] [-3.35206630e-01 9.41504779e-01 3.47169506e-02 9.45136547e+00] [ 1.31045507e-01 1.01024936e-02 9.91324878e-01 -8.37144863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.78534707000001 meters Centerline goodness [0,1] 0.9971660390543111 Centerline is valid? [True, True] Translation: X:-113.07, Y:9.46, Z:-8.38 [[ 9.33112287e-01 3.36519024e-01 -1.26713874e-01 -1.13071683e+02] [-3.34873599e-01 9.41623187e-01 3.47195299e-02 9.45991078e+00] [ 1.31000504e-01 1.00359111e-02 9.91331503e-01 -8.37562851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81534707000002 meters Centerline goodness [0,1] 0.9975227714470826 Centerline is valid? [True, True] Translation: X:-113.10, Y:9.47, Z:-8.38 [[ 9.33403795e-01 3.36028609e-01 -1.25865520e-01 -1.13099043e+02] [-3.34398070e-01 9.41799960e-01 3.45074862e-02 9.46978314e+00] [ 1.30135644e-01 9.87976837e-03 9.91446975e-01 -8.37922983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.84534707000002 meters Centerline goodness [0,1] 0.9985040849986575 Centerline is valid? [True, True] Translation: X:-113.13, Y:9.48, Z:-8.38 [[ 9.33297066e-01 3.36160431e-01 -1.26304199e-01 -1.13125811e+02] [-3.34513732e-01 9.41752806e-01 3.46729918e-02 9.47506093e+00] [ 1.30603022e-01 9.89028761e-03 9.91385411e-01 -8.38192405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.87534707000002 meters Centerline goodness [0,1] 0.9986312084473993 Centerline is valid? [True, True] Translation: X:-113.15, Y:9.48, Z:-8.39 [[ 9.33758915e-01 3.35127137e-01 -1.25634753e-01 -1.13153652e+02] [-3.33485086e-01 9.42123314e-01 3.45160650e-02 9.48226194e+00] [ 1.29930700e-01 9.66763290e-03 9.91475945e-01 -8.38614792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.90534707000002 meters Centerline goodness [0,1] 0.9992315672186576 Centerline is valid? [True, True] Translation: X:-113.18, Y:9.49, Z:-8.39 [[ 9.34536987e-01 3.33100591e-01 -1.25238237e-01 -1.13182582e+02] [-3.31445194e-01 9.42845290e-01 3.44505869e-02 9.48698697e+00] [ 1.29555792e-01 9.31426386e-03 9.91528386e-01 -8.39264645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.93534707000002 meters Centerline goodness [0,1] 0.9991417648435671 Centerline is valid? [True, True] Translation: X:-113.21, Y:9.49, Z:-8.39 [[ 9.34536546e-01 3.32975298e-01 -1.25574263e-01 -1.13212104e+02] [-3.31308744e-01 9.42889548e-01 3.45516602e-02 9.48987929e+00] [ 1.29907510e-01 9.31406226e-03 9.91482369e-01 -8.39393950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.96534707 meters Centerline goodness [0,1] 0.9991963260619977 Centerline is valid? [True, True] Translation: X:-113.24, Y:9.50, Z:-8.40 [[ 9.35620522e-01 3.30363597e-01 -1.24395063e-01 -1.13237589e+02] [-3.28699715e-01 9.43812494e-01 3.42705873e-02 9.50447478e+00] [ 1.28727369e-01 8.82435697e-03 9.91640759e-01 -8.39999858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99534707000001 meters Centerline goodness [0,1] 0.9997231450719822 Centerline is valid? [True, True] Translation: X:-113.27, Y:9.51, Z:-8.40 [[ 9.34806261e-01 3.31830930e-01 -1.26591818e-01 -1.13265166e+02] [-3.30119395e-01 9.43294237e-01 3.48879290e-02 9.50865735e+00] [ 1.30990226e-01 9.17695991e-03 9.91341184e-01 -8.40330132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.02534707000001 meters Centerline goodness [0,1] 0.9994501178318932 Centerline is valid? [True, True] Translation: X:-113.29, Y:9.52, Z:-8.41 [[ 9.34225629e-01 3.33320038e-01 -1.26965451e-01 -1.13292845e+02] [-3.31608975e-01 9.42766958e-01 3.50135831e-02 9.51662547e+00] [ 1.31369561e-01 9.39229636e-03 9.91288971e-01 -8.40655177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05534707000001 meters Centerline goodness [0,1] 0.999344969753015 Centerline is valid? [True, True] Translation: X:-113.32, Y:9.53, Z:-8.42 [[ 9.35226189e-01 3.30801608e-01 -1.26183486e-01 -1.13319460e+02] [-3.29082779e-01 9.43657996e-01 3.48441012e-02 9.52953665e+00] [ 1.30600540e-01 8.93769628e-03 9.91394783e-01 -8.41514374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.08534707000001 meters Centerline goodness [0,1] 0.999344969753015 Centerline is valid? [True, True] Translation: X:-113.35, Y:9.54, Z:-8.42 [[ 9.35091483e-01 3.31183485e-01 -1.26180102e-01 -1.13345965e+02] [-3.29466454e-01 9.43523657e-01 3.48563491e-02 9.53661275e+00] [ 1.30597758e-01 8.97823564e-03 9.91394784e-01 -8.41832996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11534707000001 meters Centerline goodness [0,1] 0.9991723485594923 Centerline is valid? [True, True] Translation: X:-113.37, Y:9.54, Z:-8.42 [[ 9.34947341e-01 3.31234672e-01 -1.27110430e-01 -1.13374405e+02] [-3.29485807e-01 9.43505446e-01 3.51649953e-02 9.53927701e+00] [ 1.31577248e-01 9.00366355e-03 9.91265031e-01 -8.42006253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.14534707000001 meters Centerline goodness [0,1] 0.99881390107935 Centerline is valid? [True, True] Translation: X:-113.40, Y:9.54, Z:-8.42 [[ 9.34907807e-01 3.31351292e-01 -1.27097262e-01 -1.13400939e+02] [-3.29601332e-01 9.43464521e-01 3.51803762e-02 9.54384570e+00] [ 1.31568821e-01 9.00101857e-03 9.91266174e-01 -8.42362916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17534707000002 meters Centerline goodness [0,1] 0.99928619582028 Centerline is valid? [True, True] Translation: X:-113.43, Y:9.55, Z:-8.43 [[ 9.36089195e-01 3.28177838e-01 -1.26634617e-01 -1.13428653e+02] [-3.26408634e-01 9.44577713e-01 3.50763221e-02 9.55113818e+00] [ 1.31127508e-01 8.50006622e-03 9.91329070e-01 -8.42936018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.20534707000002 meters Centerline goodness [0,1] 0.9994173399627098 Centerline is valid? [True, True] Translation: X:-113.46, Y:9.56, Z:-8.43 [[ 9.37108183e-01 3.25241975e-01 -1.26672459e-01 -1.13457909e+02] [-3.23443673e-01 9.45596294e-01 3.50975512e-02 9.55661389e+00] [ 1.31196204e-01 8.08120290e-03 9.91323484e-01 -8.43306747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.23534707000002 meters Centerline goodness [0,1] 0.9995640802092415 Centerline is valid? [True, True] Translation: X:-113.49, Y:9.56, Z:-8.44 [[ 9.38248335e-01 3.21563829e-01 -1.27619617e-01 -1.13486975e+02] [-3.19703643e-01 9.46857271e-01 3.53679067e-02 9.55918428e+00] [ 1.32210602e-01 7.61657692e-03 9.91192385e-01 -8.43662927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.26534707000002 meters Centerline goodness [0,1] 0.999642204023217 Centerline is valid? [True, True] Translation: X:-113.52, Y:9.57, Z:-8.44 [[ 9.39057671e-01 3.19207992e-01 -1.27581142e-01 -1.13515621e+02] [-3.17325897e-01 9.47656781e-01 3.53680804e-02 9.56569218e+00] [ 1.32192909e-01 7.27213332e-03 9.91197332e-01 -8.44221143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.29534707000002 meters Centerline goodness [0,1] 0.9995955183432431 Centerline is valid? [True, True] Translation: X:-113.55, Y:9.57, Z:-8.44 [[ 9.40788092e-01 3.14227019e-01 -1.27197271e-01 -1.13545238e+02] [-3.12309884e-01 9.49325321e-01 3.52699862e-02 9.56639922e+00] [ 1.31834372e-01 6.54338169e-03 9.91250161e-01 -8.44448025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.32534707000002 meters Centerline goodness [0,1] 0.9997620935765266 Centerline is valid? [True, True] Translation: X:-113.57, Y:9.57, Z:-8.45 [[ 9.42071384e-01 3.10775050e-01 -1.26175973e-01 -1.13573716e+02] [-3.08856243e-01 9.50464563e-01 3.49990849e-02 9.57370992e+00] [ 1.30802633e-01 5.99860070e-03 9.91390280e-01 -8.44946389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35534707000001 meters Centerline goodness [0,1] 0.9996053825815872 Centerline is valid? [True, True] Translation: X:-113.60, Y:9.58, Z:-8.45 [[ 9.42246225e-01 3.09984660e-01 -1.26813100e-01 -1.13601870e+02] [-3.08037549e-01 9.50723209e-01 3.51887463e-02 9.57878279e+00] [ 1.31472129e-01 5.90673315e-03 9.91302270e-01 -8.45281534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.38534707000001 meters Centerline goodness [0,1] 0.9996779258424252 Centerline is valid? [True, True] Translation: X:-113.63, Y:9.58, Z:-8.45 [[ 9.43020134e-01 3.07953997e-01 -1.26005407e-01 -1.13629879e+02] [-3.06007596e-01 9.51385101e-01 3.50105649e-02 9.58380575e+00] [ 1.30661310e-01 5.54294411e-03 9.91411568e-01 -8.45416946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41534707000001 meters Centerline goodness [0,1] 0.9997156667614444 Centerline is valid? [True, True] Translation: X:-113.66, Y:9.59, Z:-8.46 [[ 9.42565778e-01 3.09120822e-01 -1.26546719e-01 -1.13657151e+02] [-3.07165069e-01 9.51005645e-01 3.51835598e-02 9.59284223e+00] [ 1.31222615e-01 5.70791213e-03 9.91336494e-01 -8.45846734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.44534707000001 meters Centerline goodness [0,1] 0.999798199943496 Centerline is valid? [True, True] Translation: X:-113.68, Y:9.60, Z:-8.46 [[ 9.42889707e-01 3.08697420e-01 -1.25159512e-01 -1.13684535e+02] [-3.06774525e-01 9.51144156e-01 3.48451696e-02 9.59861851e+00] [ 1.29801353e-01 5.54059819e-03 9.91524539e-01 -8.46046480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47534707000001 meters Centerline goodness [0,1] 0.9995568090249799 Centerline is valid? [True, True] Translation: X:-113.71, Y:9.61, Z:-8.46 [[ 9.42664013e-01 3.09957118e-01 -1.23738208e-01 -1.13711544e+02] [-3.08085662e-01 9.50733888e-01 3.44717222e-02 9.60892975e+00] [ 1.28326863e-01 5.62671556e-03 9.91715966e-01 -8.46024922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.50534707000001 meters Centerline goodness [0,1] 0.9990661115218491 Centerline is valid? [True, True] Translation: X:-113.74, Y:9.63, Z:-8.47 [[ 9.41283226e-01 3.13784196e-01 -1.24600830e-01 -1.13735280e+02] [-3.11912377e-01 9.49474492e-01 3.47686411e-02 9.63008114e+00] [ 1.29215160e-01 6.13740241e-03 9.91597587e-01 -8.46738914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53534707000001 meters Centerline goodness [0,1] 0.999340599666421 Centerline is valid? [True, True] Translation: X:-113.76, Y:9.64, Z:-8.47 [[ 9.39476203e-01 3.18539863e-01 -1.26161881e-01 -1.13761724e+02] [-3.16657069e-01 9.47884841e-01 3.52509549e-02 9.64465539e+00] [ 1.30815769e-01 6.83261813e-03 9.91383150e-01 -8.47306675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.56534707000002 meters Centerline goodness [0,1] 0.999411048725902 Centerline is valid? [True, True] Translation: X:-113.79, Y:9.65, Z:-8.48 [[ 9.38012631e-01 3.22667339e-01 -1.26562605e-01 -1.13790409e+02] [-3.20807327e-01 9.46483396e-01 3.53813373e-02 9.65165565e+00] [ 1.31205807e-01 7.41406992e-03 9.91327427e-01 -8.47708992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.59534707000002 meters Centerline goodness [0,1] 0.9993427919743302 Centerline is valid? [True, True] Translation: X:-113.82, Y:9.67, Z:-8.48 [[ 9.37689691e-01 3.23499058e-01 -1.26832186e-01 -1.13816332e+02] [-3.21634342e-01 9.46198643e-01 3.54891220e-02 9.66682389e+00] [ 1.31489140e-01 7.51580267e-03 9.91289120e-01 -8.48045258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.62534707000002 meters Centerline goodness [0,1] 0.9989773040160485 Centerline is valid? [True, True] Translation: X:-113.84, Y:9.68, Z:-8.49 [[ 9.36053996e-01 3.28137686e-01 -1.26998333e-01 -1.13842580e+02] [-3.26304155e-01 9.44594892e-01 3.55821476e-02 9.67811241e+00] [ 1.31637821e-01 8.13327246e-03 9.91264513e-01 -8.48670455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.65534707000002 meters Centerline goodness [0,1] 0.9989020468982824 Centerline is valid? [True, True] Translation: X:-113.87, Y:9.69, Z:-8.49 [[ 9.34765162e-01 3.31741118e-01 -1.27129552e-01 -1.13869935e+02] [-3.29935684e-01 9.43330882e-01 3.56271103e-02 9.69188407e+00] [ 1.31744209e-01 8.64159400e-03 9.91246077e-01 -8.48853100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.68534707000002 meters Centerline goodness [0,1] 0.9989289539450197 Centerline is valid? [True, True] Translation: X:-113.90, Y:9.70, Z:-8.49 [[ 9.33822145e-01 3.34326023e-01 -1.27288303e-01 -1.13897832e+02] [-3.32538415e-01 9.42414441e-01 3.56822727e-02 9.69842906e+00] [ 1.31887847e-01 9.00735412e-03 9.91223720e-01 -8.49104874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71534707 meters Centerline goodness [0,1] 0.9989602988178212 Centerline is valid? [True, True] Translation: X:-113.92, Y:9.71, Z:-8.50 [[ 9.35091653e-01 3.31188430e-01 -1.26165861e-01 -1.13924479e+02] [-3.29402478e-01 9.43526556e-01 3.53785993e-02 9.71004903e+00] [ 1.30757823e-01 8.47711429e-03 9.91378097e-01 -8.49604991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74534707000001 meters Centerline goodness [0,1] 0.9989135917432973 Centerline is valid? [True, True] Translation: X:-113.95, Y:9.72, Z:-8.50 [[ 9.34386949e-01 3.32661258e-01 -1.27504966e-01 -1.13951609e+02] [-3.30849228e-01 9.43005641e-01 3.57652099e-02 9.71640137e+00] [ 1.32135602e-01 8.76637410e-03 9.91192884e-01 -8.50039154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77534707000001 meters Centerline goodness [0,1] 0.9983453265094085 Centerline is valid? [True, True] Translation: X:-113.98, Y:9.73, Z:-8.51 [[ 9.34492114e-01 3.32455076e-01 -1.27271803e-01 -1.13978683e+02] [-3.30644819e-01 9.43078966e-01 3.57220809e-02 9.72578537e+00] [ 1.31903347e-01 8.69975923e-03 9.91224405e-01 -8.50515496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.80534707000001 meters Centerline goodness [0,1] 0.9986870559159716 Centerline is valid? [True, True] Translation: X:-114.01, Y:9.73, Z:-8.51 [[ 9.35597755e-01 3.29230537e-01 -1.27530757e-01 -1.14006004e+02] [-3.27376986e-01 9.44213812e-01 3.58411321e-02 9.73457661e+00] [ 1.32216297e-01 8.21775204e-03 9.91186824e-01 -8.50966787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83534707000001 meters Centerline goodness [0,1] 0.9991706488685281 Centerline is valid? [True, True] Translation: X:-114.03, Y:9.74, Z:-8.51 [[ 9.35350788e-01 3.29467532e-01 -1.28724700e-01 -1.14034895e+02] [-3.27579436e-01 9.44130274e-01 3.61903108e-02 9.73640985e+00] [ 1.33456419e-01 8.31692891e-03 9.91019784e-01 -8.51064625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.86534707000001 meters Centerline goodness [0,1] 0.9987181977082928 Centerline is valid? [True, True] Translation: X:-114.06, Y:9.74, Z:-8.51 [[ 9.37363130e-01 3.24396638e-01 -1.26953471e-01 -1.14063838e+02] [-3.22510645e-01 9.45891707e-01 3.57178228e-02 9.74377058e+00] [ 1.31670977e-01 7.46327557e-03 9.91265380e-01 -8.51366004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89534707000001 meters Centerline goodness [0,1] 0.9987044089356523 Centerline is valid? [True, True] Translation: X:-114.09, Y:9.75, Z:-8.52 [[ 9.37742210e-01 3.23230617e-01 -1.27127954e-01 -1.14091131e+02] [-3.21327066e-01 9.46292089e-01 3.57798814e-02 9.75141943e+00] [ 1.31865330e-01 7.29734731e-03 9.91240780e-01 -8.51984731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.92534707000002 meters Centerline goodness [0,1] 0.9985977486074865 Centerline is valid? [True, True] Translation: X:-114.12, Y:9.76, Z:-8.52 [[ 9.38467061e-01 3.20926051e-01 -1.27616789e-01 -1.14119522e+02] [-3.18980439e-01 9.47078708e-01 3.59638786e-02 9.75937733e+00] [ 1.32404890e-01 6.95634397e-03 9.91171304e-01 -8.51808949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95534707000002 meters Centerline goodness [0,1] 0.9991359333883194 Centerline is valid? [True, True] Translation: X:-114.15, Y:9.76, Z:-8.52 [[ 9.39350503e-01 3.18125922e-01 -1.28127010e-01 -1.14146753e+02] [-3.16137311e-01 9.48025651e-01 3.61187861e-02 9.76432369e+00] [ 1.32958014e-01 6.57752855e-03 9.91099845e-01 -8.52449997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.98534707000002 meters Centerline goodness [0,1] 0.9987588721250437 Centerline is valid? [True, True] Translation: X:-114.18, Y:9.77, Z:-8.53 [[ 9.40877417e-01 3.14352343e-01 -1.26223176e-01 -1.14175546e+02] [-3.12387028e-01 9.49287798e-01 3.55952337e-02 9.76940538e+00] [ 1.31011566e-01 5.93973121e-03 9.91363046e-01 -8.52709720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.01534707000002 meters Centerline goodness [0,1] 0.9989221987146222 Centerline is valid? [True, True] Translation: X:-114.20, Y:9.77, Z:-8.53 [[ 9.40723341e-01 3.14180345e-01 -1.27790084e-01 -1.14204285e+02] [-3.12162666e-01 9.49344488e-01 3.60487499e-02 9.77244613e+00] [ 1.32642620e-01 5.97939280e-03 9.91145893e-01 -8.52725350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.04534707000002 meters Centerline goodness [0,1] 0.9992115740923246 Centerline is valid? [True, True] Translation: X:-114.23, Y:9.78, Z:-8.53 [[ 9.41369400e-01 3.12403859e-01 -1.27387131e-01 -1.14231921e+02] [-3.10379787e-01 9.49932345e-01 3.59572999e-02 9.78006917e+00] [ 1.32242356e-01 5.68928876e-03 9.91201085e-01 -8.52969477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.07534707000002 meters Centerline goodness [0,1] 0.9994344348388139 Centerline is valid? [True, True] Translation: X:-114.26, Y:9.79, Z:-8.53 [[ 9.40915656e-01 3.13330987e-01 -1.28457858e-01 -1.14258870e+02] [-3.11275207e-01 9.49626108e-01 3.63042768e-02 9.78751085e+00] [ 1.33362191e-01 5.82648394e-03 9.91050240e-01 -8.53375484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10534707000001 meters Centerline goodness [0,1] 0.999244923101379 Centerline is valid? [True, True] Translation: X:-114.29, Y:9.80, Z:-8.53 [[ 9.40957182e-01 3.13454577e-01 -1.27850733e-01 -1.14286571e+02] [-3.11416237e-01 9.49585522e-01 3.61560973e-02 9.79560873e+00] [ 1.32738499e-01 5.79345464e-03 9.91134162e-01 -8.53454522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13534707000001 meters Centerline goodness [0,1] 0.999444201834134 Centerline is valid? [True, True] Translation: X:-114.31, Y:9.81, Z:-8.54 [[ 9.41340604e-01 3.12383052e-01 -1.27650676e-01 -1.14313323e+02] [-3.10334173e-01 9.49939823e-01 3.61529105e-02 9.80635274e+00] [ 1.32554017e-01 5.58216419e-03 9.91160064e-01 -8.53637552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16534707000001 meters Centerline goodness [0,1] 0.9993542658810235 Centerline is valid? [True, True] Translation: X:-114.34, Y:9.81, Z:-8.54 [[ 9.40841255e-01 3.13933355e-01 -1.27528744e-01 -1.14339100e+02] [-3.11896027e-01 9.49427621e-01 3.61671348e-02 9.81433719e+00] [ 1.32433382e-01 5.74817609e-03 9.91175241e-01 -8.54260382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19534707000001 meters Centerline goodness [0,1] 0.9992488337155057 Centerline is valid? [True, True] Translation: X:-114.37, Y:9.83, Z:-8.54 [[ 9.40999937e-01 3.13657949e-01 -1.27034681e-01 -1.14365958e+02] [-3.11630883e-01 9.49519141e-01 3.60498822e-02 9.82731194e+00] [ 1.31929193e-01 5.66499293e-03 9.91242955e-01 -8.54369467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22534707000001 meters Centerline goodness [0,1] 0.9990781932587872 Centerline is valid? [True, True] Translation: X:-114.39, Y:9.84, Z:-8.55 [[ 9.40119279e-01 3.15607146e-01 -1.28716242e-01 -1.14392957e+02] [-3.13537487e-01 9.48871154e-01 3.65756487e-02 9.83668128e+00] [ 1.33678665e-01 5.97189457e-03 9.91006736e-01 -8.54642297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25534707000001 meters Centerline goodness [0,1] 0.9991486256385308 Centerline is valid? [True, True] Translation: X:-114.42, Y:9.84, Z:-8.55 [[ 9.39963519e-01 3.16040386e-01 -1.28790750e-01 -1.14420029e+02] [-3.13969842e-01 9.48726643e-01 3.66154993e-02 9.84044464e+00] [ 1.33759192e-01 6.01917770e-03 9.90995584e-01 -8.54638687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.28534707000001 meters Centerline goodness [0,1] 0.998948147571 Centerline is valid? [True, True] Translation: X:-114.45, Y:9.85, Z:-8.55 [[ 9.40068843e-01 3.16487304e-01 -1.26910823e-01 -1.14446374e+02] [-3.14475106e-01 9.48578084e-01 3.61251407e-02 9.85340072e+00] [ 1.31817974e-01 5.95017544e-03 9.91256080e-01 -8.54972103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31534707000002 meters Centerline goodness [0,1] 0.999486429897681 Centerline is valid? [True, True] Translation: X:-114.47, Y:9.86, Z:-8.55 [[ 9.40382590e-01 3.15463718e-01 -1.27134679e-01 -1.14473497e+02] [-3.13428385e-01 9.48920104e-01 3.62392635e-02 9.86230774e+00] [ 1.32072825e-01 5.76884459e-03 9.91223229e-01 -8.54947223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.34534707000002 meters Centerline goodness [0,1] 0.9989884685413717 Centerline is valid? [True, True] Translation: X:-114.50, Y:9.87, Z:-8.55 [[ 9.39636344e-01 3.16914709e-01 -1.29029484e-01 -1.14501842e+02] [-3.14829043e-01 9.48434778e-01 3.67987240e-02 9.86671073e+00] [ 1.34038107e-01 6.04481046e-03 9.90957742e-01 -8.54888098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.37534707000002 meters Centerline goodness [0,1] 0.9994402239104359 Centerline is valid? [True, True] Translation: X:-114.53, Y:9.88, Z:-8.55 [[ 9.39937366e-01 3.16213853e-01 -1.28555619e-01 -1.14527841e+02] [-3.14133562e-01 9.48669601e-01 3.66891471e-02 9.88021483e+00] [ 1.33558424e-01 5.89813425e-03 9.91023390e-01 -8.55035549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.40534707000002 meters Centerline goodness [0,1] 0.9995266458916808 Centerline is valid? [True, True] Translation: X:-114.55, Y:9.89, Z:-8.55 [[ 9.39460443e-01 3.17225469e-01 -1.29545661e-01 -1.14554091e+02] [-3.15115228e-01 9.48330924e-01 3.70250149e-02 9.88781736e+00] [ 1.34597434e-01 6.03827351e-03 9.90881966e-01 -8.55295762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.43534707000002 meters Centerline goodness [0,1] 0.9995282833444711 Centerline is valid? [True, True] Translation: X:-114.58, Y:9.90, Z:-8.55 [[ 9.39842838e-01 3.16408127e-01 -1.28768543e-01 -1.14582146e+02] [-3.14312385e-01 9.48605044e-01 3.68265532e-02 9.89687910e+00] [ 1.33802710e-01 5.86237563e-03 9.90990649e-01 -8.55254465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46534707 meters Centerline goodness [0,1] 0.9996339975599837 Centerline is valid? [True, True] Translation: X:-114.61, Y:9.90, Z:-8.55 [[ 9.39849685e-01 3.15992309e-01 -1.29736003e-01 -1.14608908e+02] [-3.13854217e-01 9.48744020e-01 3.71525770e-02 9.90272467e+00] [ 1.34826185e-01 5.80035377e-03 9.90852287e-01 -8.55432724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49534707000001 meters Centerline goodness [0,1] 0.9995990537668898 Centerline is valid? [True, True] Translation: X:-114.64, Y:9.91, Z:-8.55 [[ 9.39370512e-01 3.17435904e-01 -1.29682263e-01 -1.14636761e+02] [-3.15309965e-01 9.48260863e-01 3.71612963e-02 9.91310980e+00] [ 1.34768944e-01 5.98188383e-03 9.90858995e-01 -8.55376160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.52534707000001 meters Centerline goodness [0,1] 0.9993047319128052 Centerline is valid? [True, True] Translation: X:-114.66, Y:9.92, Z:-8.55 [[ 9.38933532e-01 3.18372238e-01 -1.30548618e-01 -1.14663949e+02] [-3.16220091e-01 9.47946077e-01 3.74578242e-02 9.92050682e+00] [ 1.35678581e-01 6.11168859e-03 9.90734056e-01 -8.55442126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55534707000001 meters Centerline goodness [0,1] 0.9997142740520021 Centerline is valid? [True, True] Translation: X:-114.69, Y:9.93, Z:-8.56 [[ 9.39075728e-01 3.17999531e-01 -1.30434181e-01 -1.14691213e+02] [-3.15843012e-01 9.48071755e-01 3.74584873e-02 9.93080544e+00] [ 1.35572744e-01 6.02036836e-03 9.90749104e-01 -8.55806710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.58534707000001 meters Centerline goodness [0,1] 0.9997975626543585 Centerline is valid? [True, True] Translation: X:-114.72, Y:9.94, Z:-8.56 [[ 9.38405763e-01 3.19740278e-01 -1.30999157e-01 -1.14718782e+02] [-3.17574045e-01 9.47484644e-01 3.76772592e-02 9.93893292e+00] [ 1.36166627e-01 6.24537492e-03 9.90666263e-01 -8.55715759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61534707000001 meters Centerline goodness [0,1] 0.9995218933025221 Centerline is valid? [True, True] Translation: X:-114.75, Y:9.95, Z:-8.56 [[ 9.38516248e-01 3.19466210e-01 -1.30876252e-01 -1.14745560e+02] [-3.17293718e-01 9.47577736e-01 3.76978892e-02 9.95004442e+00] [ 1.36058624e-01 6.14613104e-03 9.90681723e-01 -8.56002225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.64534707000001 meters Centerline goodness [0,1] 0.9995454921080903 Centerline is valid? [True, True] Translation: X:-114.77, Y:9.95, Z:-8.56 [[ 9.38341614e-01 3.19833235e-01 -1.31231544e-01 -1.14773339e+02] [-3.17644818e-01 9.47453806e-01 3.78557191e-02 9.95208057e+00] [ 1.36443343e-01 6.16342346e-03 9.90628703e-01 -8.55853708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67534707000002 meters Centerline goodness [0,1] 0.9995475485357025 Centerline is valid? [True, True] Translation: X:-114.80, Y:9.96, Z:-8.56 [[ 9.38016380e-01 3.20431547e-01 -1.32094263e-01 -1.14800303e+02] [-3.18213089e-01 9.47251093e-01 3.81549014e-02 9.96355827e+00] [ 1.37352469e-01 6.24420108e-03 9.90502554e-01 -8.55913308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.70534707000002 meters Centerline goodness [0,1] 0.9992137388785434 Centerline is valid? [True, True] Translation: X:-114.83, Y:9.97, Z:-8.56 [[ 9.37705367e-01 3.21310897e-01 -1.32166379e-01 -1.14827448e+02] [-3.19091055e-01 9.46952646e-01 3.82306684e-02 9.96973175e+00] [ 1.37439233e-01 6.32400651e-03 9.90490012e-01 -8.55955923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.73534707000002 meters Centerline goodness [0,1] 0.9993006417640283 Centerline is valid? [True, True] Translation: X:-114.85, Y:9.98, Z:-8.56 [[ 9.38080131e-01 3.20047931e-01 -1.32570697e-01 -1.14854167e+02] [-3.17798883e-01 9.47381474e-01 3.83694319e-02 9.97907273e+00] [ 1.37875079e-01 6.13721759e-03 9.90430612e-01 -8.56190912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.76534707000002 meters Centerline goodness [0,1] 0.9996314647229844 Centerline is valid? [True, True] Translation: X:-114.88, Y:9.99, Z:-8.56 [[ 9.37652661e-01 3.21432926e-01 -1.32243566e-01 -1.14881491e+02] [-3.19204747e-01 9.46911406e-01 3.83029874e-02 9.98824794e+00] [ 1.37534783e-01 6.29787606e-03 9.90476916e-01 -8.56367694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.79534707000002 meters Centerline goodness [0,1] 0.9995548000647564 Centerline is valid? [True, True] Translation: X:-114.91, Y:9.99, Z:-8.56 [[ 9.37935646e-01 3.20604841e-01 -1.32246967e-01 -1.14909783e+02] [-3.18359931e-01 9.47193275e-01 3.83647480e-02 9.99347801e+00] [ 1.37563362e-01 6.11847073e-03 9.90474071e-01 -8.56292828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.82534707000002 meters Centerline goodness [0,1] 0.9993108759982163 Centerline is valid? [True, True] Translation: X:-114.94, Y:10.01, Z:-8.57 [[ 9.38186629e-01 3.20212586e-01 -1.31414417e-01 -1.14935292e+02] [-3.17983874e-01 9.47326934e-01 3.81829409e-02 1.00093075e+01] [ 1.36719075e-01 5.96494059e-03 9.90591901e-01 -8.56789231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85534707000001 meters Centerline goodness [0,1] 0.9990414187003235 Centerline is valid? [True, True] Translation: X:-114.96, Y:10.01, Z:-8.57 [[ 9.38743846e-01 3.18890218e-01 -1.30648460e-01 -1.14963554e+02] [-3.16666813e-01 9.47774624e-01 3.80183216e-02 1.00147354e+01] [ 1.35948966e-01 5.68256599e-03 9.90699544e-01 -8.56754304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88534707000001 meters Centerline goodness [0,1] 0.9991052909837732 Centerline is valid? [True, True] Translation: X:-114.99, Y:10.03, Z:-8.57 [[ 9.38175758e-01 3.19702025e-01 -1.32728529e-01 -1.14988972e+02] [-3.17407986e-01 9.47500103e-01 3.86746102e-02 1.00267234e+01] [ 1.38124646e-01 5.84551314e-03 9.90397603e-01 -8.57068145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91534707000001 meters Centerline goodness [0,1] 0.999796392067435 Centerline is valid? [True, True] Translation: X:-115.02, Y:10.03, Z:-8.57 [[ 9.38220881e-01 3.19814255e-01 -1.32137883e-01 -1.15016458e+02] [-3.17538209e-01 9.47462440e-01 3.85280605e-02 1.00342767e+01] [ 1.37517504e-01 5.81099598e-03 9.90482291e-01 -8.57291927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.94534707000001 meters Centerline goodness [0,1] 0.9997565132700268 Centerline is valid? [True, True] Translation: X:-115.04, Y:10.04, Z:-8.57 [[ 9.38492032e-01 3.19553286e-01 -1.30837316e-01 -1.15043404e+02] [-3.17312963e-01 9.47551345e-01 3.81959744e-02 1.00421000e+01] [ 1.36180723e-01 5.66975855e-03 9.90667787e-01 -8.57375618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97534707000001 meters Centerline goodness [0,1] 0.999878182482641 Centerline is valid? [True, True] Translation: X:-115.07, Y:10.05, Z:-8.57 [[ 9.37925220e-01 3.21058169e-01 -1.31217127e-01 -1.15070677e+02] [-3.18815624e-01 9.47041226e-01 3.83342369e-02 1.00528964e+01] [ 1.36575549e-01 5.87942274e-03 9.90612211e-01 -8.57434239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.00534707000001 meters Centerline goodness [0,1] 0.999878182482641 Centerline is valid? [True, True] Translation: X:-115.10, Y:10.06, Z:-8.58 [[ 9.37768349e-01 3.21522906e-01 -1.31200394e-01 -1.15097025e+02] [-3.19276892e-01 9.46883501e-01 3.83914295e-02 1.00603953e+01] [ 1.36575213e-01 5.88698666e-03 9.90612212e-01 -8.57751861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-115.12, Y:10.08, Z:-8.58 [[ 9.37274363e-01 3.23206787e-01 -1.30591507e-01 -1.15122530e+02] [-3.20988513e-01 9.46309100e-01 3.82813528e-02 1.00756289e+01] [ 1.35952724e-01 6.03824308e-03 9.90696925e-01 -8.57939703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.06534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-115.15, Y:10.09, Z:-8.58 [[ 9.37522983e-01 3.22773774e-01 -1.29875894e-01 -1.15148390e+02] [-3.20567484e-01 9.46457850e-01 3.81316932e-02 1.00884973e+01] [ 1.35229970e-01 5.88464980e-03 9.90796763e-01 -8.58364366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.09534707000002 meters Centerline goodness [0,1] 0.9999592069837644 Centerline is valid? [True, True] Translation: X:-115.17, Y:10.10, Z:-8.59 [[ 9.36957051e-01 3.24252722e-01 -1.30275310e-01 -1.15174596e+02] [-3.22039383e-01 9.45951055e-01 3.83045291e-02 1.01028586e+01] [ 1.35654415e-01 6.06408194e-03 9.90737658e-01 -8.58635413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.12534707000002 meters Centerline goodness [0,1] 0.9999595567418911 Centerline is valid? [True, True] Translation: X:-115.20, Y:10.11, Z:-8.59 [[ 9.37268103e-01 3.24083714e-01 -1.28445510e-01 -1.15200832e+02] [-3.21926343e-01 9.46009869e-01 3.77988964e-02 1.01145808e+01] [ 1.33760727e-01 5.92229346e-03 9.90995961e-01 -8.59109268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.15534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-115.23, Y:10.12, Z:-8.59 [[ 9.36700924e-01 3.25633804e-01 -1.28662364e-01 -1.15227580e+02] [-3.23476215e-01 9.45476279e-01 3.79175989e-02 1.01243378e+01] [ 1.33994465e-01 6.10176470e-03 9.90963295e-01 -8.59161865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.18534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-115.25, Y:10.14, Z:-8.59 [[ 9.36617445e-01 3.26272823e-01 -1.27647198e-01 -1.15253011e+02] [-3.24147648e-01 9.45256026e-01 3.76742351e-02 1.01358123e+01] [ 1.32951362e-01 6.09019311e-03 9.91103852e-01 -8.59376168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-115.28, Y:10.15, Z:-8.60 [[ 9.36696871e-01 3.26492274e-01 -1.26498089e-01 -1.15279269e+02] [-3.24399531e-01 9.45180765e-01 3.73933844e-02 1.01487882e+01] [ 1.31772212e-01 6.00965470e-03 9.91261806e-01 -8.59710046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.24534707000001 meters Centerline goodness [0,1] 0.9998427302036644 Centerline is valid? [True, True] Translation: X:-115.30, Y:10.17, Z:-8.60 [[ 9.37226902e-01 3.25183907e-01 -1.25941099e-01 -1.15303056e+02] [-3.23091013e-01 9.45633313e-01 3.72804940e-02 1.01692406e+01] [ 1.31217115e-01 5.75015521e-03 9.91336978e-01 -8.60155455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27534707000001 meters Centerline goodness [0,1] 0.9997227612974772 Centerline is valid? [True, True] Translation: X:-115.33, Y:10.18, Z:-8.60 [[ 9.37171058e-01 3.25225593e-01 -1.26248652e-01 -1.15328341e+02] [-3.23118792e-01 9.45619030e-01 3.74018290e-02 1.01805754e+01] [ 1.31547160e-01 5.74140022e-03 9.91293287e-01 -8.60323110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.30534707000001 meters Centerline goodness [0,1] 0.9998799231508165 Centerline is valid? [True, True] Translation: X:-115.36, Y:10.19, Z:-8.60 [[ 9.37370425e-01 3.24707233e-01 -1.26102734e-01 -1.15355622e+02] [-3.22597522e-01 9.45797763e-01 3.73822053e-02 1.01855119e+01] [ 1.31405956e-01 5.63945573e-03 9.91312600e-01 -8.60312966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33534707000001 meters Centerline goodness [0,1] 0.9997635933806147 Centerline is valid? [True, True] Translation: X:-115.38, Y:10.20, Z:-8.61 [[ 9.38169266e-01 3.22726091e-01 -1.25244958e-01 -1.15381404e+02] [-3.20624032e-01 9.46477567e-01 3.71543299e-02 1.02001767e+01] [ 1.30532215e-01 5.29949305e-03 9.91429905e-01 -8.60711977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.36534707000001 meters Centerline goodness [0,1] 0.999520230289461 Centerline is valid? [True, True] Translation: X:-115.41, Y:10.21, Z:-8.61 [[ 9.37911782e-01 3.23312469e-01 -1.25660404e-01 -1.15408259e+02] [-3.21194325e-01 9.46277159e-01 3.73328684e-02 1.02072116e+01] [ 1.30979752e-01 5.34647155e-03 9.91370627e-01 -8.60657928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39534707000001 meters Centerline goodness [0,1] 0.9998387746876259 Centerline is valid? [True, True] Translation: X:-115.43, Y:10.22, Z:-8.61 [[ 9.38914069e-01 3.20437169e-01 -1.25540400e-01 -1.15434623e+02] [-3.18289542e-01 9.47257188e-01 3.73575529e-02 1.02155977e+01] [ 1.30889794e-01 4.88266441e-03 9.91384901e-01 -8.60973854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.42534707000002 meters Centerline goodness [0,1] 0.999758580453064 Centerline is valid? [True, True] Translation: X:-115.46, Y:10.23, Z:-8.61 [[ 9.39471377e-01 3.18674109e-01 -1.25858432e-01 -1.15460307e+02] [-3.16493049e-01 9.47853181e-01 3.75033020e-02 1.02267049e+01] [ 1.31246646e-01 4.60004012e-03 9.91339073e-01 -8.61218636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45534707000002 meters Centerline goodness [0,1] 0.9997982162314863 Centerline is valid? [True, True] Translation: X:-115.49, Y:10.24, Z:-8.61 [[ 9.39484518e-01 3.18705075e-01 -1.25681799e-01 -1.15486243e+02] [-3.16527192e-01 9.47842893e-01 3.74751533e-02 1.02400334e+01] [ 1.31070122e-01 4.57438064e-03 9.91362546e-01 -8.61496162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.48534707000002 meters Centerline goodness [0,1] 0.9998788808591385 Centerline is valid? [True, True] Translation: X:-115.51, Y:10.25, Z:-8.61 [[ 9.40402247e-01 3.15852770e-01 -1.26018417e-01 -1.15513428e+02] [-3.13631090e-01 9.48799180e-01 3.76251961e-02 1.02466253e+01] [ 1.31450193e-01 4.14047449e-03 9.91314129e-01 -8.61470981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.51534707000002 meters Centerline goodness [0,1] 0.9996835317852764 Centerline is valid? [True, True] Translation: X:-115.54, Y:10.26, Z:-8.62 [[ 9.41309015e-01 3.13597855e-01 -1.24874830e-01 -1.15539387e+02] [-3.11393375e-01 9.49548421e-01 3.73090193e-02 1.02604480e+01] [ 1.30274726e-01 3.76587838e-03 9.91470783e-01 -8.61921012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.54534707000002 meters Centerline goodness [0,1] 0.9997203914519672 Centerline is valid? [True, True] Translation: X:-115.57, Y:10.27, Z:-8.62 [[ 9.41622375e-01 3.13042456e-01 -1.23902072e-01 -1.15565992e+02] [-3.10860220e-01 9.49732286e-01 3.70743504e-02 1.02686255e+01] [ 1.29279644e-01 3.60618760e-03 9.91601618e-01 -8.62211148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.57534707000002 meters Centerline goodness [0,1] 0.9996829297293013 Centerline is valid? [True, True] Translation: X:-115.59, Y:10.28, Z:-8.63 [[ 9.41951918e-01 3.11995142e-01 -1.24038768e-01 -1.15591937e+02] [-3.09794467e-01 9.50077496e-01 3.71502413e-02 1.02805264e+01] [ 1.29437137e-01 3.43278315e-03 9.91581688e-01 -8.62528475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.60534707000001 meters Centerline goodness [0,1] 0.9996789340610828 Centerline is valid? [True, True] Translation: X:-115.62, Y:10.29, Z:-8.63 [[ 9.42494637e-01 3.10097515e-01 -1.24673130e-01 -1.15619141e+02] [-3.07849848e-01 9.50699598e-01 3.73998207e-02 1.02914363e+01] [ 1.30124286e-01 3.13147347e-03 9.91492745e-01 -8.62686568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63534707000001 meters Centerline goodness [0,1] 0.9994827929182415 Centerline is valid? [True, True] Translation: X:-115.65, Y:10.30, Z:-8.63 [[ 9.42755758e-01 3.09118911e-01 -1.25128256e-01 -1.15645661e+02] [-3.06839062e-01 9.51018802e-01 3.75902588e-02 1.02998981e+01] [ 1.30619184e-01 2.95580391e-03 9.91428208e-01 -8.62594991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.66534707000001 meters Centerline goodness [0,1] 0.9995993910744332 Centerline is valid? [True, True] Translation: X:-115.67, Y:10.31, Z:-8.63 [[ 9.43325334e-01 3.07809025e-01 -1.24060138e-01 -1.15671727e+02] [-3.05552227e-01 9.51444283e-01 3.73043284e-02 1.03126234e+01] [ 1.29518918e-01 2.71673336e-03 9.91573229e-01 -8.62902250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69534707000001 meters Centerline goodness [0,1] 0.999443870660205 Centerline is valid? [True, True] Translation: X:-115.70, Y:10.32, Z:-8.64 [[ 9.43793891e-01 3.07059834e-01 -1.22341116e-01 -1.15698596e+02] [-3.04851602e-01 9.51686872e-01 3.68456141e-02 1.03225189e+01] [ 1.27744242e-01 2.52121957e-03 9.91803938e-01 -8.63577821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.72534707000001 meters Centerline goodness [0,1] 0.9991606379151845 Centerline is valid? [True, True] Translation: X:-115.72, Y:10.34, Z:-8.64 [[ 9.44200526e-01 3.06247400e-01 -1.21234883e-01 -1.15724718e+02] [-3.04065286e-01 9.51949092e-01 3.65681141e-02 1.03356627e+01] [ 1.26608327e-01 2.33568691e-03 9.91950037e-01 -8.63576507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75534707000001 meters Centerline goodness [0,1] 0.9992985464323292 Centerline is valid? [True, True] Translation: X:-115.75, Y:10.35, Z:-8.64 [[ 9.44521029e-01 3.05149941e-01 -1.21505309e-01 -1.15751519e+02] [-3.02942008e-01 9.52301911e-01 3.67043651e-02 1.03464093e+01] [ 1.26910073e-01 2.14101757e-03 9.91911916e-01 -8.63615174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.78534707000001 meters Centerline goodness [0,1] 0.9992888186487554 Centerline is valid? [True, True] Translation: X:-115.78, Y:10.36, Z:-8.64 [[ 9.44730356e-01 3.04793248e-01 -1.20770982e-01 -1.15778186e+02] [-3.02602290e-01 9.52416380e-01 3.65361989e-02 1.03580101e+01] [ 1.26160248e-01 2.02871949e-03 9.92007800e-01 -8.63948903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81534707000002 meters Centerline goodness [0,1] 0.999400215922268 Centerline is valid? [True, True] Translation: X:-115.80, Y:10.37, Z:-8.64 [[ 9.44652395e-01 3.05122391e-01 -1.20549485e-01 -1.15803625e+02] [-3.02935779e-01 9.52311001e-01 3.65194479e-02 1.03668126e+01] [ 1.25943502e-01 2.02056819e-03 9.92035358e-01 -8.64060898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.84534707000002 meters Centerline goodness [0,1] 0.999160033598656 Centerline is valid? [True, True] Translation: X:-115.83, Y:10.38, Z:-8.65 [[ 9.44983521e-01 3.04804116e-01 -1.18745932e-01 -1.15829496e+02] [-3.02676360e-01 9.52413129e-01 3.60035062e-02 1.03799193e+01] [ 1.24069202e-01 1.91886650e-03 9.92271712e-01 -8.64514133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.87534707000002 meters Centerline goodness [0,1] 0.9989590423189334 Centerline is valid? [True, True] Translation: X:-115.86, Y:10.39, Z:-8.65 [[ 9.44869273e-01 3.05436606e-01 -1.18027698e-01 -1.15855430e+02] [-3.03332326e-01 9.52210449e-01 3.58435646e-02 1.03912533e+01] [ 1.23335144e-01 1.93413328e-03 9.92363190e-01 -8.64711007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.90534707000002 meters Centerline goodness [0,1] 0.99876094168432 Centerline is valid? [True, True] Translation: X:-115.88, Y:10.40, Z:-8.65 [[ 9.45270153e-01 3.04208158e-01 -1.17990398e-01 -1.15881994e+02] [-3.02087562e-01 9.52604047e-01 3.58975505e-02 1.04024868e+01] [ 1.23318458e-01 1.71054849e-03 9.92365675e-01 -8.64803530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.93534707000002 meters Centerline goodness [0,1] 0.9991127959027302 Centerline is valid? [True, True] Translation: X:-115.91, Y:10.41, Z:-8.65 [[ 9.45436002e-01 3.03701289e-01 -1.17967338e-01 -1.15907452e+02] [-3.01570570e-01 9.52765973e-01 3.59470732e-02 1.04129987e+01] [ 1.23312438e-01 1.58982004e-03 9.92366623e-01 -8.65138909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.96534707 meters Centerline goodness [0,1] 0.9997493001295282 Centerline is valid? [True, True] Translation: X:-115.87, Y:10.63, Z:-8.69 [[ 9.28962718e-01 3.53610566e-01 -1.09488979e-01 -1.15868201e+02] [-3.52107950e-01 9.35362606e-01 3.34183580e-02 1.06284604e+01] [ 1.14228981e-01 7.50753114e-03 9.93426080e-01 -8.69239272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99534707000001 meters Centerline goodness [0,1] 0.9999169676589031 Centerline is valid? [True, True] Translation: X:-115.90, Y:10.64, Z:-8.70 [[ 9.29224659e-01 3.52721770e-01 -1.10131219e-01 -1.15897905e+02] [-3.51195375e-01 9.35698643e-01 3.36133493e-02 1.06387887e+01] [ 1.14905793e-01 7.44322192e-03 9.93348507e-01 -8.69691969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02534707000001 meters Centerline goodness [0,1] 0.9997141923893517 Centerline is valid? [True, True] Translation: X:-115.93, Y:10.65, Z:-8.70 [[ 9.30494324e-01 3.49142700e-01 -1.10813750e-01 -1.15925953e+02] [-3.47578037e-01 9.37042721e-01 3.37704963e-02 1.06539109e+01] [ 1.15627940e-01 7.09317066e-03 9.93267268e-01 -8.69809586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-115.96, Y:10.66, Z:-8.70 [[ 9.31420168e-01 3.47199161e-01 -1.09129338e-01 -1.15956759e+02] [-3.45669387e-01 9.37767101e-01 3.32496528e-02 1.06577514e+01] [ 1.13882155e-01 6.75327428e-03 9.93471312e-01 -8.70100975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08534707000001 meters Centerline goodness [0,1] 0.9997034275303986 Centerline is valid? [True, True] Translation: X:-115.99, Y:10.67, Z:-8.70 [[ 9.32449059e-01 3.44858171e-01 -1.07757108e-01 -1.15987575e+02] [-3.43351842e-01 9.38633050e-01 3.28254410e-02 1.06652937e+01] [ 1.12464505e-01 6.39055005e-03 9.93635193e-01 -8.70142715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-116.01, Y:10.68, Z:-8.71 [[ 9.34614599e-01 3.37935046e-01 -1.10884874e-01 -1.16014921e+02] [-3.36297344e-01 9.41151753e-01 3.37264552e-02 1.06804577e+01] [ 1.15756845e-01 5.76905136e-03 9.93260827e-01 -8.70512928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.14534707000001 meters Centerline goodness [0,1] 0.9996321726336439 Centerline is valid? [True, True] Translation: X:-116.05, Y:10.69, Z:-8.71 [[ 9.35791573e-01 3.35074196e-01 -1.09633096e-01 -1.16045302e+02] [-3.33454236e-01 9.42176518e-01 3.33419002e-02 1.06859738e+01] [ 1.14465739e-01 5.35655099e-03 9.93412755e-01 -8.70737378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17534707000002 meters Centerline goodness [0,1] 0.9997574875712381 Centerline is valid? [True, True] Translation: X:-116.08, Y:10.70, Z:-8.71 [[ 9.36760837e-01 3.32278492e-01 -1.09864181e-01 -1.16075426e+02] [-3.30633298e-01 9.43167899e-01 3.34056313e-02 1.06968437e+01] [ 1.14720342e-01 5.03166937e-03 9.93385084e-01 -8.70935855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.20534707000002 meters Centerline goodness [0,1] 0.9995015576323988 Centerline is valid? [True, True] Translation: X:-116.11, Y:10.70, Z:-8.71 [[ 9.37080775e-01 3.31675015e-01 -1.08955521e-01 -1.16106918e+02] [-3.30058273e-01 9.43380664e-01 3.30826123e-02 1.07027402e+01] [ 1.13759207e-01 4.96059097e-03 9.93495966e-01 -8.71285575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.23534707000002 meters Centerline goodness [0,1] 0.9997470275739945 Centerline is valid? [True, True] Translation: X:-116.14, Y:10.71, Z:-8.72 [[ 9.37841595e-01 3.29997121e-01 -1.07494388e-01 -1.16137405e+02] [-3.28418476e-01 9.43970028e-01 3.25866676e-02 1.07091777e+01] [ 1.12224987e-01 4.74201083e-03 9.93671508e-01 -8.71895245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.26534707000002 meters Centerline goodness [0,1] 0.9994512220862003 Centerline is valid? [True, True] Translation: X:-116.17, Y:10.72, Z:-8.72 [[ 9.38635741e-01 3.27891154e-01 -1.07006243e-01 -1.16167524e+02] [-3.26314358e-01 9.44704890e-01 3.24285510e-02 1.07176009e+01] [ 1.11722356e-01 4.47907642e-03 9.93729366e-01 -8.72159380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.29534707000002 meters Centerline goodness [0,1] 0.9995813622472475 Centerline is valid? [True, True] Translation: X:-116.20, Y:10.73, Z:-8.72 [[ 9.39148869e-01 3.26134349e-01 -1.07869308e-01 -1.16197574e+02] [-3.24523533e-01 9.45313508e-01 3.26626395e-02 1.07285606e+01] [ 1.12622723e-01 4.33104802e-03 9.93628383e-01 -8.72418786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.32534707000002 meters Centerline goodness [0,1] 0.9997040294279311 Centerline is valid? [True, True] Translation: X:-116.23, Y:10.74, Z:-8.73 [[ 9.39635342e-01 3.25026516e-01 -1.06972840e-01 -1.16227792e+02] [-3.23436928e-01 9.45695679e-01 3.23764734e-02 1.07368407e+01] [ 1.11686965e-01 4.17688798e-03 9.93734661e-01 -8.72593575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35534707000001 meters Centerline goodness [0,1] 0.9993902686882647 Centerline is valid? [True, True] Translation: X:-116.26, Y:10.75, Z:-8.73 [[ 9.40557384e-01 3.21416028e-01 -1.09743087e-01 -1.16256840e+02] [-3.19719652e-01 9.46930230e-01 3.32036756e-02 1.07508670e+01] [ 1.14591240e-01 3.85705922e-03 9.93405240e-01 -8.72629360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38534707000001 meters Centerline goodness [0,1] 0.9993388429752066 Centerline is valid? [True, True] Translation: X:-116.29, Y:10.76, Z:-8.73 [[ 9.40559923e-01 3.21682113e-01 -1.08938745e-01 -1.16286826e+02] [-3.20013596e-01 9.46839814e-01 3.29494198e-02 1.07577519e+01] [ 1.13746780e-01 3.87097576e-03 9.93502232e-01 -8.72846330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41534707000001 meters Centerline goodness [0,1] 0.9995450973905132 Centerline is valid? [True, True] Translation: X:-116.32, Y:10.77, Z:-8.73 [[ 9.40404188e-01 3.22341717e-01 -1.08331808e-01 -1.16316322e+02] [-3.20697316e-01 9.46615184e-01 3.27555254e-02 1.07704102e+01] [ 1.13107007e-01 3.93828669e-03 9.93575007e-01 -8.73107146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44534707000001 meters Centerline goodness [0,1] 0.9993813922797756 Centerline is valid? [True, True] Translation: X:-116.35, Y:10.78, Z:-8.73 [[ 9.40830921e-01 3.21068953e-01 -1.08406209e-01 -1.16346048e+02] [-3.19415483e-01 9.47048192e-01 3.27638832e-02 1.07834519e+01] [ 1.13185370e-01 3.80134710e-03 9.93566617e-01 -8.73119524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47534707000001 meters Centerline goodness [0,1] 0.9991742702613434 Centerline is valid? [True, True] Translation: X:-116.38, Y:10.79, Z:-8.73 [[ 9.40228490e-01 3.22625258e-01 -1.09010687e-01 -1.16375981e+02] [-3.20965171e-01 9.46518226e-01 3.29333665e-02 1.07942305e+01] [ 1.13805738e-01 4.02374419e-03 9.93494873e-01 -8.73294803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.50534707000001 meters Centerline goodness [0,1] 0.9988210423611675 Centerline is valid? [True, True] Translation: X:-116.40, Y:10.81, Z:-8.73 [[ 9.40958830e-01 3.20158354e-01 -1.09977764e-01 -1.16404572e+02] [-3.18457160e-01 9.47356410e-01 3.31793646e-02 1.08103640e+01] [ 1.14810791e-01 3.80279046e-03 9.93380099e-01 -8.73215573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53534707000001 meters Centerline goodness [0,1] 0.9988286842219426 Centerline is valid? [True, True] Translation: X:-116.44, Y:10.81, Z:-8.74 [[ 9.40729258e-01 3.22047985e-01 -1.06365211e-01 -1.16436429e+02] [-3.20473519e-01 9.46715157e-01 3.20489502e-02 1.08104973e+01] [ 1.11018857e-01 3.93784821e-03 9.93810498e-01 -8.73815126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.56534707000002 meters Centerline goodness [0,1] 0.9986751570579939 Centerline is valid? [True, True] Translation: X:-116.47, Y:10.82, Z:-8.74 [[ 9.41914690e-01 3.18198773e-01 -1.07453516e-01 -1.16465547e+02] [-3.16570325e-01 9.48017376e-01 3.23463241e-02 1.08238518e+01] [ 1.12160361e-01 3.54911656e-03 9.93683781e-01 -8.73978360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.59534707000002 meters Centerline goodness [0,1] 0.9983251019969938 Centerline is valid? [True, True] Translation: X:-116.50, Y:10.83, Z:-8.74 [[ 9.42894996e-01 3.15060712e-01 -1.08100755e-01 -1.16496212e+02] [-3.13393285e-01 9.49066104e-01 3.25296752e-02 1.08279299e+01] [ 1.12843585e-01 3.20598267e-03 9.93607592e-01 -8.74385208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.62534707000002 meters Centerline goodness [0,1] 0.9979693713512141 Centerline is valid? [True, True] Translation: X:-116.53, Y:10.84, Z:-8.74 [[ 9.45365066e-01 3.06980653e-01 -1.09762334e-01 -1.16526324e+02] [-3.05207908e-01 9.51713018e-01 3.30221687e-02 1.08357900e+01] [ 1.14599409e-01 2.28232766e-03 9.93409164e-01 -8.74412455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.65534707000002 meters Centerline goodness [0,1] 0.9977597794244356 Centerline is valid? [True, True] Translation: X:-116.56, Y:10.84, Z:-8.75 [[ 9.47098858e-01 3.01998272e-01 -1.08631477e-01 -1.16556418e+02] [-3.00229658e-01 9.53307019e-01 3.26784312e-02 1.08425673e+01] [ 1.13427979e-01 1.66468629e-03 9.93544827e-01 -8.74629036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.68534707000002 meters Centerline goodness [0,1] 0.9972695358210896 Centerline is valid? [True, True] Translation: X:-116.59, Y:10.85, Z:-8.75 [[ 9.49798587e-01 2.93191840e-01 -1.09184202e-01 -1.16586867e+02] [-2.91348191e-01 9.56053427e-01 3.28340853e-02 1.08467993e+01] [ 1.14012617e-01 6.24852011e-04 9.93479105e-01 -8.74749089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71534707 meters Centerline goodness [0,1] 0.9967514185472344 Centerline is valid? [True, True] Translation: X:-116.62, Y:10.85, Z:-8.75 [[ 9.51774123e-01 2.86566443e-01 -1.09570491e-01 -1.16615698e+02] [-2.84666267e-01 9.58060356e-01 3.29464769e-02 1.08535666e+01] [ 1.14416498e-01 -1.66581473e-04 9.93432855e-01 -8.74826718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.74534707000001 meters Centerline goodness [0,1] 0.998167139428322 Centerline is valid? [True, True] Translation: X:-116.64, Y:10.86, Z:-8.76 [[ 9.53431414e-01 2.80967248e-01 -1.09662863e-01 -1.16643158e+02] [-2.79026030e-01 9.59716983e-01 3.29816102e-02 1.08608039e+01] [ 1.14512065e-01 -8.46909964e-04 9.93421497e-01 -8.75573127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-116.67, Y:10.87, Z:-8.76 [[ 9.54302198e-01 2.77441260e-01 -1.11057025e-01 -1.16671239e+02] [-2.75424773e-01 9.60741723e-01 3.34146185e-02 1.08683358e+01] [ 1.15967712e-01 -1.29978796e-03 9.93252133e-01 -8.75771772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.80534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-116.70, Y:10.88, Z:-8.76 [[ 9.53493550e-01 2.80441305e-01 -1.10465939e-01 -1.16696576e+02] [-2.78460544e-01 9.59870677e-01 3.32867551e-02 1.08825976e+01] [ 1.15367997e-01 -9.78300754e-04 9.93322339e-01 -8.75639570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83534707000001 meters Centerline goodness [0,1] 0.9999141336081058 Centerline is valid? [True, True] Translation: X:-116.72, Y:10.89, Z:-8.76 [[ 9.53808999e-01 2.79202813e-01 -1.10879131e-01 -1.16722018e+02] [-2.77195406e-01 9.60231452e-01 3.34404724e-02 1.08917441e+01] [ 1.15806303e-01 -1.16063793e-03 9.93271138e-01 -8.76287616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.86534707000001 meters Centerline goodness [0,1] 0.9998702927061265 Centerline is valid? [True, True] Translation: X:-116.75, Y:10.91, Z:-8.76 [[ 9.53892414e-01 2.78990461e-01 -1.10695917e-01 -1.16749289e+02] [-2.76981492e-01 9.60293071e-01 3.34435347e-02 1.09081354e+01] [ 1.15630950e-01 -1.24081364e-03 9.93291470e-01 -8.76368698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89534707000001 meters Centerline goodness [0,1] 0.9998702927061265 Centerline is valid? [True, True] Translation: X:-116.78, Y:10.92, Z:-8.77 [[ 9.53921743e-01 2.78889120e-01 -1.10698543e-01 -1.16779397e+02] [-2.76880479e-01 9.60322504e-01 3.34348433e-02 1.09173369e+01] [ 1.15630916e-01 -1.24395854e-03 9.93291470e-01 -8.76734292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.92534707000002 meters Centerline goodness [0,1] 0.9995155892196582 Centerline is valid? [True, True] Translation: X:-116.81, Y:10.93, Z:-8.77 [[ 9.53419458e-01 2.80729339e-01 -1.10373797e-01 -1.16807303e+02] [-2.78746267e-01 9.59786449e-01 3.33240403e-02 1.09319400e+01] [ 1.15290311e-01 -1.00550444e-03 9.93331331e-01 -8.76792231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95534707000002 meters Centerline goodness [0,1] 0.9999568221070811 Centerline is valid? [True, True] Translation: X:-116.84, Y:10.94, Z:-8.77 [[ 9.54027651e-01 2.78482678e-01 -1.10809020e-01 -1.16836615e+02] [-2.76469947e-01 9.60440409e-01 3.34453194e-02 1.09411972e+01] [ 1.15739403e-01 -1.27239558e-03 9.93278799e-01 -8.77244476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.98534707000002 meters Centerline goodness [0,1] 0.9999117660034411 Centerline is valid? [True, True] Translation: X:-116.87, Y:10.95, Z:-8.77 [[ 9.54282157e-01 2.77864032e-01 -1.10168705e-01 -1.16865741e+02] [-2.75871237e-01 9.60619489e-01 3.32454237e-02 1.09533110e+01] [ 1.15067912e-01 -1.33313781e-03 9.93356733e-01 -8.77360170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.01534707000002 meters Centerline goodness [0,1] 0.9995131019830028 Centerline is valid? [True, True] Translation: X:-116.90, Y:10.96, Z:-8.77 [[ 9.55761463e-01 2.72610756e-01 -1.10469006e-01 -1.16896812e+02] [-2.70574452e-01 9.62122429e-01 3.33151164e-02 1.09612226e+01] [ 1.15366768e-01 -1.95121349e-03 9.93321047e-01 -8.77453986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.04534707000002 meters Centerline goodness [0,1] 0.999955879108758 Centerline is valid? [True, True] Translation: X:-116.93, Y:10.97, Z:-8.78 [[ 9.57603819e-01 2.66267942e-01 -1.09983223e-01 -1.16925981e+02] [-2.64208940e-01 9.63895286e-01 3.31589130e-02 1.09672295e+01] [ 1.14841466e-01 -2.69455096e-03 9.93380178e-01 -8.77764493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.07534707000002 meters Centerline goodness [0,1] 0.9999560168895144 Centerline is valid? [True, True] Translation: X:-116.96, Y:10.97, Z:-8.78 [[ 9.59038646e-01 2.61308178e-01 -1.09375097e-01 -1.16955143e+02] [-2.59239845e-01 9.65249886e-01 3.29751409e-02 1.09719745e+01] [ 1.14190974e-01 -3.27005130e-03 9.93453435e-01 -8.78018489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.10534707000001 meters Centerline goodness [0,1] 0.9998242993938329 Centerline is valid? [True, True] Translation: X:-116.99, Y:10.97, Z:-8.78 [[ 9.61280595e-01 2.52786800e-01 -1.09719874e-01 -1.16987416e+02] [-2.50645098e-01 9.67512281e-01 3.31212950e-02 1.09695564e+01] [ 1.14527952e-01 -4.33810950e-03 9.93410554e-01 -8.78323414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13534707000001 meters Centerline goodness [0,1] 0.9991773111063 Centerline is valid? [True, True] Translation: X:-117.02, Y:10.98, Z:-8.79 [[ 9.63263612e-01 2.44812678e-01 -1.10408179e-01 -1.17015370e+02] [-2.42591313e-01 9.69555780e-01 3.33323325e-02 1.09770896e+01] [ 1.15207066e-01 -5.32375774e-03 9.93327232e-01 -8.78686576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.16534707000001 meters Centerline goodness [0,1] 0.9993018588009425 Centerline is valid? [True, True] Translation: X:-117.04, Y:10.98, Z:-8.79 [[ 9.65269274e-01 2.37055805e-01 -1.09817000e-01 -1.17043764e+02] [-2.34807768e-01 9.71476118e-01 3.31581550e-02 1.09820751e+01] [ 1.14544926e-01 -6.22066356e-03 9.93398592e-01 -8.79104656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19534707000001 meters Centerline goodness [0,1] 0.9996516589741357 Centerline is valid? [True, True] Translation: X:-117.07, Y:10.98, Z:-8.79 [[ 9.65838603e-01 2.34588193e-01 -1.10109822e-01 -1.17074488e+02] [-2.32311716e-01 9.72072876e-01 3.32504025e-02 1.09810360e+01] [ 1.14834923e-01 -6.53472058e-03 9.93363095e-01 -8.79389031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.22534707000001 meters Centerline goodness [0,1] 0.9992260061919505 Centerline is valid? [True, True] Translation: X:-117.10, Y:10.99, Z:-8.80 [[ 9.66413819e-01 2.31904239e-01 -1.10746353e-01 -1.17100265e+02] [-2.29578802e-01 9.72713896e-01 3.34850672e-02 1.09946835e+01] [ 1.15489846e-01 -6.93541654e-03 9.93284448e-01 -8.79858208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25534707000001 meters Centerline goodness [0,1] 0.9996509141685211 Centerline is valid? [True, True] Translation: X:-117.12, Y:11.01, Z:-8.80 [[ 9.65343028e-01 2.36377233e-01 -1.10628399e-01 -1.17124369e+02] [-2.34085231e-01 9.71640290e-01 3.34552208e-02 1.10141710e+01] [ 1.15399062e-01 -6.39928974e-03 9.93298598e-01 -8.80055779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.28534707000001 meters Centerline goodness [0,1] 0.9993828793088249 Centerline is valid? [True, True] Translation: X:-117.15, Y:11.03, Z:-8.80 [[ 9.63601159e-01 2.42949635e-01 -1.11571865e-01 -1.17150860e+02] [-2.40661164e-01 9.70022348e-01 3.37468419e-02 1.10310510e+01] [ 1.16425986e-01 -5.66748092e-03 9.93183200e-01 -8.80181132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31534707000002 meters Centerline goodness [0,1] 0.9995060176037363 Centerline is valid? [True, True] Translation: X:-117.17, Y:11.06, Z:-8.81 [[ 9.60477256e-01 2.54477140e-01 -1.12804375e-01 -1.17171671e+02] [-2.52216058e-01 9.67069127e-01 3.41227733e-02 1.10635388e+01] [ 1.17773094e-01 -4.32307291e-03 9.93031122e-01 -8.80557254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.34534707000002 meters Centerline goodness [0,1] 0.9996795752082761 Centerline is valid? [True, True] Translation: X:-117.19, Y:11.09, Z:-8.81 [[ 9.56980176e-01 2.67477821e-01 -1.12448019e-01 -1.17194228e+02] [-2.65319737e-01 9.63560179e-01 3.40179304e-02 1.10890108e+01] [ 1.17449476e-01 -2.71980609e-03 9.93075135e-01 -8.80997073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.37534707000002 meters Centerline goodness [0,1] 0.9996816300541229 Centerline is valid? [True, True] Translation: X:-117.22, Y:11.12, Z:-8.81 [[ 9.53587677e-01 2.78641353e-01 -1.14147006e-01 -1.17218185e+02] [-2.76497096e-01 9.60394260e-01 3.45285690e-02 1.11161773e+01] [ 1.19247217e-01 -1.36470224e-03 9.92863656e-01 -8.81318884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.40534707000002 meters Centerline goodness [0,1] 0.9998161764705882 Centerline is valid? [True, True] Translation: X:-117.24, Y:11.14, Z:-8.81 [[ 9.51468890e-01 2.85737333e-01 -1.14285295e-01 -1.17243863e+02] [-2.83639299e-01 9.58307859e-01 3.45658050e-02 1.11393895e+01] [ 1.19397237e-01 -4.72487144e-04 9.92846452e-01 -8.81388780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.43534707000002 meters Centerline goodness [0,1] 0.9998616746587975 Centerline is valid? [True, True] Translation: X:-117.27, Y:11.16, Z:-8.82 [[ 9.50141292e-01 2.89986167e-01 -1.14627871e-01 -1.17272966e+02] [-2.87911166e-01 9.57030832e-01 3.46287119e-02 1.11578646e+01] [ 1.19744254e-01 1.00474846e-04 9.92804766e-01 -8.81895087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46534707 meters Centerline goodness [0,1] 0.9997663769741145 Centerline is valid? [True, True] Translation: X:-117.30, Y:11.17, Z:-8.82 [[ 9.50514953e-01 2.88617646e-01 -1.14983383e-01 -1.17302618e+02] [-2.86525816e-01 9.57444439e-01 3.46857741e-02 1.11704709e+01] [ 1.20101127e-01 -2.36393602e-05 9.92761663e-01 -8.82247155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49534707000001 meters Centerline goodness [0,1] 0.9999533451525614 Centerline is valid? [True, True] Translation: X:-117.33, Y:11.18, Z:-8.83 [[ 9.51143158e-01 2.86516824e-01 -1.15042612e-01 -1.17333297e+02] [-2.84413163e-01 9.58075180e-01 3.46569321e-02 1.11790651e+01] [ 1.20149265e-01 -2.44070809e-04 9.92755808e-01 -8.82984016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-117.37, Y:11.18, Z:-8.83 [[ 9.52666334e-01 2.81685967e-01 -1.14367267e-01 -1.17365109e+02] [-2.79576020e-01 9.59506303e-01 3.44224318e-02 1.11837691e+01] [ 1.19432429e-01 -8.18746617e-04 9.92841994e-01 -8.83219400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-117.40, Y:11.19, Z:-8.84 [[ 9.53180397e-01 2.79840270e-01 -1.14614812e-01 -1.17396633e+02] [-2.77709395e-01 9.60046010e-01 3.44840519e-02 1.11912188e+01] [ 1.19685520e-01 -1.03991209e-03 9.92811309e-01 -8.83688737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-117.43, Y:11.20, Z:-8.84 [[ 9.54377813e-01 2.75568364e-01 -1.15000290e-01 -1.17426628e+02] [-2.73393846e-01 9.61280198e-01 3.45859158e-02 1.11997866e+01] [ 1.20078286e-01 -1.56765915e-03 9.92763188e-01 -8.84295018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61534707000001 meters Centerline goodness [0,1] 0.9999066946582692 Centerline is valid? [True, True] Translation: X:-117.46, Y:11.21, Z:-8.84 [[ 9.54459397e-01 2.75494471e-01 -1.14499152e-01 -1.17458545e+02] [-2.73343324e-01 9.61301438e-01 3.43943695e-02 1.12101166e+01] [ 1.19543658e-01 -1.53045041e-03 9.92827765e-01 -8.84321553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.64534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-117.49, Y:11.22, Z:-8.85 [[ 9.54222883e-01 2.75972076e-01 -1.15317399e-01 -1.17489274e+02] [-2.73795812e-01 9.61164541e-01 3.46204931e-02 1.12215916e+01] [ 1.20393285e-01 -1.46224575e-03 9.92725198e-01 -8.85202381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-117.52, Y:11.23, Z:-8.86 [[ 9.53826713e-01 2.77159245e-01 -1.15746942e-01 -1.17518725e+02] [-2.74977690e-01 9.60823119e-01 3.47304551e-02 1.12334523e+01] [ 1.20838205e-01 -1.29900915e-03 9.92671366e-01 -8.85788999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.70534707000002 meters Centerline goodness [0,1] 0.9999531988580521 Centerline is valid? [True, True] Translation: X:-117.55, Y:11.25, Z:-8.86 [[ 9.53617528e-01 2.77402174e-01 -1.16883032e-01 -1.17547557e+02] [-2.75180818e-01 9.60753051e-01 3.50584136e-02 1.12470014e+01] [ 1.22021010e-01 -1.26834943e-03 9.92526707e-01 -8.86197786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.73534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-117.58, Y:11.26, Z:-8.87 [[ 9.53402172e-01 2.78184513e-01 -1.16780461e-01 -1.17577919e+02] [-2.75974681e-01 9.60526963e-01 3.50132690e-02 1.12599636e+01] [ 1.21910930e-01 -1.15327641e-03 9.92540374e-01 -8.86853059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.76534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-117.61, Y:11.27, Z:-8.87 [[ 9.52773518e-01 2.80120719e-01 -1.17281738e-01 -1.17607446e+02] [-2.77912584e-01 9.59964396e-01 3.51134474e-02 1.12726345e+01] [ 1.22422297e-01 -8.61091841e-04 9.92477728e-01 -8.87357225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.79534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-117.64, Y:11.29, Z:-8.88 [[ 9.51795431e-01 2.83540212e-01 -1.17006011e-01 -1.17635184e+02] [-2.81373358e-01 9.58960272e-01 3.49889931e-02 1.12858261e+01] [ 1.22124903e-01 -3.79989465e-04 9.92514667e-01 -8.87859423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.82534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-117.67, Y:11.30, Z:-8.88 [[ 9.51914386e-01 2.82885912e-01 -1.17620418e-01 -1.17666547e+02] [-2.80694154e-01 9.59153462e-01 3.51486528e-02 1.12974145e+01] [ 1.22759090e-01 -4.43144623e-04 9.92436401e-01 -8.88212945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85534707000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-117.70, Y:11.31, Z:-8.89 [[ 9.51957965e-01 2.82413840e-01 -1.18399563e-01 -1.17697018e+02] [-2.80195674e-01 9.59292559e-01 3.53294539e-02 1.13080972e+01] [ 1.23557347e-01 -4.57109664e-04 9.92337328e-01 -8.88818252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88534707000001 meters Centerline goodness [0,1] 0.9985816273462248 Centerline is valid? [True, True] Translation: X:-117.73, Y:11.32, Z:-8.89 [[ 9.50362630e-01 2.89723250e-01 -1.13451793e-01 -1.17726510e+02] [-2.87744562e-01 9.57110324e-01 3.38067391e-02 1.13218022e+01] [ 1.18380481e-01 5.16475098e-04 9.92968174e-01 -8.89146899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91534707000001 meters Centerline goodness [0,1] 0.9988538681948425 Centerline is valid? [True, True] Translation: X:-117.76, Y:11.33, Z:-8.89 [[ 9.50487269e-01 2.88963524e-01 -1.14341738e-01 -1.17756892e+02] [-2.86953098e-01 9.57339995e-01 3.40301942e-02 1.13316175e+01] [ 1.19297404e-01 4.65449587e-04 9.92858456e-01 -8.89480042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94534707000001 meters Centerline goodness [0,1] 0.9982641400260379 Centerline is valid? [True, True] Translation: X:-117.79, Y:11.34, Z:-8.90 [[ 9.49760531e-01 2.92174775e-01 -1.12199972e-01 -1.17786863e+02] [-2.90266084e-01 9.56364527e-01 3.33540236e-02 1.13447816e+01] [ 1.17049278e-01 8.89511466e-04 9.93125710e-01 -8.89652423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97534707000001 meters Centerline goodness [0,1] 0.997718739603631 Centerline is valid? [True, True] Translation: X:-117.82, Y:11.36, Z:-8.90 [[ 9.49710701e-01 2.92062585e-01 -1.12911604e-01 -1.17817756e+02] [-2.90133215e-01 9.56398769e-01 3.35277929e-02 1.13554906e+01] [ 1.17780733e-01 9.17703069e-04 9.93039202e-01 -8.90149561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.00534707000001 meters Centerline goodness [0,1] 0.9976694411414982 Centerline is valid? [True, True] Translation: X:-117.85, Y:11.37, Z:-8.91 [[ 9.49552132e-01 2.92125587e-01 -1.14076248e-01 -1.17848165e+02] [-2.90161802e-01 9.56379467e-01 3.38296117e-02 1.13683230e+01] [ 1.18982677e-01 9.77589960e-04 9.92895849e-01 -8.90627336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03534707000001 meters Centerline goodness [0,1] 0.9977036788977659 Centerline is valid? [True, True] Translation: X:-117.88, Y:11.38, Z:-8.91 [[ 9.49530473e-01 2.92286391e-01 -1.13844398e-01 -1.17878980e+02] [-2.90336940e-01 9.56330272e-01 3.37175314e-02 1.13805390e+01] [ 1.18728020e-01 1.03741065e-03 9.92926272e-01 -8.91235189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.06534707000002 meters Centerline goodness [0,1] 0.9978424509756916 Centerline is valid? [True, True] Translation: X:-117.91, Y:11.39, Z:-8.92 [[ 9.49629488e-01 2.91170530e-01 -1.15860079e-01 -1.17909202e+02] [-2.89148407e-01 9.56670688e-01 3.42694184e-02 1.13929392e+01] [ 1.20818186e-01 9.57507157e-04 9.92674191e-01 -8.91846067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.09534707000002 meters Centerline goodness [0,1] 0.9977188895360124 Centerline is valid? [True, True] Translation: X:-117.94, Y:11.41, Z:-8.92 [[ 9.48944817e-01 2.93940274e-01 -1.14467677e-01 -1.17937849e+02] [-2.91991800e-01 9.55822857e-01 3.38150159e-02 1.14061043e+01] [ 1.19350417e-01 1.33503895e-03 9.92851296e-01 -8.92122740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.12534707000002 meters Centerline goodness [0,1] 0.9966369352244481 Centerline is valid? [True, True] Translation: X:-117.97, Y:11.42, Z:-8.92 [[ 9.48007880e-01 2.97433197e-01 -1.13201385e-01 -1.17967497e+02] [-2.95555118e-01 9.54740981e-01 3.34190409e-02 1.14184425e+01] [ 1.18017933e-01 1.77573452e-03 9.93009876e-01 -8.92302182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.15534707000002 meters Centerline goodness [0,1] 0.9971274161351575 Centerline is valid? [True, True] Translation: X:-118.00, Y:11.43, Z:-8.93 [[ 9.47974759e-01 2.97172254e-01 -1.14160011e-01 -1.17997949e+02] [-2.95265002e-01 9.54822195e-01 3.36623525e-02 1.14307020e+01] [ 1.19006030e-01 1.79639547e-03 9.92891906e-01 -8.92988692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.18534707000002 meters Centerline goodness [0,1] 0.9967404188067958 Centerline is valid? [True, True] Translation: X:-118.03, Y:11.44, Z:-8.93 [[ 9.47308947e-01 2.99943304e-01 -1.12426746e-01 -1.18028340e+02] [-2.98118264e-01 9.53954600e-01 3.31077423e-02 1.14426030e+01] [ 1.17180457e-01 2.15320591e-03 9.93108304e-01 -8.93177178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21534707 meters Centerline goodness [0,1] 0.9961747829924967 Centerline is valid? [True, True] Translation: X:-118.06, Y:11.45, Z:-8.94 [[ 9.47474492e-01 2.99096131e-01 -1.13285441e-01 -1.18059989e+02] [-2.97241719e-01 9.54220668e-01 3.33208210e-02 1.14523322e+01] [ 1.18065438e-01 2.10253130e-03 9.93003591e-01 -8.93508053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24534707000001 meters Centerline goodness [0,1] 0.996292084837099 Centerline is valid? [True, True] Translation: X:-118.09, Y:11.46, Z:-8.94 [[ 9.47478800e-01 2.99228659e-01 -1.12898770e-01 -1.18090086e+02] [-2.97393193e-01 9.54179001e-01 3.31620750e-02 1.14615222e+01] [ 1.17648679e-01 2.15496263e-03 9.93052941e-01 -8.93863570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27534707000001 meters Centerline goodness [0,1] 0.995062331948179 Centerline is valid? [True, True] Translation: X:-118.12, Y:11.47, Z:-8.95 [[ 9.47899101e-01 2.97404395e-01 -1.14183714e-01 -1.18120537e+02] [-2.95518842e-01 9.54749524e-01 3.34956668e-02 1.14707412e+01] [ 1.18978605e-01 1.99292654e-03 9.92894818e-01 -8.94688628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30534707000001 meters Centerline goodness [0,1] 0.995105716523101 Centerline is valid? [True, True] Translation: X:-118.15, Y:11.48, Z:-8.95 [[ 9.47078212e-01 3.00440376e-01 -1.13041767e-01 -1.18150754e+02] [-2.98618684e-01 9.53797608e-01 3.31210545e-02 1.14828726e+01] [ 1.17769869e-01 2.38815473e-03 9.93038043e-01 -8.95138167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33534707000001 meters Centerline goodness [0,1] 0.995654721218631 Centerline is valid? [True, True] Translation: X:-118.18, Y:11.49, Z:-8.96 [[ 9.47279593e-01 2.99415812e-01 -1.14068158e-01 -1.18181164e+02] [-2.97555150e-01 9.54119962e-01 3.34070605e-02 1.14882329e+01] [ 1.18837309e-01 2.29574123e-03 9.92911085e-01 -8.95666030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.36534707000001 meters Centerline goodness [0,1] 0.9948924992703571 Centerline is valid? [True, True] Translation: X:-118.21, Y:11.50, Z:-8.96 [[ 9.46736841e-01 3.00790321e-01 -1.14954501e-01 -1.18211369e+02] [-2.98913489e-01 9.53686993e-01 3.36429146e-02 1.14992956e+01] [ 1.19750075e-01 2.51046425e-03 9.92800895e-01 -8.96301460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39534707000001 meters Centerline goodness [0,1] 0.9940398313708387 Centerline is valid? [True, True] Translation: X:-118.24, Y:11.51, Z:-8.97 [[ 9.46073576e-01 3.03150257e-01 -1.14213446e-01 -1.18240866e+02] [-3.01319710e-01 9.52938565e-01 3.33844785e-02 1.15122479e+01] [ 1.18958910e-01 2.83058933e-03 9.92895143e-01 -8.96899832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.42534707000002 meters Centerline goodness [0,1] 0.9943980343980344 Centerline is valid? [True, True] Translation: X:-118.27, Y:11.52, Z:-8.97 [[ 9.45127138e-01 3.05996486e-01 -1.14458917e-01 -1.18271154e+02] [-3.04183775e-01 9.52027144e-01 3.34147888e-02 1.15242619e+01] [ 1.19192804e-01 3.23532181e-03 9.92865856e-01 -8.97222364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45534707000002 meters Centerline goodness [0,1] 0.9946210027635215 Centerline is valid? [True, True] Translation: X:-118.30, Y:11.53, Z:-8.97 [[ 9.45032114e-01 3.05848244e-01 -1.15633710e-01 -1.18301533e+02] [-3.04001723e-01 9.52074598e-01 3.37181315e-02 1.15319871e+01] [ 1.20404550e-01 3.28813015e-03 9.92719463e-01 -8.97450523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.48534707000002 meters Centerline goodness [0,1] 0.9936417881248166 Centerline is valid? [True, True] Translation: X:-118.33, Y:11.54, Z:-8.98 [[ 9.43877303e-01 3.09620555e-01 -1.15024993e-01 -1.18330979e+02] [-3.07825632e-01 9.50852670e-01 3.35049270e-02 1.15430924e+01] [ 1.19745636e-01 3.78310118e-03 9.92797397e-01 -8.97923715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.51534707000002 meters Centerline goodness [0,1] 0.9931590520400684 Centerline is valid? [True, True] Translation: X:-118.36, Y:11.55, Z:-8.99 [[ 9.44120757e-01 3.07911481e-01 -1.17586207e-01 -1.18360797e+02] [-3.06023645e-01 9.51407980e-01 3.42401071e-02 1.15514829e+01] [ 1.22415377e-01 3.65736377e-03 9.92472216e-01 -8.98978565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.54534707000002 meters Centerline goodness [0,1] 0.993081452404318 Centerline is valid? [True, True] Translation: X:-118.39, Y:11.56, Z:-8.99 [[ 9.43820322e-01 3.09113125e-01 -1.16842952e-01 -1.18390737e+02] [-3.07263244e-01 9.51017575e-01 3.39833975e-02 1.15624800e+01] [ 1.21624415e-01 3.82732326e-03 9.92568815e-01 -8.99414711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.57534707000002 meters Centerline goodness [0,1] 0.9925544942444281 Centerline is valid? [True, True] Translation: X:-118.42, Y:11.57, Z:-9.00 [[ 9.43686153e-01 3.09472847e-01 -1.16974360e-01 -1.18421374e+02] [-3.07626410e-01 9.50900216e-01 3.39819253e-02 1.15691983e+01] [ 1.21747427e-01 3.91613007e-03 9.92553388e-01 -8.99926921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60534707000001 meters Centerline goodness [0,1] 0.9927836559559218 Centerline is valid? [True, True] Translation: X:-118.45, Y:11.57, Z:-9.01 [[ 9.44401609e-01 3.06167057e-01 -1.19863815e-01 -1.18451813e+02] [-3.04206199e-01 9.51970943e-01 3.47837929e-02 1.15738065e+01] [ 1.24756521e-01 3.61344566e-03 9.92180807e-01 -9.00776930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63534707000001 meters Centerline goodness [0,1] 0.9933883475840127 Centerline is valid? [True, True] Translation: X:-118.48, Y:11.58, Z:-9.01 [[ 9.43491863e-01 3.09395740e-01 -1.18732390e-01 -1.18482597e+02] [-3.07501782e-01 9.50924805e-01 3.44190369e-02 1.15832020e+01] [ 1.23554678e-01 4.03634019e-03 9.92329557e-01 -9.00845856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66534707000001 meters Centerline goodness [0,1] 0.9927230753789019 Centerline is valid? [True, True] Translation: X:-118.51, Y:11.59, Z:-9.02 [[ 9.43386355e-01 3.10339777e-01 -1.17095719e-01 -1.18513517e+02] [-3.08509727e-01 9.50616693e-01 3.39064956e-02 1.15860077e+01] [ 1.21835679e-01 4.13824289e-03 9.92541658e-01 -9.01518854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69534707000001 meters Centerline goodness [0,1] 0.9934614622548048 Centerline is valid? [True, True] Translation: X:-118.54, Y:11.59, Z:-9.02 [[ 9.44051646e-01 3.07284348e-01 -1.19761508e-01 -1.18544140e+02] [-3.05348336e-01 9.51609941e-01 3.46542132e-02 1.15900753e+01] [ 1.24614938e-01 3.85361009e-03 9.92197695e-01 -9.01917122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72534707000001 meters Centerline goodness [0,1] 0.9933414932680539 Centerline is valid? [True, True] Translation: X:-118.57, Y:11.60, Z:-9.03 [[ 9.44941898e-01 3.03838312e-01 -1.21519909e-01 -1.18574480e+02] [-3.01817752e-01 9.52717331e-01 3.51529785e-02 1.15999652e+01] [ 1.26454945e-01 3.45934363e-03 9.91966320e-01 -9.02639936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75534707000001 meters Centerline goodness [0,1] 0.9923503537961369 Centerline is valid? [True, True] Translation: X:-118.61, Y:11.61, Z:-9.03 [[ 9.45176303e-01 3.02481137e-01 -1.23072818e-01 -1.18605804e+02] [-3.00403101e-01 9.53149428e-01 3.55548133e-02 1.16079838e+01] [ 1.28061446e-01 3.36588906e-03 9.91760524e-01 -9.03499427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.78534707000001 meters Centerline goodness [0,1] 0.9937717620518857 Centerline is valid? [True, True] Translation: X:-118.64, Y:11.61, Z:-9.04 [[ 9.44938110e-01 3.03722089e-01 -1.21839489e-01 -1.18636354e+02] [-3.01701895e-01 9.52754081e-01 3.51515027e-02 1.16135966e+01] [ 1.26759358e-01 3.54321018e-03 9.91927170e-01 -9.03818288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81534707000002 meters Centerline goodness [0,1] 0.9937717620518857 Centerline is valid? [True, True] Translation: X:-118.67, Y:11.62, Z:-9.04 [[ 9.45051569e-01 3.03364513e-01 -1.21850333e-01 -1.18667447e+02] [-3.01346209e-01 9.52868028e-01 3.51138737e-02 1.16228503e+01] [ 1.26759590e-01 3.53471455e-03 9.91927171e-01 -9.04194018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.84534707000002 meters Centerline goodness [0,1] 0.9927700390417892 Centerline is valid? [True, True] Translation: X:-118.70, Y:11.63, Z:-9.05 [[ 9.44809070e-01 3.03722171e-01 -1.22835921e-01 -1.18697565e+02] [-3.01680369e-01 9.52753614e-01 3.53483504e-02 1.16297644e+01] [ 1.27768446e-01 3.65974410e-03 9.91797273e-01 -9.04771445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.87534707000002 meters Centerline goodness [0,1] 0.9931536780772032 Centerline is valid? [True, True] Translation: X:-118.73, Y:11.64, Z:-9.05 [[ 9.44577000e-01 3.03871618e-01 -1.24243030e-01 -1.18727408e+02] [-3.01789379e-01 9.52705557e-01 3.57112405e-02 1.16376602e+01] [ 1.29218658e-01 3.76321054e-03 9.91608984e-01 -9.05206036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.90534707000002 meters Centerline goodness [0,1] 0.9934599360527081 Centerline is valid? [True, True] Translation: X:-118.76, Y:11.65, Z:-9.06 [[ 9.44192854e-01 3.04924709e-01 -1.24582406e-01 -1.18757461e+02] [-3.02845759e-01 9.52368230e-01 3.57659172e-02 1.16482082e+01] [ 1.29554238e-01 3.95932991e-03 9.91564432e-01 -9.05662089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.93534707000002 meters Centerline goodness [0,1] 0.9931666254023274 Centerline is valid? [True, True] Translation: X:-118.79, Y:11.66, Z:-9.06 [[ 9.43448412e-01 3.07502889e-01 -1.23883278e-01 -1.18788191e+02] [-3.05475310e-01 9.51537284e-01 3.55194621e-02 1.16584283e+01] [ 1.28801895e-01 4.33250256e-03 9.91660880e-01 -9.05868021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.96534707 meters Centerline goodness [0,1] 0.9923737349513166 Centerline is valid? [True, True] Translation: X:-118.82, Y:11.67, Z:-9.07 [[ 9.43851258e-01 3.04872898e-01 -1.27268689e-01 -1.18817284e+02] [-3.02715269e-01 9.52384090e-01 3.64418729e-02 1.16722688e+01] [ 1.32318814e-01 4.13046802e-03 9.91198603e-01 -9.06849514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99534707000001 meters Centerline goodness [0,1] 0.992702529461072 Centerline is valid? [True, True] Translation: X:-118.85, Y:11.68, Z:-9.07 [[ 9.42473245e-01 3.09784920e-01 -1.25608462e-01 -1.18847392e+02] [-3.07732158e-01 9.50794567e-01 3.59250745e-02 1.16780263e+01] [ 1.30556889e-01 4.79534142e-03 9.91429223e-01 -9.06731252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02534707000001 meters Centerline goodness [0,1] 0.9929750442130084 Centerline is valid? [True, True] Translation: X:-118.88, Y:11.69, Z:-9.07 [[ 9.42734626e-01 3.08609930e-01 -1.26535910e-01 -1.18877639e+02] [-3.06517454e-01 9.51177184e-01 3.61802964e-02 1.16901245e+01] [ 1.31523669e-01 4.67704679e-03 9.91301997e-01 -9.07415884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05534707000001 meters Centerline goodness [0,1] 0.9926818558813485 Centerline is valid? [True, True] Translation: X:-118.91, Y:11.70, Z:-9.08 [[ 9.42399750e-01 3.09489589e-01 -1.26881464e-01 -1.18907669e+02] [-3.07400947e-01 9.50890379e-01 3.62235527e-02 1.17003871e+01] [ 1.31861176e-01 4.86641519e-03 9.91256248e-01 -9.07843787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08534707000001 meters Centerline goodness [0,1] 0.993188673737472 Centerline is valid? [True, True] Translation: X:-118.94, Y:11.70, Z:-9.08 [[ 9.43326393e-01 3.06091120e-01 -1.28232378e-01 -1.18939420e+02] [-3.03932715e-01 9.51991660e-01 3.65620731e-02 1.17033131e+01] [ 1.33267480e-01 4.48404619e-03 9.91069963e-01 -9.08321025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11534707000001 meters Centerline goodness [0,1] 0.9939872957377686 Centerline is valid? [True, True] Translation: X:-118.97, Y:11.71, Z:-9.09 [[ 9.44274553e-01 3.02632706e-01 -1.29456609e-01 -1.18969812e+02] [-3.00406590e-01 9.53098532e-01 3.68655516e-02 1.17120385e+01] [ 1.34541626e-01 4.07841633e-03 9.90899550e-01 -9.08822557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.14534707000001 meters Centerline goodness [0,1] 0.9924619401882051 Centerline is valid? [True, True] Translation: X:-119.00, Y:11.71, Z:-9.09 [[ 9.44739559e-01 3.01823797e-01 -1.27943584e-01 -1.19001832e+02] [-2.99648536e-01 9.53355497e-01 3.63875203e-02 1.17138977e+01] [ 1.32958339e-01 3.96137775e-03 9.91113711e-01 -9.08987249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17534707000002 meters Centerline goodness [0,1] 0.9913826491092177 Centerline is valid? [True, True] Translation: X:-119.03, Y:11.72, Z:-9.10 [[ 9.46065909e-01 2.96864715e-01 -1.29732948e-01 -1.19032359e+02] [-2.94587923e-01 9.54913650e-01 3.68493708e-02 1.17216658e+01] [ 1.34823041e-01 3.35582631e-03 9.90864010e-01 -9.09888666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.20534707000002 meters Centerline goodness [0,1] 0.9916533216868054 Centerline is valid? [True, True] Translation: X:-119.06, Y:11.72, Z:-9.10 [[ 9.46906040e-01 2.94261904e-01 -1.29533328e-01 -1.19064155e+02] [-2.91974603e-01 9.55720023e-01 3.67432766e-02 1.17222629e+01] [ 1.34609741e-01 3.02801134e-03 9.90894065e-01 -9.10235967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.23534707000002 meters Centerline goodness [0,1] 0.9908212325773396 Centerline is valid? [True, True] Translation: X:-119.10, Y:11.73, Z:-9.11 [[ 9.47662257e-01 2.91817569e-01 -1.29532830e-01 -1.19095019e+02] [-2.89514065e-01 9.56470109e-01 3.66951764e-02 1.17292781e+01] [ 1.34602577e-01 2.72694252e-03 9.90895913e-01 -9.10677458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.26534707000002 meters Centerline goodness [0,1] 0.9893739230327399 Centerline is valid? [True, True] Translation: X:-119.13, Y:11.74, Z:-9.11 [[ 9.47631623e-01 2.92431621e-01 -1.28366872e-01 -1.19126191e+02] [-2.90181675e-01 9.56282233e-01 3.63164718e-02 1.17364412e+01] [ 1.33375044e-01 2.83507682e-03 9.91061582e-01 -9.11420657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.29534707000002 meters Centerline goodness [0,1] 0.988352665998377 Centerline is valid? [True, True] Translation: X:-119.16, Y:11.74, Z:-9.12 [[ 9.48440115e-01 2.89301308e-01 -1.29483982e-01 -1.19157033e+02] [-2.86987816e-01 9.57234947e-01 3.65957689e-02 1.17426491e+01] [ 1.34533797e-01 2.45142986e-03 9.90905973e-01 -9.12098805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.32534707000002 meters Centerline goodness [0,1] 0.9870782483847811 Centerline is valid? [True, True] Translation: X:-119.19, Y:11.75, Z:-9.12 [[ 9.48529540e-01 2.88757407e-01 -1.30041810e-01 -1.19188647e+02] [-2.86425466e-01 9.57399209e-01 3.67043282e-02 1.17502035e+01] [ 1.35100573e-01 2.43214668e-03 9.90828905e-01 -9.12352119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35534707000001 meters Centerline goodness [0,1] 0.9869421724781173 Centerline is valid? [True, True] Translation: X:-119.22, Y:11.76, Z:-9.13 [[ 9.48531800e-01 2.88747593e-01 -1.30047111e-01 -1.19219490e+02] [-2.86422788e-01 9.57402037e-01 3.66514138e-02 1.17604253e+01] [ 1.35090377e-01 2.48342477e-03 9.90830168e-01 -9.13042883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38534707000001 meters Centerline goodness [0,1] 0.9854115846367245 Centerline is valid? [True, True] Translation: X:-119.25, Y:11.77, Z:-9.14 [[ 9.48878347e-01 2.86772340e-01 -1.31876864e-01 -1.19250460e+02] [-2.84370646e-01 9.57996020e-01 3.71074263e-02 1.17719540e+01] [ 1.36978894e-01 2.29147564e-03 9.90571316e-01 -9.13763894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41534707000001 meters Centerline goodness [0,1] 0.9843645404991872 Centerline is valid? [True, True] Translation: X:-119.28, Y:11.79, Z:-9.14 [[ 9.47735525e-01 2.90792814e-01 -1.31289426e-01 -1.19279376e+02] [-2.88458638e-01 9.56781611e-01 3.68858222e-02 1.17851264e+01] [ 1.36341440e-01 2.91356476e-03 9.90657621e-01 -9.14295036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.44534707000001 meters Centerline goodness [0,1] 0.9821523322560417 Centerline is valid? [True, True] Translation: X:-119.31, Y:11.80, Z:-9.15 [[ 9.47212035e-01 2.92031360e-01 -1.32314195e-01 -1.19308551e+02] [-2.89679440e-01 9.56403507e-01 3.71234961e-02 1.17970261e+01] [ 1.37386986e-01 3.16487976e-03 9.90512393e-01 -9.14700087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47534707000001 meters Centerline goodness [0,1] 0.981358578957642 Centerline is valid? [True, True] Translation: X:-119.34, Y:11.81, Z:-9.15 [[ 9.46262209e-01 2.94753432e-01 -1.33072332e-01 -1.19337757e+02] [-2.92407970e-01 9.55566456e-01 3.72870976e-02 1.18113733e+01] [ 1.38149956e-01 3.62803895e-03 9.90404678e-01 -9.15424583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.50534707000001 meters Centerline goodness [0,1] 0.9816602784920674 Centerline is valid? [True, True] Translation: X:-119.37, Y:11.83, Z:-9.16 [[ 9.45825929e-01 2.95080817e-01 -1.35427559e-01 -1.19366041e+02] [-2.92662337e-01 9.55464762e-01 3.78925575e-02 1.18268420e+01] [ 1.40577627e-01 3.79478237e-03 9.90062387e-01 -9.16313717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53534707000001 meters Centerline goodness [0,1] 0.9809345055813494 Centerline is valid? [True, True] Translation: X:-119.39, Y:11.84, Z:-9.17 [[ 9.44842086e-01 2.98507671e-01 -1.34783543e-01 -1.19394926e+02] [-2.96154423e-01 9.54397389e-01 3.76587456e-02 1.18426727e+01] [ 1.39878486e-01 4.33517478e-03 9.90159187e-01 -9.16925280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.56534707000002 meters Centerline goodness [0,1] 0.9818728189220628 Centerline is valid? [True, True] Translation: X:-119.42, Y:11.86, Z:-9.18 [[ 9.44022409e-01 3.00126916e-01 -1.36914299e-01 -1.19422222e+02] [-2.97721975e-01 9.53887732e-01 3.82076020e-02 1.18600803e+01] [ 1.42068000e-01 4.69356309e-03 9.89845773e-01 -9.17843922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.59534707000002 meters Centerline goodness [0,1] 0.9808534724614855 Centerline is valid? [True, True] Translation: X:-119.45, Y:11.87, Z:-9.18 [[ 9.43466789e-01 3.02206375e-01 -1.36168001e-01 -1.19451535e+02] [-2.99851664e-01 9.53229433e-01 3.79819359e-02 1.18705610e+01] [ 1.41277730e-01 4.99550669e-03 9.89957397e-01 -9.18022390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.62534707000002 meters Centerline goodness [0,1] 0.9810382646843773 Centerline is valid? [True, True] Translation: X:-119.48, Y:11.89, Z:-9.19 [[ 9.42798859e-01 3.02770031e-01 -1.39501326e-01 -1.19478799e+02] [-3.00310251e-01 9.53049205e-01 3.88711386e-02 1.18876844e+01] [ 1.44720644e-01 5.24601317e-03 9.89458647e-01 -9.19001528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.65534707000002 meters Centerline goodness [0,1] 0.9785686002771729 Centerline is valid? [True, True] Translation: X:-119.51, Y:11.89, Z:-9.19 [[ 9.43941903e-01 2.99085287e-01 -1.39719986e-01 -1.19510404e+02] [-2.96580354e-01 9.54214778e-01 3.89133796e-02 1.18916178e+01] [ 1.44961294e-01 4.70623330e-03 9.89426134e-01 -9.19106659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.68534707000002 meters Centerline goodness [0,1] 0.978601226993865 Centerline is valid? [True, True] Translation: X:-119.54, Y:11.91, Z:-9.20 [[ 9.42762956e-01 3.02065338e-01 -1.41260540e-01 -1.19536744e+02] [-2.99543865e-01 9.53272704e-01 3.93017235e-02 1.19089539e+01] [ 1.46531505e-01 5.26151908e-03 9.89192011e-01 -9.20244381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71534707 meters Centerline goodness [0,1] 0.9737770806783649 Centerline is valid? [True, True] Translation: X:-119.57, Y:11.92, Z:-9.21 [[ 9.43816382e-01 2.98079912e-01 -1.42684980e-01 -1.19567197e+02] [-2.95463603e-01 9.54529340e-01 3.96862574e-02 1.19164300e+01] [ 1.48026675e-01 4.70167833e-03 9.88972193e-01 -9.20531390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74534707000001 meters Centerline goodness [0,1] 0.9711809950345633 Centerline is valid? [True, True] Translation: X:-119.60, Y:11.93, Z:-9.22 [[ 9.44289856e-01 2.95973487e-01 -1.43931799e-01 -1.19597557e+02] [-2.93291825e-01 9.55185822e-01 3.99993836e-02 1.19264555e+01] [ 1.49320370e-01 4.44300769e-03 9.88778887e-01 -9.21562480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77534707000001 meters Centerline goodness [0,1] 0.9674280039721946 Centerline is valid? [True, True] Translation: X:-119.63, Y:11.93, Z:-9.22 [[ 9.44931252e-01 2.93903607e-01 -1.43963876e-01 -1.19628573e+02] [-2.91205575e-01 9.55825957e-01 3.99506320e-02 1.19317983e+01] [ 1.49346045e-01 4.17248260e-03 9.88776188e-01 -9.21600107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80534707000001 meters Centerline goodness [0,1] 0.9654466591939178 Centerline is valid? [True, True] Translation: X:-119.66, Y:11.95, Z:-9.23 [[ 9.45685259e-01 2.89832625e-01 -1.47229208e-01 -1.19656030e+02] [-2.86969839e-01 9.57070328e-01 4.08007303e-02 1.19463675e+01] [ 1.52734089e-01 3.66569288e-03 9.88260523e-01 -9.23240195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83534707000001 meters Centerline goodness [0,1] 0.9659351937832951 Centerline is valid? [True, True] Translation: X:-119.69, Y:11.96, Z:-9.24 [[ 9.46369938e-01 2.87457158e-01 -1.47486685e-01 -1.19685503e+02] [-2.84564520e-01 9.57787660e-01 4.08146140e-02 1.19562354e+01] [ 1.52993380e-01 3.34375395e-03 9.88221557e-01 -9.24490105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.86534707000001 meters Centerline goodness [0,1] 0.9647581393078538 Centerline is valid? [True, True] Translation: X:-119.72, Y:11.96, Z:-9.24 [[ 9.46096252e-01 2.87901106e-01 -1.48373972e-01 -1.19716041e+02] [-2.84987172e-01 9.57653791e-01 4.10064527e-02 1.19648935e+01] [ 1.53896699e-01 3.48862740e-03 9.88080784e-01 -9.24357861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89534707000001 meters Centerline goodness [0,1] 0.9698420533070089 Centerline is valid? [True, True] Translation: X:-119.75, Y:11.98, Z:-9.25 [[ 9.46190986e-01 2.87192945e-01 -1.49140302e-01 -1.19746600e+02] [-2.84248314e-01 9.57866565e-01 4.11647781e-02 1.19761864e+01] [ 1.54678743e-01 3.44313736e-03 9.87958821e-01 -9.24707498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.92534707000002 meters Centerline goodness [0,1] 0.9749571702106218 Centerline is valid? [True, True] Translation: X:-119.78, Y:11.99, Z:-9.24 [[ 9.46118283e-01 2.87529981e-01 -1.48952022e-01 -1.19777649e+02] [-2.84605945e-01 9.57765061e-01 4.10553758e-02 1.19854274e+01] [ 1.54465694e-01 3.54938939e-03 9.87991777e-01 -9.24474008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.95534707000002 meters Centerline goodness [0,1] 0.9804318147342873 Centerline is valid? [True, True] Translation: X:-119.81, Y:12.00, Z:-9.25 [[ 9.45421164e-01 2.89248817e-01 -1.50046476e-01 -1.19807824e+02] [-2.86312339e-01 9.57245935e-01 4.12972680e-02 1.19981925e+01] [ 1.55576565e-01 3.91684640e-03 9.87816071e-01 -9.24512588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.98534707000002 meters Centerline goodness [0,1] 0.9839018582742378 Centerline is valid? [True, True] Translation: X:-119.84, Y:12.01, Z:-9.24 [[ 9.44831368e-01 2.91117966e-01 -1.50146646e-01 -1.19839013e+02] [-2.88209747e-01 9.56677584e-01 4.12691398e-02 1.20087735e+01] [ 1.55656119e-01 4.28134905e-03 9.87802026e-01 -9.24396484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.01534707000002 meters Centerline goodness [0,1] 0.9846235418875928 Centerline is valid? [True, True] Translation: X:-119.87, Y:12.01, Z:-9.23 [[ 9.45040530e-01 2.90760876e-01 -1.49520931e-01 -1.19872304e+02] [-2.87879838e-01 9.56786315e-01 4.10505275e-02 1.20112379e+01] [ 1.54995468e-01 4.24964902e-03 9.87906041e-01 -9.23308483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.04534707000002 meters Centerline goodness [0,1] 0.989233488671059 Centerline is valid? [True, True] Translation: X:-119.90, Y:12.02, Z:-9.24 [[ 9.45174601e-01 2.89254779e-01 -1.51580498e-01 -1.19901162e+02] [-2.86280425e-01 9.57243379e-01 4.15768211e-02 1.20241957e+01] [ 1.57125722e-01 4.09717420e-03 9.87570109e-01 -9.24278148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.07534707000002 meters Centerline goodness [0,1] 0.989410480349345 Centerline is valid? [True, True] Translation: X:-119.93, Y:12.03, Z:-9.24 [[ 9.45430168e-01 2.88433456e-01 -1.51551772e-01 -1.19932949e+02] [-2.85458742e-01 9.57491527e-01 4.15124429e-02 1.20305602e+01] [ 1.57083115e-01 4.01466221e-03 9.87577226e-01 -9.24130307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10534707000001 meters Centerline goodness [0,1] 0.9903243540406816 Centerline is valid? [True, True] Translation: X:-119.96, Y:12.04, Z:-9.25 [[ 9.44904905e-01 2.89073265e-01 -1.53594820e-01 -1.19961884e+02] [-2.86032147e-01 9.57297692e-01 4.20326067e-02 1.20400769e+01] [ 1.59186470e-01 4.21623993e-03 9.87239531e-01 -9.24834194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13534707000001 meters Centerline goodness [0,1] 0.9900202884246312 Centerline is valid? [True, True] Translation: X:-119.99, Y:12.05, Z:-9.26 [[ 9.42414234e-01 2.94196782e-01 -1.59071256e-01 -1.19988412e+02] [-2.91007133e-01 9.55730324e-01 4.35246544e-02 1.20549205e+01] [ 1.64834036e-01 5.27261616e-03 9.86307224e-01 -9.25937345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16534707000001 meters Centerline goodness [0,1] 0.9904905744811769 Centerline is valid? [True, True] Translation: X:-120.02, Y:12.07, Z:-9.25 [[ 9.40234157e-01 3.04503735e-01 -1.52437546e-01 -1.20018020e+02] [-3.01712307e-01 9.52486934e-01 4.16932193e-02 1.20720667e+01] [ 1.57890512e-01 6.79089483e-03 9.87433274e-01 -9.24750127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19534707000001 meters Centerline goodness [0,1] 0.9888517910701149 Centerline is valid? [True, True] Translation: X:-120.04, Y:12.09, Z:-9.25 [[ 9.37197814e-01 3.13724448e-01 -1.52437618e-01 -1.20044862e+02] [-3.11059526e-01 9.49477112e-01 4.16555640e-02 1.20909280e+01] [ 1.57804398e-01 8.37766971e-03 9.87434852e-01 -9.24938103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22534707000001 meters Centerline goodness [0,1] 0.9842260743548297 Centerline is valid? [True, True] Translation: X:-120.07, Y:12.11, Z:-9.27 [[ 9.35565967e-01 3.14767443e-01 -1.60118013e-01 -1.20070437e+02] [-3.11841806e-01 9.49126165e-01 4.37516971e-02 1.21054342e+01] [ 1.65743805e-01 8.99889151e-03 9.86127786e-01 -9.26823330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25534707000001 meters Centerline goodness [0,1] 0.9863183379314228 Centerline is valid? [True, True] Translation: X:-120.10, Y:12.11, Z:-9.25 [[ 9.32851659e-01 3.24740967e-01 -1.55984253e-01 -1.20103260e+02] [-3.22102682e-01 9.45744880e-01 4.26202341e-02 1.21061536e+01] [ 1.61361844e-01 1.04845901e-02 9.86839616e-01 -9.25368776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.28534707000001 meters Centerline goodness [0,1] 0.9805275670780029 Centerline is valid? [True, True] Translation: X:-120.13, Y:12.12, Z:-9.27 [[ 9.31960766e-01 3.27235420e-01 -1.56096476e-01 -1.20129804e+02] [-3.24628130e-01 9.44879679e-01 4.26493810e-02 1.21232253e+01] [ 1.61448777e-01 1.09257574e-02 9.86820612e-01 -9.26608588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31534707000002 meters Centerline goodness [0,1] 0.9767270668176671 Centerline is valid? [True, True] Translation: X:-120.16, Y:12.13, Z:-9.27 [[ 9.30193700e-01 3.31942913e-01 -1.56695832e-01 -1.20158282e+02] [-3.29382362e-01 9.43225745e-01 4.28071597e-02 1.21331220e+01] [ 1.62009076e-01 1.17938931e-02 9.86718786e-01 -9.26539559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.34534707000002 meters Centerline goodness [0,1] 0.9706447963800905 Centerline is valid? [True, True] Translation: X:-120.19, Y:12.14, Z:-9.27 [[ 9.28619725e-01 3.36229501e-01 -1.56892097e-01 -1.20187641e+02] [-3.33723043e-01 9.41696346e-01 4.28593398e-02 1.21433700e+01] [ 1.62155289e-01 1.25584796e-02 9.86685333e-01 -9.27071902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.37534707000002 meters Centerline goodness [0,1] 0.9609410175596578 Centerline is valid? [True, True] Translation: X:-120.22, Y:12.16, Z:-9.28 [[ 9.27842373e-01 3.38738114e-01 -1.56092986e-01 -1.20215139e+02] [-3.36293182e-01 9.40791784e-01 4.26346577e-02 1.21607409e+01] [ 1.61292982e-01 1.29347648e-02 9.86821800e-01 -9.28046620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.40534707000002 meters Centerline goodness [0,1] 0.9585755403803826 Centerline is valid? [True, True] Translation: X:-120.25, Y:12.17, Z:-9.29 [[ 9.27897587e-01 3.37893358e-01 -1.57588535e-01 -1.20245800e+02] [-3.35391603e-01 9.41095620e-01 4.30291487e-02 1.21702671e+01] [ 1.62845144e-01 1.29272281e-02 9.86566950e-01 -9.28789934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.43534707000002 meters Centerline goodness [0,1] 0.957693405652298 Centerline is valid? [True, True] Translation: X:-120.28, Y:12.17, Z:-9.29 [[ 9.26817642e-01 3.40909084e-01 -1.57448578e-01 -1.20276283e+02] [-3.38456890e-01 9.39999942e-01 4.29772261e-02 1.21731926e+01] [ 1.62652981e-01 1.34575046e-02 9.86591559e-01 -9.28586588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46534707 meters Centerline goodness [0,1] 0.966082596202603 Centerline is valid? [True, True] Translation: X:-120.31, Y:12.17, Z:-9.30 [[ 9.28504002e-01 3.34147153e-01 -1.61944428e-01 -1.20308115e+02] [-3.31451707e-01 9.42436214e-01 4.42012245e-02 1.21679024e+01] [ 1.67392007e-01 1.26357432e-02 9.85809441e-01 -9.29701892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49534707000001 meters Centerline goodness [0,1] 0.9755072704152153 Centerline is valid? [True, True] Translation: X:-120.34, Y:12.16, Z:-9.31 [[ 9.31359524e-01 3.24762962e-01 -1.64616086e-01 -1.20340933e+02] [-3.21833780e-01 9.45729841e-01 4.49231213e-02 1.21616156e+01] [ 1.70271711e-01 1.11394404e-02 9.85334186e-01 -9.30931684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52534707000001 meters Centerline goodness [0,1] 0.9813640409434802 Centerline is valid? [True, True] Translation: X:-120.38, Y:12.15, Z:-9.31 [[ 9.34374038e-01 3.13917262e-01 -1.68526286e-01 -1.20375464e+02] [-3.10673352e-01 9.49403885e-01 4.59818674e-02 1.21469237e+01] [ 1.74434013e-01 9.39236323e-03 9.84624070e-01 -9.31479515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55534707000001 meters Centerline goodness [0,1] 0.9867109634551495 Centerline is valid? [True, True] Translation: X:-120.41, Y:12.14, Z:-9.33 [[ 9.37672894e-01 3.00428430e-01 -1.74677710e-01 -1.20407567e+02] [-2.96711642e-01 9.53777572e-01 4.76502357e-02 1.21431679e+01] [ 1.80919167e-01 7.14857569e-03 9.83471989e-01 -9.32788084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58534707000001 meters Centerline goodness [0,1] 0.9876019575856444 Centerline is valid? [True, True] Translation: X:-120.44, Y:12.14, Z:-9.33 [[ 9.40290603e-01 2.92175371e-01 -1.74605655e-01 -1.20439880e+02] [-2.88321775e-01 9.56348579e-01 4.76229995e-02 1.21411050e+01] [ 1.80898138e-01 5.56315350e-03 9.83486103e-01 -9.33085731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61534707000001 meters Centerline goodness [0,1] 0.9910413095172261 Centerline is valid? [True, True] Translation: X:-120.47, Y:12.13, Z:-9.32 [[ 9.43587889e-01 2.81901329e-01 -1.73705313e-01 -1.20474568e+02] [-2.77914995e-01 9.59436749e-01 4.73748974e-02 1.21326911e+01] [ 1.80014307e-01 3.57293158e-03 9.83657503e-01 -9.31961752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.64534707000001 meters Centerline goodness [0,1] 0.9917853523230383 Centerline is valid? [True, True] Translation: X:-120.51, Y:12.12, Z:-9.36 [[ 9.48388144e-01 2.54506649e-01 -1.89172659e-01 -1.20506413e+02] [-2.49228443e-01 9.67069378e-01 5.15945903e-02 1.21168206e+01] [ 1.96074252e-01 -1.78449051e-03 9.80587428e-01 -9.35858103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67534707000002 meters Centerline goodness [0,1] 0.9924274973147154 Centerline is valid? [True, True] Translation: X:-120.54, Y:12.11, Z:-9.36 [[ 9.51424657e-01 2.41168725e-01 -1.91386435e-01 -1.20540337e+02] [-2.35496529e-01 9.70472331e-01 5.21999910e-02 1.21065265e+01] [ 1.98324245e-01 -4.59351743e-03 9.80125703e-01 -9.35596610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.70534707000002 meters Centerline goodness [0,1] 0.9924274973147154 Centerline is valid? [True, True] Translation: X:-120.57, Y:12.11, Z:-9.36 [[ 9.51339879e-01 2.41509742e-01 -1.91377844e-01 -1.20566755e+02] [-2.35838045e-01 9.70387701e-01 5.22314690e-02 1.21134159e+01] [ 1.98325114e-01 -4.55570279e-03 9.80125703e-01 -9.35913888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.73534707000002 meters Centerline goodness [0,1] 0.9926403925123993 Centerline is valid? [True, True] Translation: X:-120.60, Y:12.11, Z:-9.38 [[ 9.52099613e-01 2.29445607e-01 -2.02141139e-01 -1.20596127e+02] [-2.22830200e-01 9.73292384e-01 5.52144644e-02 1.21099962e+01] [ 2.09411147e-01 -7.52651983e-03 9.77798713e-01 -9.38361761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.76534707000002 meters Centerline goodness [0,1] 0.9949293931628592 Centerline is valid? [True, True] Translation: X:-120.63, Y:12.12, Z:-9.36 [[ 9.51364885e-01 2.30205870e-01 -2.04719595e-01 -1.20626510e+02] [-2.23434253e-01 9.73113330e-01 5.59247792e-02 1.21185324e+01] [ 2.12089580e-01 -7.46350134e-03 9.77221728e-01 -9.36337878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.79534707000002 meters Centerline goodness [0,1] 0.994587728502789 Centerline is valid? [True, True] Translation: X:-120.66, Y:12.12, Z:-9.37 [[ 9.48929049e-01 2.41178526e-01 -2.03387756e-01 -1.20656256e+02] [-2.34742299e-01 9.70467947e-01 5.55699270e-02 1.21223720e+01] [ 2.10783571e-01 -4.98820843e-03 9.77520027e-01 -9.36814573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.82534707000002 meters Centerline goodness [0,1] 0.9148523649876803 Centerline is valid? [True, False] Translation: X:-120.86, Y:11.95, Z:-9.36 [[ 9.74580315e-01 5.18334096e-02 -2.17959877e-01 -1.20864097e+02] [-5.75643450e-02 9.98141002e-01 -2.00221533e-02 1.19495682e+01] [ 2.16516874e-01 3.20599140e-02 9.75752328e-01 -9.35627622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85534707000001 meters Centerline goodness [0,1] 0.9122828381230719 Centerline is valid? [False, False] Translation: X:-120.90, Y:11.96, Z:-9.36 [[ 9.75406953e-01 4.24011128e-02 -2.16294755e-01 -1.20904125e+02] [-4.66902722e-02 9.98800412e-01 -1.47565633e-02 1.19618998e+01] [ 2.15409596e-01 2.44925155e-02 9.76216586e-01 -9.36452921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88534707000001 meters Centerline goodness [0,1] 0.9237636507079683 Centerline is valid? [False, False] Translation: X:-120.95, Y:11.96, Z:-9.37 [[ 9.74787179e-01 1.53926541e-02 -2.22605079e-01 -1.20948618e+02] [-1.77002626e-02 9.99808263e-01 -8.37485988e-03 1.19582855e+01] [ 2.22433486e-01 1.21038744e-02 9.74872730e-01 -9.37127883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91534707000001 meters Centerline goodness [0,1] 0.9276495408289899 Centerline is valid? [False, False] Translation: X:-120.97, Y:11.95, Z:-9.38 [[ 9.74857635e-01 3.04381979e-03 -2.22807824e-01 -1.20970117e+02] [-2.14898795e-03 9.99988623e-01 4.25850328e-03 1.19548487e+01] [ 2.22818252e-01 -3.67262311e-03 9.74853086e-01 -9.37884318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94534707000001 meters Centerline goodness [0,1] 0.9232766665314237 Centerline is valid? [False, False] Translation: X:-121.00, Y:11.95, Z:-9.39 [[ 9.74650800e-01 -2.19245618e-02 -2.22654738e-01 -1.21000216e+02] [ 2.45580306e-02 9.99657302e-01 9.06540746e-03 1.19459211e+01] [ 2.22379680e-01 -1.43035685e-02 9.74855213e-01 -9.38965527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97534707000001 meters Centerline goodness [0,1] 0.9375369291803832 Centerline is valid? [False, False] Translation: X:-121.04, Y:11.94, Z:-9.40 [[ 9.74250316e-01 -4.42642895e-02 -2.21081418e-01 -1.21043071e+02] [ 4.32802238e-02 9.99019725e-01 -9.29579064e-03 1.19406080e+01] [ 2.21276169e-01 -5.12026281e-04 9.75211051e-01 -9.39725788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.00534707000001 meters Centerline goodness [0,1] 0.9581213822136467 Centerline is valid? [False, True] Translation: X:-121.06, Y:11.93, Z:-9.40 [[ 9.73916330e-01 -6.02397626e-02 -2.18765064e-01 -1.21059897e+02] [ 5.65745591e-02 9.98133749e-01 -2.29856310e-02 1.19349398e+01] [ 2.19741443e-01 1.00095443e-02 9.75506795e-01 -9.39711649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03534707000001 meters Centerline goodness [0,1] 0.9544225732871504 Centerline is valid? [True, True] Translation: X:-121.09, Y:11.93, Z:-9.40 [[ 9.74366910e-01 -5.23805413e-02 -2.18781632e-01 -1.21089227e+02] [ 5.04375974e-02 9.98622525e-01 -1.44603659e-02 1.19311901e+01] [ 2.19237708e-01 3.05488218e-03 9.75666693e-01 -9.39581634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.06534707000002 meters Centerline goodness [0,1] 0.9629500327296531 Centerline is valid? [True, True] Translation: X:-121.12, Y:11.93, Z:-9.42 [[ 9.74511293e-01 -4.57821543e-02 -2.19617245e-01 -1.21115047e+02] [ 4.36730707e-02 9.98941349e-01 -1.44514443e-02 1.19341165e+01] [ 2.20046365e-01 4.49173615e-03 9.75479073e-01 -9.41881747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.09534707000002 meters Centerline goodness [0,1] 0.9707038845439225 Centerline is valid? [True, True] Translation: X:-121.14, Y:11.94, Z:-9.44 [[ 9.74275809e-01 -3.82844398e-02 -2.22083206e-01 -1.21141588e+02] [ 3.59368949e-02 9.99247356e-01 -1.46034361e-02 1.19449265e+01] [ 2.22475140e-01 6.24679372e-03 9.74918350e-01 -9.44026847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.12534707000002 meters Centerline goodness [0,1] 0.96973450596639 Centerline is valid? [True, True] Translation: X:-121.17, Y:11.95, Z:-9.44 [[ 9.75082191e-01 -3.00366238e-02 -2.19801098e-01 -1.21170745e+02] [ 2.75342291e-02 9.99516557e-01 -1.44401751e-02 1.19473094e+01] [ 2.20128571e-01 8.02830373e-03 9.75437829e-01 -9.44245370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.15534707000002 meters Centerline goodness [0,1] 0.9698608661571625 Centerline is valid? [True, True] Translation: X:-121.20, Y:11.96, Z:-9.44 [[ 9.76176933e-01 -1.47544366e-02 -2.16473791e-01 -1.21201776e+02] [ 1.19622166e-02 9.99827570e-01 -1.42033476e-02 1.19582646e+01] [ 2.16646026e-01 1.12754740e-02 9.76185107e-01 -9.44451598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.18534707000002 meters Centerline goodness [0,1] 0.9549416959130533 Centerline is valid? [True, True] Translation: X:-121.23, Y:11.98, Z:-9.45 [[ 9.76208808e-01 1.62153770e-03 -2.16826507e-01 -1.21231973e+02] [-4.81812637e-03 9.99887356e-01 -1.42147858e-02 1.19765946e+01] [ 2.16779033e-01 1.49212966e-02 9.76106657e-01 -9.45483090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21534707000002 meters Centerline goodness [0,1] 0.9235901216365647 Centerline is valid? [True, False] Translation: X:-121.27, Y:11.97, Z:-9.47 [[ 9.77226028e-01 1.56514156e-02 -2.11623071e-01 -1.21271434e+02] [-1.92766251e-02 9.99700485e-01 -1.50781855e-02 1.19692455e+01] [ 2.11323692e-01 1.88141739e-02 9.77235040e-01 -9.46528196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.24534707000001 meters Centerline goodness [0,1] 0.9282006287928639 Centerline is valid? [False, False] Translation: X:-121.28, Y:11.97, Z:-9.47 [[ 9.77559282e-01 2.04543759e-02 -2.09665137e-01 -1.21275151e+02] [-2.32196257e-02 9.99672745e-01 -1.07355877e-02 1.19719546e+01] [ 2.09376933e-01 1.53630194e-02 9.77714313e-01 -9.46660528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27534707000001 meters Centerline goodness [0,1] 0.8597446095876073 Centerline is valid? [False, False] Translation: X:-121.30, Y:11.97, Z:-9.47 [[ 9.77268427e-01 3.05161173e-02 -2.09797970e-01 -1.21298732e+02] [-3.58650345e-02 9.99120202e-01 -2.17375631e-02 1.19695724e+01] [ 2.08950044e-01 2.87678455e-02 9.77503090e-01 -9.47425098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30534707000001 meters Centerline goodness [0,1] 0.9621833222542285 Centerline is valid? [False, True] Translation: X:-121.34, Y:11.97, Z:-9.48 [[ 9.76543814e-01 3.12068837e-02 -2.13045324e-01 -1.21344995e+02] [-3.72189478e-02 9.99012455e-01 -2.42665155e-02 1.19719037e+01] [ 2.12077650e-01 3.16266384e-02 9.76740921e-01 -9.48168148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33534707000001 meters Centerline goodness [0,1] 0.9723981403521617 Centerline is valid? [True, True] Translation: X:-121.37, Y:11.97, Z:-9.48 [[ 9.76273405e-01 4.42462514e-02 -2.11972897e-01 -1.21373827e+02] [-4.89462003e-02 9.98657174e-01 -1.69740438e-02 1.19703371e+01] [ 2.10937216e-01 2.69465754e-02 9.77128125e-01 -9.48412395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.36534707000001 meters Centerline goodness [0,1] 0.9666969641883294 Centerline is valid? [True, True] Translation: X:-121.40, Y:11.97, Z:-9.49 [[ 9.76497892e-01 5.40337400e-02 -2.08643767e-01 -1.21403158e+02] [-5.87971311e-02 9.98130400e-01 -1.66913976e-02 1.19723943e+01] [ 2.07351788e-01 2.85667695e-02 9.77849260e-01 -9.48998173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39534707000001 meters Centerline goodness [0,1] 0.9736249364237448 Centerline is valid? [True, True] Translation: X:-121.43, Y:11.97, Z:-9.50 [[ 9.76493210e-01 5.51847716e-02 -2.08364226e-01 -1.21429818e+02] [-5.99554829e-02 9.98062260e-01 -1.66452958e-02 1.19704404e+01] [ 2.07041904e-01 2.87465962e-02 9.77909650e-01 -9.49672676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.42534707000002 meters Centerline goodness [0,1] 0.9780551858114185 Centerline is valid? [True, True] Translation: X:-121.46, Y:11.97, Z:-9.51 [[ 9.76406616e-01 5.57918378e-02 -2.08608222e-01 -1.21457424e+02] [-6.05778941e-02 9.98025102e-01 -1.66196801e-02 1.19716448e+01] [ 2.07268999e-01 2.88646124e-02 9.77858065e-01 -9.50586111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.45534707000002 meters Centerline goodness [0,1] 0.9757129649384824 Centerline is valid? [True, True] Translation: X:-121.48, Y:11.98, Z:-9.52 [[ 9.76495753e-01 5.50081000e-02 -2.08399026e-01 -1.21484093e+02] [-5.97535652e-02 9.98076126e-01 -1.65395750e-02 1.19778205e+01] [ 2.07088282e-01 2.86034096e-02 9.77904028e-01 -9.52145797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.48534707000002 meters Centerline goodness [0,1] 0.9626839766731463 Centerline is valid? [True, True] Translation: X:-121.51, Y:11.98, Z:-9.53 [[ 9.75856568e-01 5.91300343e-02 -2.10256030e-01 -1.21513136e+02] [-6.40519615e-02 9.97807311e-01 -1.66708503e-02 1.19815820e+01] [ 2.08809256e-01 2.97356699e-02 9.77504212e-01 -9.53302446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.51534707000002 meters Centerline goodness [0,1] 0.9138473105050919 Centerline is valid? [True, False] Translation: X:-121.51, Y:11.98, Z:-9.53 [[ 9.76055935e-01 5.31829981e-02 -2.10917949e-01 -1.21512071e+02] [-5.91522095e-02 9.98004553e-01 -2.20891154e-02 1.19814598e+01] [ 2.09322308e-01 3.40364749e-02 9.77254158e-01 -9.53400414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.54534707000002 meters Centerline goodness [0,1] 0.9069563160917599 Centerline is valid? [False, False] Translation: X:-121.51, Y:11.98, Z:-9.53 [[ 9.76386457e-01 4.97972713e-02 -2.10213508e-01 -1.21513823e+02] [-5.62045950e-02 9.98115850e-01 -2.46128787e-02 1.19807861e+01] [ 2.08591780e-01 3.58466465e-02 9.77345633e-01 -9.53414094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.57534707000002 meters Centerline goodness [0,1] 0.8935634544671547 Centerline is valid? [False, False] Translation: X:-121.52, Y:11.98, Z:-9.53 [[ 9.76757751e-01 4.60034087e-02 -2.09351337e-01 -1.21517088e+02] [-5.29695885e-02 9.98209426e-01 -2.77878327e-02 1.19804272e+01] [ 2.07698143e-01 3.82312351e-02 9.77445576e-01 -9.53385886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.60534707000001 meters Centerline goodness [0,1] 0.9108832807570978 Centerline is valid? [False, False] Translation: X:-121.52, Y:11.98, Z:-9.53 [[ 9.77031707e-01 4.17146556e-02 -2.08971127e-01 -1.21517422e+02] [-4.92629819e-02 9.98303227e-01 -3.10455326e-02 1.19812248e+01] [ 2.07321497e-01 4.06270105e-02 9.77428894e-01 -9.53430500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63534707000001 meters Centerline goodness [0,1] 0.8937654884570236 Centerline is valid? [False, False] Translation: X:-121.52, Y:11.98, Z:-9.53 [[ 9.77305740e-01 3.62546915e-02 -2.08708140e-01 -1.21518263e+02] [-4.45876520e-02 9.98379509e-01 -3.53595562e-02 1.19804681e+01] [ 2.07087981e-01 4.38629032e-02 9.77338536e-01 -9.53490024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.66534707000001 meters Centerline goodness [0,1] 0.9681522382173141 Centerline is valid? [False, True] Translation: X:-121.52, Y:11.98, Z:-9.54 [[ 9.78017501e-01 3.02519658e-02 -2.06316715e-01 -1.21524587e+02] [-3.85219603e-02 9.98602394e-01 -3.61844936e-02 1.19801964e+01] [ 2.04933713e-01 4.33367923e-02 9.77815982e-01 -9.53639235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69534707000001 meters Centerline goodness [0,1] 0.9478535686067948 Centerline is valid? [True, False] Translation: X:-121.53, Y:11.98, Z:-9.54 [[ 9.78134317e-01 2.76810535e-02 -2.06123793e-01 -1.21526420e+02] [-3.62488129e-02 9.98623646e-01 -3.79056353e-02 1.19787383e+01] [ 2.04790826e-01 4.45485455e-02 9.77791463e-01 -9.53619085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.72534707000001 meters Centerline goodness [0,1] 0.957174421627242 Centerline is valid? [False, True] Translation: X:-121.53, Y:11.98, Z:-9.54 [[ 9.78270960e-01 2.30218176e-02 -2.06048356e-01 -1.21526967e+02] [-3.21499886e-02 9.98639189e-01 -4.10627441e-02 1.19759891e+01] [ 2.04822624e-01 4.67949424e-02 9.77679869e-01 -9.53654221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75534707000001 meters Centerline goodness [0,1] 0.9568461184513245 Centerline is valid? [True, True] Translation: X:-121.56, Y:11.98, Z:-9.54 [[ 9.77948889e-01 2.40157046e-02 -2.07458952e-01 -1.21557351e+02] [-2.92590501e-02 9.99324364e-01 -2.22423605e-02 1.19820158e+01] [ 2.06784619e-01 2.78219436e-02 9.77990829e-01 -9.54226680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.78534707000001 meters Centerline goodness [0,1] 0.9793381653602703 Centerline is valid? [True, True] Translation: X:-121.58, Y:11.97, Z:-9.55 [[ 9.78267096e-01 2.05111129e-02 -2.06331733e-01 -1.21584638e+02] [-2.56174045e-02 9.99427359e-01 -2.21066167e-02 1.19682987e+01] [ 2.05760147e-01 2.69118592e-02 9.78232341e-01 -9.54503164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.81534707000002 meters Centerline goodness [0,1] 0.9632497660762107 Centerline is valid? [True, True] Translation: X:-121.61, Y:11.97, Z:-9.56 [[ 9.78288444e-01 1.61780987e-02 -2.06615561e-01 -1.21613712e+02] [-2.12020073e-02 9.99530390e-01 -2.21240715e-02 1.19704180e+01] [ 2.06160607e-01 2.60243882e-02 9.78172038e-01 -9.55550886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.84534707000002 meters Centerline goodness [0,1] 0.9920406157877497 Centerline is valid? [True, True] Translation: X:-121.64, Y:11.95, Z:-9.56 [[ 9.78329912e-01 1.30316567e-02 -2.06641622e-01 -1.21641167e+02] [-1.79864119e-02 9.99593582e-01 -2.21169594e-02 1.19494296e+01] [ 2.06269419e-01 2.53544243e-02 9.78166693e-01 -9.55573128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.87534707000002 meters Centerline goodness [0,1] 0.9921569903670919 Centerline is valid? [True, True] Translation: X:-121.67, Y:11.94, Z:-9.57 [[ 9.78277411e-01 7.51321259e-03 -2.07163845e-01 -1.21668594e+02] [-1.23696997e-02 9.99677969e-01 -2.21573639e-02 1.19415122e+01] [ 2.06930659e-01 2.42386031e-02 9.78055312e-01 -9.56564893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.90534707000002 meters Centerline goodness [0,1] 0.9949440584532081 Centerline is valid? [True, True] Translation: X:-121.70, Y:11.93, Z:-9.57 [[ 9.78265853e-01 -5.00324389e-05 -2.07354573e-01 -1.21697069e+02] [-4.64699813e-03 9.99743526e-01 -2.21650245e-02 1.19299240e+01] [ 2.07302501e-01 2.26468629e-02 9.78014720e-01 -9.57148871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.93534707000002 meters Centerline goodness [0,1] 0.9977248350505412 Centerline is valid? [True, True] Translation: X:-121.73, Y:11.92, Z:-9.58 [[ 9.78259947e-01 -9.46108629e-03 -2.07166514e-01 -1.21725036e+02] [ 4.98107174e-03 9.99742557e-01 -2.21361432e-02 1.19199178e+01] [ 2.07322612e-01 2.06229910e-02 9.78055227e-01 -9.57970730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96534707000002 meters Centerline goodness [0,1] 0.9974306269270298 Centerline is valid? [True, True] Translation: X:-121.75, Y:11.92, Z:-9.59 [[ 9.78132621e-01 -1.45940723e-02 -2.07469489e-01 -1.21753617e+02] [ 1.02155060e-02 9.99702236e-01 -2.21604009e-02 1.19188034e+01] [ 2.07731123e-01 1.95564052e-02 9.77990454e-01 -9.58785963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99534707000001 meters Centerline goodness [0,1] 0.997248489832063 Centerline is valid? [True, True] Translation: X:-121.78, Y:11.92, Z:-9.60 [[ 9.78064757e-01 -2.43220763e-02 -2.06876215e-01 -1.21782221e+02] [ 2.01843418e-02 9.99552244e-01 -2.20885354e-02 1.19183267e+01] [ 2.07320824e-01 1.74283578e-02 9.78117748e-01 -9.60090359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.02534707 meters Centerline goodness [0,1] 0.9984806361931855 Centerline is valid? [True, True] Translation: X:-121.81, Y:11.90, Z:-9.60 [[ 9.78016675e-01 -2.89319235e-02 -2.06509873e-01 -1.21810010e+02] [ 2.49119254e-02 9.99446647e-01 -2.20407646e-02 1.19044023e+01] [ 2.07033282e-01 1.64116768e-02 9.78196236e-01 -9.60011400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.05534707 meters Centerline goodness [0,1] 0.9989651046214547 Centerline is valid? [True, True] Translation: X:-121.84, Y:11.89, Z:-9.61 [[ 9.77706985e-01 -3.51073955e-02 -2.07018167e-01 -1.21838498e+02] [ 3.12057190e-02 9.99268994e-01 -2.20834842e-02 1.18937043e+01] [ 2.07642129e-01 1.51310260e-02 9.78087827e-01 -9.60684587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.08534707 meters Centerline goodness [0,1] 0.9994191487301946 Centerline is valid? [True, True] Translation: X:-121.87, Y:11.88, Z:-9.61 [[ 9.77486992e-01 -4.11842824e-02 -2.06937274e-01 -1.21865894e+02] [ 3.74215645e-02 9.99055910e-01 -2.20661465e-02 1.18834514e+01] [ 2.07650685e-01 1.38254547e-02 9.78105337e-01 -9.61486203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.11534707 meters Centerline goodness [0,1] 0.9995110821382008 Centerline is valid? [True, True] Translation: X:-121.89, Y:11.88, Z:-9.62 [[ 9.77462224e-01 -4.19818435e-02 -2.06893995e-01 -1.21893545e+02] [ 3.82425198e-02 9.99025360e-01 -2.20417604e-02 1.18751633e+01] [ 2.07617702e-01 1.36328404e-02 9.78115042e-01 -9.61567277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.14534707 meters Centerline goodness [0,1] 0.9992880489304553 Centerline is valid? [True, True] Translation: X:-121.92, Y:11.87, Z:-9.62 [[ 9.77111105e-01 -4.54311421e-02 -2.07821799e-01 -1.21921926e+02] [ 4.17432059e-02 9.98883943e-01 -2.20991652e-02 1.18722119e+01] [ 2.08593848e-01 1.29181915e-02 9.77917035e-01 -9.62321378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.17534707 meters Centerline goodness [0,1] 0.9993839968875632 Centerline is valid? [True, True] Translation: X:-121.95, Y:11.87, Z:-9.63 [[ 9.77369142e-01 -4.44525037e-02 -2.06817637e-01 -1.21949444e+02] [ 4.07865376e-02 9.98926578e-01 -2.19579152e-02 1.18734424e+01] [ 2.07571719e-01 1.30256134e-02 9.78133076e-01 -9.62965209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.20534707 meters Centerline goodness [0,1] 0.9994211101820287 Centerline is valid? [True, True] Translation: X:-121.98, Y:11.87, Z:-9.63 [[ 9.77373161e-01 -4.33912946e-02 -2.07023910e-01 -1.21977063e+02] [ 3.97123817e-02 9.98971233e-01 -2.18952439e-02 1.18701428e+01] [ 2.07760993e-01 1.31784112e-02 9.78090844e-01 -9.63400403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.23534707 meters Centerline goodness [0,1] 0.9990360516676307 Centerline is valid? [True, True] Translation: X:-122.01, Y:11.87, Z:-9.65 [[ 9.77352648e-01 -4.22339293e-02 -2.07359825e-01 -1.22005363e+02] [ 3.85259126e-02 9.99017815e-01 -2.18897031e-02 1.18749707e+01] [ 2.08080647e-01 1.34052328e-02 9.78019808e-01 -9.64528568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.26534707 meters Centerline goodness [0,1] 0.9993332910026034 Centerline is valid? [True, True] Translation: X:-122.03, Y:11.87, Z:-9.65 [[ 9.77172671e-01 -4.09407541e-02 -2.08464449e-01 -1.22032187e+02] [ 3.71792703e-02 9.99067912e-01 -2.19319257e-02 1.18677268e+01] [ 2.09168052e-01 1.36807223e-02 9.77784007e-01 -9.64842003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.29534707 meters Centerline goodness [0,1] 0.999305029062421 Centerline is valid? [True, True] Translation: X:-122.06, Y:11.87, Z:-9.65 [[ 9.77268491e-01 -3.93979185e-02 -2.08312508e-01 -1.22060530e+02] [ 3.56166148e-02 9.99126125e-01 -2.18733589e-02 1.18673212e+01] [ 2.08992234e-01 1.39567581e-02 9.77817700e-01 -9.65248230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.32534707 meters Centerline goodness [0,1] 0.9990801535192058 Centerline is valid? [True, True] Translation: X:-122.09, Y:11.87, Z:-9.66 [[ 9.77380698e-01 -3.91030118e-02 -2.07841106e-01 -1.22089255e+02] [ 3.53511729e-02 9.99138535e-01 -2.17366621e-02 1.18686227e+01] [ 2.08512027e-01 1.38975671e-02 9.77921056e-01 -9.65721766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.35534707 meters Centerline goodness [0,1] 0.9992115803084298 Centerline is valid? [True, True] Translation: X:-122.12, Y:11.87, Z:-9.66 [[ 9.77400469e-01 -3.77385198e-02 -2.08000304e-01 -1.22117575e+02] [ 3.39690303e-02 9.99188015e-01 -2.16659806e-02 1.18690245e+01] [ 2.08649053e-01 1.41107710e-02 9.77888776e-01 -9.66490503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.38534707 meters Centerline goodness [0,1] 0.9985710735586482 Centerline is valid? [True, True] Translation: X:-122.15, Y:11.88, Z:-9.68 [[ 9.77140960e-01 -3.66397167e-02 -2.09411260e-01 -1.22145323e+02] [ 3.28118782e-02 9.99225398e-01 -2.17252184e-02 1.18843757e+01] [ 2.10045056e-01 1.43574240e-02 9.77586282e-01 -9.68325235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.41534707 meters Centerline goodness [0,1] 0.9985206634981587 Centerline is valid? [True, True] Translation: X:-122.17, Y:11.88, Z:-9.69 [[ 9.76989180e-01 -3.51918736e-02 -2.10365574e-01 -1.22172442e+02] [ 3.13116613e-02 9.99273027e-01 -2.17485006e-02 1.18820102e+01] [ 2.10978015e-01 1.46611542e-02 9.77380851e-01 -9.68923073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.44534707 meters Centerline goodness [0,1] 0.9985850942757836 Centerline is valid? [True, True] Translation: X:-122.20, Y:11.88, Z:-9.70 [[ 9.76475416e-01 -3.54809785e-02 -2.12689593e-01 -1.22199496e+02] [ 3.15277666e-02 9.99261810e-01 -2.19507584e-02 1.18822100e+01] [ 2.13311422e-01 1.47287481e-02 9.76873227e-01 -9.70086961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.47534707 meters Centerline goodness [0,1] 0.9986180470492164 Centerline is valid? [True, True] Translation: X:-122.23, Y:11.88, Z:-9.70 [[ 9.76614667e-01 -3.65132471e-02 -2.11873958e-01 -1.22227650e+02] [ 3.26284355e-02 9.99229687e-01 -2.18040565e-02 1.18778882e+01] [ 2.12506886e-01 1.43810456e-02 9.77053739e-01 -9.70452257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.50534707 meters Centerline goodness [0,1] 0.9987377721678763 Centerline is valid? [True, True] Translation: X:-122.25, Y:11.87, Z:-9.71 [[ 9.76319057e-01 -4.04767749e-02 -2.12515245e-01 -1.22254951e+02] [ 3.66636635e-02 9.99088659e-01 -2.18546836e-02 1.18715868e+01] [ 2.13206179e-01 1.35455567e-02 9.76913324e-01 -9.71184517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.53534707 meters Centerline goodness [0,1] 0.9990841623243328 Centerline is valid? [True, True] Translation: X:-122.28, Y:11.87, Z:-9.72 [[ 9.76306969e-01 -4.37349147e-02 -2.11924421e-01 -1.22282339e+02] [ 4.00217945e-02 9.98961382e-01 -2.17810381e-02 1.18654286e+01] [ 2.12656904e-01 1.27833837e-02 9.77043308e-01 -9.71789384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.56534707 meters Centerline goodness [0,1] 0.9990975571806442 Centerline is valid? [True, True] Translation: X:-122.31, Y:11.86, Z:-9.73 [[ 9.75880168e-01 -4.63900857e-02 -2.13321020e-01 -1.22309604e+02] [ 4.26958588e-02 9.98848178e-01 -2.18947516e-02 1.18591154e+01] [ 2.14091012e-01 1.22587297e-02 9.76736793e-01 -9.72785138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.59534707 meters Centerline goodness [0,1] 0.9988855179245867 Centerline is valid? [True, True] Translation: X:-122.34, Y:11.85, Z:-9.74 [[ 9.75209481e-01 -5.30210041e-02 -2.14837708e-01 -1.22336829e+02] [ 4.94456009e-02 9.98534793e-01 -2.19863569e-02 1.18503837e+01] [ 2.15688665e-01 1.08185242e-02 9.76402253e-01 -9.73710677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.62534707 meters Centerline goodness [0,1] 0.9988855179245867 Centerline is valid? [True, True] Translation: X:-122.36, Y:11.85, Z:-9.74 [[ 9.75231334e-01 -5.26051278e-02 -2.14840745e-01 -1.22363828e+02] [ 4.90263109e-02 9.98556121e-01 -2.19566254e-02 1.18473496e+01] [ 2.15685572e-01 1.08799399e-02 9.76402254e-01 -9.74169800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.65534707 meters Centerline goodness [0,1] 0.9992286569374595 Centerline is valid? [True, True] Translation: X:-122.39, Y:11.84, Z:-9.75 [[ 9.74889193e-01 -5.55051575e-02 -2.15662326e-01 -1.22391303e+02] [ 5.19883940e-02 9.98406433e-01 -2.19499756e-02 1.18417881e+01] [ 2.16536990e-01 1.01868560e-02 9.76221266e-01 -9.74926694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.68534707 meters Centerline goodness [0,1] 0.9992965500367017 Centerline is valid? [True, True] Translation: X:-122.42, Y:11.83, Z:-9.76 [[ 9.74282593e-01 -6.10225325e-02 -2.16909383e-01 -1.22418314e+02] [ 5.76143567e-02 9.98096309e-01 -2.20078061e-02 1.18330011e+01] [ 2.17839427e-01 8.94472785e-03 9.75943634e-01 -9.75764025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.71534707 meters Centerline goodness [0,1] 0.9993219712145961 Centerline is valid? [True, True] Translation: X:-122.45, Y:11.83, Z:-9.77 [[ 9.74055878e-01 -6.36262841e-02 -2.17179289e-01 -1.22445584e+02] [ 6.02822082e-02 9.97939008e-01 -2.19952449e-02 1.18288208e+01] [ 2.18131160e-01 8.33255052e-03 9.75883889e-01 -9.76662924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.74534707 meters Centerline goodness [0,1] 0.9993014426727411 Centerline is valid? [True, True] Translation: X:-122.47, Y:11.82, Z:-9.77 [[ 9.73512689e-01 -6.96375354e-02 -2.17769736e-01 -1.22472506e+02] [ 6.64387388e-02 9.97548253e-01 -2.19858215e-02 1.18174338e+01] [ 2.18766858e-01 6.93512958e-03 9.75752513e-01 -9.77447493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.77534707 meters Centerline goodness [0,1] 0.9995476341264815 Centerline is valid? [True, True] Translation: X:-122.50, Y:11.81, Z:-9.79 [[ 9.73013752e-01 -7.52892160e-02 -2.18118714e-01 -1.22499349e+02] [ 7.22242422e-02 9.97145703e-01 -2.20024099e-02 1.18081110e+01] [ 2.19152682e-01 5.65518864e-03 9.75674188e-01 -9.78584820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.80534707 meters Centerline goodness [0,1] 0.9994314611448577 Centerline is valid? [True, True] Translation: X:-122.53, Y:11.80, Z:-9.79 [[ 9.72588823e-01 -7.92519627e-02 -2.18609489e-01 -1.22527072e+02] [ 7.62797821e-02 9.96843361e-01 -2.20161047e-02 1.18016535e+01] [ 2.19664237e-01 4.73713324e-03 9.75564033e-01 -9.79114568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.83534707 meters Centerline goodness [0,1] 0.9994567513732118 Centerline is valid? [True, True] Translation: X:-122.55, Y:11.79, Z:-9.80 [[ 9.71832431e-01 -8.70802516e-02 -2.18994875e-01 -1.22553813e+02] [ 8.43135506e-02 9.96197128e-01 -2.19660560e-02 1.17913180e+01] [ 2.20074875e-01 2.88309016e-03 9.75478722e-01 -9.80049019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.86534707 meters Centerline goodness [0,1] 0.9993417115499701 Centerline is valid? [True, True] Translation: X:-122.58, Y:11.78, Z:-9.81 [[ 9.71346656e-01 -9.26321755e-02 -2.18872005e-01 -1.22580229e+02] [ 9.00246690e-02 9.95699194e-01 -2.18786373e-02 1.17823828e+01] [ 2.19957345e-01 1.54786131e-03 9.75508263e-01 -9.80652855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.89534707 meters Centerline goodness [0,1] 0.9993445358121797 Centerline is valid? [True, True] Translation: X:-122.61, Y:11.77, Z:-9.82 [[ 9.71058103e-01 -9.70928564e-02 -2.18218098e-01 -1.22607176e+02] [ 9.46225580e-02 9.95275207e-01 -2.17677228e-02 1.17735299e+01] [ 2.19300553e-01 4.89368995e-04 9.75657229e-01 -9.81609534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.92534707 meters Centerline goodness [0,1] 0.9993207524881131 Centerline is valid? [True, True] Translation: X:-122.63, Y:11.77, Z:-9.82 [[ 9.70789729e-01 -9.87646545e-02 -2.18661484e-01 -1.22634125e+02] [ 9.63462483e-02 9.95110819e-01 -2.17222887e-02 1.17680437e+01] [ 2.19737803e-01 2.05611014e-05 9.75558967e-01 -9.82493544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.95534707 meters Centerline goodness [0,1] 0.9997927951928485 Centerline is valid? [True, True] Translation: X:-122.66, Y:11.76, Z:-9.83 [[ 9.70132359e-01 -1.02719864e-01 -2.19754037e-01 -1.22660646e+02] [ 1.00394228e-01 9.94709864e-01 -2.17551080e-02 1.17611207e+01] [ 2.20826190e-01 -9.56702556e-04 9.75312708e-01 -9.83151624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.98534707 meters Centerline goodness [0,1] 0.9994395776184999 Centerline is valid? [True, True] Translation: X:-122.69, Y:11.76, Z:-9.84 [[ 9.70027565e-01 -1.03809753e-01 -2.19704482e-01 -1.22686511e+02] [ 1.01524130e-01 9.94596380e-01 -2.17000591e-02 1.17562674e+01] [ 2.20769960e-01 -1.25565086e-03 9.75325099e-01 -9.84344755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.01534707 meters Centerline goodness [0,1] 0.9999705518581777 Centerline is valid? [True, True] Translation: X:-122.71, Y:11.75, Z:-9.85 [[ 9.69623501e-01 -1.07418382e-01 -2.19753400e-01 -1.22712897e+02] [ 1.05242812e-01 9.94211547e-01 -2.16182882e-02 1.17513311e+01] [ 2.20803569e-01 -2.16586549e-03 9.75315894e-01 -9.85075132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.04534707 meters Centerline goodness [0,1] 0.9996505532906231 Centerline is valid? [True, True] Translation: X:-122.74, Y:11.75, Z:-9.86 [[ 9.69684140e-01 -1.06963041e-01 -2.19707932e-01 -1.22740145e+02] [ 1.04787751e-01 9.94260757e-01 -2.15656022e-02 1.17470525e+01] [ 2.20753697e-01 -2.11087775e-03 9.75327304e-01 -9.85693564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.07534707 meters Centerline goodness [0,1] 0.9995889003083248 Centerline is valid? [True, True] Translation: X:-122.77, Y:11.74, Z:-9.86 [[ 9.69404164e-01 -1.08490122e-01 -2.20194141e-01 -1.22767747e+02] [ 1.06366288e-01 9.94094219e-01 -2.15150195e-02 1.17419751e+01] [ 2.21227890e-01 -2.56448386e-03 9.75218767e-01 -9.86348688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.10534707 meters Centerline goodness [0,1] 0.9995093511891018 Centerline is valid? [True, True] Translation: X:-122.79, Y:11.74, Z:-9.87 [[ 9.69373325e-01 -1.09437731e-01 -2.19860730e-01 -1.22793470e+02] [ 1.07365199e-01 9.93989511e-01 -2.13907984e-02 1.17363658e+01] [ 2.20880220e-01 -2.86972168e-03 9.75296721e-01 -9.87485055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.13534707 meters Centerline goodness [0,1] 0.9999415887850467 Centerline is valid? [True, True] Translation: X:-122.82, Y:11.73, Z:-9.88 [[ 9.69409697e-01 -1.08881153e-01 -2.19976668e-01 -1.22821109e+02] [ 1.06815048e-01 9.94050698e-01 -2.13015421e-02 1.17337049e+01] [ 2.20987297e-01 -2.84689698e-03 9.75272531e-01 -9.87804202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.16534707 meters Centerline goodness [0,1] 0.9997973246858533 Centerline is valid? [True, True] Translation: X:-122.85, Y:11.73, Z:-9.89 [[ 9.69270029e-01 -1.09688324e-01 -2.20191011e-01 -1.22848177e+02] [ 1.07661116e-01 9.93961088e-01 -2.12235399e-02 1.17293585e+01] [ 2.21189272e-01 -3.13466898e-03 9.75225861e-01 -9.88971793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.19534707 meters Centerline goodness [0,1] 0.9998263788413682 Centerline is valid? [True, True] Translation: X:-122.88, Y:11.73, Z:-9.90 [[ 9.69114438e-01 -1.09969683e-01 -2.20734852e-01 -1.22876054e+02] [ 1.07960058e-01 9.93929467e-01 -2.11858576e-02 1.17258260e+01] [ 2.21724676e-01 -3.29902708e-03 9.75103730e-01 -9.89506675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.22534707 meters Centerline goodness [0,1] 0.9999426868408987 Centerline is valid? [True, True] Translation: X:-122.90, Y:11.72, Z:-9.91 [[ 9.69367768e-01 -1.11641997e-01 -2.18774299e-01 -1.22903329e+02] [ 1.09730099e-01 9.93741465e-01 -2.09094962e-02 1.17217563e+01] [ 2.19739470e-01 -3.73713379e-03 9.75551433e-01 -9.90705021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.25534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-122.93, Y:11.72, Z:-9.91 [[ 9.69512226e-01 -1.10696275e-01 -2.18614681e-01 -1.22930923e+02] [ 1.08783425e-01 9.93847724e-01 -2.08054689e-02 1.17188574e+01] [ 2.19572792e-01 -3.61049725e-03 9.75589439e-01 -9.91338361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.28534707 meters Centerline goodness [0,1] 0.9999436984488923 Centerline is valid? [True, True] Translation: X:-122.96, Y:11.71, Z:-9.93 [[ 9.69748111e-01 -1.12115642e-01 -2.16837921e-01 -1.22956520e+02] [ 1.10285449e-01 9.93687222e-01 -2.05627092e-02 1.17124841e+01] [ 2.17774473e-01 -3.97341907e-03 9.75991030e-01 -9.92932662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.31534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-122.99, Y:11.71, Z:-9.93 [[ 9.69428715e-01 -1.10700796e-01 -2.18982420e-01 -1.22985468e+02] [ 1.08806361e-01 9.93846780e-01 -2.07305212e-02 1.17127974e+01] [ 2.19929858e-01 -3.72991757e-03 9.75508557e-01 -9.92789429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.34534707 meters Centerline goodness [0,1] 0.99994289793005 Centerline is valid? [True, True] Translation: X:-123.01, Y:11.71, Z:-9.94 [[ 9.69933770e-01 -1.10193925e-01 -2.16992581e-01 -1.23013381e+02] [ 1.08333830e-01 9.93903452e-01 -2.04867932e-02 1.17112106e+01] [ 2.17927196e-01 -3.63680480e-03 9.75958253e-01 -9.93675414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.37534707 meters Centerline goodness [0,1] 0.9999716312056738 Centerline is valid? [True, True] Translation: X:-123.04, Y:11.71, Z:-9.94 [[ 9.70212354e-01 -1.08497529e-01 -2.16601650e-01 -1.23040804e+02] [ 1.06618882e-01 9.94091159e-01 -2.03760130e-02 1.17104579e+01] [ 2.17532532e-01 -3.32476627e-03 9.76047408e-01 -9.94213739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.40534707 meters Centerline goodness [0,1] 0.9996602202905116 Centerline is valid? [True, True] Translation: X:-123.07, Y:11.71, Z:-9.95 [[ 9.70719454e-01 -1.06090819e-01 -2.15519093e-01 -1.23069631e+02] [ 1.04182224e-01 9.94352458e-01 -2.02300152e-02 1.17102614e+01] [ 2.16448159e-01 -2.81558916e-03 9.76290053e-01 -9.94635090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.43534707 meters Centerline goodness [0,1] 0.9994617106269654 Centerline is valid? [True, True] Translation: X:-123.10, Y:11.71, Z:-9.96 [[ 9.71286492e-01 -1.03036427e-01 -2.14443573e-01 -1.23097434e+02] [ 1.01092665e-01 9.94675123e-01 -2.00417777e-02 1.17115805e+01] [ 2.15366720e-01 -2.21236440e-03 9.76530737e-01 -9.95711390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.46534707 meters Centerline goodness [0,1] 0.9994669060912994 Centerline is valid? [True, True] Translation: X:-123.13, Y:11.71, Z:-9.96 [[ 9.71742241e-01 -1.01466596e-01 -2.13123316e-01 -1.23125414e+02] [ 9.95258343e-02 9.94837079e-01 -1.98442613e-02 1.17102092e+01] [ 2.14036507e-01 -1.92776894e-03 9.76823760e-01 -9.96170237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.49534707 meters Centerline goodness [0,1] 0.9992967849005654 Centerline is valid? [True, True] Translation: X:-123.15, Y:11.71, Z:-9.97 [[ 9.72240784e-01 -9.76395455e-02 -2.12636727e-01 -1.23153732e+02] [ 9.56267054e-02 9.95221207e-01 -1.97555867e-02 1.17123297e+01] [ 2.13549507e-01 -1.12656251e-03 9.76931594e-01 -9.96901225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.52534707 meters Centerline goodness [0,1] 0.9997763176289669 Centerline is valid? [True, True] Translation: X:-123.18, Y:11.71, Z:-9.98 [[ 9.72654205e-01 -9.61730842e-02 -2.11410822e-01 -1.23181246e+02] [ 9.41680808e-02 9.95364230e-01 -1.95556129e-02 1.17126489e+01] [ 2.12311494e-01 -8.87302236e-04 9.77201639e-01 -9.97786877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.55534707 meters Centerline goodness [0,1] 0.9995628654171903 Centerline is valid? [True, True] Translation: X:-123.21, Y:11.72, Z:-9.99 [[ 9.73899893e-01 -9.09487377e-02 -2.07959912e-01 -1.23209811e+02] [ 8.89064993e-02 9.95855560e-01 -1.91660781e-02 1.17167729e+01] [ 2.08841165e-01 1.76853595e-04 9.77949557e-01 -9.98785545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.58534707 meters Centerline goodness [0,1] 0.9995852802123365 Centerline is valid? [True, True] Translation: X:-123.24, Y:11.72, Z:-10.00 [[ 9.74326327e-01 -8.63773122e-02 -2.07911443e-01 -1.23237246e+02] [ 8.42404355e-02 9.96261864e-01 -1.91271242e-02 1.17203814e+01] [ 2.08786391e-01 1.12151016e-03 9.77960626e-01 -9.99514433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.61534707 meters Centerline goodness [0,1] 0.9993221993276218 Centerline is valid? [True, True] Translation: X:-123.27, Y:11.72, Z:-10.00 [[ 9.75641061e-01 -8.34631801e-02 -2.02875373e-01 -1.23265974e+02] [ 8.13840161e-02 9.96509544e-01 -1.85841569e-02 1.17229117e+01] [ 2.03718338e-01 1.62065396e-03 9.79028198e-01 -1.00019866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.64534707 meters Centerline goodness [0,1] 0.9990129143703216 Centerline is valid? [True, True] Translation: X:-123.30, Y:11.72, Z:-10.00 [[ 9.75516896e-01 -8.50125315e-02 -2.02829126e-01 -1.23295613e+02] [ 8.29737061e-02 9.96379078e-01 -1.85498774e-02 1.17209705e+01] [ 2.03671669e-01 1.26623452e-03 9.79038430e-01 -1.00016485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.67534707 meters Centerline goodness [0,1] 0.9990269481309295 Centerline is valid? [True, True] Translation: X:-123.32, Y:11.72, Z:-10.02 [[ 9.75835160e-01 -8.20249115e-02 -2.02528158e-01 -1.23321208e+02] [ 7.99463908e-02 9.96628655e-01 -1.84363408e-02 1.17226492e+01] [ 2.03357604e-01 1.79943437e-03 9.79102879e-01 -1.00179395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.70534707 meters Centerline goodness [0,1] 0.9986554802624502 Centerline is valid? [True, True] Translation: X:-123.35, Y:11.72, Z:-10.03 [[ 9.75916993e-01 -8.33231912e-02 -2.01601756e-01 -1.23348757e+02] [ 8.13105137e-02 9.96521555e-01 -1.82589880e-02 1.17210761e+01] [ 2.02421892e-01 1.42691432e-03 9.79297371e-01 -1.00260490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.73534707 meters Centerline goodness [0,1] 0.9987642713230356 Centerline is valid? [True, True] Translation: X:-123.38, Y:11.72, Z:-10.03 [[ 9.76259048e-01 -8.45272690e-02 -1.99432727e-01 -1.23375963e+02] [ 8.25977470e-02 9.96420569e-01 -1.79905862e-02 1.17193352e+01] [ 2.00239567e-01 1.09077864e-03 9.79746358e-01 -1.00308539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.76534707 meters Centerline goodness [0,1] 0.998508456518844 Centerline is valid? [True, True] Translation: X:-123.40, Y:11.72, Z:-10.04 [[ 9.76863060e-01 -8.75029090e-02 -1.95145594e-01 -1.23404143e+02] [ 8.57204163e-02 9.96164166e-01 -1.75774102e-02 1.17161784e+01] [ 1.95935123e-01 4.42761132e-04 9.80616761e-01 -1.00387271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.79534707 meters Centerline goodness [0,1] 0.9986923220623949 Centerline is valid? [True, True] Translation: X:-123.43, Y:11.71, Z:-10.05 [[ 9.77022977e-01 -8.94603943e-02 -1.93450100e-01 -1.23431938e+02] [ 8.77522478e-02 9.95990380e-01 -1.73984394e-02 1.17130327e+01] [ 1.94230910e-01 2.29939187e-05 9.80955836e-01 -1.00450893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.82534707 meters Centerline goodness [0,1] 0.9987516600265605 Centerline is valid? [True, True] Translation: X:-123.46, Y:11.71, Z:-10.05 [[ 9.77410573e-01 -9.05405420e-02 -1.90973774e-01 -1.23459052e+02] [ 8.89121361e-02 9.95892734e-01 -1.70966201e-02 1.17096517e+01] [ 1.91737332e-01 -2.69469030e-04 9.81446241e-01 -1.00549766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.85534707 meters Centerline goodness [0,1] 0.9983392645314354 Centerline is valid? [True, True] Translation: X:-123.49, Y:11.71, Z:-10.06 [[ 9.77443286e-01 -9.38528078e-02 -1.89199029e-01 -1.23486598e+02] [ 9.23303355e-02 9.95585597e-01 -1.68649760e-02 1.17060694e+01] [ 1.89946653e-01 -9.84252212e-04 9.81793919e-01 -1.00602755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.88534707 meters Centerline goodness [0,1] 0.9984598919314 Centerline is valid? [True, True] Translation: X:-123.51, Y:11.70, Z:-10.07 [[ 9.77963196e-01 -9.61014672e-02 -1.85344263e-01 -1.23514253e+02] [ 9.46871027e-02 9.95370523e-01 -1.64885931e-02 1.17026600e+01] [ 1.86070794e-01 -1.42447405e-03 9.82535307e-01 -1.00690468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.91534707 meters Centerline goodness [0,1] 0.9985004007549707 Centerline is valid? [True, True] Translation: X:-123.54, Y:11.70, Z:-10.08 [[ 9.78038922e-01 -9.88119325e-02 -1.83510405e-01 -1.23540664e+02] [ 9.74865406e-02 9.95104128e-01 -1.62526525e-02 1.16995796e+01] [ 1.84217917e-01 -1.99406774e-03 9.82883402e-01 -1.00772228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.94534707 meters Centerline goodness [0,1] 0.9985155990069869 Centerline is valid? [True, True] Translation: X:-123.57, Y:11.70, Z:-10.09 [[ 9.78460618e-01 -1.00271161e-01 -1.80445319e-01 -1.23568378e+02] [ 9.90202367e-02 9.94957578e-01 -1.59502611e-02 1.16957998e+01] [ 1.81134789e-01 -2.26103588e-03 9.83455681e-01 -1.00853154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.97534707 meters Centerline goodness [0,1] 0.9985969745669754 Centerline is valid? [True, True] Translation: X:-123.60, Y:11.69, Z:-10.09 [[ 9.78477820e-01 -1.04301898e-01 -1.78051315e-01 -1.23595663e+02] [ 1.03164000e-01 9.94541028e-01 -1.56630751e-02 1.16929471e+01] [ 1.78713026e-01 -3.04251434e-03 9.83896538e-01 -1.00931938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.00534707 meters Centerline goodness [0,1] 0.9984615772616076 Centerline is valid? [True, True] Translation: X:-123.62, Y:11.69, Z:-10.10 [[ 9.79005195e-01 -1.08226741e-01 -1.72730428e-01 -1.23623257e+02] [ 1.07229037e-01 9.94119296e-01 -1.51247691e-02 1.16886911e+01] [ 1.73351556e-01 -3.71448990e-03 9.84853005e-01 -1.00993809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.03534707 meters Centerline goodness [0,1] 0.998666901426164 Centerline is valid? [True, True] Translation: X:-123.65, Y:11.69, Z:-10.11 [[ 9.78867436e-01 -1.10332655e-01 -1.72177954e-01 -1.23651854e+02] [ 1.09386399e-01 9.93886062e-01 -1.50036887e-02 1.16851817e+01] [ 1.72780666e-01 -4.14730407e-03 9.84951593e-01 -1.01052022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.06534707 meters Centerline goodness [0,1] 0.9990953182720579 Centerline is valid? [True, True] Translation: X:-123.68, Y:11.68, Z:-10.11 [[ 9.78763866e-01 -1.13117838e-01 -1.70955110e-01 -1.23679446e+02] [ 1.12238795e-01 9.93570592e-01 -1.48300946e-02 1.16815968e+01] [ 1.71533519e-01 -4.67263492e-03 9.85167203e-01 -1.01126033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.09534707 meters Centerline goodness [0,1] 0.9986894812323822 Centerline is valid? [True, True] Translation: X:-123.71, Y:11.68, Z:-10.12 [[ 9.78965956e-01 -1.16633369e-01 -1.67398670e-01 -1.23705858e+02] [ 1.15853354e-01 9.93161185e-01 -1.44520000e-02 1.16789260e+01] [ 1.67939447e-01 -5.24568138e-03 9.85783356e-01 -1.01214418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.12534707 meters Centerline goodness [0,1] 0.9984710988360623 Centerline is valid? [True, True] Translation: X:-123.73, Y:11.67, Z:-10.13 [[ 9.79008190e-01 -1.19676041e-01 -1.64986693e-01 -1.23734001e+02] [ 1.18967396e-01 9.92796520e-01 -1.42066114e-02 1.16747220e+01] [ 1.65498406e-01 -5.71964834e-03 9.86193472e-01 -1.01269853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.15534707 meters Centerline goodness [0,1] 0.9988737084373929 Centerline is valid? [True, True] Translation: X:-123.76, Y:11.67, Z:-10.13 [[ 9.79018788e-01 -1.20350100e-01 -1.64432557e-01 -1.23762214e+02] [ 1.19667664e-01 9.92714062e-01 -1.40868984e-02 1.16715805e+01] [ 1.64929872e-01 -5.88592188e-03 9.86287734e-01 -1.01349873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.18534707 meters Centerline goodness [0,1] 0.9988244514106583 Centerline is valid? [True, True] Translation: X:-123.79, Y:11.67, Z:-10.14 [[ 9.79294791e-01 -1.20816154e-01 -1.62435123e-01 -1.23789988e+02] [ 1.20167179e-01 9.92657038e-01 -1.38511483e-02 1.16683950e+01] [ 1.62915810e-01 -5.95501310e-03 9.86622003e-01 -1.01403340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.21534707 meters Centerline goodness [0,1] 0.9986962819893771 Centerline is valid? [True, True] Translation: X:-123.82, Y:11.67, Z:-10.14 [[ 9.79178829e-01 -1.24185496e-01 -1.60582638e-01 -1.23817548e+02] [ 1.23607615e-01 9.92237663e-01 -1.36226873e-02 1.16660828e+01] [ 1.61027882e-01 -6.51018985e-03 9.86928386e-01 -1.01441748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.24534707 meters Centerline goodness [0,1] 0.9981999711995392 Centerline is valid? [True, True] Translation: X:-123.85, Y:11.66, Z:-10.15 [[ 9.79126526e-01 -1.26461740e-01 -1.59118429e-01 -1.23845290e+02] [ 1.25927769e-01 9.91947883e-01 -1.34757285e-02 1.16612977e+01] [ 1.59541353e-01 -6.84298555e-03 9.87167529e-01 -1.01489981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.27534707 meters Centerline goodness [0,1] 0.9981799458773379 Centerline is valid? [True, True] Translation: X:-123.87, Y:11.66, Z:-10.15 [[ 9.79312196e-01 -1.26316956e-01 -1.58087477e-01 -1.23872326e+02] [ 1.25799520e-01 9.91966307e-01 -1.33164254e-02 1.16620853e+01] [ 1.58499541e-01 -6.84639086e-03 9.87335314e-01 -1.01547042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.30534707 meters Centerline goodness [0,1] 0.998846098370114 Centerline is valid? [True, True] Translation: X:-123.90, Y:11.66, Z:-10.16 [[ 9.79329733e-01 -1.26498848e-01 -1.57833187e-01 -1.23900570e+02] [ 1.25989056e-01 9.91942844e-01 -1.32722313e-02 1.16576618e+01] [ 1.58240422e-01 -6.88736354e-03 9.87376591e-01 -1.01591236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.33534707 meters Centerline goodness [0,1] 0.9993011037740396 Centerline is valid? [True, True] Translation: X:-123.93, Y:11.66, Z:-10.16 [[ 9.79526083e-01 -1.26667240e-01 -1.56473839e-01 -1.23927716e+02] [ 1.26179673e-01 9.91921088e-01 -1.30860549e-02 1.16570185e+01] [ 1.56867276e-01 -6.92568586e-03 9.87595409e-01 -1.01648445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.36534707 meters Centerline goodness [0,1] 0.9994001919385797 Centerline is valid? [True, True] Translation: X:-123.95, Y:11.66, Z:-10.17 [[ 9.79467637e-01 -1.26285492e-01 -1.57146820e-01 -1.23954916e+02] [ 1.25794934e-01 9.91969712e-01 -1.31044134e-02 1.16563304e+01] [ 1.57539783e-01 -6.93292504e-03 9.87488304e-01 -1.01687321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.39534707 meters Centerline goodness [0,1] 0.9989827799171692 Centerline is valid? [True, True] Translation: X:-123.98, Y:11.65, Z:-10.17 [[ 9.79524487e-01 -1.26140987e-01 -1.56908352e-01 -1.23981987e+02] [ 1.25653489e-01 9.91988184e-01 -1.30630331e-02 1.16522867e+01] [ 1.57299015e-01 -6.92052113e-03 9.87526772e-01 -1.01725248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.42534707 meters Centerline goodness [0,1] 0.9993198435640197 Centerline is valid? [True, True] Translation: X:-124.01, Y:11.65, Z:-10.18 [[ 9.79453842e-01 -1.25168974e-01 -1.58123052e-01 -1.24009652e+02] [ 1.24674906e-01 9.92111426e-01 -1.30800245e-02 1.16546364e+01] [ 1.58512900e-01 -6.90269638e-03 9.87332777e-01 -1.01753015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.45534707 meters Centerline goodness [0,1] 0.9991077026961849 Centerline is valid? [True, True] Translation: X:-124.04, Y:11.65, Z:-10.18 [[ 9.79423516e-01 -1.24622002e-01 -1.58741718e-01 -1.24036953e+02] [ 1.24120506e-01 9.92180552e-01 -1.31092480e-02 1.16534688e+01] [ 1.59134147e-01 -6.86359661e-03 9.87233110e-01 -1.01798249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.48534707 meters Centerline goodness [0,1] 0.9993662864385298 Centerline is valid? [True, True] Translation: X:-124.06, Y:11.65, Z:-10.18 [[ 9.79410409e-01 -1.24060596e-01 -1.59261479e-01 -1.24064306e+02] [ 1.23561258e-01 9.92250829e-01 -1.30731359e-02 1.16528579e+01] [ 1.59649196e-01 -6.87458344e-03 9.87149874e-01 -1.01833869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.51534707 meters Centerline goodness [0,1] 0.9993662864385298 Centerline is valid? [True, True] Translation: X:-124.09, Y:11.65, Z:-10.19 [[ 9.79471045e-01 -1.23572699e-01 -1.59267889e-01 -1.24091337e+02] [ 1.23079715e-01 9.92311707e-01 -1.29945730e-02 1.16504290e+01] [ 1.59649165e-01 -6.87483846e-03 9.87149877e-01 -1.01879706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.54534707 meters Centerline goodness [0,1] 0.9991227001340319 Centerline is valid? [True, True] Translation: X:-124.12, Y:11.65, Z:-10.19 [[ 9.79437691e-01 -1.22815155e-01 -1.60057014e-01 -1.24120298e+02] [ 1.22320287e-01 9.92405811e-01 -1.29789655e-02 1.16506203e+01] [ 1.60435525e-01 -6.86613194e-03 9.87022441e-01 -1.01922076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.57534707 meters Centerline goodness [0,1] 0.9993891264508247 Centerline is valid? [True, True] Translation: X:-124.15, Y:11.65, Z:-10.20 [[ 9.79422071e-01 -1.21620556e-01 -1.61061623e-01 -1.24149109e+02] [ 1.21114960e-01 9.92553484e-01 -1.29903160e-02 1.16491199e+01] [ 1.61442165e-01 -6.78396987e-03 9.86858858e-01 -1.01964293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.60534707 meters Centerline goodness [0,1] 0.9991478171946142 Centerline is valid? [True, True] Translation: X:-124.18, Y:11.65, Z:-10.20 [[ 9.79386273e-01 -1.19693671e-01 -1.62714330e-01 -1.24177881e+02] [ 1.19163142e-01 9.92788891e-01 -1.30523294e-02 1.16513810e+01] [ 1.63103261e-01 -6.60627864e-03 9.86586886e-01 -1.02019634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.63534707 meters Centerline goodness [0,1] 0.9993163227933097 Centerline is valid? [True, True] Translation: X:-124.21, Y:11.65, Z:-10.21 [[ 9.79737605e-01 -1.16944599e-01 -1.62598234e-01 -1.24206495e+02] [ 1.16388856e-01 9.93118996e-01 -1.29728565e-02 1.16545908e+01] [ 1.62996501e-01 -6.21462709e-03 9.86607074e-01 -1.02073009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.66534707 meters Centerline goodness [0,1] 0.9988945661786381 Centerline is valid? [True, True] Translation: X:-124.23, Y:11.66, Z:-10.21 [[ 9.80001578e-01 -1.15035053e-01 -1.62369466e-01 -1.24233964e+02] [ 1.14466606e-01 9.93343553e-01 -1.28834149e-02 1.16565780e+01] [ 1.62770707e-01 -5.96011483e-03 9.86645921e-01 -1.02115692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.69534707 meters Centerline goodness [0,1] 0.9993152527451028 Centerline is valid? [True, True] Translation: X:-124.26, Y:11.66, Z:-10.22 [[ 9.80381317e-01 -1.11287170e-01 -1.62688779e-01 -1.24263036e+02] [ 1.10669456e-01 9.93773760e-01 -1.28835074e-02 1.16595927e+01] [ 1.63109609e-01 -5.37392870e-03 9.86593319e-01 -1.02159991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.72534707 meters Centerline goodness [0,1] 0.9994337904039783 Centerline is valid? [True, True] Translation: X:-124.29, Y:11.66, Z:-10.22 [[ 9.80559036e-01 -1.07658602e-01 -1.64053656e-01 -1.24291497e+02] [ 1.06992611e-01 9.94175911e-01 -1.29166105e-02 1.16607820e+01] [ 1.64488777e-01 -4.88702994e-03 9.86366848e-01 -1.02187765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.75534707 meters Centerline goodness [0,1] 0.9991362077050273 Centerline is valid? [True, True] Translation: X:-124.32, Y:11.66, Z:-10.22 [[ 9.80512950e-01 -1.06105215e-01 -1.65336139e-01 -1.24318927e+02] [ 1.05413775e-01 9.94343776e-01 -1.29765227e-02 1.16615583e+01] [ 1.65777838e-01 -4.70505809e-03 9.86151901e-01 -1.02236219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.78534707 meters Centerline goodness [0,1] 0.9993094774223779 Centerline is valid? [True, True] Translation: X:-124.35, Y:11.66, Z:-10.23 [[ 9.80526580e-01 -1.03608555e-01 -1.66831932e-01 -1.24347958e+02] [ 1.02873221e-01 9.94608640e-01 -1.30672639e-02 1.16629430e+01] [ 1.67286361e-01 -4.34973855e-03 9.85898754e-01 -1.02260039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.81534707 meters Centerline goodness [0,1] 0.9994315513704555 Centerline is valid? [True, True] Translation: X:-124.38, Y:11.66, Z:-10.23 [[ 9.80294376e-01 -1.04913448e-01 -1.67380121e-01 -1.24376562e+02] [ 1.04204764e-01 9.94470426e-01 -1.30360589e-02 1.16609026e+01] [ 1.67822238e-01 -4.66263077e-03 9.85806247e-01 -1.02314772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.84534707 meters Centerline goodness [0,1] 0.999479618386817 Centerline is valid? [True, True] Translation: X:-124.41, Y:11.66, Z:-10.23 [[ 9.79889371e-01 -1.06624744e-01 -1.68665301e-01 -1.24405350e+02] [ 1.05943020e-01 9.94286409e-01 -1.30619275e-02 1.16583806e+01] [ 1.69094341e-01 -5.06966752e-03 9.85586831e-01 -1.02344132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.87534707 meters Centerline goodness [0,1] 0.9990580069410014 Centerline is valid? [True, True] Translation: X:-124.43, Y:11.66, Z:-10.24 [[ 9.79430199e-01 -1.10672073e-01 -1.68725155e-01 -1.24434200e+02] [ 1.10061689e-01 9.93839804e-01 -1.29949184e-02 1.16552959e+01] [ 1.69123949e-01 -5.84255997e-03 9.85577472e-01 -1.02367844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.90534707 meters Centerline goodness [0,1] 0.9991802871478961 Centerline is valid? [True, True] Translation: X:-124.46, Y:11.65, Z:-10.24 [[ 9.79310846e-01 -1.11822923e-01 -1.68659123e-01 -1.24462034e+02] [ 1.11233616e-01 9.93709668e-01 -1.29683648e-02 1.16492998e+01] [ 1.69048362e-01 -6.06050388e-03 9.85589124e-01 -1.02423408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.93534707 meters Centerline goodness [0,1] 0.9988775535656381 Centerline is valid? [True, True] Translation: X:-124.49, Y:11.65, Z:-10.24 [[ 9.78647618e-01 -1.17391366e-01 -1.68724943e-01 -1.24491381e+02] [ 1.16895900e-01 9.93060370e-01 -1.29015820e-02 1.16485148e+01] [ 1.69068588e-01 -7.09715151e-03 9.85578735e-01 -1.02430624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.96534707 meters Centerline goodness [0,1] 0.9992517583678356 Centerline is valid? [True, True] Translation: X:-124.52, Y:11.64, Z:-10.25 [[ 9.78263860e-01 -1.19865216e-01 -1.69210373e-01 -1.24519810e+02] [ 1.19405601e-01 9.92761399e-01 -1.29269603e-02 1.16432010e+01] [ 1.69535019e-01 -7.55868813e-03 9.85495177e-01 -1.02462796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.99534707 meters Centerline goodness [0,1] 0.9988201626669344 Centerline is valid? [True, True] Translation: X:-124.55, Y:11.64, Z:-10.25 [[ 9.77756985e-01 -1.24518936e-01 -1.68778890e-01 -1.24549816e+02] [ 1.24142850e-01 9.92181528e-01 -1.28206146e-02 1.16384714e+01] [ 1.69055706e-01 -8.41724697e-03 9.85570555e-01 -1.02489906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.02534707 meters Centerline goodness [0,1] 0.9980404964075767 Centerline is valid? [True, True] Translation: X:-124.58, Y:11.63, Z:-10.25 [[ 9.77122979e-01 -1.29520111e-01 -1.68686762e-01 -1.24579257e+02] [ 1.29219085e-01 9.91533347e-01 -1.28081923e-02 1.16304167e+01] [ 1.68917468e-01 -9.28236992e-03 9.85586489e-01 -1.02506786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.05534707 meters Centerline goodness [0,1] 0.9986233480176211 Centerline is valid? [True, True] Translation: X:-124.61, Y:11.63, Z:-10.25 [[ 9.76757666e-01 -1.30552579e-01 -1.70001428e-01 -1.24606662e+02] [ 1.30264402e-01 9.91395410e-01 -1.28967984e-02 1.16291061e+01] [ 1.70222346e-01 -9.54808762e-03 9.85359420e-01 -1.02536684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.08534707 meters Centerline goodness [0,1] 0.9982174240522219 Centerline is valid? [True, True] Translation: X:-124.64, Y:11.62, Z:-10.26 [[ 9.76705020e-01 -1.31269659e-01 -1.69751524e-01 -1.24635574e+02] [ 1.30997694e-01 9.91299381e-01 -1.28506985e-02 1.16238753e+01] [ 1.69961487e-01 -9.68571645e-03 9.85403105e-01 -1.02570488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.11534707 meters Centerline goodness [0,1] 0.9977536030692344 Centerline is valid? [True, True] Translation: X:-124.66, Y:11.63, Z:-10.26 [[ 9.76838455e-01 -1.30090842e-01 -1.69891160e-01 -1.24663691e+02] [ 1.29812601e-01 9.91456015e-01 -1.27929360e-02 1.16279706e+01] [ 1.70103856e-01 -9.55738152e-03 9.85379792e-01 -1.02573313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.14534707 meters Centerline goodness [0,1] 0.9979877738155883 Centerline is valid? [True, True] Translation: X:-124.69, Y:11.63, Z:-10.26 [[ 9.77267049e-01 -1.26390504e-01 -1.70219139e-01 -1.24692557e+02] [ 1.26060909e-01 9.91940086e-01 -1.27872532e-02 1.16309924e+01] [ 1.70463375e-01 -8.96141819e-03 9.85323262e-01 -1.02615455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.17534707 meters Centerline goodness [0,1] 0.9981670994348557 Centerline is valid? [True, True] Translation: X:-124.72, Y:11.63, Z:-10.26 [[ 9.77906626e-01 -1.21912089e-01 -1.69811879e-01 -1.24722767e+02] [ 1.21519833e-01 9.92507227e-01 -1.27410428e-02 1.16331881e+01] [ 1.70092804e-01 -8.17596089e-03 9.85394130e-01 -1.02632157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.20534707 meters Centerline goodness [0,1] 0.999051257724557 Centerline is valid? [True, True] Translation: X:-124.75, Y:11.64, Z:-10.26 [[ 9.78216737e-01 -1.18281930e-01 -1.70591324e-01 -1.24751788e+02] [ 1.17833369e-01 9.92951033e-01 -1.27884089e-02 1.16393271e+01] [ 1.70901469e-01 -7.59151482e-03 9.85258878e-01 -1.02642010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.23534707 meters Centerline goodness [0,1] 0.9991557511256651 Centerline is valid? [True, True] Translation: X:-124.78, Y:11.64, Z:-10.27 [[ 9.78565054e-01 -1.15125961e-01 -1.70752595e-01 -1.24780980e+02] [ 1.14632910e-01 9.93325741e-01 -1.27776751e-02 1.16419402e+01] [ 1.71083990e-01 -7.07008048e-03 9.85231081e-01 -1.02654300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.26534707 meters Centerline goodness [0,1] 0.9989694971145919 Centerline is valid? [True, True] Translation: X:-124.81, Y:11.65, Z:-10.27 [[ 9.78559503e-01 -1.14219886e-01 -1.71391703e-01 -1.24809775e+02] [ 1.13722758e-01 9.93430722e-01 -1.27489166e-02 1.16450856e+01] [ 1.71721963e-01 -7.01556354e-03 9.85120475e-01 -1.02678543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.29534707 meters Centerline goodness [0,1] 0.9991284286080492 Centerline is valid? [True, True] Translation: X:-124.84, Y:11.64, Z:-10.27 [[ 9.78245018e-01 -1.15985701e-01 -1.72000004e-01 -1.24837997e+02] [ 1.15524436e-01 9.93223143e-01 -1.27237106e-02 1.16416673e+01] [ 1.72310153e-01 -7.42329691e-03 9.85014774e-01 -1.02702906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.32534707 meters Centerline goodness [0,1] 0.9987073757141749 Centerline is valid? [True, True] Translation: X:-124.87, Y:11.64, Z:-10.27 [[ 9.77867701e-01 -1.17464934e-01 -1.73137945e-01 -1.24866899e+02] [ 1.17033979e-01 9.93046297e-01 -1.27318673e-02 1.16414605e+01] [ 1.73429543e-01 -7.81294085e-03 9.84815288e-01 -1.02721010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.35534707 meters Centerline goodness [0,1] 0.9990390109604695 Centerline is valid? [True, True] Translation: X:-124.90, Y:11.64, Z:-10.28 [[ 9.77193049e-01 -1.21066182e-01 -1.74461243e-01 -1.24895832e+02] [ 1.20692627e-01 9.92607540e-01 -1.27891398e-02 1.16386467e+01] [ 1.74719878e-01 -8.55872716e-03 9.84580983e-01 -1.02759342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.38534707 meters Centerline goodness [0,1] 0.9988269641833064 Centerline is valid? [True, True] Translation: X:-124.92, Y:11.64, Z:-10.28 [[ 9.77337140e-01 -1.20917497e-01 -1.73755787e-01 -1.24923150e+02] [ 1.20551106e-01 9.92625877e-01 -1.27003728e-02 1.16382394e+01] [ 1.74010188e-01 -8.53390633e-03 9.84706874e-01 -1.02806292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.41534707 meters Centerline goodness [0,1] 0.9987493812042417 Centerline is valid? [True, True] Translation: X:-124.95, Y:11.64, Z:-10.28 [[ 9.76963578e-01 -1.22447717e-01 -1.74781935e-01 -1.24952598e+02] [ 1.22111431e-01 9.92434903e-01 -1.27185231e-02 1.16365305e+01] [ 1.75017047e-01 -8.91733833e-03 9.84525020e-01 -1.02806978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.44534707 meters Centerline goodness [0,1] 0.9988216502134123 Centerline is valid? [True, True] Translation: X:-124.98, Y:11.64, Z:-10.28 [[ 9.77012111e-01 -1.21901229e-01 -1.74892610e-01 -1.24980972e+02] [ 1.21569817e-01 9.92502294e-01 -1.26481408e-02 1.16383870e+01] [ 1.75123140e-01 -8.90427572e-03 9.84506272e-01 -1.02804612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.47534707 meters Centerline goodness [0,1] 0.9987650103791681 Centerline is valid? [True, True] Translation: X:-125.01, Y:11.64, Z:-10.28 [[ 9.77096471e-01 -1.19495787e-01 -1.76077380e-01 -1.25009935e+02] [ 1.19137152e-01 9.92797274e-01 -1.26455809e-02 1.16400995e+01] [ 1.76320236e-01 -8.62140518e-03 9.84295101e-01 -1.02835795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.50534707 meters Centerline goodness [0,1] 0.9992891182433322 Centerline is valid? [True, True] Translation: X:-125.04, Y:11.64, Z:-10.29 [[ 9.77374507e-01 -1.15693162e-01 -1.77071074e-01 -1.25039740e+02] [ 1.15281899e-01 9.93252339e-01 -1.26441580e-02 1.16447449e+01] [ 1.77339101e-01 -8.05501206e-03 9.84116843e-01 -1.02852744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.53534707 meters Centerline goodness [0,1] 0.9988363482492331 Centerline is valid? [True, True] Translation: X:-125.07, Y:11.66, Z:-10.29 [[ 9.77937528e-01 -1.08588726e-01 -1.78456383e-01 -1.25071508e+02] [ 1.08056746e-01 9.94063252e-01 -1.27275631e-02 1.16551625e+01] [ 1.78779002e-01 -6.83665445e-03 9.83865503e-01 -1.02856712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.56534707 meters Centerline goodness [0,1] 0.9981131574051928 Centerline is valid? [True, True] Translation: X:-125.10, Y:11.66, Z:-10.29 [[ 9.78710272e-01 -1.01795517e-01 -1.78224231e-01 -1.25101657e+02] [ 1.01153370e-01 9.94789648e-01 -1.27103047e-02 1.16596018e+01] [ 1.78589472e-01 -5.58827580e-03 9.83907806e-01 -1.02887085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.59534707 meters Centerline goodness [0,1] 0.9963560366539842 Centerline is valid? [True, True] Translation: X:-125.13, Y:11.68, Z:-10.29 [[ 9.79199716e-01 -9.25569023e-02 -1.80557848e-01 -1.25132208e+02] [ 9.17441802e-02 9.95699494e-01 -1.28656031e-02 1.16776564e+01] [ 1.80972158e-01 -3.96713689e-03 9.83480218e-01 -1.02889053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.62534707 meters Centerline goodness [0,1] 0.9958590429178664 Centerline is valid? [True, True] Translation: X:-125.16, Y:11.69, Z:-10.29 [[ 9.79327811e-01 -8.41727890e-02 -1.83934718e-01 -1.25162064e+02] [ 8.31863682e-02 9.96448076e-01 -1.30866529e-02 1.16924340e+01] [ 1.84382936e-01 -2.48473797e-03 9.82851341e-01 -1.02883700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.65534707 meters Centerline goodness [0,1] 0.9951214164337006 Centerline is valid? [True, True] Translation: X:-125.19, Y:11.70, Z:-10.29 [[ 9.80046120e-01 -7.84330441e-02 -1.82641341e-01 -1.25190769e+02] [ 7.73693455e-02 9.96918349e-01 -1.29533320e-02 1.16979966e+01] [ 1.83094474e-01 -1.43597823e-03 9.83094274e-01 -1.02911816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.68534707 meters Centerline goodness [0,1] 0.9941281237824902 Centerline is valid? [True, True] Translation: X:-125.22, Y:11.71, Z:-10.29 [[ 9.80281390e-01 -7.28471738e-02 -1.83689100e-01 -1.25220272e+02] [ 7.16803315e-02 9.97343022e-01 -1.29932886e-02 1.17099869e+01] [ 1.84147566e-01 -4.29816573e-04 9.82898514e-01 -1.02925628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.71534707 meters Centerline goodness [0,1] 0.9942397595725735 Centerline is valid? [True, True] Translation: X:-125.25, Y:11.71, Z:-10.30 [[ 9.80201114e-01 -7.07589054e-02 -1.84929591e-01 -1.25248742e+02] [ 6.95555155e-02 9.97493439e-01 -1.29949466e-02 1.17140239e+01] [ 1.85385562e-01 -1.25211896e-04 9.82665853e-01 -1.02951992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.74534707 meters Centerline goodness [0,1] 0.9932617633622659 Centerline is valid? [True, True] Translation: X:-125.28, Y:11.72, Z:-10.30 [[ 9.80296441e-01 -6.81975534e-02 -1.85386033e-01 -1.25277616e+02] [ 6.69478298e-02 9.97671781e-01 -1.30001988e-02 1.17231102e+01] [ 1.85840996e-01 3.32856055e-04 9.82579775e-01 -1.02955180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.77534707 meters Centerline goodness [0,1] 0.9927567474346813 Centerline is valid? [True, True] Translation: X:-125.31, Y:11.73, Z:-10.30 [[ 9.80013150e-01 -6.74959617e-02 -1.87132364e-01 -1.25306643e+02] [ 6.62160506e-02 9.97719452e-01 -1.30893103e-02 1.17295854e+01] [ 1.87589075e-01 4.36530141e-04 9.82247498e-01 -1.02967242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.80534707 meters Centerline goodness [0,1] 0.9920211222654209 Centerline is valid? [True, True] Translation: X:-125.33, Y:11.73, Z:-10.30 [[ 9.80004649e-01 -6.66299182e-02 -1.87486912e-01 -1.25334933e+02] [ 6.53432296e-02 9.97777617e-01 -1.30418284e-02 1.17313500e+01] [ 1.87939220e-01 5.30052163e-04 9.82180517e-01 -1.02998746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.83534707 meters Centerline goodness [0,1] 0.9936903845014515 Centerline is valid? [True, True] Translation: X:-125.36, Y:11.74, Z:-10.30 [[ 9.79801433e-01 -6.61876028e-02 -1.88701757e-01 -1.25364293e+02] [ 6.48824244e-02 9.97807025e-01 -1.30924198e-02 1.17373361e+01] [ 1.89154495e-01 5.84544220e-04 9.81947165e-01 -1.03007285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.86534707 meters Centerline goodness [0,1] 0.9918101137649652 Centerline is valid? [True, True] Translation: X:-125.39, Y:11.74, Z:-10.30 [[ 9.79951593e-01 -6.76962552e-02 -1.87382211e-01 -1.25392213e+02] [ 6.64505244e-02 9.97705953e-01 -1.29289735e-02 1.17412085e+01] [ 1.87827591e-01 2.18121959e-04 9.82201990e-01 -1.03020160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.89534707 meters Centerline goodness [0,1] 0.9921561528946813 Centerline is valid? [True, True] Translation: X:-125.42, Y:11.74, Z:-10.30 [[ 9.79927358e-01 -6.77026210e-02 -1.87506608e-01 -1.25420175e+02] [ 6.64618148e-02 9.97705529e-01 -1.29036984e-02 1.17419708e+01] [ 1.87949994e-01 1.82657594e-04 9.82178582e-01 -1.03041226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.92534707 meters Centerline goodness [0,1] 0.992226169870335 Centerline is valid? [True, True] Translation: X:-125.45, Y:11.74, Z:-10.31 [[ 9.79884528e-01 -6.92375554e-02 -1.87169638e-01 -1.25448697e+02] [ 6.80455958e-02 9.97600181e-01 -1.27935880e-02 1.17445183e+01] [ 1.87606262e-01 -1.99830585e-04 9.82244293e-01 -1.03052116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.95534707 meters Centerline goodness [0,1] 0.9922346062488581 Centerline is valid? [True, True] Translation: X:-125.48, Y:11.74, Z:-10.31 [[ 9.79701459e-01 -7.04757577e-02 -1.87665180e-01 -1.25476516e+02] [ 6.93150664e-02 9.97513358e-01 -1.27484388e-02 1.17448422e+01] [ 1.88096979e-01 -5.18360293e-04 9.82150323e-01 -1.03054447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.98534707 meters Centerline goodness [0,1] 0.9930224694925153 Centerline is valid? [True, True] Translation: X:-125.50, Y:11.75, Z:-10.31 [[ 9.79706374e-01 -7.17009012e-02 -1.87174789e-01 -1.25504385e+02] [ 7.05747342e-02 9.97425869e-01 -1.26823537e-02 1.17466709e+01] [ 1.87602313e-01 -7.84828260e-04 9.82244754e-01 -1.03070056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.01534707 meters Centerline goodness [0,1] 0.9928972426413573 Centerline is valid? [True, True] Translation: X:-125.53, Y:11.75, Z:-10.31 [[ 9.79539146e-01 -7.29083633e-02 -1.87583132e-01 -1.25532403e+02] [ 7.18154767e-02 9.97338032e-01 -1.26248709e-02 1.17467414e+01] [ 1.88004250e-01 -1.10481680e-03 9.82167593e-01 -1.03107292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.04534707 meters Centerline goodness [0,1] 0.9927197248985409 Centerline is valid? [True, True] Translation: X:-125.56, Y:11.75, Z:-10.31 [[ 9.79409990e-01 -7.52901526e-02 -1.87316480e-01 -1.25560359e+02] [ 7.42595269e-02 9.97160312e-01 -1.25233483e-02 1.17480542e+01] [ 1.87727445e-01 -1.64454075e-03 9.82219783e-01 -1.03112703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.07534707 meters Centerline goodness [0,1] 0.9939846308893928 Centerline is valid? [True, True] Translation: X:-125.59, Y:11.75, Z:-10.31 [[ 9.79309060e-01 -7.75604294e-02 -1.86917479e-01 -1.25589206e+02] [ 7.65900430e-02 9.96985325e-01 -1.24187792e-02 1.17504235e+01] [ 1.87317190e-01 -2.15419482e-03 9.82297119e-01 -1.03101058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.10534707 meters Centerline goodness [0,1] 0.9934033559625977 Centerline is valid? [True, True] Translation: X:-125.62, Y:11.75, Z:-10.31 [[ 9.79152478e-01 -7.88033111e-02 -1.87217687e-01 -1.25617367e+02] [ 7.78573833e-02 9.96887239e-01 -1.24121041e-02 1.17534313e+01] [ 1.87613038e-01 -2.42293672e-03 9.82240030e-01 -1.03091793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.13534707 meters Centerline goodness [0,1] 0.9934462915601023 Centerline is valid? [True, True] Translation: X:-125.65, Y:11.75, Z:-10.31 [[ 9.79485188e-01 -7.88101883e-02 -1.85466224e-01 -1.25645676e+02] [ 7.78881885e-02 9.96886670e-01 -1.22636842e-02 1.17529831e+01] [ 1.85855310e-01 -2.43353123e-03 9.82574110e-01 -1.03123425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.16534707 meters Centerline goodness [0,1] 0.9935444105625122 Centerline is valid? [True, True] Translation: X:-125.68, Y:11.75, Z:-10.31 [[ 9.79420600e-01 -8.09216170e-02 -1.84897214e-01 -1.25675490e+02] [ 8.00563042e-02 9.96716252e-01 -1.21532244e-02 1.17546062e+01] [ 1.85273517e-01 -2.89906929e-03 9.82682716e-01 -1.03125878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.19534707 meters Centerline goodness [0,1] 0.9928694130230448 Centerline is valid? [True, True] Translation: X:-125.70, Y:11.76, Z:-10.31 [[ 9.79628370e-01 -8.17034374e-02 -1.83447011e-01 -1.25703592e+02] [ 8.08734753e-02 9.96651967e-01 -1.20140460e-02 1.17553558e+01] [ 1.83814413e-01 -3.06669705e-03 9.82956183e-01 -1.03136396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.22534707 meters Centerline goodness [0,1] 0.9939936983064198 Centerline is valid? [True, True] Translation: X:-125.73, Y:11.76, Z:-10.32 [[ 9.79738571e-01 -8.00683670e-02 -1.83579379e-01 -1.25731871e+02] [ 7.92232244e-02 9.96785327e-01 -1.19453761e-02 1.17577970e+01] [ 1.83945678e-01 -2.84040468e-03 9.82932307e-01 -1.03165186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.25534707 meters Centerline goodness [0,1] 0.995008 Centerline is valid? [True, True] Translation: X:-125.76, Y:11.76, Z:-10.32 [[ 9.80109613e-01 -8.25220703e-02 -1.80486163e-01 -1.25760211e+02] [ 8.17518620e-02 9.96583862e-01 -1.17149022e-02 1.17573247e+01] [ 1.80836335e-01 -3.27319159e-03 9.83507756e-01 -1.03178400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.28534707 meters Centerline goodness [0,1] 0.9946637499585695 Centerline is valid? [True, True] Translation: X:-125.79, Y:11.76, Z:-10.32 [[ 9.80104781e-01 -7.97030773e-02 -1.81774689e-01 -1.25789106e+02] [ 7.88888500e-02 9.96814557e-01 -1.17169704e-02 1.17620859e+01] [ 1.82129535e-01 -2.85613753e-03 9.83270398e-01 -1.03206339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.31534707 meters Centerline goodness [0,1] 0.9936976891526893 Centerline is valid? [True, True] Translation: X:-125.82, Y:11.77, Z:-10.32 [[ 9.80006985e-01 -7.96330677e-02 -1.82331796e-01 -1.25818321e+02] [ 7.88249188e-02 9.96819970e-01 -1.16867229e-02 1.17669995e+01] [ 1.82682625e-01 -2.91921896e-03 9.83167604e-01 -1.03178548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.34534707 meters Centerline goodness [0,1] 0.9939247073278952 Centerline is valid? [True, True] Translation: X:-125.85, Y:11.77, Z:-10.32 [[ 9.80418439e-01 -7.73777553e-02 -1.81086632e-01 -1.25847423e+02] [ 7.65478195e-02 9.96998686e-01 -1.15780315e-02 1.17696933e+01] [ 1.81439016e-01 -2.51047121e-03 9.83398994e-01 -1.03213995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.37534707 meters Centerline goodness [0,1] 0.9937173130476126 Centerline is valid? [True, True] Translation: X:-125.88, Y:11.77, Z:-10.32 [[ 9.80657647e-01 -7.73202200e-02 -1.79811467e-01 -1.25876187e+02] [ 7.65140147e-02 9.97003041e-01 -1.14255274e-02 1.17741428e+01] [ 1.80156003e-01 -2.55356644e-03 9.83634736e-01 -1.03214058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.40534707 meters Centerline goodness [0,1] 0.994364842112497 Centerline is valid? [True, True] Translation: X:-125.91, Y:11.78, Z:-10.32 [[ 9.80957282e-01 -7.47660912e-02 -1.79256362e-01 -1.25905868e+02] [ 7.39370292e-02 9.97198764e-01 -1.13110994e-02 1.17812115e+01] [ 1.79599909e-01 -2.15797752e-03 9.83737371e-01 -1.03218240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.43534707 meters Centerline goodness [0,1] 0.994364842112497 Centerline is valid? [True, True] Translation: X:-125.93, Y:11.78, Z:-10.33 [[ 9.80989188e-01 -7.43359852e-02 -1.79260634e-01 -1.25932801e+02] [ 7.35122440e-02 9.97230939e-01 -1.12430026e-02 1.17793008e+01] [ 1.79600010e-01 -2.14858748e-03 9.83737373e-01 -1.03264018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.46534707 meters Centerline goodness [0,1] 0.9946497884393468 Centerline is valid? [True, True] Translation: X:-125.96, Y:11.78, Z:-10.33 [[ 9.81087231e-01 -7.33616261e-02 -1.79125422e-01 -1.25961178e+02] [ 7.25366923e-02 9.97303310e-01 -1.11596104e-02 1.17823852e+01] [ 1.79461063e-01 -2.04461432e-03 9.83762952e-01 -1.03296489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.49534707 meters Centerline goodness [0,1] 0.9927777384408412 Centerline is valid? [True, True] Translation: X:-125.99, Y:11.79, Z:-10.33 [[ 9.81547936e-01 -6.97411753e-02 -1.78044427e-01 -1.25990801e+02] [ 6.88742500e-02 9.97564118e-01 -1.10529496e-02 1.17891141e+01] [ 1.78381577e-01 -1.41367652e-03 9.83960372e-01 -1.03289076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.52534707 meters Centerline goodness [0,1] 0.9936507936507937 Centerline is valid? [True, True] Translation: X:-126.02, Y:11.79, Z:-10.33 [[ 9.81580492e-01 -7.10587506e-02 -1.77342583e-01 -1.26018839e+02] [ 7.02324983e-02 9.97470655e-01 -1.09402277e-02 1.17935397e+01] [ 1.77671421e-01 -1.71649859e-03 9.84088370e-01 -1.03294129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.55534707 meters Centerline goodness [0,1] 0.9930470051423191 Centerline is valid? [True, True] Translation: X:-126.05, Y:11.80, Z:-10.33 [[ 9.81748457e-01 -6.91906451e-02 -1.77151409e-01 -1.26047102e+02] [ 6.83498511e-02 9.97602395e-01 -1.08516915e-02 1.18014885e+01] [ 1.77477506e-01 -1.45464111e-03 9.84123782e-01 -1.03288972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.58534707 meters Centerline goodness [0,1] 0.9938629893896263 Centerline is valid? [True, True] Translation: X:-126.08, Y:11.81, Z:-10.33 [[ 9.81741698e-01 -6.63932874e-02 -1.78255911e-01 -1.26075493e+02] [ 6.55046770e-02 9.97793028e-01 -1.08724949e-02 1.18052247e+01] [ 1.78584366e-01 -1.00261427e-03 9.83924092e-01 -1.03323410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.61534707 meters Centerline goodness [0,1] 0.9933653048714528 Centerline is valid? [True, True] Translation: X:-126.10, Y:11.81, Z:-10.34 [[ 9.81823899e-01 -6.87883348e-02 -1.76889787e-01 -1.26103184e+02] [ 6.79660906e-02 9.97630139e-01 -1.07105332e-02 1.18098062e+01] [ 1.77207342e-01 -1.50664977e-03 9.84172387e-01 -1.03358923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.64534707 meters Centerline goodness [0,1] 0.993178817661728 Centerline is valid? [True, True] Translation: X:-126.13, Y:11.81, Z:-10.34 [[ 9.82116161e-01 -6.54936657e-02 -1.76517496e-01 -1.26131113e+02] [ 6.46357881e-02 9.97852497e-01 -1.06117851e-02 1.18135747e+01] [ 1.76833429e-01 -9.87341809e-04 9.84240298e-01 -1.03380899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.67534707 meters Centerline goodness [0,1] 0.9938527681399909 Centerline is valid? [True, True] Translation: X:-126.16, Y:11.82, Z:-10.34 [[ 9.82237363e-01 -6.28353083e-02 -1.76809183e-01 -1.26159908e+02] [ 6.19367309e-02 9.98023765e-01 -1.06021624e-02 1.18210035e+01] [ 1.77125956e-01 -5.37142763e-04 9.84188045e-01 -1.03389397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.70534707 meters Centerline goodness [0,1] 0.9937892961202269 Centerline is valid? [True, True] Translation: X:-126.19, Y:11.83, Z:-10.34 [[ 9.82539551e-01 -6.03080304e-02 -1.76008445e-01 -1.26189124e+02] [ 5.93911823e-02 9.98179802e-01 -1.04771802e-02 1.18282332e+01] [ 1.76319933e-01 -1.59105686e-04 9.84332899e-01 -1.03386330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.73534707 meters Centerline goodness [0,1] 0.9930641472650246 Centerline is valid? [True, True] Translation: X:-126.22, Y:11.83, Z:-10.34 [[ 9.82527501e-01 -6.18719892e-02 -1.75532241e-01 -1.26216767e+02] [ 6.09987616e-02 9.98083959e-01 -1.03711954e-02 1.18294829e+01] [ 1.75837601e-01 -5.17264592e-04 9.84419052e-01 -1.03429748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.76534707 meters Centerline goodness [0,1] 0.9932676771562668 Centerline is valid? [True, True] Translation: X:-126.24, Y:11.84, Z:-10.34 [[ 9.82561561e-01 -5.90153290e-02 -1.76323483e-01 -1.26244846e+02] [ 5.81019668e-02 9.98257073e-01 -1.03429811e-02 1.18374953e+01] [ 1.76626558e-01 -8.21254948e-05 9.84277934e-01 -1.03428405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.79534707 meters Centerline goodness [0,1] 0.9934386205844206 Centerline is valid? [True, True] Translation: X:-126.27, Y:11.84, Z:-10.35 [[ 9.82710079e-01 -5.99372616e-02 -1.75181122e-01 -1.26272161e+02] [ 5.90566493e-02 9.98202106e-01 -1.02404659e-02 1.18383436e+01] [ 1.75479951e-01 -2.82201013e-04 9.84482964e-01 -1.03485256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.82534707 meters Centerline goodness [0,1] 0.9940002307603554 Centerline is valid? [True, True] Translation: X:-126.30, Y:11.84, Z:-10.35 [[ 9.82628173e-01 -6.06028509e-02 -1.75411426e-01 -1.26300446e+02] [ 5.97442840e-02 9.98161842e-01 -1.01762853e-02 1.18428850e+01] [ 1.75705704e-01 -4.80325448e-04 9.84442621e-01 -1.03524126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.85534707 meters Centerline goodness [0,1] 0.9940235951567836 Centerline is valid? [True, True] Translation: X:-126.33, Y:11.85, Z:-10.35 [[ 9.82718535e-01 -6.11602103e-02 -1.74710361e-01 -1.26327632e+02] [ 6.03304479e-02 9.98127749e-01 -1.00615303e-02 1.18475213e+01] [ 1.74998624e-01 -6.52701969e-04 9.84568462e-01 -1.03543965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.88534707 meters Centerline goodness [0,1] 0.994725120150041 Centerline is valid? [True, True] Translation: X:-126.36, Y:11.85, Z:-10.36 [[ 9.82486199e-01 -6.45895964e-02 -1.74782873e-01 -1.26356612e+02] [ 6.38188289e-02 9.97911069e-01 -1.00327594e-02 1.18504051e+01] [ 1.75065775e-01 -1.29739061e-03 9.84555885e-01 -1.03556147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.91534707 meters Centerline goodness [0,1] 0.9940181436437824 Centerline is valid? [True, True] Translation: X:-126.38, Y:11.85, Z:-10.36 [[ 9.82294160e-01 -6.40729810e-02 -1.76047824e-01 -1.26384703e+02] [ 6.32942952e-02 9.97944395e-01 -1.00407702e-02 1.18527547e+01] [ 1.76329281e-01 -1.27983302e-03 9.84330405e-01 -1.03596989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.94534707 meters Centerline goodness [0,1] 0.9949833431314913 Centerline is valid? [True, True] Translation: X:-126.41, Y:11.85, Z:-10.37 [[ 9.82339911e-01 -6.59688065e-02 -1.75089734e-01 -1.26412532e+02] [ 6.52418880e-02 9.97820259e-01 -9.91092417e-03 1.18545068e+01] [ 1.75361896e-01 -1.68728848e-03 9.84502594e-01 -1.03656943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.97534707 meters Centerline goodness [0,1] 0.9948197095774188 Centerline is valid? [True, True] Translation: X:-126.44, Y:11.86, Z:-10.36 [[ 9.82509772e-01 -6.30368600e-02 -1.75216728e-01 -1.26441787e+02] [ 6.22759127e-02 9.98010429e-01 -9.84352857e-03 1.18634047e+01] [ 1.75488627e-01 -1.24041865e-03 9.84480677e-01 -1.03639755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.00534707 meters Centerline goodness [0,1] 0.9963669020696412 Centerline is valid? [True, True] Translation: X:-126.47, Y:11.87, Z:-10.37 [[ 9.82544996e-01 -6.20586741e-02 -1.75368335e-01 -1.26469960e+02] [ 6.12880375e-02 9.98071889e-01 -9.81228210e-03 1.18655975e+01] [ 1.75639142e-01 -1.10697239e-03 9.84453994e-01 -1.03669105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.03534707 meters Centerline goodness [0,1] 0.9954729183508488 Centerline is valid? [True, True] Translation: X:-126.50, Y:11.87, Z:-10.37 [[ 9.82483087e-01 -6.49178500e-02 -1.74678724e-01 -1.26498985e+02] [ 6.42121325e-02 9.97889178e-01 -9.69485994e-03 1.18694660e+01] [ 1.74939377e-01 -1.69145742e-03 9.84577754e-01 -1.03715303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.06534707 meters Centerline goodness [0,1] 0.9945862335653519 Centerline is valid? [True, True] Translation: X:-126.53, Y:11.87, Z:-10.37 [[ 9.82656342e-01 -6.39984431e-02 -1.74042271e-01 -1.26526320e+02] [ 6.32951039e-02 9.97948735e-01 -9.59439363e-03 1.18724572e+01] [ 1.74299290e-01 -1.58803188e-03 9.84691442e-01 -1.03746113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.09534707 meters Centerline goodness [0,1] 0.9952793399285743 Centerline is valid? [True, True] Translation: X:-126.55, Y:11.88, Z:-10.38 [[ 9.82656753e-01 -6.39625544e-02 -1.74053143e-01 -1.26553885e+02] [ 6.32632715e-02 9.97951003e-01 -9.56842412e-03 1.18800808e+01] [ 1.74308529e-01 -1.60869464e-03 9.84689773e-01 -1.03770260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.12534707 meters Centerline goodness [0,1] 0.9948933223698446 Centerline is valid? [True, True] Translation: X:-126.58, Y:11.89, Z:-10.38 [[ 9.83229658e-01 -5.64519566e-02 -1.73414580e-01 -1.26582638e+02] [ 5.56475332e-02 9.98405269e-01 -9.50108048e-03 1.18896813e+01] [ 1.73674385e-01 -3.08349478e-04 9.84803083e-01 -1.03790349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.15534707 meters Centerline goodness [0,1] 0.9953333893887161 Centerline is valid? [True, True] Translation: X:-126.61, Y:11.89, Z:-10.38 [[ 9.83192163e-01 -5.80579032e-02 -1.73096650e-01 -1.26609948e+02] [ 5.72857000e-02 9.98313027e-01 -9.45777834e-03 1.18913567e+01] [ 1.73353740e-01 -6.17149242e-04 9.84859432e-01 -1.03841540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.18534707 meters Centerline goodness [0,1] 0.9941476777487237 Centerline is valid? [True, True] Translation: X:-126.64, Y:11.90, Z:-10.39 [[ 9.83559233e-01 -5.44210685e-02 -1.72190541e-01 -1.26638390e+02] [ 5.36149439e-02 9.98518074e-01 -9.33237883e-03 1.18997404e+01] [ 1.72443245e-01 -5.30388454e-05 9.85019454e-01 -1.03883646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.21534707 meters Centerline goodness [0,1] 0.994410569105691 Centerline is valid? [True, True] Translation: X:-126.67, Y:11.91, Z:-10.39 [[ 9.83545334e-01 -5.17155844e-02 -1.73101340e-01 -1.26666652e+02] [ 5.08702114e-02 9.98661789e-01 -9.31950590e-03 1.19051012e+01] [ 1.73351658e-01 3.60454779e-04 9.84859926e-01 -1.03925301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.24534707 meters Centerline goodness [0,1] 0.9955387783115992 Centerline is valid? [True, True] Translation: X:-126.70, Y:11.92, Z:-10.40 [[ 9.83732885e-01 -4.66110306e-02 -1.73484937e-01 -1.26695826e+02] [ 4.56872048e-02 9.98912347e-01 -9.31682123e-03 1.19172400e+01] [ 1.73730513e-01 1.23922156e-03 9.84792452e-01 -1.03961482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.27534707 meters Centerline goodness [0,1] 0.995475113122172 Centerline is valid? [True, True] Translation: X:-126.72, Y:11.93, Z:-10.40 [[ 9.84209801e-01 -4.12511504e-02 -1.72131957e-01 -1.26724316e+02] [ 4.02707956e-02 9.99146585e-01 -9.18501346e-03 1.19286615e+01] [ 1.72363950e-01 2.10808939e-03 9.85031078e-01 -1.03990023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.30534707 meters Centerline goodness [0,1] 0.9949688334817454 Centerline is valid? [True, True] Translation: X:-126.75, Y:11.94, Z:-10.40 [[ 9.84239869e-01 -3.65960429e-02 -1.73010434e-01 -1.26753120e+02] [ 3.55381104e-02 9.99325886e-01 -9.20954766e-03 1.19400443e+01] [ 1.73230838e-01 2.91594007e-03 9.84876933e-01 -1.04012735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.33534707 meters Centerline goodness [0,1] 0.9956635249347316 Centerline is valid? [True, True] Translation: X:-126.78, Y:11.95, Z:-10.41 [[ 9.84372018e-01 -3.37567858e-02 -1.72835788e-01 -1.26781193e+02] [ 3.26618820e-02 9.99424337e-01 -9.17582281e-03 1.19452702e+01] [ 1.73046039e-01 3.38728110e-03 9.84907912e-01 -1.04079071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.36534707 meters Centerline goodness [0,1] 0.9948451337181126 Centerline is valid? [True, True] Translation: X:-126.81, Y:11.96, Z:-10.41 [[ 9.84146701e-01 -3.28224013e-02 -1.74292747e-01 -1.26809963e+02] [ 3.17058541e-02 9.99455016e-01 -9.18742749e-03 1.19568120e+01] [ 1.74499314e-01 3.51567606e-03 9.84651019e-01 -1.04145445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.39534707 meters Centerline goodness [0,1] 0.9934962996187486 Centerline is valid? [True, True] Translation: X:-126.84, Y:11.96, Z:-10.42 [[ 9.84001010e-01 -3.34130776e-02 -1.75001654e-01 -1.26837698e+02] [ 3.23074548e-02 9.99435968e-01 -9.16370470e-03 1.19572345e+01] [ 1.75209135e-01 3.36323667e-03 9.84525494e-01 -1.04167558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.42534707 meters Centerline goodness [0,1] 0.9951273329042934 Centerline is valid? [True, True] Translation: X:-126.87, Y:11.96, Z:-10.42 [[ 9.84358125e-01 -3.99091575e-02 -1.71599363e-01 -1.26867527e+02] [ 3.89480532e-02 9.99201017e-01 -8.96529051e-03 1.19598099e+01] [ 1.71820055e-01 2.14159543e-03 9.85126023e-01 -1.04174864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.45534707 meters Centerline goodness [0,1] 0.9955357142857143 Centerline is valid? [True, True] Translation: X:-126.90, Y:11.96, Z:-10.42 [[ 9.84099012e-01 -4.82922993e-02 -1.70929776e-01 -1.26895218e+02] [ 4.74659240e-02 9.98833025e-01 -8.92047269e-03 1.19589620e+01] [ 1.71161095e-01 6.65288618e-04 9.85242831e-01 -1.04243852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.48534707 meters Centerline goodness [0,1] 0.9951125930662769 Centerline is valid? [True, True] Translation: X:-126.92, Y:11.96, Z:-10.43 [[ 9.83413440e-01 -5.11365165e-02 -1.74020296e-01 -1.26921765e+02] [ 5.03344638e-02 9.98691666e-01 -9.02207757e-03 1.19570781e+01] [ 1.74253977e-01 1.13214023e-04 9.84700736e-01 -1.04311396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.51534707 meters Centerline goodness [0,1] 0.9960179421457341 Centerline is valid? [True, True] Translation: X:-126.95, Y:11.95, Z:-10.44 [[ 9.81731439e-01 -5.87142540e-02 -1.80986240e-01 -1.26949962e+02] [ 5.79784051e-02 9.98273976e-01 -9.35810811e-03 1.19536295e+01] [ 1.81223307e-01 -1.30614457e-03 9.83441105e-01 -1.04391714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.54534707 meters Centerline goodness [0,1] 0.9956479912043612 Centerline is valid? [True, True] Translation: X:-126.98, Y:11.95, Z:-10.44 [[ 9.81378651e-01 -6.12198625e-02 -1.82066121e-01 -1.26978876e+02] [ 6.05284447e-02 9.98122614e-01 -9.35707184e-03 1.19530771e+01] [ 1.82297151e-01 -1.83734862e-03 9.83241767e-01 -1.04428264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.57534707 meters Centerline goodness [0,1] 0.9943353129282777 Centerline is valid? [True, True] Translation: X:-127.01, Y:11.95, Z:-10.44 [[ 9.81543345e-01 -6.24089930e-02 -1.80769965e-01 -1.27007529e+02] [ 6.17575310e-02 9.98048452e-01 -9.23552390e-03 1.19527500e+01] [ 1.80993563e-01 -2.09883968e-03 9.83482041e-01 -1.04411127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.60534707 meters Centerline goodness [0,1] 0.9954331450094162 Centerline is valid? [True, True] Translation: X:-127.04, Y:11.96, Z:-10.44 [[ 9.82164615e-01 -6.24984206e-02 -1.77331937e-01 -1.27036453e+02] [ 6.18841008e-02 9.98042777e-01 -8.99850945e-03 1.19585882e+01] [ 1.77547252e-01 -2.13600992e-03 9.84109959e-01 -1.04364788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.63534707 meters Centerline goodness [0,1] 0.9962313925004711 Centerline is valid? [True, True] Translation: X:-127.06, Y:11.96, Z:-10.44 [[ 9.82508941e-01 -5.95328951e-02 -1.76442669e-01 -1.27064918e+02] [ 5.88816867e-02 9.98225035e-01 -8.92892102e-03 1.19631296e+01] [ 1.76661054e-01 -1.61649719e-03 9.84270420e-01 -1.04409149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.66534707 meters Centerline goodness [0,1] 0.9945362912721963 Centerline is valid? [True, True] Translation: X:-127.09, Y:11.97, Z:-10.45 [[ 9.82147560e-01 -5.74242703e-02 -1.79132979e-01 -1.27092588e+02] [ 5.67298741e-02 9.98348990e-01 -9.00088186e-03 1.19688730e+01] [ 1.79354098e-01 -1.32199720e-03 9.83783696e-01 -1.04515900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.69534707 meters Centerline goodness [0,1] 0.9959266802443992 Centerline is valid? [True, True] Translation: X:-127.12, Y:11.97, Z:-10.45 [[ 9.82281790e-01 -5.48950214e-02 -1.79189901e-01 -1.27121219e+02] [ 5.41688687e-02 9.98491709e-01 -8.94654448e-03 1.19713471e+01] [ 1.79410752e-01 -9.18486516e-04 9.83773825e-01 -1.04535647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.72534707 meters Centerline goodness [0,1] 0.9974727003957846 Centerline is valid? [True, True] Translation: X:-127.15, Y:11.97, Z:-10.46 [[ 9.82206140e-01 -5.39434068e-02 -1.79892211e-01 -1.27148140e+02] [ 5.32052711e-02 9.98543673e-01 -8.92925626e-03 1.19746676e+01] [ 1.80111904e-01 -8.00843523e-04 9.83645801e-01 -1.04580469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.75534707 meters Centerline goodness [0,1] 0.9963810075275044 Centerline is valid? [True, True] Translation: X:-127.18, Y:11.98, Z:-10.46 [[ 9.81796230e-01 -5.39794396e-02 -1.82105416e-01 -1.27176298e+02] [ 5.32315938e-02 9.98541675e-01 -8.99556956e-03 1.19771263e+01] [ 1.82325423e-01 -8.61945242e-04 9.83237864e-01 -1.04638853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.78534707 meters Centerline goodness [0,1] 0.9971732464545803 Centerline is valid? [True, True] Translation: X:-127.20, Y:11.98, Z:-10.47 [[ 9.81839669e-01 -5.10001058e-02 -1.82728905e-01 -1.27203799e+02] [ 5.02061423e-02 9.98698581e-01 -8.97149314e-03 1.19792144e+01] [ 1.82948646e-01 -3.65545576e-04 9.83122403e-01 -1.04682317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.81534707 meters Centerline goodness [0,1] 0.9969375154359101 Centerline is valid? [True, True] Translation: X:-127.23, Y:11.98, Z:-10.48 [[ 9.80900853e-01 -5.21143419e-02 -1.87396937e-01 -1.27231311e+02] [ 5.13104187e-02 9.98640914e-01 -9.14145476e-03 1.19815318e+01] [ 1.87618649e-01 -6.48554515e-04 9.82241733e-01 -1.04757930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.84534707 meters Centerline goodness [0,1] 0.9968551913910865 Centerline is valid? [True, True] Translation: X:-127.26, Y:11.98, Z:-10.48 [[ 9.81087108e-01 -4.83204463e-02 -1.87438580e-01 -1.27259584e+02] [ 4.74515921e-02 9.98831883e-01 -9.12222620e-03 1.19830347e+01] [ 1.87660420e-01 5.54394915e-05 9.82233966e-01 -1.04779346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.87534707 meters Centerline goodness [0,1] 0.9958148695224027 Centerline is valid? [True, True] Translation: X:-127.29, Y:11.99, Z:-10.48 [[ 9.81339051e-01 -4.48978648e-02 -1.86970182e-01 -1.27288249e+02] [ 4.39830287e-02 9.98991372e-01 -9.04056401e-03 1.19883639e+01] [ 1.87187500e-01 6.48343632e-04 9.82323989e-01 -1.04794465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.90534707 meters Centerline goodness [0,1] 0.9964676616915423 Centerline is valid? [True, True] Translation: X:-127.32, Y:11.99, Z:-10.48 [[ 9.81678779e-01 -4.20423703e-02 -1.85847286e-01 -1.27316175e+02] [ 4.10919450e-02 9.99115151e-01 -8.96477281e-03 1.19935388e+01] [ 1.86059739e-01 1.16370077e-03 9.82537744e-01 -1.04793014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.93534707 meters Centerline goodness [0,1] 0.9962692062245349 Centerline is valid? [True, True] Translation: X:-127.34, Y:12.00, Z:-10.48 [[ 9.82267328e-01 -3.84767171e-02 -1.83495066e-01 -1.27344839e+02] [ 3.74957033e-02 9.99257916e-01 -8.81418714e-03 1.19960160e+01] [ 1.83698038e-01 1.77761149e-03 9.82981114e-01 -1.04830842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.96534707 meters Centerline goodness [0,1] 0.9955756562776521 Centerline is valid? [True, True] Translation: X:-127.37, Y:12.00, Z:-10.49 [[ 9.81906624e-01 -3.89382205e-02 -1.85319176e-01 -1.27371927e+02] [ 3.79556291e-02 9.99240251e-01 -8.84826723e-03 1.19964061e+01] [ 1.85522916e-01 1.65426629e-03 9.82638546e-01 -1.04907212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.99534707 meters Centerline goodness [0,1] 0.9953426806549662 Centerline is valid? [True, True] Translation: X:-127.40, Y:12.00, Z:-10.50 [[ 9.81423743e-01 -3.92166885e-02 -1.87801724e-01 -1.27399770e+02] [ 3.82171705e-02 9.99229452e-01 -8.94151301e-03 1.19952802e+01] [ 1.88007671e-01 1.59816264e-03 9.82166260e-01 -1.04985293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.02534707 meters Centerline goodness [0,1] 0.996648595367176 Centerline is valid? [True, True] Translation: X:-127.43, Y:11.99, Z:-10.51 [[ 9.80352919e-01 -4.27608480e-02 -1.92560807e-01 -1.27426680e+02] [ 4.17890928e-02 9.99084948e-01 -9.10704765e-03 1.19913468e+01] [ 1.92774029e-01 8.81179288e-04 9.81242782e-01 -1.05068344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.05534707 meters Centerline goodness [0,1] 0.9948494453248812 Centerline is valid? [True, True] Translation: X:-127.45, Y:11.99, Z:-10.52 [[ 9.79581288e-01 -4.44365289e-02 -1.96076247e-01 -1.27454111e+02] [ 4.34737271e-02 9.99012084e-01 -9.21365935e-03 1.19886680e+01] [ 1.96291963e-01 5.01363049e-04 9.80545366e-01 -1.05196390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.08534707 meters Centerline goodness [0,1] 0.995543761265772 Centerline is valid? [True, True] Translation: X:-127.48, Y:11.99, Z:-10.52 [[ 9.79144857e-01 -4.78565359e-02 -1.97446453e-01 -1.27481505e+02] [ 4.69598630e-02 9.98854191e-01 -9.22373151e-03 1.19862967e+01] [ 1.97661633e-01 -2.40689139e-04 9.80270279e-01 -1.05216855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.11534707 meters Centerline goodness [0,1] 0.9944117647058823 Centerline is valid? [True, True] Translation: X:-127.51, Y:11.99, Z:-10.53 [[ 9.80175538e-01 -4.58227804e-02 -1.92759404e-01 -1.27510547e+02] [ 4.49352916e-02 9.98949575e-01 -8.97581846e-03 1.19858193e+01] [ 1.92968221e-01 1.36177679e-04 9.81204997e-01 -1.05262708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.14534707 meters Centerline goodness [0,1] 0.9932120019675357 Centerline is valid? [True, True] Translation: X:-127.54, Y:11.99, Z:-10.53 [[ 9.80643992e-01 -4.68511146e-02 -1.90111374e-01 -1.27539350e+02] [ 4.60100491e-02 9.98901880e-01 -8.83791593e-03 1.19855863e+01] [ 1.90316675e-01 -8.01844779e-05 9.81722749e-01 -1.05270905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.17534707 meters Centerline goodness [0,1] 0.9951475940153659 Centerline is valid? [True, True] Translation: X:-127.57, Y:11.98, Z:-10.53 [[ 9.79997328e-01 -5.00602297e-02 -1.92611555e-01 -1.27566655e+02] [ 4.92693511e-02 9.98745903e-01 -8.89674997e-03 1.19837440e+01] [ 1.92815375e-01 -7.71055132e-04 9.81234751e-01 -1.05344797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.20534707 meters Centerline goodness [0,1] 0.994717778448536 Centerline is valid? [True, True] Translation: X:-127.60, Y:11.98, Z:-10.54 [[ 9.80263469e-01 -5.04618310e-02 -1.91146896e-01 -1.27595792e+02] [ 4.97015967e-02 9.98725584e-01 -8.77263542e-03 1.19809879e+01] [ 1.91345978e-01 -9.00811901e-04 9.81522239e-01 -1.05353741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.23534707 meters Centerline goodness [0,1] 0.9947845460529647 Centerline is valid? [True, True] Translation: X:-127.62, Y:11.98, Z:-10.54 [[ 9.79950488e-01 -5.29523102e-02 -1.92075749e-01 -1.27623031e+02] [ 5.22423811e-02 9.98595993e-01 -8.76226106e-03 1.19750300e+01] [ 1.92270055e-01 -1.44791248e-03 9.81340985e-01 -1.05378726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.26534707 meters Centerline goodness [0,1] 0.9954448988042859 Centerline is valid? [True, True] Translation: X:-127.65, Y:11.97, Z:-10.54 [[ 9.79478706e-01 -5.61725518e-02 -1.93561642e-01 -1.27650997e+02] [ 5.55181224e-02 9.98418827e-01 -8.80812249e-03 1.19727485e+01] [ 1.93750362e-01 -2.11881050e-03 9.81048576e-01 -1.05379339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.29534707 meters Centerline goodness [0,1] 0.9948759991801599 Centerline is valid? [True, True] Translation: X:-127.68, Y:11.97, Z:-10.54 [[ 9.79732559e-01 -5.53489308e-02 -1.92511320e-01 -1.27679144e+02] [ 5.46915526e-02 9.98465121e-01 -8.73134152e-03 1.19677755e+01] [ 1.92699109e-01 -1.97436343e-03 9.81255907e-01 -1.05414023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.32534707 meters Centerline goodness [0,1] 0.9948759991801599 Centerline is valid? [True, True] Translation: X:-127.71, Y:11.97, Z:-10.55 [[ 9.79752555e-01 -5.49833621e-02 -1.92514311e-01 -1.27706021e+02] [ 5.43320429e-02 9.98485327e-01 -8.66492657e-03 1.19663405e+01] [ 1.92699142e-01 -1.97021189e-03 9.81255909e-01 -1.05459813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.35534707 meters Centerline goodness [0,1] 0.9964224690303289 Centerline is valid? [True, True] Translation: X:-127.73, Y:11.97, Z:-10.55 [[ 9.79272615e-01 -5.82424377e-02 -1.93992175e-01 -1.27733552e+02] [ 5.76584529e-02 9.98298805e-01 -8.66020490e-03 1.19655061e+01] [ 1.94166548e-01 -2.70458720e-03 9.80964850e-01 -1.05523077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.38534707 meters Centerline goodness [0,1] 0.9928111803740197 Centerline is valid? [True, True] Translation: X:-127.76, Y:11.96, Z:-10.55 [[ 9.79743854e-01 -5.56749306e-02 -1.92359775e-01 -1.27761785e+02] [ 5.50647788e-02 9.98446426e-01 -8.52078802e-03 1.19618185e+01] [ 1.92535325e-01 -2.24405879e-03 9.81287477e-01 -1.05543150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.41534707 meters Centerline goodness [0,1] 0.9945177139901733 Centerline is valid? [True, True] Translation: X:-127.79, Y:11.96, Z:-10.56 [[ 9.79416537e-01 -5.74362457e-02 -1.93505362e-01 -1.27789384e+02] [ 5.68650313e-02 9.98345608e-01 -8.50969515e-03 1.19626062e+01] [ 1.93673993e-01 -2.66915230e-03 9.81062312e-01 -1.05572600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.44534707 meters Centerline goodness [0,1] 0.9941681688050048 Centerline is valid? [True, True] Translation: X:-127.82, Y:11.97, Z:-10.56 [[ 9.79566739e-01 -5.76352584e-02 -1.92684146e-01 -1.27817817e+02] [ 5.70770679e-02 9.98334004e-01 -8.45134912e-03 1.19665580e+01] [ 1.92850231e-01 -2.71918560e-03 9.81224436e-01 -1.05565941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.47534707 meters Centerline goodness [0,1] 0.9943155149934811 Centerline is valid? [True, True] Translation: X:-127.85, Y:11.97, Z:-10.56 [[ 9.80118201e-01 -5.60413092e-02 -1.90335713e-01 -1.27846301e+02] [ 5.54725763e-02 9.98425555e-01 -8.31895139e-03 1.19654968e+01] [ 1.90502244e-01 -2.40485667e-03 9.81683814e-01 -1.05605926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.50534707 meters Centerline goodness [0,1] 0.9935418768920282 Centerline is valid? [True, True] Translation: X:-127.87, Y:11.96, Z:-10.56 [[ 9.80876381e-01 -5.41249306e-02 -1.86954588e-01 -1.27874382e+02] [ 5.35536036e-02 9.98532050e-01 -8.10899116e-03 1.19629560e+01] [ 1.87119047e-01 -2.05817398e-03 9.82335089e-01 -1.05629738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.53534707 meters Centerline goodness [0,1] 0.9941182818907836 Centerline is valid? [True, True] Translation: X:-127.90, Y:11.97, Z:-10.57 [[ 9.79950464e-01 -5.78558280e-02 -1.90656214e-01 -1.27902500e+02] [ 5.73379724e-02 9.98320850e-01 -8.23632588e-03 1.19664199e+01] [ 1.90812593e-01 -2.86064935e-03 9.81622316e-01 -1.05676495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.56534707 meters Centerline goodness [0,1] 0.994352966012244 Centerline is valid? [True, True] Translation: X:-127.93, Y:11.96, Z:-10.57 [[ 9.79446068e-01 -5.95649519e-02 -1.92710706e-01 -1.27930749e+02] [ 5.90741748e-02 9.98219116e-01 -8.29692018e-03 1.19634710e+01] [ 1.92861716e-01 -3.25784008e-03 9.81220538e-01 -1.05716654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.59534707 meters Centerline goodness [0,1] 0.9919799498746867 Centerline is valid? [True, True] Translation: X:-127.96, Y:11.96, Z:-10.57 [[ 9.79872528e-01 -6.02432819e-02 -1.90317041e-01 -1.27959256e+02] [ 5.97909244e-02 9.98177868e-01 -8.12342605e-03 1.19587877e+01] [ 1.90459640e-01 -3.41930980e-03 9.81689072e-01 -1.05717112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.62534707 meters Centerline goodness [0,1] 0.9931549471064095 Centerline is valid? [True, True] Translation: X:-127.99, Y:11.96, Z:-10.58 [[ 9.79266501e-01 -6.27518932e-02 -1.92611836e-01 -1.27987167e+02] [ 6.23482945e-02 9.98021077e-01 -8.16209386e-03 1.19615518e+01] [ 1.92742859e-01 -4.01615440e-03 9.81241082e-01 -1.05771400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.65534707 meters Centerline goodness [0,1] 0.9932510808815775 Centerline is valid? [True, True] Translation: X:-128.02, Y:11.96, Z:-10.58 [[ 9.79012246e-01 -6.27994871e-02 -1.93884622e-01 -1.28015889e+02] [ 6.23966060e-02 9.98017827e-01 -8.19026400e-03 1.19639543e+01] [ 1.94014653e-01 -4.07937362e-03 9.80990149e-01 -1.05814278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.68534707 meters Centerline goodness [0,1] 0.9929844920350248 Centerline is valid? [True, True] Translation: X:-128.04, Y:11.97, Z:-10.59 [[ 9.78843324e-01 -6.22960862e-02 -1.94897269e-01 -1.28043233e+02] [ 6.18913009e-02 9.98049441e-01 -8.17193267e-03 1.19682414e+01] [ 1.95026190e-01 -4.06340380e-03 9.80789618e-01 -1.05858342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.71534707 meters Centerline goodness [0,1] 0.9930533792959365 Centerline is valid? [True, True] Translation: X:-128.07, Y:11.97, Z:-10.59 [[ 9.79275470e-01 -6.03368877e-02 -1.93336531e-01 -1.28071767e+02] [ 5.99057450e-02 9.98171329e-01 -8.08085657e-03 1.19740006e+01] [ 1.93470556e-01 -3.66858433e-03 9.81099223e-01 -1.05879656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.74534707 meters Centerline goodness [0,1] 0.9911231977012673 Centerline is valid? [True, True] Translation: X:-128.10, Y:11.97, Z:-10.59 [[ 9.79945192e-01 -5.77766234e-02 -1.90707324e-01 -1.28100081e+02] [ 5.73168117e-02 9.98324538e-01 -7.93093204e-03 1.19738289e+01] [ 1.90846023e-01 -3.15885706e-03 9.81614903e-01 -1.05914347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.77534707 meters Centerline goodness [0,1] 0.9932264007803187 Centerline is valid? [True, True] Translation: X:-128.13, Y:11.98, Z:-10.59 [[ 9.79181379e-01 -5.93166327e-02 -1.94127185e-01 -1.28128908e+02] [ 5.88826188e-02 9.98232774e-01 -8.01043370e-03 1.19755403e+01] [ 1.94259270e-01 -3.58704951e-03 9.80943662e-01 -1.05901600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.80534707 meters Centerline goodness [0,1] 0.99172122720632 Centerline is valid? [True, True] Translation: X:-128.16, Y:11.98, Z:-10.59 [[ 9.80563588e-01 -5.29348816e-02 -1.88925773e-01 -1.28158672e+02] [ 5.24098275e-02 9.98595374e-01 -7.77744275e-03 1.19767155e+01] [ 1.89072101e-01 -2.27528998e-03 9.81960571e-01 -1.05886431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.83534707 meters Centerline goodness [0,1] 0.9901919426281375 Centerline is valid? [True, True] Translation: X:-128.19, Y:11.98, Z:-10.59 [[ 9.80576147e-01 -5.34632830e-02 -1.88711677e-01 -1.28186183e+02] [ 5.29532167e-02 9.98566941e-01 -7.74729894e-03 1.19760483e+01] [ 1.88855438e-01 -2.39607380e-03 9.82001977e-01 -1.05918490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.86534707 meters Centerline goodness [0,1] 0.9932885906040269 Centerline is valid? [True, True] Translation: X:-128.21, Y:11.98, Z:-10.60 [[ 9.79159790e-01 -5.60692455e-02 -1.95198223e-01 -1.28213980e+02] [ 5.55884271e-02 9.98422158e-01 -7.94486990e-03 1.19839946e+01] [ 1.95335694e-01 -3.07146504e-03 9.80731631e-01 -1.05990730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.89534707 meters Centerline goodness [0,1] 0.9914755867278122 Centerline is valid? [True, True] Translation: X:-128.24, Y:11.98, Z:-10.60 [[ 9.80019478e-01 -5.08382968e-02 -1.92294801e-01 -1.28243868e+02] [ 5.02760916e-02 9.98704858e-01 -7.80522895e-03 1.19843102e+01] [ 1.92442557e-01 -2.01855466e-03 9.81306164e-01 -1.06002170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.92534707 meters Centerline goodness [0,1] 0.9926953567383918 Centerline is valid? [True, True] Translation: X:-128.27, Y:11.99, Z:-10.61 [[ 9.79117245e-01 -5.28244840e-02 -1.96313511e-01 -1.28270733e+02] [ 5.22884354e-02 9.98600648e-01 -7.91619065e-03 1.19916709e+01] [ 1.96456968e-01 -2.51404756e-03 9.80509224e-01 -1.06106527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.95534707 meters Centerline goodness [0,1] 0.9905189054161463 Centerline is valid? [True, True] Translation: X:-128.30, Y:12.00, Z:-10.61 [[ 9.80782189e-01 -4.17386789e-02 -1.90589035e-01 -1.28301061e+02] [ 4.10320263e-02 9.99128513e-01 -7.65428911e-03 1.19974095e+01] [ 1.90742419e-01 -3.13063862e-04 9.81640072e-01 -1.06077039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.98534707 meters Centerline goodness [0,1] 0.9906163960218014 Centerline is valid? [True, True] Translation: X:-128.33, Y:12.00, Z:-10.61 [[ 9.80284676e-01 -4.21901509e-02 -1.93033534e-01 -1.28329348e+02] [ 4.14779617e-02 9.99109508e-01 -7.73114704e-03 1.20013389e+01] [ 1.93187817e-01 -4.27912554e-04 9.81161701e-01 -1.06110498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.01534707 meters Centerline goodness [0,1] 0.9904640461274048 Centerline is valid? [True, True] Translation: X:-128.36, Y:12.01, Z:-10.61 [[ 9.81108969e-01 -3.59159418e-02 -1.90092703e-01 -1.28358710e+02] [ 3.51218868e-02 9.99354550e-01 -7.54559048e-03 1.20082806e+01] [ 1.90241015e-01 7.26632080e-04 9.81737148e-01 -1.06111259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.04534707 meters Centerline goodness [0,1] 0.9921658714731696 Centerline is valid? [True, True] Translation: X:-128.39, Y:12.01, Z:-10.61 [[ 9.80740912e-01 -3.36208104e-02 -1.92397777e-01 -1.28387731e+02] [ 3.27756853e-02 9.99434030e-01 -7.57454980e-03 1.20109783e+01] [ 1.92543548e-01 1.12270188e-03 9.81287787e-01 -1.06065643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.07534707 meters Centerline goodness [0,1] 0.9910327042550697 Centerline is valid? [True, True] Translation: X:-128.42, Y:12.02, Z:-10.60 [[ 9.81300527e-01 -2.73619070e-02 -1.90527168e-01 -1.28416840e+02] [ 2.64226555e-02 9.99622958e-01 -7.46888055e-03 1.20165354e+01] [ 1.90659694e-01 2.29498271e-03 9.81653510e-01 -1.06038541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.10534707 meters Centerline goodness [0,1] 0.9889375561545373 Centerline is valid? [True, True] Translation: X:-128.44, Y:12.02, Z:-10.61 [[ 9.82205091e-01 -2.48699833e-02 -1.86157579e-01 -1.28444682e+02] [ 2.39434732e-02 9.99687213e-01 -7.22400351e-03 1.20244651e+01] [ 1.86279012e-01 2.63819403e-03 9.82493343e-01 -1.06102312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.13534707 meters Centerline goodness [0,1] 0.9904428350943845 Centerline is valid? [True, True] Translation: X:-128.47, Y:12.02, Z:-10.61 [[ 9.81575659e-01 -2.29093662e-02 -1.89695512e-01 -1.28473038e+02] [ 2.19188599e-02 9.99732968e-01 -7.31819829e-03 1.20225063e+01] [ 1.89812513e-01 3.02545596e-03 9.81815694e-01 -1.06107016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.16534707 meters Centerline goodness [0,1] 0.987852395140958 Centerline is valid? [True, True] Translation: X:-128.50, Y:12.03, Z:-10.61 [[ 9.82012962e-01 -1.88601671e-02 -1.87869199e-01 -1.28502742e+02] [ 1.78285838e-02 9.99815282e-01 -7.17937201e-03 1.20258860e+01] [ 1.87969900e-01 3.70079462e-03 9.82167817e-01 -1.06089171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.19534707 meters Centerline goodness [0,1] 0.9884049440847558 Centerline is valid? [True, True] Translation: X:-128.53, Y:12.02, Z:-10.60 [[ 9.82006501e-01 -1.54223569e-02 -1.88216320e-01 -1.28531640e+02] [ 1.43367523e-02 9.99871817e-01 -7.12794721e-03 1.20239462e+01] [ 1.88302123e-01 4.30127974e-03 9.82101731e-01 -1.06033108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.22534707 meters Centerline goodness [0,1] 0.9874028726159642 Centerline is valid? [True, True] Translation: X:-128.56, Y:12.02, Z:-10.60 [[ 9.81987342e-01 -1.45007399e-02 -1.88389459e-01 -1.28560747e+02] [ 1.34021567e-02 9.99884951e-01 -7.10402453e-03 1.20235552e+01] [ 1.88470799e-01 4.45123710e-03 9.82068707e-01 -1.05982816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.25534707 meters Centerline goodness [0,1] 0.9877010406811731 Centerline is valid? [True, True] Translation: X:-128.59, Y:12.03, Z:-10.60 [[ 9.82053071e-01 -1.27694887e-02 -1.88172013e-01 -1.28590182e+02] [ 1.16567784e-02 9.99907424e-01 -7.01874554e-03 1.20299793e+01] [ 1.88244219e-01 4.69930115e-03 9.82111007e-01 -1.05996900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.28534707 meters Centerline goodness [0,1] 0.9866863905325444 Centerline is valid? [True, True] Translation: X:-128.62, Y:12.03, Z:-10.60 [[ 9.82071026e-01 -1.21498814e-02 -1.88119322e-01 -1.28616362e+02] [ 1.10394456e-02 9.99914914e-01 -6.94946101e-03 1.20276566e+01] [ 1.88187751e-01 4.74813127e-03 9.82121594e-01 -1.06031432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.31534707 meters Centerline goodness [0,1] 0.9892974923775745 Centerline is valid? [True, True] Translation: X:-128.64, Y:12.03, Z:-10.61 [[ 9.82379858e-01 -1.05618430e-02 -1.86596520e-01 -1.28643866e+02] [ 9.45198927e-03 9.99931958e-01 -6.83657143e-03 1.20259617e+01] [ 1.86656030e-01 4.95240177e-03 9.82412846e-01 -1.06085649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.34534707 meters Centerline goodness [0,1] 0.985202446839499 Centerline is valid? [True, True] Translation: X:-128.67, Y:12.03, Z:-10.61 [[ 9.82689326e-01 -1.09256312e-02 -1.84938691e-01 -1.28673308e+02] [ 9.85659761e-03 9.99928984e-01 -6.69887981e-03 1.20307968e+01] [ 1.84998747e-01 4.76005143e-03 9.82727229e-01 -1.06062021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.37534707 meters Centerline goodness [0,1] 0.9860631258417755 Centerline is valid? [True, True] Translation: X:-128.70, Y:12.03, Z:-10.61 [[ 9.82753562e-01 -1.07011194e-02 -1.84610191e-01 -1.28700148e+02] [ 9.64487723e-03 9.99931583e-01 -6.61853951e-03 1.20339557e+01] [ 1.84668386e-01 4.72385065e-03 9.82789536e-01 -1.06133176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.40534707 meters Centerline goodness [0,1] 0.983740774907749 Centerline is valid? [True, True] Translation: X:-128.73, Y:12.03, Z:-10.61 [[ 9.82818934e-01 -9.02779120e-03 -1.84351409e-01 -1.28728218e+02] [ 7.95786325e-03 9.99946931e-01 -6.54279470e-03 1.20323916e+01] [ 1.84400693e-01 4.96333921e-03 9.82838618e-01 -1.06144048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.43534707 meters Centerline goodness [0,1] 0.9851242562128106 Centerline is valid? [True, True] Translation: X:-128.75, Y:12.03, Z:-10.62 [[ 9.82541800e-01 -7.22385540e-03 -1.85901659e-01 -1.28754670e+02] [ 6.10944798e-03 9.99959775e-01 -6.56678808e-03 1.20340544e+01] [ 1.85941618e-01 5.31638727e-03 9.82546411e-01 -1.06227963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.46534707 meters Centerline goodness [0,1] 0.9859046945034207 Centerline is valid? [True, True] Translation: X:-128.78, Y:12.03, Z:-10.63 [[ 9.81961549e-01 -6.22987138e-03 -1.88978056e-01 -1.28782351e+02] [ 5.06395822e-03 9.99965054e-01 -6.65178510e-03 1.20339532e+01] [ 1.89012892e-01 5.57482022e-03 9.81958781e-01 -1.06262746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.49534707 meters Centerline goodness [0,1] 0.9841869658740771 Centerline is valid? [True, True] Translation: X:-128.81, Y:12.04, Z:-10.63 [[ 9.82543068e-01 -2.67048890e-03 -1.86016098e-01 -1.28811641e+02] [ 1.48500819e-03 9.99977694e-01 -6.51204301e-03 1.20378983e+01] [ 1.86029339e-01 6.12212728e-03 9.82525116e-01 -1.06285909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.52534707 meters Centerline goodness [0,1] 0.9846613195948715 Centerline is valid? [True, True] Translation: X:-128.84, Y:12.03, Z:-10.61 [[ 9.83329574e-01 2.53009777e-03 -1.81814594e-01 -1.28842466e+02] [-3.73977415e-03 9.99973093e-01 -6.31082911e-03 1.20302086e+01] [ 1.81793735e-01 6.88557042e-03 9.83312578e-01 -1.06124771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.55534707 meters Centerline goodness [0,1] 0.9867802060382302 Centerline is valid? [True, True] Translation: X:-128.87, Y:12.03, Z:-10.61 [[ 9.83384553e-01 2.49218446e-03 -1.81517517e-01 -1.28871157e+02] [-3.69135255e-03 9.99973538e-01 -6.26881958e-03 1.20274366e+01] [ 1.81497091e-01 6.83470549e-03 9.83367730e-01 -1.06112037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.58534707 meters Centerline goodness [0,1] 0.9865714977014275 Centerline is valid? [True, True] Translation: X:-128.90, Y:12.02, Z:-10.61 [[ 9.83584318e-01 6.00232070e-03 -1.80349279e-01 -1.28899537e+02] [-7.23404002e-03 9.99954782e-01 -6.17268356e-03 1.20220801e+01] [ 1.80304073e-01 7.37600865e-03 9.83583263e-01 -1.06123578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.61534707 meters Centerline goodness [0,1] 0.9908154399900707 Centerline is valid? [True, True] Translation: X:-128.93, Y:12.02, Z:-10.62 [[ 9.82952718e-01 5.03499562e-03 -1.83789561e-01 -1.28925805e+02] [-6.29468567e-03 9.99960524e-01 -6.27120237e-03 1.20182365e+01] [ 1.83750730e-01 7.32119294e-03 9.82945609e-01 -1.06220284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.64534707 meters Centerline goodness [0,1] 0.991191904047976 Centerline is valid? [True, True] Translation: X:-128.95, Y:12.02, Z:-10.63 [[ 9.82624831e-01 3.45442996e-03 -1.85570762e-01 -1.28952504e+02] [-4.70629563e-03 9.99969042e-01 -6.30594990e-03 1.20171763e+01] [ 1.85543233e-01 7.06973382e-03 9.82610669e-01 -1.06320186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.67534707 meters Centerline goodness [0,1] 0.99027871777518 Centerline is valid? [True, True] Translation: X:-128.98, Y:12.02, Z:-10.64 [[ 9.83103566e-01 1.12910193e-02 -1.82701644e-01 -1.28981674e+02] [-1.26306159e-02 9.99901193e-01 -6.17016799e-03 1.20157920e+01] [ 1.82613925e-01 8.37354843e-03 9.83149042e-01 -1.06375922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.70534707 meters Centerline goodness [0,1] 0.9894393355087511 Centerline is valid? [True, True] Translation: X:-129.01, Y:12.02, Z:-10.64 [[ 9.82864261e-01 9.01883016e-03 -1.84110034e-01 -1.29010797e+02] [-1.03289971e-02 9.99927690e-01 -6.15840482e-03 1.20205390e+01] [ 1.84041180e-01 7.95454802e-03 9.82886346e-01 -1.06384519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.73534707 meters Centerline goodness [0,1] 0.9867592922455766 Centerline is valid? [True, True] Translation: X:-129.04, Y:12.02, Z:-10.63 [[ 9.81716082e-01 2.24273168e-02 -1.89025262e-01 -1.29042606e+02] [-2.40431175e-02 9.99691329e-01 -6.25906236e-03 1.20208162e+01] [ 1.88826542e-01 1.06893788e-02 9.81952277e-01 -1.06263957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.76534707 meters Centerline goodness [0,1] 0.9864087180115098 Centerline is valid? [True, True] Translation: X:-129.08, Y:12.03, Z:-10.61 [[ 9.80263827e-01 4.93578487e-02 -1.91433099e-01 -1.29076404e+02] [-5.15198936e-02 9.98651907e-01 -6.33003603e-03 1.20334183e+01] [ 1.90862592e-01 1.60677182e-02 9.81485252e-01 -1.06094842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.79534707 meters Centerline goodness [0,1] 0.9821932948544763 Centerline is valid? [True, True] Translation: X:-129.11, Y:12.04, Z:-10.59 [[ 9.79939251e-01 6.83352996e-02 -1.87214720e-01 -1.29110290e+02] [-7.07386419e-02 9.97475747e-01 -6.17882886e-03 1.20370869e+01] [ 1.86319910e-01 1.92981919e-02 9.82299583e-01 -1.05851363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.82534707 meters Centerline goodness [0,1] 0.9227508541060356 Centerline is valid? [True, False] Translation: X:-129.11, Y:12.05, Z:-10.57 [[ 9.78818528e-01 7.30016141e-02 -1.91272196e-01 -1.29107857e+02] [-7.82547246e-02 9.96731848e-01 -2.00454679e-02 1.20452669e+01] [ 1.89183738e-01 3.45888284e-02 9.81332322e-01 -1.05695787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.85534707 meters Centerline goodness [0,1] 0.8637103845672053 Centerline is valid? [False, False] Translation: X:-129.11, Y:12.05, Z:-10.57 [[ 9.78656785e-01 7.72451369e-02 -1.90431315e-01 -1.29107396e+02] [-8.22784947e-02 9.96434748e-01 -1.86559056e-02 1.20521290e+01] [ 1.88311302e-01 3.39261305e-02 9.81523240e-01 -1.05681334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.88534707 meters Centerline goodness [0,1] 0.8146488212180747 Centerline is valid? [False, False] Translation: X:-129.11, Y:12.06, Z:-10.57 [[ 9.78336148e-01 8.07098260e-02 -1.90641824e-01 -1.29109032e+02] [-8.56513700e-02 9.96165962e-01 -1.78106243e-02 1.20565901e+01] [ 1.88473404e-01 3.37535110e-02 9.81498078e-01 -1.05657263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.91534707 meters Centerline goodness [0,1] 0.7546532342281467 Centerline is valid? [False, False] Translation: X:-129.12, Y:12.06, Z:-10.56 [[ 9.78055702e-01 7.99041031e-02 -1.92411999e-01 -1.29117220e+02] [-8.50660829e-02 9.96199735e-01 -1.87042442e-02 1.20606236e+01] [ 1.90186237e-01 3.46615278e-02 9.81135961e-01 -1.05603947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.94534707 meters Centerline goodness [0,1] 0.7484539832666424 Centerline is valid? [False, False] Translation: X:-129.13, Y:12.07, Z:-10.56 [[ 9.78240819e-01 7.35814444e-02 -1.93986268e-01 -1.29128547e+02] [-7.94798778e-02 9.96575918e-01 -2.27900938e-02 1.20682648e+01] [ 1.91645115e-01 3.77122049e-02 9.80739486e-01 -1.05551324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.97534707 meters Centerline goodness [0,1] 0.7457809694793537 Centerline is valid? [False, False] Translation: X:-129.13, Y:12.08, Z:-10.55 [[ 9.78441605e-01 7.06707894e-02 -1.94055829e-01 -1.29131719e+02] [-7.70346576e-02 9.96703896e-01 -2.54363037e-02 1.20751108e+01] [ 1.91618597e-01 3.98369621e-02 9.80660660e-01 -1.05531235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.00534707 meters Centerline goodness [0,1] 0.7568518069366965 Centerline is valid? [False, False] Translation: X:-129.14, Y:12.09, Z:-10.55 [[ 9.78656286e-01 6.10474023e-02 -1.96227136e-01 -1.29140931e+02] [-6.83368755e-02 9.97193275e-01 -3.05882960e-02 1.20923166e+01] [ 1.93809044e-01 4.33449775e-02 9.80081256e-01 -1.05489657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.03534707 meters Centerline goodness [0,1] 0.7409291074861999 Centerline is valid? [False, False] Translation: X:-129.15, Y:12.10, Z:-10.55 [[ 9.79176344e-01 5.56144289e-02 -1.95245289e-01 -1.29147081e+02] [-6.34856484e-02 9.97393627e-01 -3.42859394e-02 1.21016036e+01] [ 1.92829614e-01 4.59672545e-02 9.80154963e-01 -1.05471602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.06534707 meters Centerline goodness [0,1] 0.7574154543737011 Centerline is valid? [False, False] Translation: X:-129.16, Y:12.12, Z:-10.54 [[ 9.79997347e-01 4.01052076e-02 -1.94927610e-01 -1.29161363e+02] [-4.95590483e-02 9.97807487e-01 -4.38647937e-02 1.21171273e+01] [ 1.92741022e-01 5.26478083e-02 9.79836265e-01 -1.05434209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.09534707 meters Centerline goodness [0,1] 0.779897511884917 Centerline is valid? [False, False] Translation: X:-129.17, Y:12.12, Z:-10.54 [[ 9.80259423e-01 3.46261209e-02 -1.94659950e-01 -1.29169505e+02] [-4.43188093e-02 9.97973496e-01 -4.56590042e-02 1.21198556e+01] [ 1.92684477e-01 5.33847663e-02 9.79807511e-01 -1.05424253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.12534707 meters Centerline goodness [0,1] 0.7814214386981446 Centerline is valid? [False, False] Translation: X:-129.19, Y:12.12, Z:-10.54 [[ 9.80697604e-01 1.61031316e-02 -1.94866362e-01 -1.29186001e+02] [-2.69293393e-02 9.98229433e-01 -5.30359295e-02 1.21223817e+01] [ 1.93667293e-01 5.72598313e-02 9.79394860e-01 -1.05442266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.15534707 meters Centerline goodness [0,1] 0.7898339384560442 Centerline is valid? [False, False] Translation: X:-129.20, Y:12.12, Z:-10.54 [[ 9.81029650e-01 -1.10896168e-03 -1.93854575e-01 -1.29199169e+02] [-1.17277545e-02 9.97812559e-01 -6.50581026e-02 1.21226601e+01] [ 1.93502676e-01 6.60974065e-02 9.78870700e-01 -1.05414625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.18534707 meters Centerline goodness [0,1] 0.8077929803688281 Centerline is valid? [False, False] Translation: X:-129.25, Y:12.11, Z:-10.55 [[ 9.80874745e-01 -3.41923485e-02 -1.91613200e-01 -1.29247080e+02] [ 2.51095873e-02 9.98451912e-01 -4.96315268e-02 1.21129151e+01] [ 1.93013585e-01 4.38709828e-02 9.80214820e-01 -1.05489962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.21534707 meters Centerline goodness [0,1] 0.8135773317591499 Centerline is valid? [False, False] Translation: X:-129.26, Y:12.11, Z:-10.55 [[ 9.80250849e-01 -4.46760497e-02 -1.92645592e-01 -1.29255943e+02] [ 3.53862622e-02 9.98051138e-01 -5.13978467e-02 1.21071973e+01] [ 1.94566405e-01 4.35657754e-02 9.79921393e-01 -1.05516530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.24534707 meters Centerline goodness [0,1] 0.8135773317591499 Centerline is valid? [False, False] Translation: X:-129.26, Y:12.11, Z:-10.55 [[ 9.80250849e-01 -4.46760497e-02 -1.92645592e-01 -1.29255943e+02] [ 3.53862622e-02 9.98051138e-01 -5.13978467e-02 1.21071973e+01] [ 1.94566405e-01 4.35657754e-02 9.79921393e-01 -1.05516530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.27534707 meters Centerline goodness [0,1] 0.8008310728920183 Centerline is valid? [False, False] Translation: X:-129.26, Y:12.10, Z:-10.55 [[ 9.79369054e-01 -5.99026521e-02 -1.92997222e-01 -1.29263770e+02] [ 4.91995329e-02 9.96998077e-01 -5.97849484e-02 1.21043866e+01] [ 1.95999136e-01 4.90561552e-02 9.79376247e-01 -1.05523465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.30534707 meters Centerline goodness [0,1] 0.7928851024637348 Centerline is valid? [False, False] Translation: X:-129.30, Y:12.10, Z:-10.56 [[ 9.78229868e-01 -7.65081203e-02 -1.92906279e-01 -1.29295471e+02] [ 6.70580493e-02 9.96228702e-01 -5.50598906e-02 1.20957030e+01] [ 1.96391301e-01 4.09253108e-02 9.79671157e-01 -1.05569008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.33534707 meters Centerline goodness [0,1] 0.7896184255757992 Centerline is valid? [False, False] Translation: X:-129.33, Y:12.09, Z:-10.56 [[ 9.77409413e-01 -8.82843582e-02 -1.92033100e-01 -1.29326056e+02] [ 8.03021964e-02 9.95566671e-01 -4.89751089e-02 1.20921396e+01] [ 1.95505490e-01 3.24480528e-02 9.80165663e-01 -1.05621895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.36534707 meters Centerline goodness [0,1] 0.8314545454545454 Centerline is valid? [False, False] Translation: X:-129.34, Y:12.10, Z:-10.57 [[ 9.76551953e-01 -9.04959714e-02 -1.95337562e-01 -1.29341886e+02] [ 8.42769859e-02 9.95641814e-01 -3.99345518e-02 1.21005618e+01] [ 1.98100161e-01 2.25357035e-02 9.79922685e-01 -1.05665421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.39534707 meters Centerline goodness [0,1] 0.8938975774302361 Centerline is valid? [False, False] Translation: X:-129.34, Y:12.10, Z:-10.57 [[ 9.76975783e-01 -8.56616225e-02 -1.95398071e-01 -1.29342413e+02] [ 8.01763255e-02 9.96136660e-01 -3.58261168e-02 1.21026005e+01] [ 1.97712106e-01 1.93349491e-02 9.80069428e-01 -1.05667039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.42534707 meters Centerline goodness [0,1] 0.9905619101193824 Centerline is valid? [False, True] Translation: X:-129.34, Y:12.11, Z:-10.57 [[ 9.78192808e-01 -7.32035631e-02 -1.94370957e-01 -1.29337252e+02] [ 6.91618747e-02 9.97226111e-01 -2.75085135e-02 1.21105732e+01] [ 1.95845515e-01 1.34655702e-02 9.80542305e-01 -1.05688280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.45534707 meters Centerline goodness [0,1] 0.991081890378857 Centerline is valid? [True, True] Translation: X:-129.37, Y:12.13, Z:-10.58 [[ 9.78307179e-01 -6.63520765e-02 -1.96245930e-01 -1.29366807e+02] [ 6.35398134e-02 9.97766696e-01 -2.05988299e-02 1.21306479e+01] [ 1.97174428e-01 7.68255338e-03 9.80338321e-01 -1.05798833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.48534707 meters Centerline goodness [0,1] 0.9888384166125892 Centerline is valid? [True, True] Translation: X:-129.40, Y:12.13, Z:-10.56 [[ 9.78644823e-01 -6.55605453e-02 -1.94823318e-01 -1.29398715e+02] [ 6.27779616e-02 9.97818397e-01 -2.04297468e-02 1.21323936e+01] [ 1.95737676e-01 7.76285511e-03 9.80625566e-01 -1.05633985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.51534707 meters Centerline goodness [0,1] 0.9906378392941335 Centerline is valid? [True, True] Translation: X:-129.43, Y:12.14, Z:-10.55 [[ 9.80001138e-01 -5.42933763e-02 -1.91441893e-01 -1.29430245e+02] [ 5.14072775e-02 9.98477207e-01 -2.00139490e-02 1.21405688e+01] [ 1.92236991e-01 9.77218629e-03 9.81299874e-01 -1.05515138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.54534707 meters Centerline goodness [0,1] 0.9955119795622454 Centerline is valid? [True, True] Translation: X:-129.46, Y:12.15, Z:-10.56 [[ 9.80100702e-01 -4.22632609e-02 -1.93949559e-01 -1.29458336e+02] [ 3.90714623e-02 9.99031119e-01 -2.02544684e-02 1.21510606e+01] [ 1.94617665e-01 1.22735258e-02 9.80802388e-01 -1.05634516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.57534707 meters Centerline goodness [0,1] 0.9966636546882602 Centerline is valid? [True, True] Translation: X:-129.49, Y:12.16, Z:-10.57 [[ 9.80184655e-01 -4.11095106e-02 -1.93773193e-01 -1.29488082e+02] [ 3.79125632e-02 9.99077285e-01 -2.01796004e-02 1.21571986e+01] [ 1.94423969e-01 1.24332962e-02 9.80838791e-01 -1.05662790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.60534707 meters Centerline goodness [0,1] 0.9975774848592803 Centerline is valid? [True, True] Translation: X:-129.51, Y:12.16, Z:-10.59 [[ 9.79504494e-01 -4.04086781e-02 -1.97327353e-01 -1.29512177e+02] [ 3.70892837e-02 9.99101866e-01 -2.04901426e-02 1.21574663e+01] [ 1.97978107e-01 1.27514565e-02 9.80123497e-01 -1.05886488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.63534707 meters Centerline goodness [0,1] 0.9971925884334644 Centerline is valid? [True, True] Translation: X:-129.54, Y:12.16, Z:-10.59 [[ 9.79367476e-01 -4.14251793e-02 -1.97796111e-01 -1.29541363e+02] [ 3.81157483e-02 9.99062801e-01 -2.05111792e-02 1.21567915e+01] [ 1.98460416e-01 1.25488350e-02 9.80028566e-01 -1.05900462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.66534707 meters Centerline goodness [0,1] 0.9977916820022084 Centerline is valid? [True, True] Translation: X:-129.57, Y:12.16, Z:-10.59 [[ 9.78116856e-01 -5.10186030e-02 -2.01704035e-01 -1.29571261e+02] [ 4.77895914e-02 9.98639804e-01 -2.08493740e-02 1.21581503e+01] [ 2.02493384e-01 1.07537707e-02 9.79224584e-01 -1.05915160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.69534707 meters Centerline goodness [0,1] 0.9990217315351827 Centerline is valid? [True, True] Translation: X:-129.60, Y:12.14, Z:-10.60 [[ 9.78629624e-01 -5.07571077e-02 -1.99268099e-01 -1.29595683e+02] [ 4.76122942e-02 9.98654576e-01 -2.05452666e-02 1.21445327e+01] [ 2.00042817e-01 1.06185952e-02 9.79729614e-01 -1.06038343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.72534707 meters Centerline goodness [0,1] 0.9989503883563081 Centerline is valid? [True, True] Translation: X:-129.62, Y:12.15, Z:-10.61 [[ 9.78200029e-01 -5.29181283e-02 -2.00809302e-01 -1.29623749e+02] [ 4.97749143e-02 9.98546480e-01 -2.06732860e-02 1.21493285e+01] [ 2.01611413e-01 1.02273432e-02 9.79412191e-01 -1.06115744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.75534707 meters Centerline goodness [0,1] 0.9997073670348965 Centerline is valid? [True, True] Translation: X:-129.65, Y:12.14, Z:-10.61 [[ 9.77685795e-01 -5.72072106e-02 -2.02133179e-01 -1.29651026e+02] [ 5.41260947e-02 9.98318648e-01 -2.07423209e-02 1.21376559e+01] [ 2.02979932e-01 9.33879290e-03 9.79138363e-01 -1.06127522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.78534707 meters Centerline goodness [0,1] 0.9997214872580421 Centerline is valid? [True, True] Translation: X:-129.68, Y:12.15, Z:-10.62 [[ 9.77934561e-01 -5.57051105e-02 -2.01347796e-01 -1.29680425e+02] [ 5.26238834e-02 9.98401335e-01 -2.06277021e-02 1.21470486e+01] [ 2.02174977e-01 9.57683988e-03 9.79302590e-01 -1.06178717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.81534707 meters Centerline goodness [0,1] 0.9994404029099049 Centerline is valid? [True, True] Translation: X:-129.71, Y:12.15, Z:-10.62 [[ 9.77908412e-01 -5.67955965e-02 -2.01170075e-01 -1.29708175e+02] [ 5.37576233e-02 9.98342800e-01 -2.05370648e-02 1.21457963e+01] [ 2.02003110e-01 9.26894336e-03 9.79341018e-01 -1.06238684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.84534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-129.73, Y:12.14, Z:-10.64 [[ 9.76693348e-01 -6.49817101e-02 -2.04566569e-01 -1.29733292e+02] [ 6.20280432e-02 9.97857126e-01 -2.08249338e-02 1.21390876e+01] [ 2.05481448e-01 7.65071031e-03 9.78631106e-01 -1.06413255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.87534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-129.76, Y:12.14, Z:-10.64 [[ 9.76795499e-01 -6.49248489e-02 -2.04096342e-01 -1.29762825e+02] [ 6.19892932e-02 9.97861083e-01 -2.07505800e-02 1.21351661e+01] [ 2.05007025e-01 7.61728521e-03 9.78730860e-01 -1.06387998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.90534707 meters Centerline goodness [0,1] 0.9997902097902098 Centerline is valid? [True, True] Translation: X:-129.79, Y:12.14, Z:-10.64 [[ 9.76708453e-01 -6.58347374e-02 -2.04221412e-01 -1.29791150e+02] [ 6.29299600e-02 9.97803403e-01 -2.06927426e-02 1.21359662e+01] [ 2.05135121e-01 7.35913128e-03 9.78705995e-01 -1.06444859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.93534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-129.82, Y:12.12, Z:-10.65 [[ 9.75374839e-01 -7.48338049e-02 -2.07470056e-01 -1.29817184e+02] [ 7.20494358e-02 9.97180900e-01 -2.09554770e-02 1.21242373e+01] [ 2.08453355e-01 5.49134453e-03 9.78016893e-01 -1.06514635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.96534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-129.84, Y:12.12, Z:-10.65 [[ 9.75546795e-01 -7.41176172e-02 -2.06917932e-01 -1.29844705e+02] [ 7.13406365e-02 9.97233845e-01 -2.08607688e-02 1.21197928e+01] [ 2.07891715e-01 5.58899922e-03 9.78135879e-01 -1.06545491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.99534707 meters Centerline goodness [0,1] 0.9996323799720609 Centerline is valid? [True, True] Translation: X:-129.87, Y:12.12, Z:-10.66 [[ 9.75124365e-01 -7.87805321e-02 -2.07186149e-01 -1.29873187e+02] [ 7.61188827e-02 9.96881773e-01 -2.08001329e-02 1.21170171e+01] [ 2.08178741e-01 4.51193819e-03 9.78080393e-01 -1.06588550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.02534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-129.90, Y:12.11, Z:-10.65 [[ 9.75365970e-01 -8.08061384e-02 -2.05259817e-01 -1.29902064e+02] [ 7.82538349e-02 9.96721941e-01 -2.05355512e-02 1.21114766e+01] [ 2.06246362e-01 3.96730999e-03 9.78492053e-01 -1.06510017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.05534707 meters Centerline goodness [0,1] 0.9999250936329588 Centerline is valid? [True, True] Translation: X:-129.93, Y:12.11, Z:-10.66 [[ 9.74794532e-01 -8.31757943e-02 -2.07020309e-01 -1.29928045e+02] [ 8.06419296e-02 9.96528924e-01 -2.06635417e-02 1.21111739e+01] [ 2.08020432e-01 3.44819031e-03 9.78118403e-01 -1.06649776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.08534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-129.96, Y:12.11, Z:-10.66 [[ 9.74496470e-01 -8.47943081e-02 -2.07765625e-01 -1.29955380e+02] [ 8.22961804e-02 9.96393873e-01 -2.06540026e-02 1.21066007e+01] [ 2.08767738e-01 3.02893525e-03 9.77960560e-01 -1.06630749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.11534707 meters Centerline goodness [0,1] 0.9998513895080993 Centerline is valid? [True, True] Translation: X:-129.98, Y:12.10, Z:-10.67 [[ 9.74464860e-01 -8.58345023e-02 -2.07486567e-01 -1.29982536e+02] [ 8.33797646e-02 9.96305645e-01 -2.05639748e-02 1.21048130e+01] [ 2.08485137e-01 2.73868971e-03 9.78021701e-01 -1.06720662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.14534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-130.01, Y:12.10, Z:-10.68 [[ 9.74804411e-01 -8.46632338e-02 -2.06369807e-01 -1.30010631e+02] [ 8.22251153e-02 9.96405414e-01 -2.03784628e-02 1.21041239e+01] [ 2.07353299e-01 2.89623424e-03 9.78261837e-01 -1.06759843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.17534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-130.04, Y:12.10, Z:-10.69 [[ 9.73093055e-01 -9.33999374e-02 -2.10633229e-01 -1.30035279e+02] [ 9.10762125e-02 9.95628183e-01 -2.07278789e-02 1.20980347e+01] [ 2.11648362e-01 9.86478301e-04 9.77345383e-01 -1.06945287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.20534707 meters Centerline goodness [0,1] 0.9997868258367086 Centerline is valid? [True, True] Translation: X:-130.06, Y:12.09, Z:-10.70 [[ 9.73321982e-01 -9.28101550e-02 -2.09834683e-01 -1.30063272e+02] [ 9.05063811e-02 9.95683284e-01 -2.05765296e-02 1.20944945e+01] [ 2.10838597e-01 1.03621080e-03 9.77520338e-01 -1.06969439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.23534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-130.09, Y:12.09, Z:-10.73 [[ 9.71247362e-01 -9.79287015e-02 -2.16998919e-01 -1.30087378e+02] [ 9.56062575e-02 9.95193421e-01 -2.12013686e-02 1.20933252e+01] [ 2.18032119e-01 -1.54681157e-04 9.75941582e-01 -1.07258575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.26534707 meters Centerline goodness [0,1] 0.9996426018584703 Centerline is valid? [True, True] Translation: X:-130.11, Y:12.09, Z:-10.74 [[ 9.69648689e-01 -1.03419783e-01 -2.21553082e-01 -1.30113089e+02] [ 1.01154835e-01 9.94636683e-01 -2.15770287e-02 1.20877811e+01] [ 2.22596315e-01 -1.48902781e-03 9.74909567e-01 -1.07354557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.29534707 meters Centerline goodness [0,1] 0.9997923300567632 Centerline is valid? [True, True] Translation: X:-130.14, Y:12.08, Z:-10.75 [[ 9.69889451e-01 -1.01990456e-01 -2.21161481e-01 -1.30138842e+02] [ 9.97090096e-02 9.94784638e-01 -2.14857570e-02 1.20831637e+01] [ 2.22199386e-01 -1.21298311e-03 9.75000493e-01 -1.07536969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.32534707 meters Centerline goodness [0,1] 0.9994368576657751 Centerline is valid? [True, True] Translation: X:-130.16, Y:12.08, Z:-10.77 [[ 9.67716999e-01 -1.09057274e-01 -2.27223063e-01 -1.30164464e+02] [ 1.06856541e-01 9.94030976e-01 -2.20022449e-02 1.20782416e+01] [ 2.28266268e-01 -2.98832422e-03 9.73594156e-01 -1.07681254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.35534707 meters Centerline goodness [0,1] 0.9995984473296747 Centerline is valid? [True, True] Translation: X:-130.19, Y:12.07, Z:-10.78 [[ 9.68085215e-01 -1.09002681e-01 -2.25675500e-01 -1.30191146e+02] [ 1.06836214e-01 9.94036993e-01 -2.18284129e-02 1.20710799e+01] [ 2.26709151e-01 -2.97855224e-03 9.73957950e-01 -1.07758432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.38534707 meters Centerline goodness [0,1] 0.9995905275370232 Centerline is valid? [True, True] Translation: X:-130.22, Y:12.06, Z:-10.78 [[ 9.67011420e-01 -1.15990983e-01 -2.26792870e-01 -1.30218376e+02] [ 1.13998515e-01 9.93239301e-01 -2.19095830e-02 1.20646436e+01] [ 2.27800905e-01 -4.66723351e-03 9.73696546e-01 -1.07792992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.41534707 meters Centerline goodness [0,1] 0.9998010082249934 Centerline is valid? [True, True] Translation: X:-130.25, Y:12.06, Z:-10.79 [[ 9.67731151e-01 -1.15050722e-01 -2.24186866e-01 -1.30246130e+02] [ 1.13087281e-01 9.93349750e-01 -2.16226824e-02 1.20564321e+01] [ 2.25183673e-01 -4.42773975e-03 9.74306270e-01 -1.07855695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.44534707 meters Centerline goodness [0,1] 0.9997989545637314 Centerline is valid? [True, True] Translation: X:-130.27, Y:12.05, Z:-10.78 [[ 9.67637835e-01 -1.19731732e-01 -2.22129090e-01 -1.30274362e+02] [ 1.17939603e-01 9.92790911e-01 -2.13648444e-02 1.20491073e+01] [ 2.23085792e-01 -5.52438496e-03 9.74783161e-01 -1.07796170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.47534707 meters Centerline goodness [0,1] 0.9996604875398927 Centerline is valid? [True, True] Translation: X:-130.30, Y:12.05, Z:-10.78 [[ 9.67306238e-01 -1.21819444e-01 -2.22438001e-01 -1.30302073e+02] [ 1.20084268e-01 9.92533851e-01 -2.13617282e-02 1.20468886e+01] [ 2.23379520e-01 -6.04797157e-03 9.74712785e-01 -1.07839793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.50534707 meters Centerline goodness [0,1] 0.999931157923723 Centerline is valid? [True, True] Translation: X:-130.33, Y:12.05, Z:-10.78 [[ 9.68628121e-01 -1.17616422e-01 -2.18919941e-01 -1.30332157e+02] [ 1.15843404e-01 9.93046238e-01 -2.09636781e-02 1.20456305e+01] [ 2.19863297e-01 -5.05442299e-03 9.75517598e-01 -1.07817293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.53534707 meters Centerline goodness [0,1] 0.999794604956867 Centerline is valid? [True, True] Translation: X:-130.36, Y:12.05, Z:-10.78 [[ 9.69337740e-01 -1.13533486e-01 -2.17932316e-01 -1.30361710e+02] [ 1.11681001e-01 9.93525555e-01 -2.08404663e-02 1.20456585e+01] [ 2.18887416e-01 -4.13744860e-03 9.75741349e-01 -1.07794933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.56534707 meters Centerline goodness [0,1] 0.9997220098686497 Centerline is valid? [True, True] Translation: X:-130.39, Y:12.05, Z:-10.79 [[ 9.68872776e-01 -1.08877122e-01 -2.22331547e-01 -1.30388659e+02] [ 1.06834818e-01 9.94050116e-01 -2.12294169e-02 1.20490668e+01] [ 2.23320098e-01 -3.18414636e-03 9.74739963e-01 -1.07900921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.59534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-130.41, Y:12.05, Z:-10.81 [[ 9.68180115e-01 -1.06952066e-01 -2.26248803e-01 -1.30414792e+02] [ 1.04801787e-01 9.94260047e-01 -2.15301013e-02 1.20487537e+01] [ 2.27252834e-01 -2.86626286e-03 9.73831574e-01 -1.08064596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.62534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-130.44, Y:12.05, Z:-10.81 [[ 9.66697271e-01 -1.10401034e-01 -2.30885248e-01 -1.30442073e+02] [ 1.08272643e-01 9.93879785e-01 -2.19090940e-02 1.20482285e+01] [ 2.31890967e-01 -3.81909469e-03 9.72734287e-01 -1.08149625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.65534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-130.47, Y:12.04, Z:-10.84 [[ 9.65590196e-01 -1.13489385e-01 -2.33999427e-01 -1.30467248e+02] [ 1.11401453e-01 9.93528257e-01 -2.21656978e-02 1.20435280e+01] [ 2.35000615e-01 -4.66489570e-03 9.71984028e-01 -1.08365985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.68534707 meters Centerline goodness [0,1] 0.9996060148401077 Centerline is valid? [True, True] Translation: X:-130.50, Y:12.04, Z:-10.84 [[ 9.66549493e-01 -1.09142002e-01 -2.32099334e-01 -1.30495293e+02] [ 1.06982539e-01 9.94019455e-01 -2.19102513e-02 1.20384759e+01] [ 2.33102582e-01 -3.65323387e-03 9.72445289e-01 -1.08446312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.71534707 meters Centerline goodness [0,1] 0.9993289491343443 Centerline is valid? [True, True] Translation: X:-130.52, Y:12.04, Z:-10.84 [[ 9.66144700e-01 -1.12727968e-01 -2.32070732e-01 -1.30524129e+02] [ 1.10685282e-01 9.93615339e-01 -2.18478183e-02 1.20364872e+01] [ 2.33051899e-01 -4.57866059e-03 9.72453520e-01 -1.08419165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.74534707 meters Centerline goodness [0,1] 0.9995997331554369 Centerline is valid? [True, True] Translation: X:-130.55, Y:12.03, Z:-10.85 [[ 9.67102624e-01 -1.11964829e-01 -2.28421522e-01 -1.30552488e+02] [ 1.09973676e-01 9.93702614e-01 -2.14686962e-02 1.20313103e+01] [ 2.29386803e-01 -4.35792212e-03 9.73325589e-01 -1.08468557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.77534707 meters Centerline goodness [0,1] 0.9996500804814893 Centerline is valid? [True, True] Translation: X:-130.59, Y:12.03, Z:-10.82 [[ 9.68425647e-01 -1.13270996e-01 -2.22084326e-01 -1.30585163e+02] [ 1.11437188e-01 9.93553515e-01 -2.08126569e-02 1.20342286e+01] [ 2.23010133e-01 -4.59294203e-03 9.74805306e-01 -1.08245545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.80534707 meters Centerline goodness [0,1] 0.9999310820124052 Centerline is valid? [True, True] Translation: X:-130.61, Y:12.03, Z:-10.82 [[ 9.69914425e-01 -1.09932663e-01 -2.17211457e-01 -1.30614547e+02] [ 1.08106595e-01 9.93931836e-01 -2.03093703e-02 1.20316127e+01] [ 2.18126046e-01 -3.78363975e-03 9.75913271e-01 -1.08240186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.83534707 meters Centerline goodness [0,1] 0.9997123130034522 Centerline is valid? [True, True] Translation: X:-130.64, Y:12.03, Z:-10.82 [[ 9.71182944e-01 -1.06843181e-01 -2.13045124e-01 -1.30644951e+02] [ 1.05027316e-01 9.94271079e-01 -1.98565766e-02 1.20319724e+01] [ 2.13946145e-01 -3.09118899e-03 9.76840566e-01 -1.08159619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.86534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-130.68, Y:12.03, Z:-10.81 [[ 9.72351971e-01 -1.03148133e-01 -2.09504432e-01 -1.30675383e+02] [ 1.01314009e-01 9.94663421e-01 -1.94974285e-02 1.20315502e+01] [ 2.10397519e-01 -2.26737101e-03 9.77613289e-01 -1.08061030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.89534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-130.70, Y:12.03, Z:-10.81 [[ 9.71800816e-01 -1.05856790e-01 -2.10707174e-01 -1.30703167e+02] [ 1.04070961e-01 9.94377151e-01 -1.95784911e-02 1.20290322e+01] [ 2.11594915e-01 -2.90210441e-03 9.77353145e-01 -1.08141974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.92534707000002 meters Centerline goodness [0,1] 0.999073348064723 Centerline is valid? [True, True] Translation: X:-130.73, Y:12.03, Z:-10.82 [[ 9.72795088e-01 -1.01673196e-01 -2.08164063e-01 -1.30730639e+02] [ 9.98503781e-02 9.94815771e-01 -1.92739389e-02 1.20282627e+01] [ 2.09044536e-01 -2.03566726e-03 9.77904003e-01 -1.08223532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.95534707 meters Centerline goodness [0,1] 0.9992851015155848 Centerline is valid? [True, True] Translation: X:-130.76, Y:12.03, Z:-10.82 [[ 9.72792452e-01 -1.01331074e-01 -2.08343129e-01 -1.30757281e+02] [ 9.95030963e-02 9.94850767e-01 -1.92635842e-02 1.20259376e+01] [ 2.09222321e-01 -1.99131718e-03 9.77866072e-01 -1.08238240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.98534707 meters Centerline goodness [0,1] 0.9990742059535679 Centerline is valid? [True, True] Translation: X:-130.79, Y:12.02, Z:-10.83 [[ 9.72564299e-01 -1.01857059e-01 -2.09150244e-01 -1.30785011e+02] [ 1.00035676e-01 9.94796710e-01 -1.92968456e-02 1.20229387e+01] [ 2.10027495e-01 -2.15506306e-03 9.77693105e-01 -1.08323507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.01534707 meters Centerline goodness [0,1] 0.998907183447472 Centerline is valid? [True, True] Translation: X:-130.81, Y:12.02, Z:-10.84 [[ 9.71442584e-01 -1.06424480e-01 -2.12068706e-01 -1.30811633e+02] [ 1.04673519e-01 9.94315459e-01 -1.94993025e-02 1.20202187e+01] [ 2.12938396e-01 -3.25552492e-03 9.77060203e-01 -1.08385212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.04534707 meters Centerline goodness [0,1] 0.9987267454198203 Centerline is valid? [True, True] Translation: X:-130.84, Y:12.01, Z:-10.86 [[ 9.70811253e-01 -1.09636189e-01 -2.13319988e-01 -1.30836607e+02] [ 1.07948993e-01 9.93963648e-01 -1.95775824e-02 1.20122267e+01] [ 2.14178725e-01 -4.02154050e-03 9.76786211e-01 -1.08562020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.07534707 meters Centerline goodness [0,1] 0.998831007525389 Centerline is valid? [True, True] Translation: X:-130.86, Y:12.01, Z:-10.85 [[ 9.70611849e-01 -1.11068164e-01 -2.13486535e-01 -1.30864717e+02] [ 1.09427971e-01 9.93802994e-01 -1.95224904e-02 1.20116866e+01] [ 2.14331885e-01 -4.41263784e-03 9.76750926e-01 -1.08548767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.10534707 meters Centerline goodness [0,1] 0.998318467612224 Centerline is valid? [True, True] Translation: X:-130.89, Y:12.01, Z:-10.86 [[ 9.70849734e-01 -1.12808961e-01 -2.11482699e-01 -1.30892700e+02] [ 1.11246103e-01 9.93605214e-01 -1.93127977e-02 1.20091406e+01] [ 2.12308969e-01 -4.77680169e-03 9.77190915e-01 -1.08575180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.13534707 meters Centerline goodness [0,1] 0.998318467612224 Centerline is valid? [True, True] Translation: X:-130.92, Y:12.01, Z:-10.86 [[ 9.70896359e-01 -1.12400604e-01 -2.11486086e-01 -1.30919339e+02] [ 1.10836266e-01 9.93651736e-01 -1.92756327e-02 1.20065155e+01] [ 2.12310109e-01 -4.72568662e-03 9.77190916e-01 -1.08624039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.16534707 meters Centerline goodness [0,1] 0.9980834439038774 Centerline is valid? [True, True] Translation: X:-130.95, Y:12.00, Z:-10.87 [[ 9.70697350e-01 -1.15014404e-01 -2.10993700e-01 -1.30947402e+02] [ 1.13537292e-01 9.93349292e-01 -1.91433609e-02 1.20033197e+01] [ 2.11792205e-01 -5.37324352e-03 9.77299949e-01 -1.08679400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.19534707 meters Centerline goodness [0,1] 0.9980743593541698 Centerline is valid? [True, True] Translation: X:-130.97, Y:11.99, Z:-10.87 [[ 9.71136913e-01 -1.19144920e-01 -2.06633936e-01 -1.30974483e+02] [ 1.17836869e-01 9.92857414e-01 -1.86715856e-02 1.19943694e+01] [ 2.07382660e-01 -6.21643018e-03 9.78240149e-01 -1.08725826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.22534707 meters Centerline goodness [0,1] 0.9978970979952334 Centerline is valid? [True, True] Translation: X:-131.00, Y:11.99, Z:-10.87 [[ 9.72192423e-01 -1.16585010e-01 -2.03100538e-01 -1.31003290e+02] [ 1.15283148e-01 9.93164635e-01 -1.82702914e-02 1.19850512e+01] [ 2.03842314e-01 -5.65183049e-03 9.78987420e-01 -1.08717585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.25534707 meters Centerline goodness [0,1] 0.998013198041581 Centerline is valid? [True, True] Translation: X:-131.03, Y:11.98, Z:-10.87 [[ 9.72065543e-01 -1.18393571e-01 -2.02661153e-01 -1.31031235e+02] [ 1.17148363e-01 9.92948153e-01 -1.81721595e-02 1.19825948e+01] [ 2.03383484e-01 -6.07689217e-03 9.79080298e-01 -1.08730830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.28534707 meters Centerline goodness [0,1] 0.9976592787652695 Centerline is valid? [True, True] Translation: X:-131.06, Y:11.98, Z:-10.87 [[ 9.71839477e-01 -1.19275417e-01 -2.03227472e-01 -1.31060060e+02] [ 1.18048092e-01 9.92841168e-01 -1.81951171e-02 1.19838227e+01] [ 2.03942831e-01 -6.30788231e-03 9.78962477e-01 -1.08724507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.31534707 meters Centerline goodness [0,1] 0.9978804268381816 Centerline is valid? [True, True] Translation: X:-131.09, Y:11.98, Z:-10.88 [[ 9.71999356e-01 -1.17780242e-01 -2.03334862e-01 -1.31088573e+02] [ 1.16533669e-01 9.93021148e-01 -1.81356967e-02 1.19812700e+01] [ 2.04051845e-01 -6.06747205e-03 9.78941280e-01 -1.08759097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.34534707 meters Centerline goodness [0,1] 0.9975170701427685 Centerline is valid? [True, True] Translation: X:-131.12, Y:11.97, Z:-10.88 [[ 9.72655125e-01 -1.13197063e-01 -2.02801460e-01 -1.31116174e+02] [ 1.11872791e-01 9.93559150e-01 -1.80192675e-02 1.19742720e+01] [ 2.03534974e-01 -5.16143252e-03 9.79054071e-01 -1.08826359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.37534707 meters Centerline goodness [0,1] 0.99700991831972 Centerline is valid? [True, True] Translation: X:-131.14, Y:11.98, Z:-10.89 [[ 9.71151697e-01 -1.19067085e-01 -2.06609321e-01 -1.31143615e+02] [ 1.17836799e-01 9.92864420e-01 -1.82957109e-02 1.19762760e+01] [ 2.07313460e-01 -6.57827035e-03 9.78252450e-01 -1.08910885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.40534707 meters Centerline goodness [0,1] 0.9969291511296337 Centerline is valid? [True, True] Translation: X:-131.17, Y:11.97, Z:-10.90 [[ 9.70720254e-01 -1.19033298e-01 -2.08646261e-01 -1.31171126e+02] [ 1.17784150e-01 9.92867869e-01 -1.84469027e-02 1.19735790e+01] [ 2.09353964e-01 -6.66844037e-03 9.77817186e-01 -1.08971285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.43534707 meters Centerline goodness [0,1] 0.9969219494320264 Centerline is valid? [True, True] Translation: X:-131.20, Y:11.98, Z:-10.91 [[ 9.69898186e-01 -1.22272065e-01 -2.10587395e-01 -1.31197701e+02] [ 1.21088961e-01 9.92468248e-01 -1.85537169e-02 1.19764142e+01] [ 2.11269905e-01 -7.50459246e-03 9.77398951e-01 -1.09088481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.46534707 meters Centerline goodness [0,1] 0.9983254459410266 Centerline is valid? [True, True] Translation: X:-131.22, Y:11.97, Z:-10.92 [[ 9.69801416e-01 -1.20445681e-01 -2.12080296e-01 -1.31224359e+02] [ 1.19210777e-01 9.92693829e-01 -1.86481440e-02 1.19713947e+01] [ 2.12776889e-01 -7.19726038e-03 9.77074304e-01 -1.09165252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.49534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-131.25, Y:11.97, Z:-10.92 [[ 9.69407614e-01 -1.21369775e-01 -2.13350080e-01 -1.31252562e+02] [ 1.20161067e-01 9.92578770e-01 -1.86735745e-02 1.19663631e+01] [ 2.14033168e-01 -7.53406798e-03 9.76797339e-01 -1.09194638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.52534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-131.28, Y:11.96, Z:-10.93 [[ 9.69485716e-01 -1.21890867e-01 -2.12697115e-01 -1.31277177e+02] [ 1.20718517e-01 9.92513626e-01 -1.85402993e-02 1.19560973e+01] [ 2.13364678e-01 -7.70192510e-03 9.76942268e-01 -1.09338973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.55534707 meters Centerline goodness [0,1] 0.9997873245427478 Centerline is valid? [True, True] Translation: X:-131.30, Y:11.96, Z:-10.94 [[ 9.68740510e-01 -1.24750554e-01 -2.14427430e-01 -1.31304295e+02] [ 1.23646385e-01 9.92151846e-01 -1.86087679e-02 1.19551380e+01] [ 2.15066025e-01 -8.48610916e-03 9.76562641e-01 -1.09414975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.58534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-131.33, Y:11.96, Z:-10.95 [[ 9.68619619e-01 -1.23607905e-01 -2.15631909e-01 -1.31331207e+02] [ 1.22475847e-01 9.92296109e-01 -1.86574179e-02 1.19568014e+01] [ 2.16276909e-01 -8.33775984e-03 9.76296461e-01 -1.09457281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.61534707 meters Centerline goodness [0,1] 0.9992982456140351 Centerline is valid? [True, True] Translation: X:-131.36, Y:11.95, Z:-10.96 [[ 9.68472498e-01 -1.21954809e-01 -2.17228093e-01 -1.31357005e+02] [ 1.20775367e-01 9.92502784e-01 -1.87492596e-02 1.19506874e+01] [ 2.17886050e-01 -8.07766042e-03 9.75940788e-01 -1.09588034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.64534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-131.39, Y:11.95, Z:-10.96 [[ 9.67196087e-01 -1.26230471e-01 -2.20448626e-01 -1.31385653e+02] [ 1.25142762e-01 9.91957737e-01 -1.89509113e-02 1.19518247e+01] [ 2.21067903e-01 -9.25830269e-03 9.75214472e-01 -1.09571024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.67534707000002 meters Centerline goodness [0,1] 0.9997208653175157 Centerline is valid? [True, True] Translation: X:-131.41, Y:11.94, Z:-10.97 [[ 9.67375585e-01 -1.24440080e-01 -2.20678825e-01 -1.31410775e+02] [ 1.23312391e-01 9.92187248e-01 -1.89345980e-02 1.19375685e+01] [ 2.21310939e-01 -8.89556570e-03 9.75162723e-01 -1.09740234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.70534707 meters Centerline goodness [0,1] 0.9998529195469922 Centerline is valid? [True, True] Translation: X:-131.44, Y:11.94, Z:-10.98 [[ 9.64743856e-01 -1.34277907e-01 -2.26359750e-01 -1.31439017e+02] [ 1.33375519e-01 9.90876693e-01 -1.93481201e-02 1.19429583e+01] [ 2.26892626e-01 -1.15248692e-02 9.73851587e-01 -1.09785393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.73534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-131.47, Y:11.93, Z:-10.99 [[ 9.65296126e-01 -1.31727109e-01 -2.25502457e-01 -1.31465735e+02] [ 1.30773406e-01 9.91225783e-01 -1.92292577e-02 1.19309518e+01] [ 2.26056864e-01 -1.09277964e-02 9.74052810e-01 -1.09871934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.76534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-131.49, Y:11.92, Z:-11.00 [[ 9.64836605e-01 -1.33530449e-01 -2.26406593e-01 -1.31492699e+02] [ 1.32636487e-01 9.90978237e-01 -1.92274914e-02 1.19223245e+01] [ 2.26931462e-01 -1.14783876e-02 9.73843087e-01 -1.09950738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.79534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-131.52, Y:11.93, Z:-10.99 [[ 9.63592114e-01 -1.38578983e-01 -2.28661548e-01 -1.31522336e+02] [ 1.37822496e-01 9.90267823e-01 -1.93545348e-02 1.19289182e+01] [ 2.29118305e-01 -1.28648283e-02 9.73313566e-01 -1.09911246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.82534707 meters Centerline goodness [0,1] 0.9999290729838995 Centerline is valid? [True, True] Translation: X:-131.55, Y:11.92, Z:-11.00 [[ 9.63823899e-01 -1.41069390e-01 -2.26148003e-01 -1.31549581e+02] [ 1.40405968e-01 9.89909778e-01 -1.90996197e-02 1.19179468e+01] [ 2.26560491e-01 -1.33438593e-02 9.73905686e-01 -1.09967518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.85534707 meters Centerline goodness [0,1] 0.9992846924177397 Centerline is valid? [True, True] Translation: X:-131.58, Y:11.92, Z:-11.00 [[ 9.64340555e-01 -1.41308512e-01 -2.23783819e-01 -1.31577421e+02] [ 1.40681691e-01 9.89875884e-01 -1.88254361e-02 1.19155191e+01] [ 2.24178400e-01 -1.33281546e-02 9.74456980e-01 -1.09954106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.88534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-131.60, Y:11.90, Z:-11.01 [[ 9.64596056e-01 -1.41855758e-01 -2.22331720e-01 -1.31602366e+02] [ 1.41263956e-01 9.89796349e-01 -1.86462649e-02 1.18980538e+01] [ 2.22708204e-01 -1.34213447e-02 9.74792759e-01 -1.10052822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.91534707 meters Centerline goodness [0,1] 0.9994566693833198 Centerline is valid? [True, True] Translation: X:-131.63, Y:11.89, Z:-11.01 [[ 9.65177924e-01 -1.40104508e-01 -2.20912429e-01 -1.31630116e+02] [ 1.39492034e-01 9.90051281e-01 -1.84508212e-02 1.18922341e+01] [ 2.21299677e-01 -1.30071987e-02 9.75119103e-01 -1.10102314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.94534707 meters Centerline goodness [0,1] 0.9999279175376631 Centerline is valid? [True, True] Translation: X:-131.66, Y:11.90, Z:-11.01 [[ 9.63280155e-01 -1.48547089e-01 -2.23662930e-01 -1.31658593e+02] [ 1.48150075e-01 9.88788991e-01 -1.86517227e-02 1.18994734e+01] [ 2.23926102e-01 -1.51688455e-02 9.74488074e-01 -1.10094735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.97534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-131.69, Y:11.90, Z:-11.02 [[ 9.62002550e-01 -1.53563743e-01 -2.25763751e-01 -1.31685618e+02] [ 1.53303382e-01 9.88000451e-01 -1.87931104e-02 1.19003308e+01] [ 2.25940628e-01 -1.65313265e-02 9.74000795e-01 -1.10154489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.00534707 meters Centerline goodness [0,1] 0.9994370161857846 Centerline is valid? [True, True] Translation: X:-131.71, Y:11.88, Z:-11.02 [[ 9.63876405e-01 -1.47554234e-01 -2.21743149e-01 -1.31712241e+02] [ 1.47154573e-01 9.88942040e-01 -1.84166426e-02 1.18787409e+01] [ 2.22008576e-01 -1.48791511e-02 9.74931179e-01 -1.10198096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.03534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-131.74, Y:11.88, Z:-11.02 [[ 9.63861309e-01 -1.48622627e-01 -2.21094306e-01 -1.31740272e+02] [ 1.48268653e-01 9.88777929e-01 -1.82924430e-02 1.18800625e+01] [ 2.21331841e-01 -1.51499769e-02 9.75080866e-01 -1.10237931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.06534707 meters Centerline goodness [0,1] 0.9999285663261661 Centerline is valid? [True, True] Translation: X:-131.77, Y:11.88, Z:-11.03 [[ 9.63915021e-01 -1.49518564e-01 -2.20254470e-01 -1.31768390e+02] [ 1.49197481e-01 9.88640100e-01 -1.81896645e-02 1.18766666e+01] [ 2.20472094e-01 -1.53281212e-02 9.75272836e-01 -1.10298903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.09534707 meters Centerline goodness [0,1] 0.9995561145224532 Centerline is valid? [True, True] Translation: X:-131.80, Y:11.89, Z:-11.04 [[ 9.63008179e-01 -1.49183976e-01 -2.24408975e-01 -1.31795215e+02] [ 1.48860602e-01 9.88685909e-01 -1.84578985e-02 1.18861962e+01] [ 2.24623614e-01 -1.56305479e-02 9.74320234e-01 -1.10407580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.12534707 meters Centerline goodness [0,1] 0.9993805066079295 Centerline is valid? [True, True] Translation: X:-131.82, Y:11.88, Z:-11.06 [[ 9.64437706e-01 -1.44346221e-01 -2.21413821e-01 -1.31821099e+02] [ 1.43923235e-01 9.89422747e-01 -1.81309333e-02 1.18777436e+01] [ 2.21689002e-01 -1.43804376e-02 9.75011379e-01 -1.10568857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.15534707 meters Centerline goodness [0,1] 0.9985152190051967 Centerline is valid? [True, True] Translation: X:-131.85, Y:11.87, Z:-11.08 [[ 9.63435760e-01 -1.43113592e-01 -2.26517187e-01 -1.31846328e+02] [ 1.42657251e-01 9.89599776e-01 -1.84713664e-02 1.18741829e+01] [ 2.26804862e-01 -1.45183443e-02 9.73832004e-01 -1.10783978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.18534707 meters Centerline goodness [0,1] 0.9994127147261782 Centerline is valid? [True, True] Translation: X:-131.87, Y:11.88, Z:-11.09 [[ 9.59609095e-01 -1.50848615e-01 -2.37476482e-01 -1.31873308e+02] [ 1.50598709e-01 9.88406519e-01 -1.93023901e-02 1.18790160e+01] [ 2.37635042e-01 -1.72409025e-02 9.71201492e-01 -1.10872003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.21534707 meters Centerline goodness [0,1] 0.9987704918032787 Centerline is valid? [True, True] Translation: X:-131.90, Y:11.88, Z:-11.10 [[ 9.59731616e-01 -1.48467045e-01 -2.38480109e-01 -1.31899486e+02] [ 1.48153842e-01 9.88775171e-01 -1.93416600e-02 1.18785772e+01] [ 2.38674810e-01 -1.67689418e-02 9.70954756e-01 -1.11038889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.24534707 meters Centerline goodness [0,1] 0.9984469952734639 Centerline is valid? [True, True] Translation: X:-131.92, Y:11.87, Z:-11.13 [[ 9.59991575e-01 -1.43088452e-01 -2.40711177e-01 -1.31924368e+02] [ 1.42624356e-01 9.89585906e-01 -1.94429480e-02 1.18682694e+01] [ 2.40986449e-01 -1.56662104e-02 9.70402031e-01 -1.11263744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.27534707 meters Centerline goodness [0,1] 0.9988487844518182 Centerline is valid? [True, True] Translation: X:-131.95, Y:11.87, Z:-11.14 [[ 9.59261123e-01 -1.43872132e-01 -2.43143801e-01 -1.31951844e+02] [ 1.43440706e-01 9.89465314e-01 -1.95743903e-02 1.18743471e+01] [ 2.43398567e-01 -1.60997669e-02 9.69792728e-01 -1.11356849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.30534707 meters Centerline goodness [0,1] 0.9985997199439888 Centerline is valid? [True, True] Translation: X:-131.98, Y:11.87, Z:-11.16 [[ 9.58642850e-01 -1.43844460e-01 -2.45586354e-01 -1.31976654e+02] [ 1.43414120e-01 9.89466007e-01 -1.97335180e-02 1.18705529e+01] [ 2.45837907e-01 -1.63031549e-02 9.69173839e-01 -1.11608739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.33534707 meters Centerline goodness [0,1] 0.9997225497676354 Centerline is valid? [True, True] Translation: X:-132.01, Y:11.88, Z:-11.16 [[ 9.57825307e-01 -1.46075817e-01 -2.47452090e-01 -1.32007075e+02] [ 1.45721888e-01 9.89126484e-01 -1.98476671e-02 1.18775089e+01] [ 2.47660679e-01 -1.70485878e-02 9.68696822e-01 -1.11552451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.36534707 meters Centerline goodness [0,1] 0.9996103896103896 Centerline is valid? [True, True] Translation: X:-132.03, Y:11.86, Z:-11.17 [[ 9.59957792e-01 -1.39120960e-01 -2.43159200e-01 -1.32033441e+02] [ 1.38565753e-01 9.90161776e-01 -1.94727689e-02 1.18629024e+01] [ 2.43476016e-01 -1.50005015e-02 9.69790913e-01 -1.11670210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.39534707 meters Centerline goodness [0,1] 0.9999309535317269 Centerline is valid? [True, True] Translation: X:-132.06, Y:11.87, Z:-11.16 [[ 9.59331179e-01 -1.42614461e-01 -2.43607892e-01 -1.32063616e+02] [ 1.42177334e-01 9.89649685e-01 -1.94706606e-02 1.18727836e+01] [ 2.43863271e-01 -1.59567088e-02 9.69678343e-01 -1.11616002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.42534707000002 meters Centerline goodness [0,1] 0.9966357152469385 Centerline is valid? [True, True] Translation: X:-132.09, Y:11.87, Z:-11.15 [[ 9.60114178e-01 -1.38783611e-01 -2.42734163e-01 -1.32093638e+02] [ 1.38239989e-01 9.90209573e-01 -1.93573350e-02 1.18654170e+01] [ 2.43044173e-01 -1.49703163e-02 9.69899696e-01 -1.11524735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.45534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-132.12, Y:11.86, Z:-11.17 [[ 9.60968349e-01 -1.34443645e-01 -2.41794828e-01 -1.32119827e+02] [ 1.33787359e-01 9.90823884e-01 -1.92086715e-02 1.18595330e+01] [ 2.42158574e-01 -1.38901661e-02 9.70137252e-01 -1.11690858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.48534707 meters Centerline goodness [0,1] 0.9994131072709488 Centerline is valid? [True, True] Translation: X:-132.15, Y:11.86, Z:-11.18 [[ 9.61539453e-01 -1.32119450e-01 -2.40803514e-01 -1.32146797e+02] [ 1.31407535e-01 9.91144685e-01 -1.90859382e-02 1.18571792e+01] [ 2.41192747e-01 -1.32915136e-02 9.70386209e-01 -1.11832058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.51534707 meters Centerline goodness [0,1] 0.9998693408244594 Centerline is valid? [True, True] Translation: X:-132.17, Y:11.86, Z:-11.19 [[ 9.61530438e-01 -1.29910386e-01 -2.42038237e-01 -1.32174820e+02] [ 1.29140406e-01 9.91442096e-01 -1.91134833e-02 1.18562910e+01] [ 2.42449938e-01 -1.28787203e-02 9.70078433e-01 -1.11916814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.54534707 meters Centerline goodness [0,1] 0.9995440927445617 Centerline is valid? [True, True] Translation: X:-132.20, Y:11.85, Z:-11.20 [[ 9.61215063e-01 -1.29073246e-01 -2.43732844e-01 -1.32202848e+02] [ 1.28284968e-01 9.91551974e-01 -1.91742226e-02 1.18546947e+01] [ 2.44148661e-01 -1.28367084e-02 9.69652850e-01 -1.12000364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.57534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-132.23, Y:11.86, Z:-11.20 [[ 9.59329919e-01 -1.35215778e-01 -2.47795883e-01 -1.32232825e+02] [ 1.34618205e-01 9.90706927e-01 -1.94350942e-02 1.18616942e+01] [ 2.48121029e-01 -1.47131696e-02 9.68617302e-01 -1.11970574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.60534707 meters Centerline goodness [0,1] 0.9995962043206138 Centerline is valid? [True, True] Translation: X:-132.26, Y:11.86, Z:-11.20 [[ 9.59493969e-01 -1.33392778e-01 -2.48148524e-01 -1.32260675e+02] [ 1.32745286e-01 9.90959950e-01 -1.94182054e-02 1.18579909e+01] [ 2.48495497e-01 -1.43088959e-02 9.68527358e-01 -1.12048800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.63534707 meters Centerline goodness [0,1] 0.9993352831693698 Centerline is valid? [True, True] Translation: X:-132.29, Y:11.85, Z:-11.22 [[ 9.60591181e-01 -1.29389381e-01 -2.46014170e-01 -1.32286974e+02] [ 1.28644535e-01 9.91505517e-01 -1.91675112e-02 1.18512022e+01] [ 2.46404479e-01 -1.32362363e-02 9.69076692e-01 -1.12160629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.66534707 meters Centerline goodness [0,1] 0.9996056782334385 Centerline is valid? [True, True] Translation: X:-132.31, Y:11.85, Z:-11.23 [[ 9.60602231e-01 -1.27372803e-01 -2.47021302e-01 -1.32314177e+02] [ 1.26577353e-01 9.91771579e-01 -1.91653023e-02 1.18525154e+01] [ 2.47429845e-01 -1.28570704e-02 9.68820503e-01 -1.12262241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.69534707 meters Centerline goodness [0,1] 0.9992236527139807 Centerline is valid? [True, True] Translation: X:-132.34, Y:11.85, Z:-11.24 [[ 9.61092971e-01 -1.24734644e-01 -2.46458049e-01 -1.32341942e+02] [ 1.23876449e-01 9.92114829e-01 -1.90470802e-02 1.18507738e+01] [ 2.46890516e-01 -1.22243330e-02 9.68966273e-01 -1.12350103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.72534707 meters Centerline goodness [0,1] 0.998569105691057 Centerline is valid? [True, True] Translation: X:-132.37, Y:11.85, Z:-11.25 [[ 9.61609925e-01 -1.21107198e-01 -2.46250683e-01 -1.32369422e+02] [ 1.20147628e-01 9.92574667e-01 -1.89757253e-02 1.18538150e+01] [ 2.46720287e-01 -1.13391897e-02 9.69020393e-01 -1.12480445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.75534707 meters Centerline goodness [0,1] 0.9991442301362649 Centerline is valid? [True, True] Translation: X:-132.40, Y:11.85, Z:-11.26 [[ 9.61406361e-01 -1.20027516e-01 -2.47570606e-01 -1.32396988e+02] [ 1.19031200e-01 9.92707849e-01 -1.90446846e-02 1.18545793e+01] [ 2.48051170e-01 -1.11589454e-02 9.68682660e-01 -1.12587641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.78534707 meters Centerline goodness [0,1] 0.9993055555555556 Centerline is valid? [True, True] Translation: X:-132.43, Y:11.86, Z:-11.25 [[ 9.60687250e-01 -1.21832578e-01 -2.49473104e-01 -1.32426763e+02] [ 1.20898561e-01 9.92480647e-01 -1.91233848e-02 1.18616143e+01] [ 2.49927079e-01 -1.17893473e-02 9.68192887e-01 -1.12546267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.81534707 meters Centerline goodness [0,1] 0.9990270480638257 Centerline is valid? [True, True] Translation: X:-132.45, Y:11.86, Z:-11.27 [[ 9.62955690e-01 -1.08863383e-01 -2.46708538e-01 -1.32452709e+02] [ 1.07544817e-01 9.94021433e-01 -1.88548125e-02 1.18552862e+01] [ 2.47286174e-01 -8.37587551e-03 9.68906287e-01 -1.12701400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.84534707 meters Centerline goodness [0,1] 0.9978522616335829 Centerline is valid? [True, True] Translation: X:-132.48, Y:11.86, Z:-11.27 [[ 9.64665226e-01 -9.95305411e-02 -2.43956294e-01 -1.32481978e+02] [ 9.79636449e-02 9.95016559e-01 -1.85787989e-02 1.18625704e+01] [ 2.44589710e-01 -5.97652647e-03 9.69608248e-01 -1.12703254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.87534707 meters Centerline goodness [0,1] 0.9997375844650003 Centerline is valid? [True, True] Translation: X:-132.51, Y:11.86, Z:-11.28 [[ 9.63425068e-01 -1.01712905e-01 -2.47924631e-01 -1.32508481e+02] [ 1.00170922e-01 9.94791472e-01 -1.88603813e-02 1.18613900e+01] [ 2.48551653e-01 -6.66427474e-03 9.68595717e-01 -1.12804886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.90534707 meters Centerline goodness [0,1] 0.9996092986911506 Centerline is valid? [True, True] Translation: X:-132.54, Y:11.87, Z:-11.30 [[ 9.64281184e-01 -9.43176015e-02 -2.47519674e-01 -1.32535595e+02] [ 9.25463032e-02 9.95530729e-01 -1.88082494e-02 1.18656985e+01] [ 2.48187390e-01 -4.77058977e-03 9.68700295e-01 -1.12962046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.93534707 meters Centerline goodness [0,1] 0.9994155464640561 Centerline is valid? [True, True] Translation: X:-132.56, Y:11.87, Z:-11.30 [[ 9.64788706e-01 -8.98926663e-02 -2.47188311e-01 -1.32563482e+02] [ 8.79916337e-02 9.95944731e-01 -1.87500489e-02 1.18680267e+01] [ 2.47871388e-01 -3.66066788e-03 9.68786031e-01 -1.13049515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.96534707 meters Centerline goodness [0,1] 0.9995415547842033 Centerline is valid? [True, True] Translation: X:-132.59, Y:11.88, Z:-11.32 [[ 9.65248439e-01 -8.22160215e-02 -2.48064460e-01 -1.32589995e+02] [ 8.00675298e-02 9.96612981e-01 -1.87551901e-02 1.18753572e+01] [ 2.48766238e-01 -1.75849056e-03 9.68561958e-01 -1.13177279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.99534707 meters Centerline goodness [0,1] 0.9993340880335619 Centerline is valid? [True, True] Translation: X:-132.62, Y:11.88, Z:-11.32 [[ 9.65212349e-01 -7.93044772e-02 -2.49150400e-01 -1.32618517e+02] [ 7.70520877e-02 9.96849881e-01 -1.87960049e-02 1.18762038e+01] [ 2.49856154e-01 -1.05542240e-03 9.68282391e-01 -1.13228957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.02534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-132.65, Y:11.88, Z:-11.32 [[ 9.66006674e-01 -7.12655270e-02 -2.48500162e-01 -1.32646689e+02] [ 6.87792365e-02 9.97456920e-01 -1.86844609e-02 1.18790077e+01] [ 2.49199764e-01 9.57662539e-04 9.68451630e-01 -1.13243693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.05534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-132.67, Y:11.88, Z:-11.33 [[ 9.66031832e-01 -7.09117057e-02 -2.48503579e-01 -1.32673442e+02] [ 6.84256144e-02 9.97482093e-01 -1.86389065e-02 1.18767481e+01] [ 2.49199587e-01 1.00176693e-03 9.68451631e-01 -1.13292679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.08534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-132.70, Y:11.88, Z:-11.34 [[ 9.66127411e-01 -6.54301757e-02 -2.49633167e-01 -1.32702043e+02] [ 6.27606748e-02 9.97854386e-01 -1.86472803e-02 1.18789091e+01] [ 2.50317645e-01 2.34850265e-03 9.68160917e-01 -1.13361624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.11534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-132.73, Y:11.88, Z:-11.35 [[ 9.66172464e-01 -6.24069095e-02 -2.50232186e-01 -1.32729061e+02] [ 5.96377298e-02 9.98046014e-01 -1.86412270e-02 1.18789513e+01] [ 2.50906577e-01 3.08736075e-03 9.68006383e-01 -1.13491995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.14534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-132.76, Y:11.88, Z:-11.36 [[ 9.66287436e-01 -5.90262060e-02 -2.50608257e-01 -1.32757265e+02] [ 5.61545785e-02 9.98248814e-01 -1.86002509e-02 1.18800033e+01] [ 2.51267298e-01 3.90038770e-03 9.67909878e-01 -1.13578003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.17534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-132.78, Y:11.88, Z:-11.36 [[ 9.66283127e-01 -5.56496132e-02 -2.51396181e-01 -1.32784687e+02] [ 5.26570414e-02 9.98439037e-01 -1.86205519e-02 1.18783297e+01] [ 2.52039988e-01 4.75494604e-03 9.67705139e-01 -1.13633662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.20534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-132.81, Y:11.88, Z:-11.37 [[ 9.66589365e-01 -5.25178595e-02 -2.50892154e-01 -1.32811590e+02] [ 4.94455608e-02 9.98604767e-01 -1.85379715e-02 1.18781655e+01] [ 2.51515676e-01 5.51310278e-03 9.67837523e-01 -1.13736494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.23534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-132.84, Y:11.88, Z:-11.39 [[ 9.66793764e-01 -4.67751135e-02 -2.51240733e-01 -1.32838341e+02] [ 4.35204707e-02 9.98881270e-01 -1.84980556e-02 1.18800598e+01] [ 2.51824911e-01 6.94968992e-03 9.67747858e-01 -1.13891063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.26534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-132.87, Y:11.88, Z:-11.40 [[ 9.66968808e-01 -4.32453977e-02 -2.51199441e-01 -1.32865199e+02] [ 3.98807208e-02 9.99033687e-01 -1.84721593e-02 1.18773640e+01] [ 2.51755539e-01 7.84398710e-03 9.67759071e-01 -1.13950377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.29534707 meters Centerline goodness [0,1] 0.999934322868777 Centerline is valid? [True, True] Translation: X:-132.89, Y:11.88, Z:-11.41 [[ 9.67386866e-01 -3.85601692e-02 -2.50351285e-01 -1.32892095e+02] [ 3.50712215e-02 9.99215709e-01 -1.83841190e-02 1.18765575e+01] [ 2.50863831e-01 9.00442988e-03 9.67980505e-01 -1.14092097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.32534707 meters Centerline goodness [0,1] 0.9997962371799226 Centerline is valid? [True, True] Translation: X:-132.92, Y:11.87, Z:-11.41 [[ 9.66356950e-01 -4.29211633e-02 -2.53598144e-01 -1.32919491e+02] [ 3.94962839e-02 9.99046894e-01 -1.85835207e-02 1.18668733e+01] [ 2.54154064e-01 7.94213014e-03 9.67131136e-01 -1.14126510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.35534707 meters Centerline goodness [0,1] 0.9996704021094265 Centerline is valid? [True, True] Translation: X:-132.95, Y:11.87, Z:-11.42 [[ 9.67384192e-01 -3.39090396e-02 -2.51033866e-01 -1.32947148e+02] [ 3.02724067e-02 9.99373505e-01 -1.83351681e-02 1.18673490e+01] [ 2.51498322e-01 1.01377525e-02 9.67804639e-01 -1.14209678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.38534707 meters Centerline goodness [0,1] 0.9999325963871664 Centerline is valid? [True, True] Translation: X:-132.97, Y:11.86, Z:-11.43 [[ 9.66675760e-01 -3.54017806e-02 -2.53544255e-01 -1.32973808e+02] [ 3.17464500e-02 9.99324817e-01 -1.84952099e-02 1.18578193e+01] [ 2.54027829e-01 9.82974110e-03 9.67146958e-01 -1.14277010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.41534707 meters Centerline goodness [0,1] 0.9992694427840871 Centerline is valid? [True, True] Translation: X:-133.00, Y:11.85, Z:-11.44 [[ 9.66982064e-01 -3.13927498e-02 -2.52903507e-01 -1.33001190e+02] [ 2.76317591e-02 9.99448622e-01 -1.84102828e-02 1.18548194e+01] [ 2.53342011e-01 1.08142445e-02 9.67316327e-01 -1.14395647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.44534707 meters Centerline goodness [0,1] 0.9945704867170836 Centerline is valid? [True, True] Translation: X:-133.03, Y:11.86, Z:-11.45 [[ 9.67766585e-01 -2.33414723e-02 -2.50764855e-01 -1.33029090e+02] [ 1.93990876e-02 9.99646481e-01 -1.81821011e-02 1.18589806e+01] [ 2.51100602e-01 1.27314205e-02 9.67877264e-01 -1.14511416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.47534707 meters Centerline goodness [0,1] 0.9980215581934779 Centerline is valid? [True, True] Translation: X:-133.06, Y:11.83, Z:-11.42 [[ 9.69604703e-01 -1.58889654e-02 -2.44160316e-01 -1.33061440e+02] [ 1.19396829e-02 9.99772996e-01 -1.76465441e-02 1.18321891e+01] [ 2.44385276e-01 1.41949754e-02 9.69574308e-01 -1.14168718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.50534707 meters Centerline goodness [0,1] 0.984388825685754 Centerline is valid? [True, True] Translation: X:-133.09, Y:11.85, Z:-11.45 [[ 9.69822528e-01 -8.75043779e-03 -2.43654868e-01 -1.33087242e+02] [ 4.60780415e-03 9.99835074e-01 -1.75668247e-02 1.18481733e+01] [ 2.43768400e-01 1.59139884e-02 9.69702899e-01 -1.14466329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.53534707 meters Centerline goodness [0,1] 0.9985870004037142 Centerline is valid? [True, True] Translation: X:-133.11, Y:11.82, Z:-11.45 [[ 9.66733627e-01 -2.40335455e-02 -2.54653655e-01 -1.33112555e+02] [ 2.00330791e-02 9.99631977e-01 -1.82917045e-02 1.18226723e+01] [ 2.54999551e-01 1.25817090e-02 9.66859312e-01 -1.14531358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.56534707 meters Centerline goodness [0,1] 0.9766714616298705 Centerline is valid? [True, True] Translation: X:-133.14, Y:11.83, Z:-11.46 [[ 9.70000490e-01 -1.74003452e-03 -2.43096734e-01 -1.33142767e+02] [-2.57601671e-03 9.99844672e-01 -1.74354532e-02 1.18327581e+01] [ 2.43089313e-01 1.75386193e-02 9.69845340e-01 -1.14556438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.59534707 meters Centerline goodness [0,1] 0.9893880208333333 Centerline is valid? [True, True] Translation: X:-133.17, Y:11.82, Z:-11.45 [[ 9.69964010e-01 -1.98521483e-03 -2.43240369e-01 -1.33170835e+02] [-2.32255069e-03 9.99845530e-01 -1.74218563e-02 1.18207780e+01] [ 2.43237382e-01 1.74635117e-02 9.69809570e-01 -1.14538458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.62534707 meters Centerline goodness [0,1] 0.9984460990611849 Centerline is valid? [True, True] Translation: X:-133.20, Y:11.80, Z:-11.46 [[ 9.67981634e-01 -1.06312122e-02 -2.50795802e-01 -1.33196599e+02] [ 6.33763363e-03 9.99819315e-01 -1.79212664e-02 1.18014794e+01] [ 2.50941012e-01 1.57580048e-02 9.67874111e-01 -1.14601052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.65534707 meters Centerline goodness [0,1] 0.9991472613971794 Centerline is valid? [True, True] Translation: X:-133.22, Y:11.79, Z:-11.46 [[ 9.68372603e-01 -7.26526057e-03 -2.49402721e-01 -1.33223749e+02] [ 2.91983109e-03 9.99837502e-01 -1.77888819e-02 1.17917731e+01] [ 2.49491434e-01 1.64980521e-02 9.68236458e-01 -1.14609484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.68534707 meters Centerline goodness [0,1] 0.9975766308619335 Centerline is valid? [True, True] Translation: X:-133.25, Y:11.78, Z:-11.46 [[ 9.69222919e-01 6.41860652e-04 -2.46183919e-01 -1.33252593e+02] [-5.11014256e-03 9.99833599e-01 -1.75117589e-02 1.17832798e+01] [ 2.46131713e-01 1.82308330e-02 9.69064919e-01 -1.14632605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.71534707 meters Centerline goodness [0,1] 0.9949141767323586 Centerline is valid? [True, True] Translation: X:-133.28, Y:11.78, Z:-11.49 [[ 9.67874466e-01 -2.93547669e-03 -2.51416787e-01 -1.33277797e+02] [-1.59007247e-03 9.99840389e-01 -1.77951471e-02 1.17847143e+01] [ 2.51428895e-01 1.76232394e-02 9.67715316e-01 -1.14881531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.74534707 meters Centerline goodness [0,1] 0.9715326664196616 Centerline is valid? [True, True] Translation: X:-133.31, Y:11.79, Z:-11.49 [[ 9.69797725e-01 1.18422671e-02 -2.43622934e-01 -1.33308784e+02] [-1.65202200e-02 9.99716141e-01 -1.71673749e-02 1.17873799e+01] [ 2.43350479e-01 2.06735856e-02 9.69718076e-01 -1.14852926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.77534707 meters Centerline goodness [0,1] 0.9838104763095387 Centerline is valid? [True, True] Translation: X:-133.33, Y:11.77, Z:-11.50 [[ 9.68702277e-01 7.61398159e-03 -2.48108696e-01 -1.33334461e+02] [-1.23231815e-02 9.99772091e-01 -1.74328742e-02 1.17749917e+01] [ 2.47919416e-01 1.99447534e-02 9.68575330e-01 -1.14968406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.80534707 meters Centerline goodness [0,1] 0.994766029036077 Centerline is valid? [True, True] Translation: X:-133.36, Y:11.76, Z:-11.49 [[ 9.69547782e-01 1.35731568e-02 -2.44525801e-01 -1.33364299e+02] [-1.83184865e-02 9.99685236e-01 -1.71424183e-02 1.17589981e+01] [ 2.44216156e-01 2.10997362e-02 9.69491243e-01 -1.14862074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.83534707 meters Centerline goodness [0,1] 0.9659416316334613 Centerline is valid? [True, True] Translation: X:-133.39, Y:11.76, Z:-11.49 [[ 9.70610567e-01 2.38046547e-02 -2.39475395e-01 -1.33393160e+02] [-2.86497332e-02 9.99448814e-01 -1.67708251e-02 1.17609431e+01] [ 2.38944176e-01 2.31388463e-02 9.70757578e-01 -1.14944325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.86534707 meters Centerline goodness [0,1] 0.977151837524178 Centerline is valid? [True, True] Translation: X:-133.42, Y:11.75, Z:-11.52 [[ 9.68501883e-01 1.19589527e-02 -2.48718891e-01 -1.33418464e+02] [-1.68131124e-02 9.99707211e-01 -1.74014919e-02 1.17526250e+01] [ 2.48437965e-01 2.10351164e-02 9.68419383e-01 -1.15150498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.89534707 meters Centerline goodness [0,1] 0.9302081511282141 Centerline is valid? [True, False] Translation: X:-133.42, Y:11.75, Z:-11.51 [[ 9.68137317e-01 9.97081608e-03 -2.50221339e-01 -1.33418707e+02] [-1.54237416e-02 9.99684172e-01 -1.98409648e-02 1.17465503e+01] [ 2.49944482e-01 2.30681277e-02 9.67985340e-01 -1.15129329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.92534707000002 meters Centerline goodness [0,1] 0.9699243606675472 Centerline is valid? [False, True] Translation: X:-133.42, Y:11.74, Z:-11.51 [[ 9.68085520e-01 9.97295463e-03 -2.50421578e-01 -1.33418399e+02] [-1.54371874e-02 9.99683480e-01 -1.98653791e-02 1.17429082e+01] [ 2.50144198e-01 2.30971907e-02 9.67933055e-01 -1.15129282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.95534707 meters Centerline goodness [0,1] 0.9888539752178811 Centerline is valid? [True, True] Translation: X:-133.44, Y:11.72, Z:-11.52 [[ 9.66934147e-01 4.06462695e-03 -2.54993793e-01 -1.33444536e+02] [-9.90576073e-03 9.99717035e-01 -2.16269637e-02 1.17243575e+01] [ 2.54833733e-01 2.34377572e-02 9.66700802e-01 -1.15216027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.98534707 meters Centerline goodness [0,1] 0.9299262677998537 Centerline is valid? [True, False] Translation: X:-133.44, Y:11.72, Z:-11.52 [[ 9.66535886e-01 1.43475150e-03 -2.56527430e-01 -1.33443073e+02] [-8.01006117e-03 9.99665555e-01 -2.45889491e-02 1.17161816e+01] [ 2.56406357e-01 2.58209021e-02 9.66224126e-01 -1.15203852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.01534707 meters Centerline goodness [0,1] 0.9877111240535819 Centerline is valid? [False, True] Translation: X:-133.44, Y:11.71, Z:-11.52 [[ 9.66165504e-01 -5.28724022e-04 -2.57922351e-01 -1.33442702e+02] [-6.63216992e-03 9.99616318e-01 -2.68929580e-02 1.17119402e+01] [ 2.57837610e-01 2.76936332e-02 9.65791297e-01 -1.15188427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.04534707 meters Centerline goodness [0,1] 0.9577883132461301 Centerline is valid? [True, True] Translation: X:-133.47, Y:11.71, Z:-11.53 [[ 9.67116669e-01 9.37106212e-03 -2.54160444e-01 -1.33470321e+02] [-1.54315991e-02 9.99641896e-01 -2.18619794e-02 1.17103716e+01] [ 2.53864558e-01 2.50651868e-02 9.66914951e-01 -1.15298921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.07534707 meters Centerline goodness [0,1] 0.9860409007352942 Centerline is valid? [True, True] Translation: X:-133.50, Y:11.70, Z:-11.53 [[ 9.66329776e-01 4.62927536e-03 -2.57265104e-01 -1.33497932e+02] [-1.06752733e-02 9.99698563e-01 -2.21093122e-02 1.16981186e+01] [ 2.57085204e-01 2.41112620e-02 9.66087907e-01 -1.15341899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.10534707 meters Centerline goodness [0,1] 0.9752249686752478 Centerline is valid? [True, True] Translation: X:-133.52, Y:11.69, Z:-11.55 [[ 9.66133357e-01 4.37175520e-03 -2.58006249e-01 -1.33523207e+02] [-1.04314355e-02 9.99700848e-01 -2.21223727e-02 1.16912974e+01] [ 2.57832352e-01 2.40645377e-02 9.65889940e-01 -1.15451387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.13534707 meters Centerline goodness [0,1] 0.9092507141287629 Centerline is valid? [True, False] Translation: X:-133.52, Y:11.69, Z:-11.54 [[ 9.65715968e-01 2.34828188e-03 -2.59590358e-01 -1.33522927e+02] [-9.17631674e-03 9.99642969e-01 -2.50944303e-02 1.16854607e+01] [ 2.59438747e-01 2.66161754e-02 9.65392726e-01 -1.15426526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.16534707 meters Centerline goodness [0,1] 0.8857096407088279 Centerline is valid? [False, False] Translation: X:-133.52, Y:11.68, Z:-11.54 [[ 9.65651047e-01 3.33496754e-03 -2.59820962e-01 -1.33521727e+02] [-1.01359522e-02 9.99640047e-01 -2.48402811e-02 1.16832104e+01] [ 2.59644597e-01 2.66205763e-02 9.65337261e-01 -1.15424998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.19534707 meters Centerline goodness [0,1] 0.9742690058479532 Centerline is valid? [False, True] Translation: X:-133.52, Y:11.68, Z:-11.54 [[ 9.65255802e-01 1.32436504e-03 -2.61303429e-01 -1.33520170e+02] [-8.75488317e-03 9.99589647e-01 -2.72743462e-02 1.16778737e+01] [ 2.61160081e-01 2.86144019e-02 9.64871301e-01 -1.15414340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.22534707 meters Centerline goodness [0,1] 0.9219121304227688 Centerline is valid? [True, False] Translation: X:-133.52, Y:11.67, Z:-11.54 [[ 9.65198102e-01 2.40693934e-03 -2.61508757e-01 -1.33518656e+02] [-9.77658495e-03 9.99590752e-01 -2.68839446e-02 1.16749106e+01] [ 2.61337027e-01 2.85049949e-02 9.64826629e-01 -1.15415549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.25534707 meters Centerline goodness [0,1] 0.8790695146475351 Centerline is valid? [False, False] Translation: X:-133.52, Y:11.67, Z:-11.54 [[ 9.64808728e-01 1.86988253e-04 -2.62952625e-01 -1.33517507e+02] [-8.15517307e-03 9.99539981e-01 -2.92116495e-02 1.16693737e+01] [ 2.62826200e-01 3.03280785e-02 9.64366422e-01 -1.15404635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.28534707 meters Centerline goodness [0,1] 0.8718467767050763 Centerline is valid? [False, False] Translation: X:-133.52, Y:11.66, Z:-11.54 [[ 9.64339111e-01 -7.40553446e-03 -2.64566131e-01 -1.33519379e+02] [-2.23785403e-03 9.99344599e-01 -3.61298364e-02 1.16637726e+01] [ 2.64660295e-01 3.54334747e-02 9.63690509e-01 -1.15372447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.31534707 meters Centerline goodness [0,1] 0.8838661069852546 Centerline is valid? [False, False] Translation: X:-133.56, Y:11.64, Z:-11.54 [[ 9.64886360e-01 -1.51464230e-03 -2.62663319e-01 -1.33558022e+02] [-1.13602492e-02 9.98807056e-01 -4.74911569e-02 1.16404769e+01] [ 2.62421908e-01 4.88074902e-02 9.63718097e-01 -1.15422094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.34534707 meters Centerline goodness [0,1] 0.8935738795882292 Centerline is valid? [False, False] Translation: X:-133.56, Y:11.64, Z:-11.54 [[ 9.64761626e-01 -4.97893112e-03 -2.63078343e-01 -1.33558131e+02] [-8.70615834e-03 9.98669487e-01 -5.08277266e-02 1.16380125e+01] [ 2.62981381e-01 5.13270419e-02 9.63434652e-01 -1.15410262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.37534707 meters Centerline goodness [0,1] 0.8760099105892492 Centerline is valid? [False, False] Translation: X:-133.59, Y:11.61, Z:-11.55 [[ 9.65655401e-01 7.34531147e-03 -2.59722337e-01 -1.33586404e+02] [-2.33573546e-02 9.98007179e-01 -5.86183007e-02 1.16141623e+01] [ 2.58774187e-01 6.26715054e-02 9.63902590e-01 -1.15473812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.40534707 meters Centerline goodness [0,1] 0.8861454778156996 Centerline is valid? [False, False] Translation: X:-133.58, Y:11.61, Z:-11.55 [[ 9.65673335e-01 9.06433151e-03 -2.59601327e-01 -1.33584484e+02] [-2.49121233e-02 9.98016043e-01 -5.78218342e-02 1.16117864e+01] [ 2.58562173e-01 6.23042237e-02 9.63983292e-01 -1.15478772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.43534707 meters Centerline goodness [0,1] 0.8937480430017744 Centerline is valid? [False, False] Translation: X:-133.58, Y:11.61, Z:-11.55 [[ 9.65437763e-01 7.20346599e-03 -2.60534137e-01 -1.33583465e+02] [-2.36858984e-02 9.97906498e-01 -6.01797346e-02 1.16076418e+01] [ 2.59555206e-01 6.42707734e-02 9.63587237e-01 -1.15471369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.46534707 meters Centerline goodness [0,1] 0.8760056054393522 Centerline is valid? [False, False] Translation: X:-133.58, Y:11.61, Z:-11.55 [[ 9.65436505e-01 9.53365964e-03 -2.60463939e-01 -1.33580061e+02] [-2.57238783e-02 9.97937051e-01 -5.88211139e-02 1.16054736e+01] [ 2.59365835e-01 6.34881933e-02 9.63690102e-01 -1.15485954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.49534707 meters Centerline goodness [0,1] 0.9020763772954925 Centerline is valid? [False, False] Translation: X:-133.58, Y:11.60, Z:-11.55 [[ 9.65535862e-01 1.15193425e-02 -2.60015006e-01 -1.33577580e+02] [-2.74287469e-02 9.97960495e-01 -5.76412500e-02 1.16040952e+01] [ 2.58820715e-01 6.27865798e-02 9.63882608e-01 -1.15498844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.52534707 meters Centerline goodness [0,1] 0.8758213897656129 Centerline is valid? [False, False] Translation: X:-133.58, Y:11.60, Z:-11.55 [[ 9.65489546e-01 1.19831950e-02 -2.60165985e-01 -1.33576428e+02] [-2.79181840e-02 9.97946961e-01 -5.76405936e-02 1.16027376e+01] [ 2.58941136e-01 6.29147524e-02 9.63841907e-01 -1.15501360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.55534707 meters Centerline goodness [0,1] 0.8901810092021438 Centerline is valid? [False, False] Translation: X:-133.58, Y:11.60, Z:-11.55 [[ 9.65492145e-01 1.20822768e-02 -2.60151758e-01 -1.33575989e+02] [-2.80608246e-02 9.97934092e-01 -5.77939200e-02 1.16021305e+01] [ 2.58916026e-01 6.30996486e-02 9.63836566e-01 -1.15501729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.58534707 meters Centerline goodness [0,1] 0.867816091954023 Centerline is valid? [False, False] Translation: X:-133.58, Y:11.60, Z:-11.55 [[ 9.65493496e-01 1.30351713e-02 -2.60100737e-01 -1.33575335e+02] [-2.88869781e-02 9.97943845e-01 -5.72156027e-02 1.16017538e+01] [ 2.58820115e-01 6.27548166e-02 9.63884838e-01 -1.15504731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.61534707 meters Centerline goodness [0,1] 0.8765184218451962 Centerline is valid? [False, False] Translation: X:-133.58, Y:11.60, Z:-11.55 [[ 9.65672673e-01 1.31158640e-02 -2.59430652e-01 -1.33575547e+02] [-2.89204159e-02 9.97943920e-01 -5.71973991e-02 1.16024172e+01] [ 2.58147049e-01 6.27368076e-02 9.64066488e-01 -1.15510823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.64534707 meters Centerline goodness [0,1] 0.9100331674958541 Centerline is valid? [False, False] Translation: X:-133.59, Y:11.59, Z:-11.55 [[ 9.66218470e-01 2.31365045e-02 -2.56683795e-01 -1.33591687e+02] [-4.11197774e-02 9.97043241e-01 -6.49148614e-02 1.15874804e+01] [ 2.54422940e-01 7.32767185e-02 9.64312963e-01 -1.15542736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.67534707000002 meters Centerline goodness [0,1] 0.8971809277581664 Centerline is valid? [False, False] Translation: X:-133.59, Y:11.59, Z:-11.55 [[ 9.66042617e-01 1.97732967e-02 -2.57625073e-01 -1.33591713e+02] [-3.87529134e-02 9.96877294e-01 -6.88031455e-02 1.15868347e+01] [ 2.55460121e-01 7.64504929e-02 9.63792223e-01 -1.15524258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.70534707 meters Centerline goodness [0,1] 0.8904973267426611 Centerline is valid? [False, False] Translation: X:-133.59, Y:11.59, Z:-11.55 [[ 9.66149456e-01 1.90032169e-02 -2.57282153e-01 -1.33592396e+02] [-3.79661519e-02 9.96898201e-01 -6.89387276e-02 1.15862211e+01] [ 2.55174058e-01 7.63731275e-02 9.63874134e-01 -1.15532645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.73534707 meters Centerline goodness [0,1] 0.9043211429146335 Centerline is valid? [False, False] Translation: X:-133.59, Y:11.58, Z:-11.55 [[ 9.66138463e-01 2.03020612e-02 -2.57224215e-01 -1.33591086e+02] [-3.90639633e-02 9.96917483e-01 -6.80407078e-02 1.15847945e+01] [ 2.55049951e-01 7.57849421e-02 9.63953404e-01 -1.15538294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.76534707 meters Centerline goodness [0,1] 0.9257455873402313 Centerline is valid? [False, False] Translation: X:-133.59, Y:11.58, Z:-11.56 [[ 9.66347691e-01 2.01689578e-02 -2.56447563e-01 -1.33589929e+02] [-3.88236154e-02 9.96937226e-01 -6.78888351e-02 1.15829440e+01] [ 2.54292875e-01 7.55604406e-02 9.64171019e-01 -1.15556624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.79534707 meters Centerline goodness [0,1] 0.9251183402155303 Centerline is valid? [False, False] Translation: X:-133.59, Y:11.58, Z:-11.56 [[ 9.66410123e-01 1.96701954e-02 -2.56250966e-01 -1.33590391e+02] [-3.83770300e-02 9.96932806e-01 -6.82069125e-02 1.15819319e+01] [ 2.54123351e-01 7.57500017e-02 9.64200840e-01 -1.15557791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.82534707 meters Centerline goodness [0,1] 0.9313152505120136 Centerline is valid? [False, False] Translation: X:-133.59, Y:11.58, Z:-11.56 [[ 9.66667155e-01 1.77867261e-02 -2.55417784e-01 -1.33592819e+02] [-3.63564893e-02 9.97011268e-01 -6.81669751e-02 1.15804276e+01] [ 2.53441942e-01 7.51808698e-02 9.64424709e-01 -1.15571260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.85534707 meters Centerline goodness [0,1] 0.9459499702203693 Centerline is valid? [False, False] Translation: X:-133.60, Y:11.58, Z:-11.56 [[ 9.66862549e-01 1.60950725e-02 -2.54789638e-01 -1.33595540e+02] [-3.46660039e-02 9.97044156e-01 -6.85654373e-02 1.15781751e+01] [ 2.52932954e-01 7.51258921e-02 9.64562606e-01 -1.15575573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.88534707 meters Centerline goodness [0,1] 0.9437072778447929 Centerline is valid? [False, False] Translation: X:-133.60, Y:11.58, Z:-11.56 [[ 9.66932988e-01 1.57650183e-02 -2.54542846e-01 -1.33596037e+02] [-3.42922000e-02 9.97060664e-01 -6.85133374e-02 1.15776859e+01] [ 2.52714545e-01 7.49766402e-02 9.64631465e-01 -1.15579236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.91534707 meters Centerline goodness [0,1] 0.9618646169104885 Centerline is valid? [False, True] Translation: X:-133.60, Y:11.58, Z:-11.56 [[ 9.66921756e-01 9.98601313e-03 -2.54877613e-01 -1.33598793e+02] [-2.93278053e-02 9.96958929e-01 -7.21995464e-02 1.15760542e+01] [ 2.53381526e-01 7.72863132e-02 9.64274146e-01 -1.15576902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.94534707 meters Centerline goodness [0,1] 0.9618646169104885 Centerline is valid? [True, True] Translation: X:-133.62, Y:11.61, Z:-11.60 [[ 9.66088358e-01 2.09344786e-02 -2.57361676e-01 -1.33621313e+02] [-2.39661640e-02 9.99675362e-01 -8.64833348e-03 1.16097054e+01] [ 2.57097078e-01 1.45230264e-02 9.66276448e-01 -1.15957280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.97534707 meters Centerline goodness [0,1] 0.9739418587136617 Centerline is valid? [True, True] Translation: X:-133.65, Y:11.60, Z:-11.61 [[ 9.64478935e-01 1.22931309e-02 -2.63873573e-01 -1.33648497e+02] [-1.51501345e-02 9.99846550e-01 -8.79489772e-03 1.16037868e+01] [ 2.63724965e-01 1.24802137e-02 9.64517178e-01 -1.16074632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.00534707 meters Centerline goodness [0,1] 0.9799156837667566 Centerline is valid? [True, True] Translation: X:-133.68, Y:11.59, Z:-11.61 [[ 9.66049446e-01 9.99293571e-04 -2.58355316e-01 -1.33676800e+02] [-3.33399117e-03 9.99957472e-01 -8.59881377e-03 1.15940094e+01] [ 2.58335736e-01 9.16823362e-03 9.66011693e-01 -1.16147468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.03534707 meters Centerline goodness [0,1] 0.9803590913599841 Centerline is valid? [True, True] Translation: X:-133.70, Y:11.59, Z:-11.62 [[ 9.64416841e-01 1.46444299e-03 -2.64382321e-01 -1.33704632e+02] [-3.92725215e-03 9.99953681e-01 -8.78702078e-03 1.15898505e+01] [ 2.64357207e-01 9.51264686e-03 9.64377922e-01 -1.16220754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.06534707 meters Centerline goodness [0,1] 0.9859976662777129 Centerline is valid? [True, True] Translation: X:-133.73, Y:11.58, Z:-11.64 [[ 9.66787440e-01 -7.12124294e-03 -2.55482552e-01 -1.33731359e+02] [ 5.12503541e-03 9.99950924e-01 -8.47836218e-03 1.15833256e+01] [ 2.55530390e-01 6.88741694e-03 9.66776491e-01 -1.16402558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.09534707 meters Centerline goodness [0,1] 0.9902710871823935 Centerline is valid? [True, True] Translation: X:-133.76, Y:11.58, Z:-11.63 [[ 9.66066722e-01 -9.97579346e-03 -2.58099927e-01 -1.33760888e+02] [ 8.04157836e-03 9.99931124e-01 -8.54864686e-03 1.15761517e+01] [ 2.58167429e-01 6.18303247e-03 9.66080405e-01 -1.16346564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.12534707 meters Centerline goodness [0,1] 0.9909210718992532 Centerline is valid? [True, True] Translation: X:-133.79, Y:11.57, Z:-11.64 [[ 9.64859539e-01 -1.32246184e-02 -2.62433191e-01 -1.33788505e+02] [ 1.13456392e-02 9.99898015e-01 -8.67390829e-03 1.15705300e+01] [ 2.62521136e-01 5.39163084e-03 9.64911179e-01 -1.16431602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.15534707 meters Centerline goodness [0,1] 0.9910922688515219 Centerline is valid? [True, True] Translation: X:-133.82, Y:11.57, Z:-11.65 [[ 9.65530911e-01 -1.77568967e-02 -2.59682022e-01 -1.33817535e+02] [ 1.60835001e-02 9.99833946e-01 -8.56752286e-03 1.15662201e+01] [ 2.59791033e-01 4.09561234e-03 9.65656173e-01 -1.16523234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.18534707 meters Centerline goodness [0,1] 0.9917906865098416 Centerline is valid? [True, True] Translation: X:-133.84, Y:11.56, Z:-11.66 [[ 9.65144248e-01 -1.80202670e-02 -2.61097398e-01 -1.33844077e+02] [ 1.63437419e-02 9.99829523e-01 -8.59114831e-03 1.15616560e+01] [ 2.61207702e-01 4.02438888e-03 9.65274231e-01 -1.16596928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.21534707 meters Centerline goodness [0,1] 0.9899042317309054 Centerline is valid? [True, True] Translation: X:-133.87, Y:11.55, Z:-11.67 [[ 9.64713059e-01 -2.47102104e-02 -2.62141412e-01 -1.33870549e+02] [ 2.32717658e-02 9.99692263e-01 -8.59089667e-03 1.15533608e+01] [ 2.62273025e-01 2.18725666e-03 9.64991231e-01 -1.16652649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.24534707 meters Centerline goodness [0,1] 0.9908424908424909 Centerline is valid? [True, True] Translation: X:-133.90, Y:11.55, Z:-11.67 [[ 9.64970339e-01 -2.40552545e-02 -2.61253880e-01 -1.33898819e+02] [ 2.26187731e-02 9.99707991e-01 -8.50431401e-03 1.15506214e+01] [ 2.61382165e-01 2.29716853e-03 9.65232659e-01 -1.16704428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.27534707 meters Centerline goodness [0,1] 0.9890620599004788 Centerline is valid? [True, True] Translation: X:-133.93, Y:11.55, Z:-11.68 [[ 9.65841000e-01 -2.44892316e-02 -2.57975659e-01 -1.33926741e+02] [ 2.31228555e-02 9.99697930e-01 -8.32959311e-03 1.15464977e+01] [ 2.58101718e-01 2.07992865e-03 9.66115509e-01 -1.16760417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.30534707 meters Centerline goodness [0,1] 0.9885399954159981 Centerline is valid? [True, True] Translation: X:-133.95, Y:11.54, Z:-11.68 [[ 9.66362608e-01 -2.69499537e-02 -2.55767491e-01 -1.33954190e+02] [ 2.56984629e-02 9.99635825e-01 -8.23445373e-03 1.15412264e+01] [ 2.55896265e-01 1.38463679e-03 9.66703256e-01 -1.16822954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.33534707 meters Centerline goodness [0,1] 0.9873030372231103 Centerline is valid? [True, True] Translation: X:-133.98, Y:11.54, Z:-11.69 [[ 9.66540669e-01 -2.74886732e-02 -2.55036288e-01 -1.33982473e+02] [ 2.62778190e-02 9.99621419e-01 -8.15446992e-03 1.15401138e+01] [ 2.55163892e-01 1.17982940e-03 9.66897097e-01 -1.16886329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.36534707 meters Centerline goodness [0,1] 0.9888052936910805 Centerline is valid? [True, True] Translation: X:-134.01, Y:11.54, Z:-11.69 [[ 9.66425742e-01 -3.16182639e-02 -2.54993276e-01 -1.34010067e+02] [ 3.05710518e-02 9.99500018e-01 -8.07003202e-03 1.15381649e+01] [ 2.55120944e-01 3.67404980e-06 9.66909150e-01 -1.16937684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.39534707 meters Centerline goodness [0,1] 0.9878152198170052 Centerline is valid? [True, True] Translation: X:-134.04, Y:11.54, Z:-11.70 [[ 9.66658405e-01 -3.11673588e-02 -2.54165543e-01 -1.34037935e+02] [ 3.01258944e-02 9.99514178e-01 -7.98994193e-03 1.15374264e+01] [ 2.54291090e-01 6.65801883e-05 9.67127725e-01 -1.16973101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.42534707000002 meters Centerline goodness [0,1] 0.9845928099779897 Centerline is valid? [True, True] Translation: X:-134.07, Y:11.54, Z:-11.71 [[ 9.68968778e-01 -2.77400026e-02 -2.45621661e-01 -1.34065451e+02] [ 2.66699801e-02 9.99614773e-01 -7.68229632e-03 1.15362859e+01] [ 2.45740148e-01 8.93180461e-04 9.69335330e-01 -1.17132058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.45534707 meters Centerline goodness [0,1] 0.9826818627014513 Centerline is valid? [True, True] Translation: X:-134.09, Y:11.54, Z:-11.72 [[ 9.69939019e-01 -1.62522202e-02 -2.42804789e-01 -1.34093716e+02] [ 1.48562968e-02 9.99860914e-01 -7.57916601e-03 1.15392523e+01] [ 2.42894196e-01 3.74414884e-03 9.70045561e-01 -1.17179091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.48534707 meters Centerline goodness [0,1] 0.9827639820532185 Centerline is valid? [True, True] Translation: X:-134.12, Y:11.54, Z:-11.71 [[ 9.70330559e-01 -1.42865256e-02 -2.41359695e-01 -1.34122528e+02] [ 1.28535280e-02 9.99889182e-01 -7.51066323e-03 1.15372574e+01] [ 2.41440249e-01 4.18550245e-03 9.70406661e-01 -1.17116012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.51534707 meters Centerline goodness [0,1] 0.9859792151944096 Centerline is valid? [True, True] Translation: X:-134.15, Y:11.54, Z:-11.73 [[ 9.67720674e-01 -2.70706483e-02 -2.50567110e-01 -1.34150169e+02] [ 2.59520074e-02 9.99633008e-01 -7.76805662e-03 1.15391407e+01] [ 2.50685440e-01 1.01458950e-03 9.68068066e-01 -1.17258882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.54534707 meters Centerline goodness [0,1] 0.9847839588324018 Centerline is valid? [True, True] Translation: X:-134.18, Y:11.54, Z:-11.73 [[ 9.69325616e-01 -2.20707494e-02 -2.44787115e-01 -1.34178907e+02] [ 2.08504783e-02 9.99753903e-01 -7.57562403e-03 1.15394592e+01] [ 2.44894074e-01 2.23931799e-03 9.69547254e-01 -1.17263719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.57534707 meters Centerline goodness [0,1] 0.9855315394794883 Centerline is valid? [True, True] Translation: X:-134.21, Y:11.54, Z:-11.73 [[ 9.69438205e-01 -2.20770716e-02 -2.44340274e-01 -1.34206486e+02] [ 2.08718842e-02 9.99753871e-01 -7.52080605e-03 1.15394471e+01] [ 2.44446172e-01 2.19111480e-03 9.69660388e-01 -1.17346872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.60534707 meters Centerline goodness [0,1] 0.9835957137187459 Centerline is valid? [True, True] Translation: X:-134.24, Y:11.54, Z:-11.74 [[ 9.71660815e-01 -8.67925858e-03 -2.36220091e-01 -1.34235955e+02] [ 7.18061922e-03 9.99948271e-01 -7.20380422e-03 1.15414249e+01] [ 2.36270395e-01 5.30344776e-03 9.71672874e-01 -1.17399225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.63534707 meters Centerline goodness [0,1] 0.9818246141599964 Centerline is valid? [True, True] Translation: X:-134.27, Y:11.54, Z:-11.74 [[ 9.73970414e-01 4.09193415e-03 -2.26638232e-01 -1.34266447e+02] [-5.80751568e-03 9.99959307e-01 -6.90342843e-03 1.15421595e+01] [ 2.26600761e-01 8.03994013e-03 9.73954544e-01 -1.17406783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.66534707 meters Centerline goodness [0,1] 0.9837035766360751 Centerline is valid? [True, True] Translation: X:-134.29, Y:11.54, Z:-11.75 [[ 9.72327683e-01 -7.87104876e-03 -2.33488593e-01 -1.34294358e+02] [ 6.39343164e-03 9.99954465e-01 -7.08462779e-03 1.15399628e+01] [ 2.33533725e-01 5.39578636e-03 9.72333731e-01 -1.17495244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.69534707 meters Centerline goodness [0,1] 0.9831597222222223 Centerline is valid? [True, True] Translation: X:-134.32, Y:11.54, Z:-11.76 [[ 9.72466533e-01 -8.18159859e-03 -2.32898913e-01 -1.34321723e+02] [ 6.74027317e-03 9.99952896e-01 -6.98381587e-03 1.15387832e+01] [ 2.32945081e-01 5.22172492e-03 9.72475873e-01 -1.17603194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.72534707 meters Centerline goodness [0,1] 0.9822552447552447 Centerline is valid? [True, True] Translation: X:-134.35, Y:11.54, Z:-11.77 [[ 9.72578639e-01 -6.16198831e-03 -2.32492624e-01 -1.34349171e+02] [ 4.69043681e-03 9.99965320e-01 -6.88174933e-03 1.15373817e+01] [ 2.32526967e-01 5.60255043e-03 9.72573813e-01 -1.17656547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.75534707 meters Centerline goodness [0,1] 0.9819083128548428 Centerline is valid? [True, True] Translation: X:-134.38, Y:11.54, Z:-11.78 [[ 9.74170412e-01 -3.09425296e-03 -2.25792899e-01 -1.34377994e+02] [ 1.64320703e-03 9.99976776e-01 -6.61410272e-03 1.15376349e+01] [ 2.25808121e-01 6.07223869e-03 9.74152873e-01 -1.17776259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.78534707 meters Centerline goodness [0,1] 0.9815981025599084 Centerline is valid? [True, True] Translation: X:-134.41, Y:11.54, Z:-11.79 [[ 9.75183210e-01 -4.22960275e-04 -2.21399024e-01 -1.34406252e+02] [-1.03777774e-03 9.99978457e-01 -6.48139528e-03 1.15412279e+01] [ 2.21396996e-01 6.55031083e-03 9.75161763e-01 -1.17904173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.81534707 meters Centerline goodness [0,1] 0.9824036752914662 Centerline is valid? [True, True] Translation: X:-134.44, Y:11.53, Z:-11.78 [[ 9.74638641e-01 -2.50272651e-03 -2.23770543e-01 -1.34436806e+02] [ 1.07072391e-03 9.99978168e-01 -6.52053197e-03 1.15276021e+01] [ 2.23781977e-01 6.11556595e-03 9.74620042e-01 -1.17775302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.84534707 meters Centerline goodness [0,1] 0.9823910633580626 Centerline is valid? [True, True] Translation: X:-134.46, Y:11.52, Z:-11.79 [[ 9.74796526e-01 -5.66186852e-03 -2.23023936e-01 -1.34464535e+02] [ 4.34094982e-03 9.99970017e-01 -6.41256707e-03 1.15240291e+01] [ 2.23053557e-01 5.28281239e-03 9.74791877e-01 -1.17858654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.87534707 meters Centerline goodness [0,1] 0.983770182428182 Centerline is valid? [True, True] Translation: X:-134.49, Y:11.52, Z:-11.80 [[ 9.75056307e-01 -5.59192551e-03 -2.21887199e-01 -1.34491712e+02] [ 4.30245229e-03 9.99970935e-01 -6.29432319e-03 1.15218032e+01] [ 2.21915947e-01 5.18266044e-03 9.75052026e-01 -1.17959686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.90534707 meters Centerline goodness [0,1] 0.9847629557319298 Centerline is valid? [True, True] Translation: X:-134.52, Y:11.52, Z:-11.80 [[ 9.74937898e-01 -6.71381926e-03 -2.22375851e-01 -1.34519444e+02] [ 5.46423945e-03 9.99965639e-01 -6.23401521e-03 1.15162538e+01] [ 2.22410064e-01 4.86266279e-03 9.74941084e-01 -1.17952975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.93534707 meters Centerline goodness [0,1] 0.9843138921952049 Centerline is valid? [True, True] Translation: X:-134.55, Y:11.51, Z:-11.80 [[ 9.74907225e-01 -8.66796633e-03 -2.22442731e-01 -1.34546700e+02] [ 7.48017526e-03 9.99952915e-01 -6.18173172e-03 1.15122825e+01] [ 2.22485841e-01 4.36270430e-03 9.74926160e-01 -1.18041197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.96534707 meters Centerline goodness [0,1] 0.9853753108273275 Centerline is valid? [True, True] Translation: X:-134.57, Y:11.51, Z:-11.81 [[ 9.75154327e-01 -7.16246862e-03 -2.21410789e-01 -1.34574268e+02] [ 5.96729617e-03 9.99963794e-01 -6.06643706e-03 1.15104807e+01] [ 2.21446223e-01 4.59448860e-03 9.75161761e-01 -1.18122370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.99534707 meters Centerline goodness [0,1] 0.9837758728831277 Centerline is valid? [True, True] Translation: X:-134.60, Y:11.51, Z:-11.82 [[ 9.75181589e-01 -6.77200512e-03 -2.21302977e-01 -1.34601046e+02] [ 5.58834535e-03 9.99966539e-01 -5.97428481e-03 1.15087473e+01] [ 2.21336030e-01 4.58929509e-03 9.75186803e-01 -1.18179845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.02534707 meters Centerline goodness [0,1] 0.9838905902588413 Centerline is valid? [True, True] Translation: X:-134.63, Y:11.50, Z:-11.82 [[ 9.75442070e-01 -4.95892227e-03 -2.20200312e-01 -1.34629025e+02] [ 3.75998361e-03 9.99975740e-01 -5.86355107e-03 1.15039802e+01] [ 2.20224047e-01 4.89160483e-03 9.75437051e-01 -1.18206812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.05534707 meters Centerline goodness [0,1] 0.980760478298647 Centerline is valid? [True, True] Translation: X:-134.66, Y:11.50, Z:-11.83 [[ 9.75302389e-01 -3.12893225e-03 -2.20851667e-01 -1.34656721e+02] [ 1.88864093e-03 9.99981240e-01 -5.82688626e-03 1.15027268e+01] [ 2.20865756e-01 5.26586659e-03 9.75290002e-01 -1.18272612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.08534707 meters Centerline goodness [0,1] 0.9822551755737909 Centerline is valid? [True, True] Translation: X:-134.68, Y:11.50, Z:-11.83 [[ 9.75165464e-01 -2.67642514e-03 -2.21461406e-01 -1.34683992e+02] [ 1.43351208e-03 9.99982309e-01 -5.77286287e-03 1.14982514e+01] [ 2.21472939e-01 5.31202890e-03 9.75152050e-01 -1.18313918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.11534707 meters Centerline goodness [0,1] 0.9798845836768343 Centerline is valid? [True, True] Translation: X:-134.71, Y:11.50, Z:-11.83 [[ 9.75048823e-01 7.25686630e-04 -2.21989339e-01 -1.34711248e+02] [-2.05389873e-03 9.99981345e-01 -5.75243142e-03 1.14966130e+01] [ 2.21981023e-01 6.06484511e-03 9.75032124e-01 -1.18342731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.14534707 meters Centerline goodness [0,1] 0.9790769480783295 Centerline is valid? [True, True] Translation: X:-134.74, Y:11.49, Z:-11.84 [[ 9.75242418e-01 5.61013328e-03 -2.21067303e-01 -1.34739021e+02] [-7.03821357e-03 9.99959141e-01 -5.67275375e-03 1.14941046e+01] [ 2.21026445e-01 7.08822898e-03 9.75242056e-01 -1.18414522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.17534707000002 meters Centerline goodness [0,1] 0.9779069288157949 Centerline is valid? [True, True] Translation: X:-134.77, Y:11.49, Z:-11.85 [[ 9.75208920e-01 9.72852540e-03 -2.21072203e-01 -1.34766829e+02] [-1.12447619e-02 9.99921089e-01 -5.60104076e-03 1.14907548e+01] [ 2.21000268e-01 7.94808920e-03 9.75241360e-01 -1.18464325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.20534707 meters Centerline goodness [0,1] 0.9784192937955469 Centerline is valid? [True, True] Translation: X:-134.80, Y:11.49, Z:-11.85 [[ 9.75244453e-01 1.53640974e-02 -2.20595108e-01 -1.34796569e+02] [-1.70105257e-02 9.99839819e-01 -5.56578287e-03 1.14892959e+01] [ 2.20474260e-01 9.18043763e-03 9.75349589e-01 -1.18514854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.23534707 meters Centerline goodness [0,1] 0.9773052545491719 Centerline is valid? [True, True] Translation: X:-134.82, Y:11.49, Z:-11.85 [[ 9.75109949e-01 1.55638906e-02 -2.21174935e-01 -1.34824393e+02] [-1.72193722e-02 9.99836284e-01 -5.55867077e-03 1.14860001e+01] [ 2.21052211e-01 9.22880870e-03 9.75218309e-01 -1.18544284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.26534707 meters Centerline goodness [0,1] 0.9725691893215773 Centerline is valid? [True, True] Translation: X:-134.85, Y:11.49, Z:-11.86 [[ 9.75180092e-01 2.19483912e-02 -2.20322619e-01 -1.34853492e+02] [-2.37455804e-02 9.99702840e-01 -5.51168208e-03 1.14882887e+01] [ 2.20136176e-01 1.06065711e-02 9.75411485e-01 -1.18638852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.29534707 meters Centerline goodness [0,1] 0.9714609561591709 Centerline is valid? [True, True] Translation: X:-134.88, Y:11.49, Z:-11.87 [[ 9.75067419e-01 2.53364586e-02 -2.20457688e-01 -1.34881374e+02] [-2.72188137e-02 9.99614344e-01 -5.50441661e-03 1.14881339e+01] [ 2.20233205e-01 1.13677740e-02 9.75381007e-01 -1.18715122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.32534707 meters Centerline goodness [0,1] 0.9701214574898785 Centerline is valid? [True, True] Translation: X:-134.91, Y:11.48, Z:-11.87 [[ 9.74962001e-01 2.91378267e-02 -2.20454266e-01 -1.34910928e+02] [-3.11111058e-02 9.99500891e-01 -5.48350534e-03 1.14847889e+01] [ 2.20184458e-01 1.22047853e-02 9.75381898e-01 -1.18718876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.35534707 meters Centerline goodness [0,1] 0.9698511013577259 Centerline is valid? [True, True] Translation: X:-134.94, Y:11.48, Z:-11.88 [[ 9.75324071e-01 3.27955327e-02 -2.18328675e-01 -1.34938928e+02] [-3.48135492e-02 9.99379227e-01 -5.40157343e-03 1.14805444e+01] [ 2.18015995e-01 1.28690806e-02 9.75860345e-01 -1.18758927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.38534707 meters Centerline goodness [0,1] 0.9685855461374684 Centerline is valid? [True, True] Translation: X:-134.97, Y:11.48, Z:-11.88 [[ 9.74926955e-01 3.47761758e-02 -2.19790925e-01 -1.34967969e+02] [-3.68566347e-02 9.99306130e-01 -5.37092683e-03 1.14799228e+01] [ 2.19451638e-01 1.33370152e-02 9.75532215e-01 -1.18835829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.41534707 meters Centerline goodness [0,1] 0.9691871153385021 Centerline is valid? [True, True] Translation: X:-135.00, Y:11.47, Z:-11.89 [[ 9.74816833e-01 3.80398853e-02 -2.19738730e-01 -1.34996048e+02] [-4.01988552e-02 9.99177320e-01 -5.36059359e-03 1.14745900e+01] [ 2.19354039e-01 1.40588422e-02 9.75544030e-01 -1.18870711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.44534707 meters Centerline goodness [0,1] 0.9668534636938119 Centerline is valid? [True, True] Translation: X:-135.02, Y:11.47, Z:-11.89 [[ 9.74773664e-01 3.87378278e-02 -2.19808291e-01 -1.35024233e+02] [-4.09078788e-02 9.99148718e-01 -5.32769656e-03 1.14674209e+01] [ 2.19414788e-01 1.41851892e-02 9.75528539e-01 -1.18935619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.47534707 meters Centerline goodness [0,1] 0.9666746012854083 Centerline is valid? [True, True] Translation: X:-135.05, Y:11.46, Z:-11.90 [[ 9.74716737e-01 3.83683421e-02 -2.20125314e-01 -1.35052150e+02] [-4.05191285e-02 9.99164905e-01 -5.26232877e-03 1.14611975e+01] [ 2.19739582e-01 1.40485658e-02 9.75457408e-01 -1.18965648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.50534707 meters Centerline goodness [0,1] 0.9650151509188933 Centerline is valid? [True, True] Translation: X:-135.08, Y:11.45, Z:-11.90 [[ 9.74842562e-01 3.96363177e-02 -2.19342065e-01 -1.35078696e+02] [-4.17923174e-02 9.99112807e-01 -5.19634543e-03 1.14532807e+01] [ 2.18941503e-01 1.42324319e-02 9.75634182e-01 -1.19023046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.53534707 meters Centerline goodness [0,1] 0.9595355788021611 Centerline is valid? [True, True] Translation: X:-135.11, Y:11.45, Z:-11.91 [[ 9.75105650e-01 4.28018245e-02 -2.17570623e-01 -1.35107060e+02] [-4.49782659e-02 9.98975158e-01 -5.05859566e-03 1.14465287e+01] [ 2.17131130e-01 1.47186145e-02 9.76031472e-01 -1.19076320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.56534707 meters Centerline goodness [0,1] 0.9594173936435956 Centerline is valid? [True, True] Translation: X:-135.14, Y:11.44, Z:-11.91 [[ 9.74879553e-01 4.32325506e-02 -2.18496690e-01 -1.35135937e+02] [-4.54214547e-02 9.98955387e-01 -5.00263005e-03 1.14420294e+01] [ 2.18052169e-01 1.48013993e-02 9.75824867e-01 -1.19115244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.59534707 meters Centerline goodness [0,1] 0.9594725240728567 Centerline is valid? [True, True] Translation: X:-135.16, Y:11.43, Z:-11.91 [[ 9.74800706e-01 4.37927166e-02 -2.18736785e-01 -1.35163436e+02] [-4.59911632e-02 9.98929500e-01 -4.96661746e-03 1.14298751e+01] [ 2.18285126e-01 1.49014214e-02 9.75771260e-01 -1.19115978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.62534707 meters Centerline goodness [0,1] 0.9553865364967646 Centerline is valid? [True, True] Translation: X:-135.19, Y:11.43, Z:-11.92 [[ 9.74927592e-01 4.71887614e-02 -2.17461286e-01 -1.35191618e+02] [-4.94346172e-02 9.98765362e-01 -4.89591463e-03 1.14304987e+01] [ 2.16961768e-01 1.55232777e-02 9.76056668e-01 -1.19200489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.65534707 meters Centerline goodness [0,1] 0.9527771445938759 Centerline is valid? [True, True] Translation: X:-135.22, Y:11.41, Z:-11.92 [[ 9.74674706e-01 4.80268611e-02 -2.18409334e-01 -1.35219944e+02] [-5.02952900e-02 9.98722687e-01 -4.83510158e-03 1.14144923e+01] [ 2.17898143e-01 1.56976120e-02 9.75845267e-01 -1.19195619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.68534707 meters Centerline goodness [0,1] 0.9489150090415913 Centerline is valid? [True, False] Translation: X:-135.22, Y:11.41, Z:-11.92 [[ 9.74735796e-01 4.31325192e-02 -2.19156824e-01 -1.35224158e+02] [-4.61015427e-02 9.98901025e-01 -8.44922971e-03 1.14093137e+01] [ 2.18551540e-01 1.83392343e-02 9.75653062e-01 -1.19177140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.71534707 meters Centerline goodness [0,1] 0.9438779307778191 Centerline is valid? [False, False] Translation: X:-135.23, Y:11.41, Z:-11.92 [[ 9.74706209e-01 3.91590140e-02 -2.20032672e-01 -1.35226981e+02] [-4.27211128e-02 9.99021399e-01 -1.14521219e-02 1.14074522e+01] [ 2.19368894e-01 2.05624950e-02 9.75425278e-01 -1.19159552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.74534707 meters Centerline goodness [0,1] 0.9426429310090116 Centerline is valid? [False, False] Translation: X:-135.23, Y:11.40, Z:-11.91 [[ 9.74712031e-01 3.48147239e-02 -2.20736020e-01 -1.35230776e+02] [-3.89920481e-02 9.99132938e-01 -1.45942702e-02 1.14031385e+01] [ 2.20036533e-01 2.28321603e-02 9.75224393e-01 -1.19144218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.77534707 meters Centerline goodness [0,1] 0.9350478556294294 Centerline is valid? [False, False] Translation: X:-135.23, Y:11.40, Z:-11.91 [[ 9.74759128e-01 2.87367880e-02 -2.21401984e-01 -1.35234909e+02] [-3.38309455e-02 9.99242163e-01 -1.92501111e-02 1.14000018e+01] [ 2.20681011e-01 2.62544600e-02 9.74992613e-01 -1.19127050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.80534707 meters Centerline goodness [0,1] 0.933226825460223 Centerline is valid? [False, False] Translation: X:-135.24, Y:11.40, Z:-11.91 [[ 9.74672646e-01 2.48257651e-02 -2.22254168e-01 -1.35236629e+02] [-3.06906092e-02 9.99264900e-01 -2.29727148e-02 1.13983037e+01] [ 2.21520473e-01 2.92119926e-02 9.74718082e-01 -1.19110874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.83534707 meters Centerline goodness [0,1] 0.9246249278707444 Centerline is valid? [False, False] Translation: X:-135.24, Y:11.40, Z:-11.91 [[ 9.74630450e-01 1.99770445e-02 -2.22926901e-01 -1.35239625e+02] [-2.66812234e-02 9.99276538e-01 -2.71018922e-02 1.13961335e+01] [ 2.22224206e-01 3.23622919e-02 9.74458354e-01 -1.19094799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.86534707 meters Centerline goodness [0,1] 0.9246249278707444 Centerline is valid? [False, False] Translation: X:-135.24, Y:11.40, Z:-11.91 [[ 9.74630450e-01 1.99770445e-02 -2.22926901e-01 -1.35239625e+02] [-2.66812234e-02 9.99276538e-01 -2.71018922e-02 1.13961335e+01] [ 2.22224206e-01 3.23622919e-02 9.74458354e-01 -1.19094799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.89534707 meters Centerline goodness [0,1] 0.9192639080948836 Centerline is valid? [False, False] Translation: X:-135.24, Y:11.39, Z:-11.91 [[ 9.74563586e-01 1.43599863e-02 -2.23650638e-01 -1.35244002e+02] [-2.18687507e-02 9.99275987e-01 -3.11329252e-02 1.13928246e+01] [ 2.23041644e-01 3.52319752e-02 9.74172024e-01 -1.19077673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.92534707000002 meters Centerline goodness [0,1] 0.8922501011736139 Centerline is valid? [False, False] Translation: X:-135.25, Y:11.39, Z:-11.91 [[ 9.74518033e-01 1.09601837e-02 -2.24041242e-01 -1.35245529e+02] [-1.91341863e-02 9.99226822e-01 -3.43459086e-02 1.13908997e+01] [ 2.23491581e-01 3.77575542e-02 9.73974271e-01 -1.19065328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.95534707 meters Centerline goodness [0,1] 0.901709697515055 Centerline is valid? [False, False] Translation: X:-135.27, Y:11.37, Z:-11.91 [[ 9.74707897e-01 1.37836822e-02 -2.23057223e-01 -1.35271139e+02] [-2.51842937e-02 9.98513055e-01 -4.83469808e-02 1.13717725e+01] [ 2.22059150e-01 5.27417226e-02 9.73605693e-01 -1.19080198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.98534707 meters Centerline goodness [0,1] 0.8710445729840082 Centerline is valid? [False, False] Translation: X:-135.27, Y:11.37, Z:-11.91 [[ 9.74646453e-01 9.74939405e-03 -2.23538009e-01 -1.35273035e+02] [-2.19007955e-02 9.98409781e-01 -5.19448228e-02 1.13698671e+01] [ 2.22676104e-01 5.55234975e-02 9.73310071e-01 -1.19066793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.01534707 meters Centerline goodness [0,1] 0.8901558599284799 Centerline is valid? [False, False] Translation: X:-135.28, Y:11.37, Z:-11.91 [[ 9.74669626e-01 3.69640524e-03 -2.23618998e-01 -1.35277478e+02] [-1.66619781e-02 9.98284901e-01 -5.61216109e-02 1.13674483e+01] [ 2.23028021e-01 5.84259644e-02 9.73059561e-01 -1.19054420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.04534707 meters Centerline goodness [0,1] 0.8479792608348844 Centerline is valid? [False, False] Translation: X:-135.28, Y:11.37, Z:-11.90 [[ 9.74501756e-01 5.39216317e-04 -2.24379225e-01 -1.35278427e+02] [-1.41960975e-02 9.98141848e-01 -5.92564109e-02 1.13659091e+01] [ 2.23930342e-01 6.09307858e-02 9.72698638e-01 -1.19041736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.07534707 meters Centerline goodness [0,1] 0.8412411755048432 Centerline is valid? [False, False] Translation: X:-135.29, Y:11.36, Z:-11.91 [[ 9.74701646e-01 -6.76225737e-03 -2.23407638e-01 -1.35285174e+02] [-7.04812645e-03 9.98115215e-01 -6.09618030e-02 1.13647935e+01] [ 2.23398802e-01 6.09941750e-02 9.72816882e-01 -1.19057900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.10534707 meters Centerline goodness [0,1] 0.8462698803082472 Centerline is valid? [False, False] Translation: X:-135.29, Y:11.36, Z:-11.91 [[ 9.74848676e-01 -8.06661403e-03 -2.22721773e-01 -1.35286551e+02] [-5.88838675e-03 9.98063649e-01 -6.19215627e-02 1.13644591e+01] [ 2.22790003e-01 6.16756254e-02 9.72913527e-01 -1.19060384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.13534707 meters Centerline goodness [0,1] 0.7994985051596104 Centerline is valid? [False, False] Translation: X:-135.29, Y:11.36, Z:-11.91 [[ 9.75184835e-01 -1.19605034e-02 -2.21068956e-01 -1.35289809e+02] [-2.30840516e-03 9.97936037e-01 -6.41742711e-02 1.13639236e+01] [ 2.21380234e-01 6.30920927e-02 9.73144480e-01 -1.19071388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.16534707 meters Centerline goodness [0,1] 0.829481154694543 Centerline is valid? [False, False] Translation: X:-135.29, Y:11.36, Z:-11.91 [[ 9.75466316e-01 -1.28161175e-02 -2.19775368e-01 -1.35291819e+02] [-1.39971751e-03 9.97922791e-01 -6.44060940e-02 1.13634651e+01] [ 2.20144285e-01 6.31335987e-02 9.73422130e-01 -1.19079813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.19534707 meters Centerline goodness [0,1] 0.7716819240215623 Centerline is valid? [False, False] Translation: X:-135.30, Y:11.36, Z:-11.91 [[ 9.75745695e-01 -1.71636635e-02 -2.18233242e-01 -1.35297858e+02] [ 2.88124043e-03 9.97842091e-01 -6.55961840e-02 1.13635904e+01] [ 2.18888186e-01 6.33764117e-02 9.73689577e-01 -1.19084809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.22534707 meters Centerline goodness [0,1] 0.7945412713921018 Centerline is valid? [False, False] Translation: X:-135.30, Y:11.36, Z:-11.91 [[ 9.76039119e-01 -1.78787312e-02 -2.16859376e-01 -1.35300023e+02] [ 3.74482315e-03 9.97851310e-01 -6.54120735e-02 1.13628524e+01] [ 2.17562897e-01 6.30326426e-02 9.74008866e-01 -1.19094789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25534707 meters Centerline goodness [0,1] 0.7716890685214776 Centerline is valid? [False, False] Translation: X:-135.31, Y:11.36, Z:-11.91 [[ 9.76347574e-01 -2.15818142e-02 -2.15127034e-01 -1.35305922e+02] [ 7.70387617e-03 9.97846306e-01 -6.51413842e-02 1.13627665e+01] [ 2.16069586e-01 6.19433204e-02 9.74411083e-01 -1.19108973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.28534707 meters Centerline goodness [0,1] 0.7969730527870063 Centerline is valid? [False, False] Translation: X:-135.31, Y:11.36, Z:-11.91 [[ 9.76632257e-01 -2.47636276e-02 -2.13485823e-01 -1.35309995e+02] [ 1.09683337e-02 9.97788132e-01 -6.55632536e-02 1.13619287e+01] [ 2.14637205e-01 6.16896046e-02 9.74743691e-01 -1.19121579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.31534707 meters Centerline goodness [0,1] 0.7653330065559708 Centerline is valid? [False, False] Translation: X:-135.31, Y:11.36, Z:-11.91 [[ 9.76844241e-01 -2.54390891e-02 -2.12433948e-01 -1.35311434e+02] [ 1.18073611e-02 9.97802805e-01 -6.51931667e-02 1.13615764e+01] [ 2.13625644e-01 6.11752851e-02 9.74998292e-01 -1.19131754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.34534707 meters Centerline goodness [0,1] 0.7139290012033694 Centerline is valid? [False, False] Translation: X:-135.31, Y:11.36, Z:-11.91 [[ 9.77128124e-01 -2.83117971e-02 -2.10758323e-01 -1.35314751e+02] [ 1.48547185e-02 9.97764096e-01 -6.51624630e-02 1.13606279e+01] [ 2.12131954e-01 6.05413197e-02 9.75363923e-01 -1.19148532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.37534707 meters Centerline goodness [0,1] 0.7652621751046592 Centerline is valid? [False, False] Translation: X:-135.32, Y:11.36, Z:-11.92 [[ 9.77307041e-01 -3.60527928e-02 -2.08737020e-01 -1.35319483e+02] [ 2.23484219e-02 9.97459155e-01 -6.76445326e-02 1.13600448e+01] [ 2.10645426e-01 6.14445350e-02 9.75629578e-01 -1.19171265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.40534707 meters Centerline goodness [0,1] 0.8128292345203335 Centerline is valid? [False, False] Translation: X:-135.32, Y:11.36, Z:-11.92 [[ 9.77642025e-01 -3.27331327e-02 -2.07712815e-01 -1.35319857e+02] [ 1.99070942e-02 9.97780603e-01 -6.35419293e-02 1.13590097e+01] [ 2.09331744e-01 5.79863019e-02 9.76123870e-01 -1.19190592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.43534707 meters Centerline goodness [0,1] 0.7097346703345462 Centerline is valid? [False, False] Translation: X:-135.32, Y:11.36, Z:-11.92 [[ 9.78007258e-01 -3.38207184e-02 -2.05810499e-01 -1.35321803e+02] [ 2.13888798e-02 9.97826214e-01 -6.23326788e-02 1.13577018e+01] [ 2.07471247e-01 5.65597563e-02 9.76604667e-01 -1.19214346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.46534707 meters Centerline goodness [0,1] 0.7500222849502303 Centerline is valid? [False, False] Translation: X:-135.32, Y:11.36, Z:-11.92 [[ 9.78238936e-01 -3.45310052e-02 -2.04587864e-01 -1.35323396e+02] [ 2.24559563e-02 9.97881926e-01 -6.10523759e-02 1.13565495e+01] [ 2.06262731e-01 5.51295951e-02 9.76942380e-01 -1.19232300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.49534707 meters Centerline goodness [0,1] 0.6705287736824994 Centerline is valid? [False, False] Translation: X:-135.32, Y:11.36, Z:-11.92 [[ 9.78510322e-01 -3.09212146e-02 -2.03866204e-01 -1.35323714e+02] [ 1.96746681e-02 9.98182322e-01 -5.69645374e-02 1.13555590e+01] [ 2.05257054e-01 5.17293879e-02 9.77340070e-01 -1.19246031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.52534707 meters Centerline goodness [0,1] 0.7977892015570678 Centerline is valid? [False, False] Translation: X:-135.32, Y:11.35, Z:-11.93 [[ 9.78755305e-01 -3.07992944e-02 -2.02705344e-01 -1.35324752e+02] [ 1.99583846e-02 9.98269738e-01 -5.53099810e-02 1.13538493e+01] [ 2.04058118e-01 5.00892661e-02 9.77676506e-01 -1.19261346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.55534707 meters Centerline goodness [0,1] 0.7061739130434783 Centerline is valid? [False, False] Translation: X:-135.33, Y:11.35, Z:-11.93 [[ 9.78991496e-01 -3.31999107e-02 -2.01180062e-01 -1.35327981e+02] [ 2.25678267e-02 9.98236008e-01 -5.49141687e-02 1.13529450e+01] [ 2.02648327e-01 4.92203074e-02 9.78013812e-01 -1.19271633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.58534707 meters Centerline goodness [0,1] 0.7571453775582215 Centerline is valid? [False, False] Translation: X:-135.33, Y:11.35, Z:-11.93 [[ 9.79064655e-01 -3.34310896e-02 -2.00785368e-01 -1.35329188e+02] [ 2.29748982e-02 9.98266655e-01 -5.41833866e-02 1.13519074e+01] [ 2.02248747e-01 4.84360153e-02 9.78135674e-01 -1.19274722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.61534707 meters Centerline goodness [0,1] 0.8873061285950911 Centerline is valid? [False, False] Translation: X:-135.33, Y:11.35, Z:-11.93 [[ 9.79269351e-01 -3.30794882e-02 -1.99843154e-01 -1.35329653e+02] [ 2.29965086e-02 9.98352563e-01 -5.25673039e-02 1.13496918e+01] [ 2.01252825e-01 4.68818547e-02 9.78416778e-01 -1.19287933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.64534707 meters Centerline goodness [0,1] 0.9231279992756466 Centerline is valid? [False, False] Translation: X:-135.33, Y:11.35, Z:-11.93 [[ 9.79445669e-01 -3.16235193e-02 -1.99213793e-01 -1.35328851e+02] [ 2.19712972e-02 9.98483478e-01 -5.04777783e-02 1.13472251e+01] [ 2.00507965e-01 4.50632559e-02 9.78655128e-01 -1.19302970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.67534707000002 meters Centerline goodness [0,1] 0.9177599139347936 Centerline is valid? [False, False] Translation: X:-135.33, Y:11.35, Z:-11.93 [[ 9.79568091e-01 -3.06919773e-02 -1.98757030e-01 -1.35328208e+02] [ 2.13315451e-02 9.98567695e-01 -4.90665216e-02 1.13459167e+01] [ 1.99978298e-01 4.38242043e-02 9.78819758e-01 -1.19315383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.70534707 meters Centerline goodness [0,1] 0.9414382129845309 Centerline is valid? [False, False] Translation: X:-135.33, Y:11.34, Z:-11.93 [[ 9.79718802e-01 -2.96597893e-02 -1.98170043e-01 -1.35327307e+02] [ 2.06606547e-02 9.98665806e-01 -4.73259497e-02 1.13432398e+01] [ 1.99309323e-01 4.22718000e-02 9.79024458e-01 -1.19330856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.73534707 meters Centerline goodness [0,1] 0.964967390653982 Centerline is valid? [False, True] Translation: X:-135.33, Y:11.34, Z:-11.93 [[ 9.79982413e-01 -2.48631305e-02 -1.97525431e-01 -1.35326369e+02] [ 1.66849161e-02 9.98937441e-01 -4.29604817e-02 1.13418641e+01] [ 1.98383680e-01 3.88048213e-02 9.79355962e-01 -1.19344652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.76534707 meters Centerline goodness [0,1] 0.970899314582841 Centerline is valid? [True, True] Translation: X:-135.35, Y:11.34, Z:-11.94 [[ 9.79259626e-01 -2.69710548e-02 -2.00806243e-01 -1.35354955e+02] [ 2.08700454e-02 9.99255826e-01 -3.24381888e-02 1.13375246e+01] [ 2.01531700e-01 2.75745732e-02 9.79093773e-01 -1.19444665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.79534707 meters Centerline goodness [0,1] 0.9792286615008396 Centerline is valid? [True, True] Translation: X:-135.38, Y:11.32, Z:-11.95 [[ 9.78390209e-01 -2.99539118e-02 -2.04585829e-01 -1.35381221e+02] [ 2.36822944e-02 9.99173555e-01 -3.30356782e-02 1.13246081e+01] [ 2.05406298e-01 2.74767223e-02 9.78291001e-01 -1.19475807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.82534707 meters Centerline goodness [0,1] 0.9528860240257838 Centerline is valid? [True, True] Translation: X:-135.41, Y:11.34, Z:-11.96 [[ 9.77049777e-01 -3.54072030e-02 -2.10047764e-01 -1.35412695e+02] [ 2.89143367e-02 9.99006774e-01 -3.39031909e-02 1.13389729e+01] [ 2.11039556e-01 2.70517133e-02 9.77103122e-01 -1.19605392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.85534707 meters Centerline goodness [0,1] 0.9190580664033933 Centerline is valid? [True, False] Translation: X:-135.41, Y:11.34, Z:-11.96 [[ 9.77339009e-01 -3.25007513e-02 -2.09170179e-01 -1.35412423e+02] [ 2.65169413e-02 9.99156687e-01 -3.13491239e-02 1.13389949e+01] [ 2.10012653e-01 2.50921683e-02 9.77376626e-01 -1.19615783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.88534707 meters Centerline goodness [0,1] 0.9272802213978685 Centerline is valid? [False, False] Translation: X:-135.41, Y:11.34, Z:-11.96 [[ 9.77743999e-01 -2.86529941e-02 -2.07835702e-01 -1.35411111e+02] [ 2.33196200e-02 9.99334002e-01 -2.80668466e-02 1.13410834e+01] [ 2.08501483e-01 2.25955412e-02 9.77761000e-01 -1.19637327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.91534707 meters Centerline goodness [0,1] 0.795837150710032 Centerline is valid? [False, False] Translation: X:-135.41, Y:11.34, Z:-11.96 [[ 9.77861023e-01 -2.72552192e-02 -2.07472825e-01 -1.35409689e+02] [ 2.20902543e-02 9.99386683e-01 -2.71712906e-02 1.13429067e+01] [ 2.08086138e-01 2.19866186e-02 9.77863359e-01 -1.19647937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.94534707 meters Centerline goodness [0,1] 0.9151051963764053 Centerline is valid? [False, False] Translation: X:-135.41, Y:11.35, Z:-11.96 [[ 9.77868374e-01 -2.89942208e-02 -2.07202263e-01 -1.35410782e+02] [ 2.35574845e-02 9.99311626e-01 -2.86586778e-02 1.13454356e+01] [ 2.07890566e-01 2.31432506e-02 9.77878266e-01 -1.19646280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.97534707 meters Centerline goodness [0,1] 0.9327046083360604 Centerline is valid? [False, False] Translation: X:-135.41, Y:11.35, Z:-11.97 [[ 9.78219585e-01 -2.56173622e-02 -2.05985906e-01 -1.35409928e+02] [ 2.07107904e-02 9.99448904e-01 -2.59413078e-02 1.13476070e+01] [ 2.06536936e-01 2.11101644e-02 9.78211048e-01 -1.19663181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.00534707 meters Centerline goodness [0,1] 0.9318790548181656 Centerline is valid? [False, False] Translation: X:-135.41, Y:11.35, Z:-11.97 [[ 9.78345147e-01 -2.56091641e-02 -2.05389738e-01 -1.35409661e+02] [ 2.07042622e-02 9.99447644e-01 -2.59949905e-02 1.13489586e+01] [ 2.05942000e-01 2.11796299e-02 9.78334971e-01 -1.19669901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03534707 meters Centerline goodness [0,1] 0.9298798620197455 Centerline is valid? [False, False] Translation: X:-135.41, Y:11.35, Z:-11.97 [[ 9.78451672e-01 -2.45806967e-02 -2.05007597e-01 -1.35408248e+02] [ 1.98016383e-02 9.99482985e-01 -2.53309733e-02 1.13508837e+01] [ 2.05524258e-01 2.07256469e-02 9.78432536e-01 -1.19681688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.06534707 meters Centerline goodness [0,1] 0.9269837440057906 Centerline is valid? [False, False] Translation: X:-135.41, Y:11.35, Z:-11.97 [[ 9.78577701e-01 -2.45959854e-02 -2.04403331e-01 -1.35407964e+02] [ 1.97935327e-02 9.99478676e-01 -2.55066939e-02 1.13523534e+01] [ 2.04924133e-01 2.09144179e-02 9.78554386e-01 -1.19687986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.09534707 meters Centerline goodness [0,1] 0.8722358722358723 Centerline is valid? [False, False] Translation: X:-135.41, Y:11.35, Z:-11.97 [[ 9.78664240e-01 -2.44732988e-02 -2.04003340e-01 -1.35407945e+02] [ 1.97288475e-02 9.99486260e-01 -2.52584507e-02 1.13524477e+01] [ 2.04516693e-01 2.06947916e-02 9.78644291e-01 -1.19691845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.12534707 meters Centerline goodness [0,1] 0.955161848132755 Centerline is valid? [False, True] Translation: X:-135.41, Y:11.35, Z:-11.97 [[ 9.78836399e-01 -2.59230026e-02 -2.02995815e-01 -1.35410623e+02] [ 2.11691206e-02 9.99449246e-01 -2.55553032e-02 1.13518210e+01] [ 2.03546484e-01 2.07172181e-02 9.78846068e-01 -1.19688619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.15534707 meters Centerline goodness [0,1] 0.9677116746353568 Centerline is valid? [True, True] Translation: X:-135.44, Y:11.34, Z:-11.97 [[ 9.79111025e-01 -3.74318293e-02 -1.99851093e-01 -1.35440298e+02] [ 3.24632071e-02 9.99078342e-01 -2.80821378e-02 1.13446292e+01] [ 2.00718064e-01 2.10077233e-02 9.79423777e-01 -1.19715008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.18534707 meters Centerline goodness [0,1] 0.9702912917492755 Centerline is valid? [True, True] Translation: X:-135.47, Y:11.34, Z:-11.98 [[ 9.78975208e-01 -4.39940125e-02 -1.99178484e-01 -1.35469908e+02] [ 3.91947336e-02 9.98839873e-01 -2.79764223e-02 1.13393620e+01] [ 2.00178207e-01 1.95814763e-02 9.79563807e-01 -1.19764600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.21534707 meters Centerline goodness [0,1] 0.9858503568037732 Centerline is valid? [True, True] Translation: X:-135.50, Y:11.33, Z:-11.98 [[ 9.78247815e-01 -5.81122619e-02 -1.99133569e-01 -1.35498165e+02] [ 5.36042749e-02 9.98170748e-01 -2.79596013e-02 1.13259179e+01] [ 2.00394100e-01 1.66770082e-02 9.79573419e-01 -1.19795007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.24534707 meters Centerline goodness [0,1] 0.9898314400879443 Centerline is valid? [True, True] Translation: X:-135.53, Y:11.31, Z:-11.98 [[ 9.77590233e-01 -7.29783456e-02 -1.97462646e-01 -1.35526213e+02] [ 6.88474851e-02 9.97242180e-01 -2.77138761e-02 1.13117201e+01] [ 1.98940593e-01 1.34980080e-02 9.79918591e-01 -1.19813415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.27534707 meters Centerline goodness [0,1] 0.9891171435558817 Centerline is valid? [True, True] Translation: X:-135.56, Y:11.30, Z:-11.98 [[ 9.77363181e-01 -8.03336464e-02 -1.95723576e-01 -1.35555267e+02] [ 7.64239158e-02 9.96697236e-01 -2.74591442e-02 1.13038146e+01] [ 1.97283040e-01 1.18795945e-02 9.80274593e-01 -1.19838690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.30534707 meters Centerline goodness [0,1] 0.9904941807324356 Centerline is valid? [True, True] Translation: X:-135.58, Y:11.29, Z:-11.99 [[ 9.75736793e-01 -9.51820019e-02 -1.97175294e-01 -1.35582962e+02] [ 9.15136412e-02 9.95419747e-01 -2.76546686e-02 1.12904943e+01] [ 1.98904408e-01 8.93944852e-03 9.79978124e-01 -1.19903601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.33534707 meters Centerline goodness [0,1] 0.9894244210782228 Centerline is valid? [True, True] Translation: X:-135.61, Y:11.28, Z:-12.00 [[ 9.75041778e-01 -1.03713446e-01 -1.96308566e-01 -1.35611768e+02] [ 1.00250435e-01 9.94581472e-01 -2.75235538e-02 1.12845564e+01] [ 1.98099425e-01 7.15659570e-03 9.80155804e-01 -1.19968529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.36534707 meters Centerline goodness [0,1] 0.9911009486141581 Centerline is valid? [True, True] Translation: X:-135.64, Y:11.27, Z:-12.00 [[ 9.73517231e-01 -1.16796939e-01 -1.96526526e-01 -1.35639771e+02] [ 1.13591258e-01 9.93145658e-01 -2.75450115e-02 1.12713530e+01] [ 1.98396639e-01 4.49184802e-03 9.80111523e-01 -1.19978519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.39534707 meters Centerline goodness [0,1] 0.9901171863048068 Centerline is valid? [True, True] Translation: X:-135.67, Y:11.26, Z:-12.00 [[ 9.71748046e-01 -1.30629193e-01 -1.96575047e-01 -1.35667999e+02] [ 1.27704054e-01 9.91429910e-01 -2.75392232e-02 1.12588866e+01] [ 1.98487807e-01 1.65775599e-03 9.80101955e-01 -1.20016970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.42534707000002 meters Centerline goodness [0,1] 0.9913220715851888 Centerline is valid? [True, True] Translation: X:-135.70, Y:11.25, Z:-12.01 [[ 9.70316388e-01 -1.41754504e-01 -1.95938175e-01 -1.35695793e+02] [ 1.39078272e-01 9.89901635e-01 -2.74223689e-02 1.12498443e+01] [ 1.97846764e-01 -6.42368932e-04 9.80232751e-01 -1.20058168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.45534707 meters Centerline goodness [0,1] 0.9919377088378651 Centerline is valid? [True, True] Translation: X:-135.72, Y:11.24, Z:-12.01 [[ 9.69877329e-01 -1.46082904e-01 -1.94930121e-01 -1.35722467e+02] [ 1.43534933e-01 9.89271077e-01 -2.72113638e-02 1.12438572e+01] [ 1.96813846e-01 -1.58759718e-03 9.80439590e-01 -1.20084866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.48534707 meters Centerline goodness [0,1] 0.9910198056341494 Centerline is valid? [True, True] Translation: X:-135.75, Y:11.24, Z:-12.01 [[ 9.68387468e-01 -1.54366788e-01 -1.95950521e-01 -1.35749524e+02] [ 1.51965117e-01 9.88008047e-01 -2.73258478e-02 1.12353772e+01] [ 1.97818895e-01 -3.31563537e-03 9.80232978e-01 -1.20146317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.51534707 meters Centerline goodness [0,1] 0.9921591538035791 Centerline is valid? [True, True] Translation: X:-135.78, Y:11.23, Z:-12.02 [[ 9.67733977e-01 -1.57135369e-01 -1.96975699e-01 -1.35777569e+02] [ 1.54772414e-01 9.87569218e-01 -2.74324671e-02 1.12307322e+01] [ 1.98837748e-01 -3.93907400e-03 9.80024507e-01 -1.20192576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.54534707 meters Centerline goodness [0,1] 0.9899522268454307 Centerline is valid? [True, True] Translation: X:-135.81, Y:11.23, Z:-12.02 [[ 9.68008076e-01 -1.57028506e-01 -1.95710023e-01 -1.35805792e+02] [ 1.54707313e-01 9.87586139e-01 -2.71894499e-02 1.12282654e+01] [ 1.97550025e-01 -3.95816465e-03 9.80284816e-01 -1.20210430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.57534707 meters Centerline goodness [0,1] 0.9891637076037713 Centerline is valid? [True, True] Translation: X:-135.83, Y:11.23, Z:-12.03 [[ 9.68468306e-01 -1.53982904e-01 -1.95853019e-01 -1.35833542e+02] [ 1.51604877e-01 9.88067729e-01 -2.71684373e-02 1.12269301e+01] [ 1.97699523e-01 -3.38050241e-03 9.80256839e-01 -1.20289313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.60534707 meters Centerline goodness [0,1] 0.9890140410430489 Centerline is valid? [True, True] Translation: X:-135.86, Y:11.23, Z:-12.03 [[ 9.69178285e-01 -1.47899251e-01 -1.97026047e-01 -1.35861469e+02] [ 1.45382914e-01 9.88999925e-01 -2.72572332e-02 1.12286392e+01] [ 1.98890070e-01 -2.22710234e-03 9.80019275e-01 -1.20330180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.63534707 meters Centerline goodness [0,1] 0.9875523786048804 Centerline is valid? [True, True] Translation: X:-135.89, Y:11.23, Z:-12.04 [[ 9.69966421e-01 -1.43103718e-01 -1.96688760e-01 -1.35889192e+02] [ 1.40506473e-01 9.89706868e-01 -2.71707060e-02 1.12283400e+01] [ 1.98552445e-01 -1.28137139e-03 9.80089427e-01 -1.20401450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.66534707 meters Centerline goodness [0,1] 0.9878479756959514 Centerline is valid? [True, True] Translation: X:-135.92, Y:11.23, Z:-12.04 [[ 9.70913826e-01 -1.35224466e-01 -1.97587160e-01 -1.35917502e+02] [ 1.32448174e-01 9.90814945e-01 -2.72621851e-02 1.12323027e+01] [ 1.99458825e-01 2.99173791e-04 9.79906163e-01 -1.20443683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.69534707 meters Centerline goodness [0,1] 0.9883781867505164 Centerline is valid? [True, True] Translation: X:-135.95, Y:11.24, Z:-12.05 [[ 9.72253748e-01 -1.26151651e-01 -1.96998504e-01 -1.35946130e+02] [ 1.23218236e-01 9.92008742e-01 -2.71278698e-02 1.12356036e+01] [ 1.98846464e-01 2.10136499e-03 9.80028402e-01 -1.20543498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.72534707 meters Centerline goodness [0,1] 0.9886720816605982 Centerline is valid? [True, True] Translation: X:-135.97, Y:11.23, Z:-12.06 [[ 9.72224807e-01 -1.22620829e-01 -1.99356606e-01 -1.35973555e+02] [ 1.19557883e-01 9.92449692e-01 -2.73773930e-02 1.12342118e+01] [ 2.01208441e-01 2.78232689e-03 9.79544497e-01 -1.20580733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.75534707 meters Centerline goodness [0,1] 0.9886720816605982 Centerline is valid? [True, True] Translation: X:-136.00, Y:11.23, Z:-12.06 [[ 9.72284645e-01 -1.22132744e-01 -1.99364397e-01 -1.36000328e+02] [ 1.19071298e-01 9.92509755e-01 -2.73205514e-02 1.12303257e+01] [ 2.01207843e-01 2.82477502e-03 9.79544499e-01 -1.20622905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.78534707 meters Centerline goodness [0,1] 0.9877894216204519 Centerline is valid? [True, True] Translation: X:-136.03, Y:11.23, Z:-12.07 [[ 9.72907201e-01 -1.13263202e-01 -2.01551545e-01 -1.36029577e+02] [ 1.09961446e-01 9.93554224e-01 -2.75405969e-02 1.12346166e+01] [ 2.03371725e-01 4.63154562e-03 9.79090645e-01 -1.20740600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.81534707 meters Centerline goodness [0,1] 0.9876054770809508 Centerline is valid? [True, True] Translation: X:-136.06, Y:11.24, Z:-12.08 [[ 9.73670410e-01 -1.04800620e-01 -2.02441996e-01 -1.36058540e+02] [ 1.01289878e-01 9.94472525e-01 -2.76542444e-02 1.12379985e+01] [ 2.04221185e-01 6.42079447e-03 9.78903714e-01 -1.20845515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.84534707 meters Centerline goodness [0,1] 0.9887432536622976 Centerline is valid? [True, True] Translation: X:-136.09, Y:11.24, Z:-12.09 [[ 9.74050297e-01 -1.01775716e-01 -2.02157666e-01 -1.36086093e+02] [ 9.82168259e-02 9.94782642e-01 -2.75853350e-02 1.12375167e+01] [ 2.03910455e-01 7.01421942e-03 9.78964416e-01 -1.20930885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.87534707 meters Centerline goodness [0,1] 0.988362401605186 Centerline is valid? [True, True] Translation: X:-136.12, Y:11.24, Z:-12.10 [[ 9.74443283e-01 -9.56545340e-02 -2.03249843e-01 -1.36115689e+02] [ 9.19385493e-02 9.95380193e-01 -2.76690335e-02 1.12415245e+01] [ 2.04957537e-01 8.27540815e-03 9.78735882e-01 -1.21039905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.90534707 meters Centerline goodness [0,1] 0.9883397942675742 Centerline is valid? [True, True] Translation: X:-136.14, Y:11.24, Z:-12.11 [[ 9.74783880e-01 -9.29104366e-02 -2.02889228e-01 -1.36143096e+02] [ 8.91515741e-02 9.95635368e-01 -2.76081660e-02 1.12398796e+01] [ 2.04568778e-01 8.82410106e-03 9.78812418e-01 -1.21107149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.93534707 meters Centerline goodness [0,1] 0.9878626677672812 Centerline is valid? [True, True] Translation: X:-136.17, Y:11.24, Z:-12.12 [[ 9.74506526e-01 -9.22425648e-02 -2.04519781e-01 -1.36171377e+02] [ 8.84163024e-02 9.95695918e-01 -2.77884198e-02 1.12373586e+01] [ 2.06202787e-01 8.99711361e-03 9.78467916e-01 -1.21184299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.96534707 meters Centerline goodness [0,1] 0.9886064318529862 Centerline is valid? [True, True] Translation: X:-136.20, Y:11.23, Z:-12.12 [[ 9.74526960e-01 -9.06806512e-02 -2.05120023e-01 -1.36198694e+02] [ 8.68111161e-02 9.95836692e-01 -2.78049237e-02 1.12331006e+01] [ 2.06787414e-01 9.28994961e-03 9.78341792e-01 -1.21232779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.99534707 meters Centerline goodness [0,1] 0.9886325128615877 Centerline is valid? [True, True] Translation: X:-136.23, Y:11.23, Z:-12.13 [[ 9.74223312e-01 -9.03493365e-02 -2.06702532e-01 -1.36225818e+02] [ 8.64180070e-02 9.95865729e-01 -2.79888734e-02 1.12291661e+01] [ 2.08376744e-01 9.40459211e-03 9.78003418e-01 -1.21284952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.02534707 meters Centerline goodness [0,1] 0.9890790846064176 Centerline is valid? [True, True] Translation: X:-136.25, Y:11.23, Z:-12.14 [[ 9.74257832e-01 -9.04987485e-02 -2.06474342e-01 -1.36253196e+02] [ 8.65893199e-02 9.95853004e-01 -2.79120759e-02 1.12258835e+01] [ 2.08144102e-01 9.31508564e-03 9.78053813e-01 -1.21354378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.05534707 meters Centerline goodness [0,1] 0.9890805122121848 Centerline is valid? [True, True] Translation: X:-136.28, Y:11.22, Z:-12.14 [[ 9.74091938e-01 -9.07297959e-02 -2.07154533e-01 -1.36279951e+02] [ 8.68187500e-02 9.95833006e-01 -2.79128864e-02 1.12216556e+01] [ 2.08823852e-01 9.20482004e-03 9.77909950e-01 -1.21424424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.08534707 meters Centerline goodness [0,1] 0.9888050545945283 Centerline is valid? [True, True] Translation: X:-136.31, Y:11.22, Z:-12.15 [[ 9.73727695e-01 -9.02099253e-02 -2.09085022e-01 -1.36307571e+02] [ 8.62336552e-02 9.95879281e-01 -2.80751687e-02 1.12181229e+01] [ 2.10756100e-01 9.30740358e-03 9.77494368e-01 -1.21485656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.11534707 meters Centerline goodness [0,1] 0.9886719105900932 Centerline is valid? [True, True] Translation: X:-136.33, Y:11.22, Z:-12.16 [[ 9.73703899e-01 -9.16771668e-02 -2.08556981e-01 -1.36334879e+02] [ 8.77735935e-02 9.95749225e-01 -2.79155248e-02 1.12159312e+01] [ 2.10229668e-01 8.87565965e-03 9.77611738e-01 -1.21592830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.14534707 meters Centerline goodness [0,1] 0.9892804337111878 Centerline is valid? [True, True] Translation: X:-136.36, Y:11.21, Z:-12.16 [[ 9.73344639e-01 -9.10598123e-02 -2.10495428e-01 -1.36362070e+02] [ 8.70848636e-02 9.95804605e-01 -2.80965499e-02 1.12093701e+01] [ 2.12170783e-01 9.01666052e-03 9.77191004e-01 -1.21623153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.17534707000002 meters Centerline goodness [0,1] 0.988273793291519 Centerline is valid? [True, True] Translation: X:-136.39, Y:11.21, Z:-12.17 [[ 9.72899001e-01 -9.46280633e-02 -2.10981191e-01 -1.36389401e+02] [ 9.07298724e-02 9.95478931e-01 -2.81031737e-02 1.12057082e+01] [ 2.12686679e-01 8.19925313e-03 9.77086050e-01 -1.21732950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.20534707 meters Centerline goodness [0,1] 0.9876940840448483 Centerline is valid? [True, True] Translation: X:-136.42, Y:11.20, Z:-12.18 [[ 9.72871912e-01 -9.50223880e-02 -2.10928870e-01 -1.36416412e+02] [ 9.11516365e-02 9.95442712e-01 -2.80211841e-02 1.11997794e+01] [ 2.12630246e-01 8.03451122e-03 9.77099701e-01 -1.21758613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.23534707 meters Centerline goodness [0,1] 0.9878984562191017 Centerline is valid? [True, True] Translation: X:-136.44, Y:11.20, Z:-12.19 [[ 9.72402060e-01 -9.76459493e-02 -2.11895026e-01 -1.36444000e+02] [ 9.38112517e-02 9.95193355e-01 -2.81004493e-02 1.11959823e+01] [ 2.13620417e-01 7.44679719e-03 9.76888357e-01 -1.21855966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.26534707 meters Centerline goodness [0,1] 0.9886415128538198 Centerline is valid? [True, True] Translation: X:-136.47, Y:11.19, Z:-12.19 [[ 9.72269458e-01 -9.75479009e-02 -2.12547659e-01 -1.36471626e+02] [ 9.37067867e-02 9.95203321e-01 -2.80960431e-02 1.11911918e+01] [ 2.14268847e-01 7.39976637e-03 9.76746694e-01 -1.21906104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.29534707 meters Centerline goodness [0,1] 0.9880475670428346 Centerline is valid? [True, True] Translation: X:-136.50, Y:11.19, Z:-12.20 [[ 9.71846405e-01 -9.91763447e-02 -2.13725567e-01 -1.36498146e+02] [ 9.53512735e-02 9.95045346e-01 -2.81583900e-02 1.11863120e+01] [ 2.15459276e-01 6.98662513e-03 9.76487833e-01 -1.21979750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.32534707 meters Centerline goodness [0,1] 0.9882142097749157 Centerline is valid? [True, True] Translation: X:-136.53, Y:11.18, Z:-12.20 [[ 9.71427397e-01 -1.00955328e-01 -2.14794867e-01 -1.36525519e+02] [ 9.71525532e-02 9.94869449e-01 -2.82163151e-02 1.11803775e+01] [ 2.16541438e-01 6.54223180e-03 9.76251507e-01 -1.22018302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.35534707 meters Centerline goodness [0,1] 0.9885587014888944 Centerline is valid? [True, True] Translation: X:-136.55, Y:11.18, Z:-12.20 [[ 9.71772025e-01 -1.00047870e-01 -2.13657566e-01 -1.36553547e+02] [ 9.62751511e-02 9.94960357e-01 -2.80175705e-02 1.11757181e+01] [ 2.15383906e-01 6.65677676e-03 9.76506764e-01 -1.22049623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.38534707 meters Centerline goodness [0,1] 0.987763611094326 Centerline is valid? [True, True] Translation: X:-136.58, Y:11.18, Z:-12.22 [[ 9.71913709e-01 -1.00961634e-01 -2.12580551e-01 -1.36580234e+02] [ 9.72690391e-02 9.94870199e-01 -2.77852724e-02 1.11772458e+01] [ 2.14295302e-01 6.32738126e-03 9.76748426e-01 -1.22248422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.41534707 meters Centerline goodness [0,1] 0.9887248564298385 Centerline is valid? [True, True] Translation: X:-136.61, Y:11.17, Z:-12.23 [[ 9.71770807e-01 -1.02722431e-01 -2.12390206e-01 -1.36608248e+02] [ 9.90972767e-02 9.94692890e-01 -2.76727996e-02 1.11720082e+01] [ 2.14105646e-01 5.84432777e-03 9.76793026e-01 -1.22311505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.44534707 meters Centerline goodness [0,1] 0.9884787774869898 Centerline is valid? [True, True] Translation: X:-136.63, Y:11.17, Z:-12.24 [[ 9.71568332e-01 -1.04184793e-01 -2.12604103e-01 -1.36634596e+02] [ 1.00601029e-01 9.94542959e-01 -2.76357702e-02 1.11664141e+01] [ 2.14323141e-01 5.46184761e-03 9.76747541e-01 -1.22362796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47534707 meters Centerline goodness [0,1] 0.9896944603946931 Centerline is valid? [True, True] Translation: X:-136.66, Y:11.16, Z:-12.23 [[ 9.71696869e-01 -1.05774806e-01 -2.11227092e-01 -1.36662723e+02] [ 1.02283291e-01 9.94377346e-01 -2.74193832e-02 1.11575190e+01] [ 2.12939715e-01 5.03832666e-03 9.77052349e-01 -1.22325261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.50534707 meters Centerline goodness [0,1] 0.9891728413730531 Centerline is valid? [True, True] Translation: X:-136.69, Y:11.16, Z:-12.25 [[ 9.71370877e-01 -1.05341115e-01 -2.12936303e-01 -1.36688602e+02] [ 1.01795077e-01 9.94422992e-01 -2.75803296e-02 1.11596626e+01] [ 2.14654098e-01 5.11486152e-03 9.76676741e-01 -1.22548198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53534707 meters Centerline goodness [0,1] 0.9892298435619735 Centerline is valid? [True, True] Translation: X:-136.72, Y:11.15, Z:-12.26 [[ 9.70873608e-01 -1.07308172e-01 -2.14218100e-01 -1.36715633e+02] [ 1.03782729e-01 9.94215016e-01 -2.76703229e-02 1.11537799e+01] [ 2.15948104e-01 4.63224725e-03 9.76393854e-01 -1.22600776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.56534707 meters Centerline goodness [0,1] 0.9867159111217013 Centerline is valid? [True, True] Translation: X:-136.74, Y:11.15, Z:-12.27 [[ 9.70945864e-01 -1.06548073e-01 -2.14270011e-01 -1.36742211e+02] [ 1.03010536e-01 9.94296129e-01 -2.76412123e-02 1.11488316e+01] [ 2.15992961e-01 4.76605199e-03 9.76383288e-01 -1.22665817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.59534707 meters Centerline goodness [0,1] 0.9875238208670796 Centerline is valid? [True, True] Translation: X:-136.77, Y:11.14, Z:-12.27 [[ 9.71068266e-01 -1.07001139e-01 -2.13488124e-01 -1.36769528e+02] [ 1.03509470e-01 9.94248227e-01 -2.75000382e-02 1.11433049e+01] [ 2.15202724e-01 4.60637199e-03 9.76558533e-01 -1.22723534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.62534707 meters Centerline goodness [0,1] 0.9887817183558392 Centerline is valid? [True, True] Translation: X:-136.80, Y:11.14, Z:-12.28 [[ 9.71088449e-01 -1.05719504e-01 -2.14034133e-01 -1.36797502e+02] [ 1.02195560e-01 9.94384276e-01 -2.74950773e-02 1.11391030e+01] [ 2.15738942e-01 4.82681393e-03 9.76439148e-01 -1.22785939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.65534707 meters Centerline goodness [0,1] 0.9870713719037405 Centerline is valid? [True, True] Translation: X:-136.83, Y:11.13, Z:-12.28 [[ 9.71481961e-01 -1.04945362e-01 -2.12624716e-01 -1.36825126e+02] [ 1.01466550e-01 9.94465977e-01 -2.72389283e-02 1.11337765e+01] [ 2.14306645e-01 4.88783126e-03 9.76754202e-01 -1.22849715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.68534707 meters Centerline goodness [0,1] 0.9887159188255102 Centerline is valid? [True, True] Translation: X:-136.85, Y:11.13, Z:-12.29 [[ 9.71400810e-01 -1.05196810e-01 -2.12871084e-01 -1.36851995e+02] [ 1.01733195e-01 9.94440042e-01 -2.71911604e-02 1.11298139e+01] [ 2.14547953e-01 4.75745973e-03 9.76701870e-01 -1.22897965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.71534707 meters Centerline goodness [0,1] 0.9888638821500599 Centerline is valid? [True, True] Translation: X:-136.88, Y:11.13, Z:-12.30 [[ 9.72024956e-01 -1.01721353e-01 -2.11707937e-01 -1.36878708e+02] [ 9.82335737e-02 9.94798248e-01 -2.69557130e-02 1.11261638e+01] [ 2.13348656e-01 5.40479849e-03 9.76961176e-01 -1.22964467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.74534707 meters Centerline goodness [0,1] 0.9888200589970502 Centerline is valid? [True, True] Translation: X:-136.91, Y:11.12, Z:-12.30 [[ 9.72015572e-01 -9.95503210e-02 -2.12780313e-01 -1.36905979e+02] [ 9.59909019e-02 9.95015394e-01 -2.70205943e-02 1.11225960e+01] [ 2.14409596e-01 5.83946430e-03 9.76726382e-01 -1.22990556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.77534707 meters Centerline goodness [0,1] 0.9893057555013661 Centerline is valid? [True, True] Translation: X:-136.93, Y:11.12, Z:-12.30 [[ 9.72728500e-01 -9.65305214e-02 -2.10905488e-01 -1.36933769e+02] [ 9.29734939e-02 9.95309430e-01 -2.67407506e-02 1.11191396e+01] [ 2.12497519e-01 6.40287013e-03 9.77140628e-01 -1.23031498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.80534707 meters Centerline goodness [0,1] 0.9896925227113906 Centerline is valid? [True, True] Translation: X:-136.96, Y:11.11, Z:-12.31 [[ 9.73422986e-01 -9.35607436e-02 -2.09031284e-01 -1.36960814e+02] [ 9.00137842e-02 9.95589519e-01 -2.64391481e-02 1.11147460e+01] [ 2.10583022e-01 6.92077763e-03 9.77551479e-01 -1.23083763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.83534707 meters Centerline goodness [0,1] 0.9904761904761905 Centerline is valid? [True, True] Translation: X:-136.99, Y:11.11, Z:-12.31 [[ 9.73289863e-01 -9.27386241e-02 -2.10015216e-01 -1.36988086e+02] [ 8.91449346e-02 9.95665142e-01 -2.65350017e-02 1.11093285e+01] [ 2.11565650e-01 7.10445538e-03 9.77337967e-01 -1.23122222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.86534707 meters Centerline goodness [0,1] 0.9904720406681191 Centerline is valid? [True, True] Translation: X:-137.01, Y:11.10, Z:-12.32 [[ 9.73675613e-01 -9.20536786e-02 -2.08523189e-01 -1.37014674e+02] [ 8.85036166e-02 9.95728274e-01 -2.63118809e-02 1.11044370e+01] [ 2.10054540e-01 7.16418041e-03 9.77663421e-01 -1.23160400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.89534707 meters Centerline goodness [0,1] 0.9901290377957712 Centerline is valid? [True, True] Translation: X:-137.04, Y:11.10, Z:-12.32 [[ 9.73973675e-01 -9.11485796e-02 -2.07526426e-01 -1.37042020e+02] [ 8.76252603e-02 9.95810822e-01 -2.61270112e-02 1.10983533e+01] [ 2.09038501e-01 7.26246405e-03 9.77880444e-01 -1.23209674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.92534707000002 meters Centerline goodness [0,1] 0.9899605285738802 Centerline is valid? [True, True] Translation: X:-137.07, Y:11.09, Z:-12.33 [[ 9.74260617e-01 -9.01576695e-02 -2.06610372e-01 -1.37069755e+02] [ 8.66611041e-02 9.95900322e-01 -2.59306992e-02 1.10936634e+01] [ 2.08101187e-01 7.35817611e-03 9.78079625e-01 -1.23257508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.95534707 meters Centerline goodness [0,1] 0.989915821530152 Centerline is valid? [True, True] Translation: X:-137.10, Y:11.09, Z:-12.33 [[ 9.74136276e-01 -9.13888724e-02 -2.06655730e-01 -1.37097396e+02] [ 8.79355852e-02 9.95790585e-01 -2.58542806e-02 1.10868604e+01] [ 2.08148624e-01 7.01320002e-03 9.78072066e-01 -1.23328331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.98534707 meters Centerline goodness [0,1] 0.9894315587746245 Centerline is valid? [True, True] Translation: X:-137.12, Y:11.08, Z:-12.34 [[ 9.74083624e-01 -9.20309222e-02 -2.06618978e-01 -1.37124050e+02] [ 8.86086047e-02 9.95732925e-01 -2.57770539e-02 1.10794664e+01] [ 2.08109605e-01 6.80078671e-03 9.78081869e-01 -1.23381840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.01534707 meters Centerline goodness [0,1] 0.9891778571023854 Centerline is valid? [True, True] Translation: X:-137.15, Y:11.07, Z:-12.34 [[ 9.73881944e-01 -9.27002362e-02 -2.07269452e-01 -1.37149632e+02] [ 8.92819884e-02 9.95672008e-01 -2.58065713e-02 1.10726511e+01] [ 2.08764667e-01 6.62712501e-03 9.77943452e-01 -1.23432510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.04534707 meters Centerline goodness [0,1] 0.9900412576468914 Centerline is valid? [True, True] Translation: X:-137.18, Y:11.07, Z:-12.35 [[ 9.73747835e-01 -9.34288481e-02 -2.07572168e-01 -1.37176936e+02] [ 9.00292209e-02 9.95605249e-01 -2.57861771e-02 1.10684090e+01] [ 2.09069113e-01 6.42167353e-03 9.77879782e-01 -1.23496621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.07534707 meters Centerline goodness [0,1] 0.9892533777113361 Centerline is valid? [True, True] Translation: X:-137.20, Y:11.06, Z:-12.36 [[ 9.73804013e-01 -9.36794357e-02 -2.07195338e-01 -1.37204403e+02] [ 9.03076766e-02 9.95582420e-01 -2.56937322e-02 1.10624727e+01] [ 2.08687010e-01 6.30933001e-03 9.77962128e-01 -1.23567474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.10534707 meters Centerline goodness [0,1] 0.9888538145654664 Centerline is valid? [True, True] Translation: X:-137.23, Y:11.06, Z:-12.37 [[ 9.74094569e-01 -9.31972104e-02 -2.06043809e-01 -1.37231971e+02] [ 8.98708263e-02 9.95627808e-01 -2.54657031e-02 1.10581060e+01] [ 2.07516279e-01 6.28867564e-03 9.78211351e-01 -1.23651869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.13534707 meters Centerline goodness [0,1] 0.9888269713011981 Centerline is valid? [True, True] Translation: X:-137.26, Y:11.05, Z:-12.37 [[ 9.74022944e-01 -9.34727511e-02 -2.06257482e-01 -1.37258166e+02] [ 9.01612114e-02 9.95602774e-01 -2.54179468e-02 1.10511525e+01] [ 2.07726407e-01 6.16123894e-03 9.78167562e-01 -1.23680375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.16534707 meters Centerline goodness [0,1] 0.9890826091739082 Centerline is valid? [True, True] Translation: X:-137.28, Y:11.04, Z:-12.38 [[ 9.74021609e-01 -9.41648303e-02 -2.05948755e-01 -1.37284674e+02] [ 9.08902365e-02 9.95538849e-01 -2.53251945e-02 1.10448718e+01] [ 2.07414729e-01 5.94855568e-03 9.78235015e-01 -1.23780053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19534707 meters Centerline goodness [0,1] 0.9896004829327187 Centerline is valid? [True, True] Translation: X:-137.31, Y:11.04, Z:-12.38 [[ 9.74105597e-01 -9.50553760e-02 -2.05140834e-01 -1.37312052e+02] [ 9.18444317e-02 9.95455963e-01 -2.51401235e-02 1.10388641e+01] [ 2.06598371e-01 5.64809166e-03 9.78409532e-01 -1.23829903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.22534707 meters Centerline goodness [0,1] 0.9888020052856714 Centerline is valid? [True, True] Translation: X:-137.34, Y:11.03, Z:-12.39 [[ 9.74049629e-01 -9.65540048e-02 -2.04706241e-01 -1.37338698e+02] [ 9.34043218e-02 9.95313916e-01 -2.50168222e-02 1.10307063e+01] [ 2.06162445e-01 5.24717875e-03 9.78503712e-01 -1.23879617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25534707 meters Centerline goodness [0,1] 0.9906630581867388 Centerline is valid? [True, True] Translation: X:-137.36, Y:11.02, Z:-12.39 [[ 9.73775784e-01 -9.77619994e-02 -2.05434453e-01 -1.37364989e+02] [ 9.46263156e-02 9.95197458e-01 -2.50575238e-02 1.10217435e+01] [ 2.06897520e-01 4.96090447e-03 9.78350043e-01 -1.23945834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.28534707 meters Centerline goodness [0,1] 0.9897545357524012 Centerline is valid? [True, True] Translation: X:-137.39, Y:11.02, Z:-12.40 [[ 9.74026804e-01 -9.71199946e-02 -2.04547041e-01 -1.37392034e+02] [ 9.40147950e-02 9.95260161e-01 -2.48682704e-02 1.10152042e+01] [ 2.05992727e-01 4.99191381e-03 9.78540790e-01 -1.23991170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.31534707 meters Centerline goodness [0,1] 0.9910668913316751 Centerline is valid? [True, True] Translation: X:-137.42, Y:11.01, Z:-12.40 [[ 9.73729014e-01 -9.90175847e-02 -2.05054444e-01 -1.37418508e+02] [ 9.59459830e-02 9.95075210e-01 -2.48936646e-02 1.10066604e+01] [ 2.06509504e-01 4.56553333e-03 9.78433943e-01 -1.24046822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.34534707 meters Centerline goodness [0,1] 0.9899005922165821 Centerline is valid? [True, True] Translation: X:-137.45, Y:11.00, Z:-12.42 [[ 9.73831641e-01 -9.88711168e-02 -2.04637330e-01 -1.37445030e+02] [ 9.58217363e-02 9.95089958e-01 -2.47824613e-02 1.10019237e+01] [ 2.06082822e-01 4.52524073e-03 9.78524089e-01 -1.24175459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.37534707 meters Centerline goodness [0,1] 0.9903252797824496 Centerline is valid? [True, True] Translation: X:-137.47, Y:11.00, Z:-12.43 [[ 9.73745278e-01 -9.88001511e-02 -2.05082091e-01 -1.37471267e+02] [ 9.57555793e-02 9.95097323e-01 -2.47423979e-02 1.09973236e+01] [ 2.06521193e-01 4.45503867e-03 9.78431985e-01 -1.24250854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.40534707 meters Centerline goodness [0,1] 0.9897335423197492 Centerline is valid? [True, True] Translation: X:-137.50, Y:10.99, Z:-12.43 [[ 9.73625897e-01 -9.79831968e-02 -2.06038602e-01 -1.37497780e+02] [ 9.49087263e-02 9.95177581e-01 -2.47773326e-02 1.09900061e+01] [ 2.07472760e-01 4.56899135e-03 9.78230125e-01 -1.24288944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.43534707 meters Centerline goodness [0,1] 0.9917033964220897 Centerline is valid? [True, True] Translation: X:-137.53, Y:10.98, Z:-12.43 [[ 9.73614878e-01 -9.72052832e-02 -2.06458720e-01 -1.37525402e+02] [ 9.41107676e-02 9.95253270e-01 -2.47808981e-02 1.09847297e+01] [ 2.07887550e-01 4.69706253e-03 9.78141454e-01 -1.24318669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.46534707 meters Centerline goodness [0,1] 0.9903031887088343 Centerline is valid? [True, True] Translation: X:-137.55, Y:10.98, Z:-12.44 [[ 9.73378592e-01 -9.66036173e-02 -2.07850565e-01 -1.37552691e+02] [ 9.34725829e-02 9.95311519e-01 -2.48567135e-02 1.09796695e+01] [ 2.09277310e-01 4.76666360e-03 9.77844715e-01 -1.24396360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.49534707 meters Centerline goodness [0,1] 0.9897292009884678 Centerline is valid? [True, True] Translation: X:-137.58, Y:10.97, Z:-12.45 [[ 9.73450322e-01 -9.58567701e-02 -2.07860410e-01 -1.37579560e+02] [ 9.27289907e-02 9.95383416e-01 -2.47626445e-02 1.09746821e+01] [ 2.09274473e-01 4.83051821e-03 9.77845009e-01 -1.24482788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.52534707 meters Centerline goodness [0,1] 0.9895801331285202 Centerline is valid? [True, True] Translation: X:-137.61, Y:10.97, Z:-12.46 [[ 9.73333440e-01 -9.67352500e-02 -2.08000735e-01 -1.37606661e+02] [ 9.36446850e-02 9.95299785e-01 -2.46781347e-02 1.09687524e+01] [ 2.09410332e-01 4.54189045e-03 9.77817306e-01 -1.24566514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.55534707 meters Centerline goodness [0,1] 0.9892755917575262 Centerline is valid? [True, True] Translation: X:-137.63, Y:10.96, Z:-12.46 [[ 9.73202134e-01 -9.68751533e-02 -2.08549301e-01 -1.37633873e+02] [ 9.37872691e-02 9.95286602e-01 -2.46683717e-02 1.09636657e+01] [ 2.09956078e-01 4.44804254e-03 9.77700701e-01 -1.24608953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.58534707 meters Centerline goodness [0,1] 0.9890662087773345 Centerline is valid? [True, True] Translation: X:-137.66, Y:10.96, Z:-12.47 [[ 9.73297985e-01 -9.79115335e-02 -2.07615904e-01 -1.37661151e+02] [ 9.48850365e-02 9.95186442e-01 -2.45107225e-02 1.09560664e+01] [ 2.09016415e-01 4.15659418e-03 9.77903298e-01 -1.24677792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.61534707 meters Centerline goodness [0,1] 0.9908360532262114 Centerline is valid? [True, True] Translation: X:-137.69, Y:10.95, Z:-12.47 [[ 9.73391862e-01 -9.84466138e-02 -2.06921598e-01 -1.37687210e+02] [ 9.54698045e-02 9.95134513e-01 -2.43478324e-02 1.09482458e+01] [ 2.08311785e-01 3.94521736e-03 9.78054516e-01 -1.24729620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.64534707 meters Centerline goodness [0,1] 0.9899142588095357 Centerline is valid? [True, True] Translation: X:-137.71, Y:10.94, Z:-12.48 [[ 9.73609010e-01 -9.72969231e-02 -2.06443223e-01 -1.37713549e+02] [ 9.43231239e-02 9.95246908e-01 -2.42227304e-02 1.09441667e+01] [ 2.07818776e-01 4.11109887e-03 9.78158706e-01 -1.24805542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.67534707000002 meters Centerline goodness [0,1] 0.9899142588095357 Centerline is valid? [True, True] Translation: X:-137.74, Y:10.94, Z:-12.48 [[ 9.73652531e-01 -9.68354621e-02 -2.06454938e-01 -1.37740438e+02] [ 9.38726460e-02 9.95291932e-01 -2.41225267e-02 1.09407949e+01] [ 2.07818850e-01 4.10648789e-03 9.78158710e-01 -1.24847860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.70534707 meters Centerline goodness [0,1] 0.9890009842519685 Centerline is valid? [True, True] Translation: X:-137.77, Y:10.93, Z:-12.49 [[ 9.73678567e-01 -9.65504233e-02 -2.06465648e-01 -1.37765896e+02] [ 9.35986067e-02 9.95319720e-01 -2.40407209e-02 1.09331025e+01] [ 2.07820473e-01 4.08303772e-03 9.78158464e-01 -1.24892465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.73534707 meters Centerline goodness [0,1] 0.9903717637740705 Centerline is valid? [True, True] Translation: X:-137.79, Y:10.93, Z:-12.49 [[ 9.73702183e-01 -9.68741381e-02 -2.06202473e-01 -1.37792593e+02] [ 9.39467645e-02 9.95288753e-01 -2.39646513e-02 1.09266479e+01] [ 2.07552557e-01 3.96237811e-03 9.78215843e-01 -1.24917543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.76534707 meters Centerline goodness [0,1] 0.989627371939829 Centerline is valid? [True, True] Translation: X:-137.82, Y:10.92, Z:-12.50 [[ 9.73824841e-01 -9.76055789e-02 -2.05276230e-01 -1.37820064e+02] [ 9.47335886e-02 9.95218196e-01 -2.37968436e-02 1.09176449e+01] [ 2.06617344e-01 3.72740347e-03 9.78414728e-01 -1.24975825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.79534707 meters Centerline goodness [0,1] 0.9897678459385105 Centerline is valid? [True, True] Translation: X:-137.85, Y:10.91, Z:-12.50 [[ 9.74159856e-01 -9.78031223e-02 -2.03585670e-01 -1.37847567e+02] [ 9.50020319e-02 9.95199407e-01 -2.35107099e-02 1.09094917e+01] [ 2.04907759e-01 3.56213748e-03 9.78774806e-01 -1.25031136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.82534707 meters Centerline goodness [0,1] 0.9892395638180334 Centerline is valid? [True, True] Translation: X:-137.87, Y:10.91, Z:-12.51 [[ 9.74593608e-01 -9.70972136e-02 -2.01840110e-01 -1.37874826e+02] [ 9.43478336e-02 9.95268434e-01 -2.32213320e-02 1.09052513e+01] [ 2.03139817e-01 3.58818464e-03 9.79143166e-01 -1.25119012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.85534707 meters Centerline goodness [0,1] 0.9900384606196698 Centerline is valid? [True, True] Translation: X:-137.90, Y:10.90, Z:-12.51 [[ 9.74661291e-01 -9.66142786e-02 -2.01745008e-01 -1.37901712e+02] [ 9.38731897e-02 9.95315355e-01 -2.31337111e-02 1.08971305e+01] [ 2.03034951e-01 3.60908534e-03 9.79164840e-01 -1.25107893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.88534707 meters Centerline goodness [0,1] 0.98903743952718 Centerline is valid? [True, True] Translation: X:-137.93, Y:10.89, Z:-12.52 [[ 9.74937000e-01 -9.58507124e-02 -2.00774718e-01 -1.37930149e+02] [ 9.31316470e-02 9.95388870e-01 -2.29672528e-02 1.08926977e+01] [ 2.02050347e-01 3.69314432e-03 9.79368173e-01 -1.25156555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.91534707 meters Centerline goodness [0,1] 0.9881351134594518 Centerline is valid? [True, True] Translation: X:-137.96, Y:10.89, Z:-12.52 [[ 9.75268506e-01 -9.44485670e-02 -1.99826949e-01 -1.37957554e+02] [ 9.17445569e-02 9.95522205e-01 -2.27700458e-02 1.08869130e+01] [ 2.01082763e-01 3.87387367e-03 9.79566596e-01 -1.25207561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.94534707 meters Centerline goodness [0,1] 0.9889715371799986 Centerline is valid? [True, True] Translation: X:-137.98, Y:10.88, Z:-12.53 [[ 9.75347521e-01 -9.36166297e-02 -1.99832779e-01 -1.37984419e+02] [ 9.09141913e-02 9.95600479e-01 -2.26781124e-02 1.08830339e+01] [ 2.01076659e-01 3.95140520e-03 9.79567539e-01 -1.25304050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97534707 meters Centerline goodness [0,1] 0.9892543449822463 Centerline is valid? [True, True] Translation: X:-138.01, Y:10.88, Z:-12.53 [[ 9.75196508e-01 -9.26390505e-02 -2.01021832e-01 -1.38011672e+02] [ 8.99012176e-02 9.95691354e-01 -2.27266267e-02 1.08762127e+01] [ 2.02261073e-01 4.09081960e-03 9.79323095e-01 -1.25314988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.00534707 meters Centerline goodness [0,1] 0.9889895470383275 Centerline is valid? [True, True] Translation: X:-138.04, Y:10.87, Z:-12.54 [[ 9.75310102e-01 -9.39449406e-02 -1.99861336e-01 -1.38039288e+02] [ 9.12725735e-02 9.95570274e-01 -2.25642809e-02 1.08715147e+01] [ 2.01095805e-01 3.76531260e-03 9.79564342e-01 -1.25361974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03534707 meters Centerline goodness [0,1] 0.9893289507187334 Centerline is valid? [True, True] Translation: X:-138.07, Y:10.87, Z:-12.54 [[ 9.75464449e-01 -9.30504482e-02 -1.99526247e-01 -1.38066588e+02] [ 9.03785032e-02 9.95653781e-01 -2.24783146e-02 1.08659235e+01] [ 2.00750680e-01 3.89391317e-03 9.79634627e-01 -1.25412576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.06534707 meters Centerline goodness [0,1] 0.9888777004760161 Centerline is valid? [True, True] Translation: X:-138.09, Y:10.86, Z:-12.55 [[ 9.75607221e-01 -9.24719848e-02 -1.99096665e-01 -1.38094170e+02] [ 8.98199283e-02 9.95707634e-01 -2.23313161e-02 1.08627669e+01] [ 2.00307091e-01 3.90374502e-03 9.79725385e-01 -1.25495778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.09534707 meters Centerline goodness [0,1] 0.987980164987089 Centerline is valid? [True, True] Translation: X:-138.12, Y:10.86, Z:-12.55 [[ 9.75675825e-01 -9.19375157e-02 -1.99007986e-01 -1.38121822e+02] [ 8.92954002e-02 9.95757065e-01 -2.22306030e-02 1.08592363e+01] [ 2.00207435e-01 3.91936419e-03 9.79745692e-01 -1.25541334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.12534707 meters Centerline goodness [0,1] 0.9876170893305918 Centerline is valid? [True, True] Translation: X:-138.15, Y:10.85, Z:-12.55 [[ 9.75843057e-01 -9.01695700e-02 -1.98996924e-01 -1.38149921e+02] [ 8.75078499e-02 9.95917572e-01 -2.21487410e-02 1.08544802e+01] [ 2.00181676e-01 4.19990216e-03 9.79749793e-01 -1.25534433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.15534707 meters Centerline goodness [0,1] 0.9891351388287817 Centerline is valid? [True, True] Translation: X:-138.18, Y:10.85, Z:-12.56 [[ 9.76005164e-01 -8.97922003e-02 -1.98371570e-01 -1.38177488e+02] [ 8.71469808e-02 9.95951552e-01 -2.20433702e-02 1.08517225e+01] [ 1.99547796e-01 4.22695981e-03 9.79878977e-01 -1.25595283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.18534707 meters Centerline goodness [0,1] 0.9878322853056685 Centerline is valid? [True, True] Translation: X:-138.21, Y:10.85, Z:-12.56 [[ 9.76161642e-01 -8.76983983e-02 -1.98538256e-01 -1.38205353e+02] [ 8.50177958e-02 9.96136455e-01 -2.20031167e-02 1.08485231e+01] [ 1.99700832e-01 4.59931366e-03 9.79846123e-01 -1.25643316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.21534707 meters Centerline goodness [0,1] 0.9881593841974191 Centerline is valid? [True, True] Translation: X:-138.23, Y:10.85, Z:-12.57 [[ 9.76496642e-01 -8.61746011e-02 -1.97555677e-01 -1.38232934e+02] [ 8.35061181e-02 9.96268464e-01 -2.18145775e-02 1.08462070e+01] [ 1.98698353e-01 4.80475403e-03 9.80048917e-01 -1.25704603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.24534707 meters Centerline goodness [0,1] 0.987639893927817 Centerline is valid? [True, True] Translation: X:-138.26, Y:10.84, Z:-12.57 [[ 9.76682299e-01 -8.50543191e-02 -1.97122932e-01 -1.38259954e+02] [ 8.23847351e-02 9.96363907e-01 -2.17191432e-02 1.08422778e+01] [ 1.98253482e-01 4.97278215e-03 9.80138168e-01 -1.25728828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.27534707 meters Centerline goodness [0,1] 0.9880321846334152 Centerline is valid? [True, True] Translation: X:-138.29, Y:10.84, Z:-12.58 [[ 9.76943022e-01 -8.38776598e-02 -1.96333567e-01 -1.38288081e+02] [ 8.12170462e-02 9.96462829e-01 -2.15782946e-02 1.08393523e+01] [ 1.97449039e-01 5.13513195e-03 9.80299703e-01 -1.25768285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.30534707 meters Centerline goodness [0,1] 0.9870249399510629 Centerline is valid? [True, True] Translation: X:-138.32, Y:10.84, Z:-12.58 [[ 9.77103888e-01 -8.26756858e-02 -1.96042656e-01 -1.38315744e+02] [ 8.00174909e-02 9.96562535e-01 -2.14549714e-02 1.08361438e+01] [ 1.97142570e-01 5.27689455e-03 9.80360628e-01 -1.25818252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.33534707 meters Centerline goodness [0,1] 0.9876987428879843 Centerline is valid? [True, True] Translation: X:-138.34, Y:10.83, Z:-12.59 [[ 9.77707040e-01 -8.34627540e-02 -1.92673071e-01 -1.38344870e+02] [ 8.09272856e-02 9.96498626e-01 -2.10062715e-02 1.08336379e+01] [ 1.93751692e-01 4.94547083e-03 9.81038136e-01 -1.25877623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.36534707 meters Centerline goodness [0,1] 0.9869251779877312 Centerline is valid? [True, True] Translation: X:-138.37, Y:10.83, Z:-12.59 [[ 9.77436781e-01 -8.23475432e-02 -1.94515349e-01 -1.38373325e+02] [ 7.97463883e-02 9.96590162e-01 -2.11792967e-02 1.08305788e+01] [ 1.95596146e-01 5.18952705e-03 9.80670799e-01 -1.25927817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.39534707 meters Centerline goodness [0,1] 0.9877136029577528 Centerline is valid? [True, True] Translation: X:-138.40, Y:10.82, Z:-12.59 [[ 9.77290468e-01 -8.19250696e-02 -1.95426774e-01 -1.38401006e+02] [ 7.93053844e-02 9.96624791e-01 -2.12056874e-02 1.08226375e+01] [ 1.96504445e-01 5.22572073e-03 9.80489008e-01 -1.25926423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.42534707000002 meters Centerline goodness [0,1] 0.9873304782298359 Centerline is valid? [True, True] Translation: X:-138.43, Y:10.82, Z:-12.60 [[ 9.77165839e-01 -8.40440115e-02 -1.95150010e-01 -1.38428713e+02] [ 8.14826434e-02 9.96450737e-01 -2.11307273e-02 1.08193500e+01] [ 1.96233282e-01 4.74688625e-03 9.80545749e-01 -1.26006157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.45534707 meters Centerline goodness [0,1] 0.9884191339912866 Centerline is valid? [True, True] Translation: X:-138.46, Y:10.81, Z:-12.60 [[ 9.77198422e-01 -8.67238020e-02 -1.93809771e-01 -1.38455864e+02] [ 8.42653855e-02 9.96223954e-01 -2.09087869e-02 1.08117753e+01] [ 1.94891226e-01 4.10057852e-03 9.80816290e-01 -1.26028966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.48534707 meters Centerline goodness [0,1] 0.9873372570001784 Centerline is valid? [True, True] Translation: X:-138.48, Y:10.81, Z:-12.61 [[ 9.77389159e-01 -8.72839773e-02 -1.92592678e-01 -1.38484736e+02] [ 8.48755272e-02 9.96175752e-01 -2.07368300e-02 1.08078401e+01] [ 1.93666149e-01 3.92154775e-03 9.81059654e-01 -1.26050249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.51534707 meters Centerline goodness [0,1] 0.9891774891774892 Centerline is valid? [True, True] Translation: X:-138.51, Y:10.80, Z:-12.61 [[ 9.77619296e-01 -8.77431398e-02 -1.91211019e-01 -1.38512547e+02] [ 8.53924123e-02 9.96136155e-01 -2.05157833e-02 1.08027648e+01] [ 1.92272329e-01 3.72865541e-03 9.81334524e-01 -1.26052868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.54534707 meters Centerline goodness [0,1] 0.9881391141191449 Centerline is valid? [True, True] Translation: X:-138.54, Y:10.80, Z:-12.61 [[ 9.77948182e-01 -8.76780114e-02 -1.89551892e-01 -1.38540655e+02] [ 8.53732469e-02 9.96142085e-01 -2.03065526e-02 1.07986550e+01] [ 1.90601055e-01 3.67609572e-03 9.81660697e-01 -1.26073296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.57534707 meters Centerline goodness [0,1] 0.988852680076413 Centerline is valid? [True, True] Translation: X:-138.57, Y:10.79, Z:-12.61 [[ 9.78170022e-01 -8.58999101e-02 -1.89221071e-01 -1.38568298e+02] [ 8.35764176e-02 9.96295808e-01 -2.02396812e-02 1.07947766e+01] [ 1.90258747e-01 3.98343020e-03 9.81725899e-01 -1.26110586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.60534707 meters Centerline goodness [0,1] 0.987532292485679 Centerline is valid? [True, True] Translation: X:-138.60, Y:10.79, Z:-12.62 [[ 9.78192076e-01 -8.45545644e-02 -1.89712384e-01 -1.38595952e+02] [ 8.22018445e-02 9.96409938e-01 -2.02507355e-02 1.07915664e+01] [ 1.90743597e-01 4.21440114e-03 9.81630847e-01 -1.26171868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.63534707 meters Centerline goodness [0,1] 0.9883607265452726 Centerline is valid? [True, True] Translation: X:-138.62, Y:10.79, Z:-12.62 [[ 9.78679327e-01 -8.12022928e-02 -1.88660974e-01 -1.38623363e+02] [ 7.88287064e-02 9.96686257e-01 -2.00634182e-02 1.07871907e+01] [ 1.89664996e-01 4.76375205e-03 9.81837306e-01 -1.26215940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.66534707 meters Centerline goodness [0,1] 0.9871005971101691 Centerline is valid? [True, True] Translation: X:-138.65, Y:10.79, Z:-12.63 [[ 9.79437637e-01 -7.78909590e-02 -1.86104579e-01 -1.38650300e+02] [ 7.55309074e-02 9.96947868e-01 -1.97491758e-02 1.07855635e+01] [ 1.87074845e-01 5.28643837e-03 9.82331439e-01 -1.26272026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69534707 meters Centerline goodness [0,1] 0.9867363711076614 Centerline is valid? [True, True] Translation: X:-138.68, Y:10.78, Z:-12.63 [[ 9.79517247e-01 -7.78755527e-02 -1.85691573e-01 -1.38677601e+02] [ 7.55427026e-02 9.96949594e-01 -1.96165097e-02 1.07792558e+01] [ 1.86652785e-01 5.18706633e-03 9.82412252e-01 -1.26316963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.72534707 meters Centerline goodness [0,1] 0.9871745044694908 Centerline is valid? [True, True] Translation: X:-138.71, Y:10.77, Z:-12.64 [[ 9.79587293e-01 -8.27234981e-02 -1.83209054e-01 -1.38705503e+02] [ 8.05447172e-02 9.96563838e-01 -1.93149041e-02 1.07703128e+01] [ 1.84177314e-01 4.16411327e-03 9.82884214e-01 -1.26373564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75534707 meters Centerline goodness [0,1] 0.9856220188511309 Centerline is valid? [True, True] Translation: X:-138.73, Y:10.76, Z:-12.64 [[ 9.79663212e-01 -8.71785363e-02 -1.80720488e-01 -1.38733237e+02] [ 8.51376774e-02 9.96187366e-01 -1.90343994e-02 1.07599987e+01] [ 1.81690858e-01 3.26117828e-03 9.83350292e-01 -1.26373508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.78534707 meters Centerline goodness [0,1] 0.9857293868921776 Centerline is valid? [True, True] Translation: X:-138.76, Y:10.76, Z:-12.64 [[ 9.79895367e-01 -8.79967640e-02 -1.79057641e-01 -1.38761461e+02] [ 8.60129087e-02 9.96116096e-01 -1.88282511e-02 1.07555401e+01] [ 1.80019023e-01 3.04844755e-03 9.83658405e-01 -1.26408813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.81534707 meters Centerline goodness [0,1] 0.9873647453421857 Centerline is valid? [True, True] Translation: X:-138.79, Y:10.75, Z:-12.64 [[ 9.79841185e-01 -9.11904993e-02 -1.77751357e-01 -1.38789491e+02] [ 8.93019232e-02 9.95830658e-01 -1.86136002e-02 1.07482256e+01] [ 1.78707635e-01 2.36483407e-03 9.83899379e-01 -1.26444524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.84534707 meters Centerline goodness [0,1] 0.9862448418156808 Centerline is valid? [True, True] Translation: X:-138.82, Y:10.74, Z:-12.65 [[ 9.80047623e-01 -9.09882898e-02 -1.76713861e-01 -1.38816373e+02] [ 8.91310943e-02 9.95849266e-01 -1.84360442e-02 1.07440945e+01] [ 1.77657833e-01 2.31750149e-03 9.84089591e-01 -1.26486909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.87534707 meters Centerline goodness [0,1] 0.9858001215203547 Centerline is valid? [True, True] Translation: X:-138.84, Y:10.75, Z:-12.66 [[ 9.80025377e-01 -8.67143942e-02 -1.78971711e-01 -1.38844642e+02] [ 8.47437263e-02 9.96228381e-01 -1.86417072e-02 1.07450248e+01] [ 1.79913203e-01 3.10261638e-03 9.83677596e-01 -1.26595655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.90534707 meters Centerline goodness [0,1] 0.9860980733985965 Centerline is valid? [True, True] Translation: X:-138.87, Y:10.74, Z:-12.67 [[ 9.79940416e-01 -8.63730490e-02 -1.79600883e-01 -1.38871857e+02] [ 8.43912566e-02 9.96257950e-01 -1.86604519e-02 1.07411459e+01] [ 1.80540568e-01 3.12938683e-03 9.83562560e-01 -1.26650582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.93534707 meters Centerline goodness [0,1] 0.9869368168488403 Centerline is valid? [True, True] Translation: X:-138.90, Y:10.73, Z:-12.67 [[ 9.79819376e-01 -8.81374932e-02 -1.79403936e-01 -1.38898926e+02] [ 8.62030112e-02 9.96104589e-01 -1.85658177e-02 1.07347515e+01] [ 1.80341429e-01 2.72598842e-03 9.83600294e-01 -1.26687899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.96534707 meters Centerline goodness [0,1] 0.98725422827123 Centerline is valid? [True, True] Translation: X:-138.93, Y:10.73, Z:-12.68 [[ 9.79935354e-01 -9.12252440e-02 -1.77213592e-01 -1.38926553e+02] [ 8.93943552e-02 9.95828078e-01 -1.83054261e-02 1.07293208e+01] [ 1.78144188e-01 2.09623939e-03 9.84002162e-01 -1.26750513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.99534707 meters Centerline goodness [0,1] 0.987026979485037 Centerline is valid? [True, True] Translation: X:-138.95, Y:10.72, Z:-12.68 [[ 9.80068450e-01 -9.04994475e-02 -1.76849324e-01 -1.38953462e+02] [ 8.86774112e-02 9.95894183e-01 -1.81959436e-02 1.07245647e+01] [ 1.77769936e-01 2.15073003e-03 9.84069725e-01 -1.26777284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.02534707 meters Centerline goodness [0,1] 0.9857572365966598 Centerline is valid? [True, True] Translation: X:-138.98, Y:10.72, Z:-12.68 [[ 9.80645587e-01 -8.80300188e-02 -1.74885528e-01 -1.38981316e+02] [ 8.62164458e-02 9.96114609e-01 -1.79558059e-02 1.07222231e+01] [ 1.75786679e-01 2.53027318e-03 9.84425031e-01 -1.26791528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.05534707 meters Centerline goodness [0,1] 0.9848787008831715 Centerline is valid? [True, True] Translation: X:-139.01, Y:10.72, Z:-12.68 [[ 9.80981395e-01 -8.56366221e-02 -1.74189183e-01 -1.39008493e+02] [ 8.38066656e-02 9.96322187e-01 -1.78477611e-02 1.07219107e+01] [ 1.75076970e-01 2.91010692e-03 9.84550449e-01 -1.26849124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.08534707 meters Centerline goodness [0,1] 0.9848428593268832 Centerline is valid? [True, True] Translation: X:-139.04, Y:10.72, Z:-12.69 [[ 9.81420561e-01 -8.22121666e-02 -1.73363323e-01 -1.39036881e+02] [ 8.03627261e-02 9.96609009e-01 -1.76724473e-02 1.07207822e+01] [ 1.74228340e-01 3.41215385e-03 9.84699367e-01 -1.26905635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.11534707 meters Centerline goodness [0,1] 0.9845708775313404 Centerline is valid? [True, True] Translation: X:-139.06, Y:10.72, Z:-12.70 [[ 9.81153732e-01 -8.03972684e-02 -1.75708945e-01 -1.39064305e+02] [ 7.84812824e-02 9.96755989e-01 -1.78377694e-02 1.07169032e+01] [ 1.76573052e-01 3.71173069e-03 9.84280540e-01 -1.26958885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.14534707 meters Centerline goodness [0,1] 0.9858512194589402 Centerline is valid? [True, True] Translation: X:-139.09, Y:10.71, Z:-12.70 [[ 9.80914828e-01 -8.33356530e-02 -1.75673760e-01 -1.39092123e+02] [ 8.14755436e-02 9.96516604e-01 -1.77874773e-02 1.07111274e+01] [ 1.76544150e-01 3.13488509e-03 9.84287730e-01 -1.27030214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.17534707000002 meters Centerline goodness [0,1] 0.9861989773810556 Centerline is valid? [True, True] Translation: X:-139.12, Y:10.70, Z:-12.71 [[ 9.80856019e-01 -8.38418664e-02 -1.75761232e-01 -1.39119272e+02] [ 8.20012941e-02 9.96474646e-01 -1.77219469e-02 1.07046342e+01] [ 1.76627453e-01 2.97002978e-03 9.84273296e-01 -1.27074659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.20534707 meters Centerline goodness [0,1] 0.9850604695281006 Centerline is valid? [True, True] Translation: X:-139.15, Y:10.70, Z:-12.71 [[ 9.80746914e-01 -8.35204898e-02 -1.76521440e-01 -1.39146459e+02] [ 8.16673236e-02 9.96501567e-01 -1.77503842e-02 1.07014608e+01] [ 1.77386413e-01 2.99260090e-03 9.84136731e-01 -1.27149084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.23534707 meters Centerline goodness [0,1] 0.9869469546454741 Centerline is valid? [True, True] Translation: X:-139.17, Y:10.70, Z:-12.72 [[ 9.80593257e-01 -8.65861517e-02 -1.75896850e-01 -1.39173956e+02] [ 8.48094697e-02 9.96241599e-01 -1.76076609e-02 1.06956635e+01] [ 1.76760338e-01 2.34823503e-03 9.84251121e-01 -1.27199202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.26534707 meters Centerline goodness [0,1] 0.9863442450747101 Centerline is valid? [True, True] Translation: X:-139.20, Y:10.69, Z:-12.72 [[ 9.80531808e-01 -8.67253250e-02 -1.76170632e-01 -1.39200443e+02] [ 8.49503502e-02 9.96229610e-01 -1.76068857e-02 1.06908068e+01] [ 1.77033363e-01 2.29835457e-03 9.84202167e-01 -1.27210050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.29534707 meters Centerline goodness [0,1] 0.986907236376883 Centerline is valid? [True, True] Translation: X:-139.23, Y:10.69, Z:-12.73 [[ 9.81228353e-01 -8.52806334e-02 -1.72968588e-01 -1.39228493e+02] [ 8.35555061e-02 9.96353915e-01 -1.72439476e-02 1.06878891e+01] [ 1.73808504e-01 2.46777236e-03 9.84776378e-01 -1.27255423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.32534707 meters Centerline goodness [0,1] 0.9864444587435386 Centerline is valid? [True, True] Translation: X:-139.26, Y:10.68, Z:-12.73 [[ 9.81387123e-01 -8.44166699e-02 -1.72490987e-01 -1.39255678e+02] [ 8.27017416e-02 9.96427321e-01 -1.71177173e-02 1.06836333e+01] [ 1.73319753e-01 2.53380230e-03 9.84862347e-01 -1.27294967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.35534707 meters Centerline goodness [0,1] 0.9869481765834933 Centerline is valid? [True, True] Translation: X:-139.28, Y:10.68, Z:-12.74 [[ 9.81278116e-01 -8.62747976e-02 -1.72191518e-01 -1.39282078e+02] [ 8.46077195e-02 9.96269114e-01 -1.70113641e-02 1.06767305e+01] [ 1.73016743e-01 2.12414764e-03 9.84916593e-01 -1.27360643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.38534707 meters Centerline goodness [0,1] 0.9874711858618629 Centerline is valid? [True, True] Translation: X:-139.31, Y:10.67, Z:-12.74 [[ 9.80463724e-01 -8.77178244e-02 -1.76058139e-01 -1.39308820e+02] [ 8.60022261e-02 9.96143578e-01 -1.73663342e-02 1.06690123e+01] [ 1.76902522e-01 1.88566882e-03 9.84226570e-01 -1.27428653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.41534707 meters Centerline goodness [0,1] 0.98911527243522 Centerline is valid? [True, True] Translation: X:-139.34, Y:10.66, Z:-12.75 [[ 9.80088088e-01 -9.10117249e-02 -1.76477212e-01 -1.39335284e+02] [ 8.93457589e-02 9.95849015e-01 -1.73802760e-02 1.06597875e+01] [ 1.77326466e-01 1.26671106e-03 9.84151269e-01 -1.27483275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.44534707 meters Centerline goodness [0,1] 0.9889344955991876 Centerline is valid? [True, True] Translation: X:-139.36, Y:10.66, Z:-12.75 [[ 9.80123765e-01 -9.17688672e-02 -1.75885985e-01 -1.39363097e+02] [ 9.01324052e-02 9.95779737e-01 -1.72877109e-02 1.06550415e+01] [ 1.76730173e-01 1.09106950e-03 9.84258734e-01 -1.27545726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47534707 meters Centerline goodness [0,1] 0.9881365251226527 Centerline is valid? [True, True] Translation: X:-139.39, Y:10.65, Z:-12.76 [[ 9.79917372e-01 -9.06962116e-02 -1.77584183e-01 -1.39390440e+02] [ 8.90247677e-02 9.95877863e-01 -1.73744813e-02 1.06475389e+01] [ 1.78427956e-01 1.21616548e-03 9.83952227e-01 -1.27589915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.50534707 meters Centerline goodness [0,1] 0.9889866913746631 Centerline is valid? [True, True] Translation: X:-139.42, Y:10.64, Z:-12.77 [[ 9.80045095e-01 -9.07362697e-02 -1.76857402e-01 -1.39418499e+02] [ 8.90934129e-02 9.95874322e-01 -1.72249433e-02 1.06415106e+01] [ 1.77690672e-01 1.12439165e-03 9.84085749e-01 -1.27653731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53534707 meters Centerline goodness [0,1] 0.99005354157408 Centerline is valid? [True, True] Translation: X:-139.45, Y:10.64, Z:-12.77 [[ 9.80055686e-01 -8.96350020e-02 -1.77359576e-01 -1.39445796e+02] [ 8.79785034e-02 9.95973895e-01 -1.71983364e-02 1.06367438e+01] [ 1.78187081e-01 1.25149727e-03 9.83995832e-01 -1.27670004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.56534707 meters Centerline goodness [0,1] 0.99005354157408 Centerline is valid? [True, True] Translation: X:-139.47, Y:10.63, Z:-12.77 [[ 9.80101938e-01 -8.91180839e-02 -1.77364479e-01 -1.39472758e+02] [ 8.74623655e-02 9.96020227e-01 -1.71476292e-02 1.06339259e+01] [ 1.78186773e-01 1.29370775e-03 9.83995834e-01 -1.27712209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.59534707 meters Centerline goodness [0,1] 0.9895100476050048 Centerline is valid? [True, True] Translation: X:-139.50, Y:10.63, Z:-12.78 [[ 9.79992139e-01 -8.89526918e-02 -1.78052875e-01 -1.39499247e+02] [ 8.72985044e-02 9.96035089e-01 -1.71193766e-02 1.06275397e+01] [ 1.78869726e-01 1.23310478e-03 9.83871994e-01 -1.27777844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.62534707 meters Centerline goodness [0,1] 0.9899066363865758 Centerline is valid? [True, True] Translation: X:-139.53, Y:10.62, Z:-12.78 [[ 9.79838047e-01 -8.94056456e-02 -1.78672974e-01 -1.39526455e+02] [ 8.77646437e-02 9.95994734e-01 -1.70838102e-02 1.06226511e+01] [ 1.79484731e-01 1.05819727e-03 9.83760190e-01 -1.27824224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.65534707 meters Centerline goodness [0,1] 0.9903997316955583 Centerline is valid? [True, True] Translation: X:-139.55, Y:10.62, Z:-12.79 [[ 9.80123523e-01 -8.69695281e-02 -1.78309226e-01 -1.39552900e+02] [ 8.53122993e-02 9.96209979e-01 -1.69554909e-02 1.06175220e+01] [ 1.79108042e-01 1.40650536e-03 9.83828405e-01 -1.27889327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.68534707 meters Centerline goodness [0,1] 0.9895909690661193 Centerline is valid? [True, True] Translation: X:-139.58, Y:10.61, Z:-12.79 [[ 9.80417453e-01 -8.35288060e-02 -1.78338321e-01 -1.39580008e+02] [ 8.18301423e-02 9.96503457e-01 -1.68726736e-02 1.06127115e+01] [ 1.79124108e-01 1.94881347e-03 9.83824556e-01 -1.27921401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.71534707 meters Centerline goodness [0,1] 0.9903767360746328 Centerline is valid? [True, True] Translation: X:-139.61, Y:10.61, Z:-12.80 [[ 9.80807237e-01 -8.12410212e-02 -1.77248583e-01 -1.39606707e+02] [ 7.95330596e-02 9.96691800e-01 -1.67316381e-02 1.06097725e+01] [ 1.78021505e-01 2.31338960e-03 9.84023878e-01 -1.27989510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.74534707 meters Centerline goodness [0,1] 0.9893568082970893 Centerline is valid? [True, True] Translation: X:-139.64, Y:10.61, Z:-12.81 [[ 9.80961856e-01 -7.61558027e-02 -1.78645266e-01 -1.39635221e+02] [ 7.43538030e-02 9.97090896e-01 -1.67707383e-02 1.06070045e+01] [ 1.79402757e-01 3.16849961e-03 9.83770609e-01 -1.28055038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.77534707 meters Centerline goodness [0,1] 0.9889524851647657 Centerline is valid? [True, True] Translation: X:-139.66, Y:10.60, Z:-12.81 [[ 9.81130722e-01 -7.27259211e-02 -1.79146439e-01 -1.39662023e+02] [ 7.08692458e-02 9.97344957e-01 -1.67507449e-02 1.06013923e+01] [ 1.79889011e-01 3.73869737e-03 9.83679809e-01 -1.28096979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.80534707 meters Centerline goodness [0,1] 0.9887725495143181 Centerline is valid? [True, True] Translation: X:-139.69, Y:10.60, Z:-12.81 [[ 9.81409684e-01 -7.48110685e-02 -1.76743699e-01 -1.39690528e+02] [ 7.30441125e-02 9.97192347e-01 -1.64918218e-02 1.05965945e+01] [ 1.77481235e-01 3.27514693e-03 9.84118735e-01 -1.28135308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.83534707 meters Centerline goodness [0,1] 0.9897167938133556 Centerline is valid? [True, True] Translation: X:-139.72, Y:10.59, Z:-12.82 [[ 9.80927733e-01 -7.71268496e-02 -1.78415895e-01 -1.39716880e+02] [ 7.53787783e-02 9.97017352e-01 -1.65661993e-02 1.05862503e+01] [ 1.79161442e-01 2.80147218e-03 9.83815699e-01 -1.28202583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.86534707 meters Centerline goodness [0,1] 0.9896272081473565 Centerline is valid? [True, True] Translation: X:-139.74, Y:10.58, Z:-12.83 [[ 9.81031700e-01 -7.88308811e-02 -1.77094594e-01 -1.39743888e+02] [ 7.71509759e-02 9.96885140e-01 -1.63628986e-02 1.05800551e+01] [ 1.77832871e-01 2.38950143e-03 9.84057803e-01 -1.28252207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.89534707 meters Centerline goodness [0,1] 0.9894049679854839 Centerline is valid? [True, True] Translation: X:-139.77, Y:10.57, Z:-12.83 [[ 9.80776031e-01 -8.25390201e-02 -1.76821062e-01 -1.39770982e+02] [ 8.09291678e-02 9.96586407e-01 -1.63095820e-02 1.05704627e+01] [ 1.77563644e-01 1.68606572e-03 9.84107875e-01 -1.28298274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.92534707000002 meters Centerline goodness [0,1] 0.9897050582203865 Centerline is valid? [True, True] Translation: X:-139.80, Y:10.56, Z:-12.83 [[ 9.80727794e-01 -8.43993044e-02 -1.76209398e-01 -1.39799276e+02] [ 8.28368089e-02 9.96431154e-01 -1.62178381e-02 1.05629997e+01] [ 1.76949308e-01 1.30866039e-03 9.84219096e-01 -1.28340173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.95534707 meters Centerline goodness [0,1] 0.9908888101244709 Centerline is valid? [True, True] Translation: X:-139.83, Y:10.56, Z:-12.84 [[ 9.80423651e-01 -8.41286829e-02 -1.78021993e-01 -1.39825605e+02] [ 8.25430925e-02 9.96454058e-01 -1.63079142e-02 1.05560392e+01] [ 1.78762701e-01 1.29417896e-03 9.83891367e-01 -1.28393367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.98534707 meters Centerline goodness [0,1] 0.9914027527925365 Centerline is valid? [True, True] Translation: X:-139.85, Y:10.55, Z:-12.84 [[ 9.80498412e-01 -8.37578350e-02 -1.77784954e-01 -1.39853416e+02] [ 8.21796554e-02 9.96485280e-01 -1.62355026e-02 1.05521248e+01] [ 1.78519940e-01 1.30857830e-03 9.83935424e-01 -1.28434097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.01534707 meters Centerline goodness [0,1] 0.9902991613468519 Centerline is valid? [True, True] Translation: X:-139.88, Y:10.55, Z:-12.85 [[ 9.80345705e-01 -8.36946709e-02 -1.78654698e-01 -1.39879664e+02] [ 8.21172126e-02 9.96490687e-01 -1.62195760e-02 1.05460892e+01] [ 1.79385235e-01 1.23016591e-03 9.83778138e-01 -1.28524929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.04534707 meters Centerline goodness [0,1] 0.9903152258037526 Centerline is valid? [True, True] Translation: X:-139.91, Y:10.54, Z:-12.85 [[ 9.80454194e-01 -8.41170388e-02 -1.77859208e-01 -1.39907532e+02] [ 8.25765717e-02 9.96455319e-01 -1.60594710e-02 1.05405782e+01] [ 1.78579629e-01 1.05857206e-03 9.83924893e-01 -1.28544268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.07534707 meters Centerline goodness [0,1] 0.9910516874556756 Centerline is valid? [True, True] Translation: X:-139.94, Y:10.53, Z:-12.86 [[ 9.80500074e-01 -8.81917960e-02 -1.75618369e-01 -1.39935332e+02] [ 8.67637457e-02 9.96103478e-01 -1.58086855e-02 1.05328188e+01] [ 1.76328265e-01 2.63109818e-04 9.84331384e-01 -1.28576428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.10534707 meters Centerline goodness [0,1] 0.9908958028816037 Centerline is valid? [True, True] Translation: X:-139.96, Y:10.52, Z:-12.86 [[ 9.80328535e-01 -8.76079492e-02 -1.76863821e-01 -1.39963142e+02] [ 8.61648904e-02 9.96154990e-01 -1.58381461e-02 1.05248825e+01] [ 1.77571325e-01 2.87134851e-04 9.84107891e-01 -1.28645850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.13534707 meters Centerline goodness [0,1] 0.9918318992393067 Centerline is valid? [True, True] Translation: X:-139.99, Y:10.52, Z:-12.87 [[ 9.80218937e-01 -8.87373530e-02 -1.76908219e-01 -1.39989864e+02] [ 8.73252690e-02 9.96055060e-01 -1.57675387e-02 1.05195272e+01] [ 1.77609496e-01 7.08220224e-06 9.84101045e-01 -1.28688653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.16534707 meters Centerline goodness [0,1] 0.9915760134783784 Centerline is valid? [True, True] Translation: X:-140.02, Y:10.51, Z:-12.87 [[ 9.80260740e-01 -8.95652267e-02 -1.76258195e-01 -1.40016669e+02] [ 8.81853294e-02 9.95980941e-01 -1.56624911e-02 1.05126341e+01] [ 1.76952618e-01 -1.90061917e-04 9.84219353e-01 -1.28749510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19534707 meters Centerline goodness [0,1] 0.9921287790212127 Centerline is valid? [True, True] Translation: X:-140.04, Y:10.51, Z:-12.88 [[ 9.80247156e-01 -8.97035202e-02 -1.76263416e-01 -1.40043867e+02] [ 8.83422936e-02 9.95968465e-01 -1.55709865e-02 1.05059946e+01] [ 1.76949576e-01 -3.08099183e-04 9.84219870e-01 -1.28805220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.22534707 meters Centerline goodness [0,1] 0.9929083931253129 Centerline is valid? [True, True] Translation: X:-140.07, Y:10.50, Z:-12.88 [[ 9.80246526e-01 -9.01298763e-02 -1.76049292e-01 -1.40070782e+02] [ 8.87930584e-02 9.95929912e-01 -1.54726707e-02 1.05012081e+01] [ 1.76727306e-01 -4.64923367e-04 9.84259744e-01 -1.28832249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25534707 meters Centerline goodness [0,1] 0.9923174352692012 Centerline is valid? [True, True] Translation: X:-140.10, Y:10.49, Z:-12.89 [[ 9.80037839e-01 -9.14598668e-02 -1.76524579e-01 -1.40098228e+02] [ 9.01458162e-02 9.95808477e-01 -1.54663995e-02 1.04944691e+01] [ 1.77199227e-01 -7.55295508e-04 9.84174712e-01 -1.28883105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.28534707 meters Centerline goodness [0,1] 0.9929332304934231 Centerline is valid? [True, True] Translation: X:-140.13, Y:10.49, Z:-12.89 [[ 9.79982860e-01 -9.17112238e-02 -1.76699306e-01 -1.40125872e+02] [ 9.04154506e-02 9.95785242e-01 -1.53882397e-02 1.04897923e+01] [ 1.77365835e-01 -8.96136139e-04 9.84144582e-01 -1.28927111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.31534707 meters Centerline goodness [0,1] 0.99262592175978 Centerline is valid? [True, True] Translation: X:-140.15, Y:10.48, Z:-12.90 [[ 9.79664440e-01 -9.21813782e-02 -1.78213856e-01 -1.40152802e+02] [ 9.08874920e-02 9.95741644e-01 -1.54286158e-02 1.04823589e+01] [ 1.78877189e-01 -1.08254416e-03 9.83870814e-01 -1.29015716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.34534707 meters Centerline goodness [0,1] 0.9922895784274908 Centerline is valid? [True, True] Translation: X:-140.18, Y:10.48, Z:-12.90 [[ 9.79556733e-01 -9.33008474e-02 -1.78223340e-01 -1.40179444e+02] [ 9.20396455e-02 9.95637023e-01 -1.53499729e-02 1.04782172e+01] [ 1.78877921e-01 -1.36744366e-03 9.83870327e-01 -1.29039634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.37534707 meters Centerline goodness [0,1] 0.994041521189187 Centerline is valid? [True, True] Translation: X:-140.21, Y:10.47, Z:-12.91 [[ 9.79273123e-01 -9.47061684e-02 -1.79038803e-01 -1.40206949e+02] [ 9.34689571e-02 9.95503818e-01 -1.53526202e-02 1.04701562e+01] [ 1.79687800e-01 -1.70016187e-03 9.83722219e-01 -1.29082701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.40534707 meters Centerline goodness [0,1] 0.9935166136774515 Centerline is valid? [True, True] Translation: X:-140.23, Y:10.46, Z:-12.91 [[ 9.79414649e-01 -9.56012559e-02 -1.77784548e-01 -1.40234808e+02] [ 9.44108080e-02 9.95417833e-01 -1.51636723e-02 1.04621869e+01] [ 1.78419576e-01 -1.93326008e-03 9.83952599e-01 -1.29144772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.43534707 meters Centerline goodness [0,1] 0.9941019548997541 Centerline is valid? [True, True] Translation: X:-140.26, Y:10.46, Z:-12.92 [[ 9.79681753e-01 -9.43419624e-02 -1.76983778e-01 -1.40262441e+02] [ 9.31552811e-02 9.95538275e-01 -1.50211815e-02 1.04559333e+01] [ 1.77611253e-01 -1.77099616e-03 9.84099134e-01 -1.29177738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.46534707 meters Centerline goodness [0,1] 0.9938320318989865 Centerline is valid? [True, True] Translation: X:-140.29, Y:10.45, Z:-12.92 [[ 9.79678607e-01 -9.41197614e-02 -1.77119444e-01 -1.40289416e+02] [ 9.29344926e-02 9.95559308e-01 -1.49947982e-02 1.04504470e+01] [ 1.77744218e-01 -1.77042261e-03 9.84075129e-01 -1.29240317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.49534707 meters Centerline goodness [0,1] 0.9944182946640563 Centerline is valid? [True, True] Translation: X:-140.32, Y:10.44, Z:-12.93 [[ 9.79632203e-01 -9.26907199e-02 -1.78126856e-01 -1.40316598e+02] [ 9.14855668e-02 9.95693638e-01 -1.49856832e-02 1.04435266e+01] [ 1.78748811e-01 -1.61557847e-03 9.83893415e-01 -1.29310485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.52534707 meters Centerline goodness [0,1] 0.993421739584421 Centerline is valid? [True, True] Translation: X:-140.34, Y:10.44, Z:-12.93 [[ 9.80013875e-01 -9.14193304e-02 -1.76678553e-01 -1.40344421e+02] [ 9.02279362e-02 9.95811424e-01 -1.47826893e-02 1.04402850e+01] [ 1.77289945e-01 -1.45410060e-03 9.84157589e-01 -1.29317992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.55534707 meters Centerline goodness [0,1] 0.9949096674594233 Centerline is valid? [True, True] Translation: X:-140.37, Y:10.43, Z:-12.94 [[ 9.79869860e-01 -8.87813157e-02 -1.78809775e-01 -1.40372057e+02] [ 8.75240252e-02 9.96050613e-01 -1.49238463e-02 1.04342375e+01] [ 1.79428545e-01 -1.02672414e-03 9.83770473e-01 -1.29390590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.58534707 meters Centerline goodness [0,1] 0.994837420375536 Centerline is valid? [True, True] Translation: X:-140.40, Y:10.43, Z:-12.95 [[ 9.80085195e-01 -8.54289409e-02 -1.79262116e-01 -1.40399005e+02] [ 8.41250830e-02 9.96344141e-01 -1.48769653e-02 1.04287873e+01] [ 1.79877682e-01 -4.99746910e-04 9.83688858e-01 -1.29470335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.61534707 meters Centerline goodness [0,1] 0.9942516765943267 Centerline is valid? [True, True] Translation: X:-140.43, Y:10.43, Z:-12.95 [[ 9.80097270e-01 -8.35217435e-02 -1.80092920e-01 -1.40426361e+02] [ 8.21898322e-02 9.96505926e-01 -1.48583418e-02 1.04255491e+01] [ 1.80704656e-01 -2.39186617e-04 9.83537376e-01 -1.29506351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.64534707 meters Centerline goodness [0,1] 0.994838574861561 Centerline is valid? [True, True] Translation: X:-140.45, Y:10.42, Z:-12.96 [[ 9.80466666e-01 -7.90052869e-02 -1.80120185e-01 -1.40452814e+02] [ 7.76053943e-02 9.96874046e-01 -1.48168721e-02 1.04224316e+01] [ 1.80727748e-01 5.49151212e-04 9.83533009e-01 -1.29552237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.67534707000002 meters Centerline goodness [0,1] 0.9939719948929401 Centerline is valid? [True, True] Translation: X:-140.48, Y:10.42, Z:-12.96 [[ 9.80786335e-01 -7.65903796e-02 -1.79421509e-01 -1.40480740e+02] [ 7.51702626e-02 9.97062199e-01 -1.47106438e-02 1.04192472e+01] [ 1.80021098e-01 9.40836449e-04 9.83662299e-01 -1.29589588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.70534707 meters Centerline goodness [0,1] 0.9941762164193124 Centerline is valid? [True, True] Translation: X:-140.51, Y:10.42, Z:-12.96 [[ 9.81409049e-01 -7.11606184e-02 -1.78248267e-01 -1.40507877e+02] [ 6.96873664e-02 9.97463193e-01 -1.45206780e-02 1.04159839e+01] [ 1.78829386e-01 1.82907257e-03 9.83878400e-01 -1.29633945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.73534707 meters Centerline goodness [0,1] 0.9950107651540245 Centerline is valid? [True, True] Translation: X:-140.54, Y:10.41, Z:-12.97 [[ 9.81903749e-01 -6.58094158e-02 -1.77578571e-01 -1.40535810e+02] [ 6.42770737e-02 9.97828557e-01 -1.43745656e-02 1.04138022e+01] [ 1.78138951e-01 2.70020897e-03 9.84001638e-01 -1.29688931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.76534707 meters Centerline goodness [0,1] 0.9947344417264398 Centerline is valid? [True, True] Translation: X:-140.56, Y:10.41, Z:-12.97 [[ 9.82155843e-01 -6.21183934e-02 -1.77513957e-01 -1.40564404e+02] [ 6.05419477e-02 9.98063376e-01 -1.42888243e-02 1.04111598e+01] [ 1.78057778e-01 3.28681162e-03 9.84014545e-01 -1.29727449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.79534707 meters Centerline goodness [0,1] 0.9953751927003042 Centerline is valid? [True, True] Translation: X:-140.59, Y:10.41, Z:-12.98 [[ 9.82219297e-01 -5.69449904e-02 -1.78892481e-01 -1.40591365e+02] [ 5.52718818e-02 9.98368548e-01 -1.43269213e-02 1.04077060e+01] [ 1.79416473e-01 4.18445449e-03 9.83764311e-01 -1.29776396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.82534707 meters Centerline goodness [0,1] 0.9952142158596725 Centerline is valid? [True, True] Translation: X:-140.62, Y:10.40, Z:-12.98 [[ 9.82370036e-01 -5.25138739e-02 -1.79419633e-01 -1.40619275e+02] [ 5.07658757e-02 9.98607865e-01 -1.43233617e-02 1.04042854e+01] [ 1.79922031e-01 4.96244660e-03 9.83668357e-01 -1.29834465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.85534707 meters Centerline goodness [0,1] 0.9951027382986705 Centerline is valid? [True, True] Translation: X:-140.65, Y:10.40, Z:-12.99 [[ 9.82293946e-01 -4.96981949e-02 -1.80634144e-01 -1.40647010e+02] [ 4.78940869e-02 9.98749504e-01 -1.43382414e-02 1.04021141e+01] [ 1.81120846e-01 5.43306037e-03 9.83445840e-01 -1.29898682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.88534707 meters Centerline goodness [0,1] 0.9948557742372175 Centerline is valid? [True, True] Translation: X:-140.67, Y:10.40, Z:-12.99 [[ 9.82256051e-01 -4.78030999e-02 -1.81350252e-01 -1.40674235e+02] [ 4.59661497e-02 9.98840337e-01 -1.43211036e-02 1.03967514e+01] [ 1.81824540e-01 5.73101782e-03 9.83314290e-01 -1.29940118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.91534707 meters Centerline goodness [0,1] 0.9947801230399569 Centerline is valid? [True, True] Translation: X:-140.70, Y:10.39, Z:-13.00 [[ 9.82204623e-01 -4.60086307e-02 -1.82091420e-01 -1.40702101e+02] [ 4.41328540e-02 9.98922717e-01 -1.43420994e-02 1.03936789e+01] [ 1.82555116e-01 6.05066227e-03 9.83177003e-01 -1.29994737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.94534707 meters Centerline goodness [0,1] 0.9951050420168067 Centerline is valid? [True, True] Translation: X:-140.73, Y:10.39, Z:-13.00 [[ 9.82209598e-01 -4.45365401e-02 -1.82430268e-01 -1.40729609e+02] [ 4.26426664e-02 9.98988148e-01 -1.42928005e-02 1.03877220e+01] [ 1.82882228e-01 6.25921276e-03 9.83114903e-01 -1.30030315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97534707 meters Centerline goodness [0,1] 0.9950585499543227 Centerline is valid? [True, True] Translation: X:-140.76, Y:10.38, Z:-13.01 [[ 9.82384122e-01 -4.62888843e-02 -1.81049096e-01 -1.40757439e+02] [ 4.44624887e-02 9.98911043e-01 -1.41355841e-02 1.03825283e+01] [ 1.81506262e-01 5.83667996e-03 9.83372468e-01 -1.30089235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.00534707 meters Centerline goodness [0,1] 0.9955762321128164 Centerline is valid? [True, True] Translation: X:-140.79, Y:10.38, Z:-13.02 [[ 9.82433050e-01 -4.65003449e-02 -1.80729135e-01 -1.40785677e+02] [ 4.46989320e-02 9.98901983e-01 -1.40297170e-02 1.03796857e+01] [ 1.81183078e-01 5.70485834e-03 9.83432838e-01 -1.30162998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03534707 meters Centerline goodness [0,1] 0.9956843531741895 Centerline is valid? [True, True] Translation: X:-140.81, Y:10.37, Z:-13.02 [[ 9.82289530e-01 -4.84262525e-02 -1.81003253e-01 -1.40813013e+02] [ 4.66647475e-02 9.98812773e-01 -1.39802275e-02 1.03707573e+01] [ 1.81465371e-01 5.28615996e-03 9.83383128e-01 -1.30181926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.06534707 meters Centerline goodness [0,1] 0.9958534755792632 Centerline is valid? [True, True] Translation: X:-140.84, Y:10.37, Z:-13.02 [[ 9.82444700e-01 -5.20970499e-02 -1.79132100e-01 -1.40841994e+02] [ 5.04372621e-02 9.98631737e-01 -1.38107382e-02 1.03653809e+01] [ 1.79606499e-01 4.53335382e-03 9.83728090e-01 -1.30213917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.09534707 meters Centerline goodness [0,1] 0.9958900108487023 Centerline is valid? [True, True] Translation: X:-140.87, Y:10.35, Z:-13.03 [[ 9.81534646e-01 -5.62719403e-02 -1.82820150e-01 -1.40867771e+02] [ 5.46185917e-02 9.98408152e-01 -1.40702426e-02 1.03538295e+01] [ 1.83320888e-01 3.82505142e-03 9.83045686e-01 -1.30307888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.12534707 meters Centerline goodness [0,1] 0.9961881353107815 Centerline is valid? [True, True] Translation: X:-140.89, Y:10.35, Z:-13.04 [[ 9.81261193e-01 -5.85504435e-02 -1.83571012e-01 -1.40894456e+02] [ 5.69382497e-02 9.98278896e-01 -1.40456665e-02 1.03483390e+01] [ 1.84077447e-01 3.33025532e-03 9.82906101e-01 -1.30351316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.15534707 meters Centerline goodness [0,1] 0.9964065601169957 Centerline is valid? [True, True] Translation: X:-140.92, Y:10.34, Z:-13.04 [[ 9.80822999e-01 -5.98264893e-02 -1.85491336e-01 -1.40922074e+02] [ 5.82099789e-02 9.98204025e-01 -1.41535255e-02 1.03422465e+01] [ 1.86004954e-01 3.08465663e-03 9.82543964e-01 -1.30441582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.18534707 meters Centerline goodness [0,1] 0.9969532554257096 Centerline is valid? [True, True] Translation: X:-140.95, Y:10.34, Z:-13.05 [[ 9.80584576e-01 -5.95719792e-02 -1.86828985e-01 -1.40949603e+02] [ 5.79419282e-02 9.98219267e-01 -1.41784016e-02 1.03379327e+01] [ 1.87340928e-01 3.07789030e-03 9.82290132e-01 -1.30475748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.21534707 meters Centerline goodness [0,1] 0.9969710895721925 Centerline is valid? [True, True] Translation: X:-140.98, Y:10.33, Z:-13.06 [[ 9.80413271e-01 -6.14388019e-02 -1.87123197e-01 -1.40977320e+02] [ 5.98468842e-02 9.98107270e-01 -1.41502249e-02 1.03320026e+01] [ 1.87638396e-01 2.67432802e-03 9.82234534e-01 -1.30563397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.24534707 meters Centerline goodness [0,1] 0.9972507292912758 Centerline is valid? [True, True] Translation: X:-141.00, Y:10.33, Z:-13.06 [[ 9.80257809e-01 -6.11958797e-02 -1.88015136e-01 -1.41004362e+02] [ 5.95981341e-02 9.98122231e-01 -1.41447741e-02 1.03275585e+01] [ 1.88527689e-01 2.66017403e-03 9.82064272e-01 -1.30591799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.27534707 meters Centerline goodness [0,1] 0.9965250157002302 Centerline is valid? [True, True] Translation: X:-141.03, Y:10.32, Z:-13.07 [[ 9.80326892e-01 -6.22118424e-02 -1.87320239e-01 -1.41031549e+02] [ 6.06518244e-02 9.98060043e-01 -1.40536853e-02 1.03209531e+01] [ 1.87831152e-01 2.41589132e-03 9.82198362e-01 -1.30675957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.30534707 meters Centerline goodness [0,1] 0.9976676870535808 Centerline is valid? [True, True] Translation: X:-141.06, Y:10.31, Z:-13.07 [[ 9.80113005e-01 -6.42002573e-02 -1.87768004e-01 -1.41058611e+02] [ 6.26849905e-02 9.97935122e-01 -1.40030099e-02 1.03132882e+01] [ 1.88279283e-01 1.95429659e-03 9.82113584e-01 -1.30717768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.33534707 meters Centerline goodness [0,1] 0.9974915863625912 Centerline is valid? [True, True] Translation: X:-141.09, Y:10.31, Z:-13.07 [[ 9.80487829e-01 -6.30957545e-02 -1.86178795e-01 -1.41087599e+02] [ 6.16032789e-02 9.98005356e-01 -1.37966071e-02 1.03091573e+01] [ 1.86677942e-01 2.05818112e-03 9.82419009e-01 -1.30731791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.36534707 meters Centerline goodness [0,1] 0.997979208766484 Centerline is valid? [True, True] Translation: X:-141.11, Y:10.30, Z:-13.08 [[ 9.80288926e-01 -6.39802654e-02 -1.86922838e-01 -1.41114793e+02] [ 6.25073529e-02 9.97949515e-01 -1.37693665e-02 1.03027757e+01] [ 1.87420523e-01 1.81390569e-03 9.82278096e-01 -1.30807892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.39534707 meters Centerline goodness [0,1] 0.9979129708859439 Centerline is valid? [True, True] Translation: X:-141.14, Y:10.30, Z:-13.09 [[ 9.80315213e-01 -6.18786003e-02 -1.87491657e-01 -1.41142636e+02] [ 6.03758185e-02 9.98081409e-01 -1.37208622e-02 1.02999841e+01] [ 1.87980965e-01 2.13080766e-03 9.82170360e-01 -1.30882099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.42534707000002 meters Centerline goodness [0,1] 0.9974021076449268 Centerline is valid? [True, True] Translation: X:-141.17, Y:10.29, Z:-13.09 [[ 9.80308039e-01 -6.23712382e-02 -1.87365891e-01 -1.41170264e+02] [ 6.08927802e-02 9.98051087e-01 -1.36417580e-02 1.02943441e+01] [ 1.87851585e-01 1.96389500e-03 9.82195462e-01 -1.30886019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.45534707 meters Centerline goodness [0,1] 0.9981218697829716 Centerline is valid? [True, True] Translation: X:-141.20, Y:10.29, Z:-13.09 [[ 9.80565499e-01 -6.15859375e-02 -1.86275266e-01 -1.41198141e+02] [ 6.01162167e-02 9.98099633e-01 -1.35338074e-02 1.02914532e+01] [ 1.86754767e-01 2.07262034e-03 9.82404378e-01 -1.30927884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.48534707 meters Centerline goodness [0,1] 0.9981218697829716 Centerline is valid? [True, True] Translation: X:-141.23, Y:10.29, Z:-13.10 [[ 9.80595473e-01 -6.10979394e-02 -1.86278178e-01 -1.41225265e+02] [ 5.96271288e-02 9.98129515e-01 -1.34936044e-02 1.02892715e+01] [ 1.86754179e-01 2.12453448e-03 9.82404379e-01 -1.30970187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.51534707 meters Centerline goodness [0,1] 0.9984754824158383 Centerline is valid? [True, True] Translation: X:-141.25, Y:10.29, Z:-13.10 [[ 9.80531007e-01 -6.01677167e-02 -1.86919205e-01 -1.41252848e+02] [ 5.86873383e-02 9.98185820e-01 -1.34486268e-02 1.02854819e+01] [ 1.87389273e-01 2.21700494e-03 9.82283231e-01 -1.31046717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.54534707 meters Centerline goodness [0,1] 0.9980825743523478 Centerline is valid? [True, True] Translation: X:-141.28, Y:10.28, Z:-13.11 [[ 9.80274394e-01 -6.01152027e-02 -1.88277123e-01 -1.41281432e+02] [ 5.86277942e-02 9.98189108e-01 -1.34642757e-02 1.02818406e+01] [ 1.88745581e-01 2.16041222e-03 9.82023644e-01 -1.31096237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.57534707 meters Centerline goodness [0,1] 0.9984206203803146 Centerline is valid? [True, True] Translation: X:-141.31, Y:10.28, Z:-13.12 [[ 9.80123643e-01 -5.83004744e-02 -1.89627793e-01 -1.41309562e+02] [ 5.67736216e-02 9.98296086e-01 -1.34788608e-02 1.02784863e+01] [ 1.90090508e-01 2.44509356e-03 9.81763526e-01 -1.31174652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.60534707 meters Centerline goodness [0,1] 0.9984309951674651 Centerline is valid? [True, True] Translation: X:-141.34, Y:10.28, Z:-13.12 [[ 9.80138225e-01 -5.59356608e-02 -1.90263664e-01 -1.41337117e+02] [ 5.43684266e-02 9.98430337e-01 -1.34512680e-02 1.02750392e+01] [ 1.90717420e-01 2.83976583e-03 9.81640872e-01 -1.31228651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.63534707 meters Centerline goodness [0,1] 0.9983710293841238 Centerline is valid? [True, True] Translation: X:-141.37, Y:10.27, Z:-13.13 [[ 9.80164925e-01 -5.42267374e-02 -1.90620517e-01 -1.41365534e+02] [ 5.26313864e-02 9.98523752e-01 -1.34258705e-02 1.02726963e+01] [ 1.91067155e-01 3.12694528e-03 9.81571986e-01 -1.31282476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.66534707 meters Centerline goodness [0,1] 0.9982364796775277 Centerline is valid? [True, True] Translation: X:-141.39, Y:10.27, Z:-13.13 [[ 9.80115199e-01 -5.39101090e-02 -1.90965696e-01 -1.41392454e+02] [ 5.23181846e-02 9.98540933e-01 -1.33720491e-02 1.02676806e+01] [ 1.91407953e-01 3.11517002e-03 9.81505625e-01 -1.31317712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69534707 meters Centerline goodness [0,1] 0.9984175212052159 Centerline is valid? [True, True] Translation: X:-141.42, Y:10.26, Z:-13.14 [[ 9.80234034e-01 -5.30581115e-02 -1.90594006e-01 -1.41420310e+02] [ 5.14701810e-02 9.98586288e-01 -1.32757560e-02 1.02638728e+01] [ 1.91028947e-01 3.20343995e-03 9.81579176e-01 -1.31362197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.72534707 meters Centerline goodness [0,1] 0.9988404208218253 Centerline is valid? [True, True] Translation: X:-141.45, Y:10.26, Z:-13.14 [[ 9.80383329e-01 -5.41651991e-02 -1.89511634e-01 -1.41448143e+02] [ 5.26335844e-02 9.98527842e-01 -1.31093306e-02 1.02581007e+01] [ 1.89942712e-01 2.87749258e-03 9.81790958e-01 -1.31414324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75534707 meters Centerline goodness [0,1] 0.999288375402905 Centerline is valid? [True, True] Translation: X:-141.48, Y:10.25, Z:-13.15 [[ 9.80724420e-01 -5.51443583e-02 -1.87453223e-01 -1.41476097e+02] [ 5.36794404e-02 9.98475071e-01 -1.28860365e-02 1.02521471e+01] [ 1.87877963e-01 2.57526650e-03 9.82189004e-01 -1.31480792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.78534707 meters Centerline goodness [0,1] 0.9988793030533706 Centerline is valid? [True, True] Translation: X:-141.50, Y:10.25, Z:-13.15 [[ 9.80990988e-01 -5.50122211e-02 -1.86092278e-01 -1.41503755e+02] [ 5.35798369e-02 9.98482529e-01 -1.27216697e-02 1.02472939e+01] [ 1.86509736e-01 2.50904941e-03 9.82449909e-01 -1.31486266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.81534707 meters Centerline goodness [0,1] 0.9989287964713296 Centerline is valid? [True, True] Translation: X:-141.53, Y:10.24, Z:-13.15 [[ 9.81787002e-01 -5.35468710e-02 -1.82282788e-01 -1.41531883e+02] [ 5.21549617e-02 9.98561710e-01 -1.24246045e-02 1.02447034e+01] [ 1.82685911e-01 2.69136344e-03 9.83167643e-01 -1.31548224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.84534707 meters Centerline goodness [0,1] 0.9991555658764171 Centerline is valid? [True, True] Translation: X:-141.56, Y:10.24, Z:-13.16 [[ 9.81340871e-01 -5.31265717e-02 -1.84790862e-01 -1.41558992e+02] [ 5.17021704e-02 9.98584044e-01 -1.25216904e-02 1.02400741e+01] [ 1.85194440e-01 2.73395790e-03 9.82698094e-01 -1.31576713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.87534707 meters Centerline goodness [0,1] 0.9990287572315358 Centerline is valid? [True, True] Translation: X:-141.59, Y:10.23, Z:-13.17 [[ 9.80602472e-01 -5.20779584e-02 -1.88962110e-01 -1.41586124e+02] [ 5.05738130e-02 9.98638600e-01 -1.27763892e-02 1.02348993e+01] [ 1.89370225e-01 2.97202444e-03 9.81901260e-01 -1.31677117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.90534707 meters Centerline goodness [0,1] 0.9990315789473684 Centerline is valid? [True, True] Translation: X:-141.61, Y:10.23, Z:-13.17 [[ 9.80840008e-01 -5.08460023e-02 -1.88062657e-01 -1.41613511e+02] [ 4.93384893e-02 9.98701475e-01 -1.26915855e-02 1.02291224e+01] [ 1.88463770e-01 3.16968744e-03 9.82075028e-01 -1.31697333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.93534707 meters Centerline goodness [0,1] 0.9993253784205423 Centerline is valid? [True, True] Translation: X:-141.64, Y:10.23, Z:-13.18 [[ 9.80691356e-01 -5.09128129e-02 -1.88818299e-01 -1.41640452e+02] [ 4.94021370e-02 9.98698202e-01 -1.27015548e-02 1.02255077e+01] [ 1.89219168e-01 3.12827754e-03 9.81929896e-01 -1.31780547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.96534707 meters Centerline goodness [0,1] 0.9984998943587576 Centerline is valid? [True, True] Translation: X:-141.67, Y:10.22, Z:-13.18 [[ 9.81053072e-01 -4.83186325e-02 -1.87617111e-01 -1.41668486e+02] [ 4.67978747e-02 9.98825799e-01 -1.25292304e-02 1.02217638e+01] [ 1.88002206e-01 3.51175787e-03 9.82162328e-01 -1.31784508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.99534707 meters Centerline goodness [0,1] 0.998989218328841 Centerline is valid? [True, True] Translation: X:-141.70, Y:10.22, Z:-13.18 [[ 9.81139990e-01 -4.75354866e-02 -1.87362475e-01 -1.41695207e+02] [ 4.60208553e-02 9.98863166e-01 -1.24280232e-02 1.02183725e+01] [ 1.87740247e-01 3.57104922e-03 9.82212221e-01 -1.31835276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.02534707 meters Centerline goodness [0,1] 0.9992185024817827 Centerline is valid? [True, True] Translation: X:-141.72, Y:10.21, Z:-13.19 [[ 9.81530169e-01 -4.71830958e-02 -1.85397634e-01 -1.41723467e+02] [ 4.57063858e-02 9.98880007e-01 -1.22334598e-02 1.02145224e+01] [ 1.85767203e-01 3.53365406e-03 9.82587431e-01 -1.31889228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.05534707 meters Centerline goodness [0,1] 0.9994092453108847 Centerline is valid? [True, True] Translation: X:-141.75, Y:10.21, Z:-13.19 [[ 9.81269153e-01 -4.72621107e-02 -1.86754230e-01 -1.41751676e+02] [ 4.57800834e-02 9.98876516e-01 -1.22429826e-02 1.02090648e+01] [ 1.87123043e-01 3.46403693e-03 9.82330376e-01 -1.31936940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.08534707 meters Centerline goodness [0,1] 0.999156046923791 Centerline is valid? [True, True] Translation: X:-141.78, Y:10.21, Z:-13.20 [[ 9.81396129e-01 -4.76969543e-02 -1.85974833e-01 -1.41779373e+02] [ 4.62482507e-02 9.98856413e-01 -1.21229007e-02 1.02062852e+01] [ 1.86340380e-01 3.29635707e-03 9.82479718e-01 -1.31993426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.11534707 meters Centerline goodness [0,1] 0.9994727962884858 Centerline is valid? [True, True] Translation: X:-141.81, Y:10.20, Z:-13.20 [[ 9.81422801e-01 -4.90964811e-02 -1.85469192e-01 -1.41807325e+02] [ 4.76862425e-02 9.98789561e-01 -1.20596150e-02 1.02009220e+01] [ 1.85836777e-01 2.99125224e-03 9.82576076e-01 -1.31997772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.14534707 meters Centerline goodness [0,1] 0.9992615566386058 Centerline is valid? [True, True] Translation: X:-141.84, Y:10.20, Z:-13.20 [[ 9.81997186e-01 -5.00860805e-02 -1.82134321e-01 -1.41836385e+02] [ 4.87521315e-02 9.98741242e-01 -1.17966686e-02 1.01970757e+01] [ 1.82495907e-01 2.70485901e-03 9.83202892e-01 -1.32007250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.17534707000002 meters Centerline goodness [0,1] 0.999659494775373 Centerline is valid? [True, True] Translation: X:-141.86, Y:10.19, Z:-13.21 [[ 9.81707438e-01 -4.91981271e-02 -1.83929471e-01 -1.41862861e+02] [ 4.78350438e-02 9.98785034e-01 -1.18433155e-02 1.01937057e+01] [ 1.84288672e-01 2.82839663e-03 9.82868092e-01 -1.32085980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.20534707000002 meters Centerline goodness [0,1] 0.9996402497090255 Centerline is valid? [True, True] Translation: X:-141.89, Y:10.19, Z:-13.21 [[ 9.81848343e-01 -4.72465650e-02 -1.83688849e-01 -1.41890732e+02] [ 4.58601501e-02 9.98878282e-01 -1.17908910e-02 1.01915984e+01] [ 1.84039881e-01 3.15286855e-03 9.82913720e-01 -1.32145198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.23534707 meters Centerline goodness [0,1] 0.9995546223834065 Centerline is valid? [True, True] Translation: X:-141.92, Y:10.19, Z:-13.22 [[ 9.82248193e-01 -4.58818483e-02 -1.81888273e-01 -1.41917818e+02] [ 4.45134221e-02 9.98941428e-01 -1.16008067e-02 1.01875839e+01] [ 1.82227997e-01 3.29840194e-03 9.83250770e-01 -1.32169635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.26534707 meters Centerline goodness [0,1] 0.9993622855685225 Centerline is valid? [True, True] Translation: X:-141.95, Y:10.18, Z:-13.22 [[ 9.82559923e-01 -4.50151403e-02 -1.80415172e-01 -1.41946914e+02] [ 4.36617033e-02 9.98980550e-01 -1.14680475e-02 1.01836388e+01] [ 1.80747484e-01 3.39081013e-03 9.83523690e-01 -1.32180829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.29534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-141.97, Y:10.18, Z:-13.23 [[ 9.82272833e-01 -4.65614863e-02 -1.81582239e-01 -1.41974210e+02] [ 4.52311676e-02 9.98910781e-01 -1.14627046e-02 1.01783374e+01] [ 1.81918177e-01 3.04632659e-03 9.83308953e-01 -1.32262268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.32534707 meters Centerline goodness [0,1] 0.9998083434485402 Centerline is valid? [True, True] Translation: X:-142.00, Y:10.17, Z:-13.23 [[ 9.82145632e-01 -4.57498535e-02 -1.82474406e-01 -1.42002208e+02] [ 4.44077058e-02 9.98948026e-01 -1.14366263e-02 1.01743534e+01] [ 1.82805672e-01 3.12916284e-03 9.83144086e-01 -1.32278837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.35534707 meters Centerline goodness [0,1] 0.9998083189572551 Centerline is valid? [True, True] Translation: X:-142.03, Y:10.17, Z:-13.23 [[ 9.81892263e-01 -4.77397716e-02 -1.83326208e-01 -1.42029584e+02] [ 4.64286082e-02 9.98856100e-01 -1.14401039e-02 1.01692243e+01] [ 1.83662649e-01 2.72136882e-03 9.82985567e-01 -1.32347565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.38534707 meters Centerline goodness [0,1] 0.9999148664467383 Centerline is valid? [True, True] Translation: X:-142.06, Y:10.17, Z:-13.24 [[ 9.81772681e-01 -4.93849736e-02 -1.83530727e-01 -1.42058021e+02] [ 4.81158053e-02 9.98777107e-01 -1.13648430e-02 1.01652429e+01] [ 1.83867541e-01 2.32696364e-03 9.82948276e-01 -1.32406868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.41534707 meters Centerline goodness [0,1] 0.9998727735368956 Centerline is valid? [True, True] Translation: X:-142.09, Y:10.16, Z:-13.24 [[ 9.82171878e-01 -5.15206377e-02 -1.80787240e-01 -1.42086868e+02] [ 5.03390969e-02 9.98670268e-01 -1.11207171e-02 1.01594420e+01] [ 1.81119788e-01 1.82178924e-03 9.83459355e-01 -1.32414462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.44534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-142.11, Y:10.15, Z:-13.25 [[ 9.82192971e-01 -5.56102626e-02 -1.79456028e-01 -1.42114703e+02] [ 5.45267323e-02 9.98452063e-01 -1.09687494e-02 1.01538953e+01] [ 1.79788216e-01 9.88277749e-04 9.83704844e-01 -1.32454780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.47534707 meters Centerline goodness [0,1] 0.9999575353518196 Centerline is valid? [True, True] Translation: X:-142.14, Y:10.15, Z:-13.25 [[ 9.81940256e-01 -5.77549486e-02 -1.80160208e-01 -1.42142613e+02] [ 5.67057744e-02 9.98330634e-01 -1.09727439e-02 1.01485093e+01] [ 1.80493185e-01 5.58454852e-04 9.83576077e-01 -1.32507525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.50534707 meters Centerline goodness [0,1] 0.9998940049181718 Centerline is valid? [True, True] Translation: X:-142.17, Y:10.15, Z:-13.26 [[ 9.81945839e-01 -5.80276605e-02 -1.80042105e-01 -1.42169950e+02] [ 5.69887555e-02 9.98314858e-01 -1.09419090e-02 1.01457750e+01] [ 1.80373641e-01 4.83986532e-04 9.83598046e-01 -1.32555550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.53534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-142.20, Y:10.14, Z:-13.26 [[ 9.81270252e-01 -5.89114962e-02 -1.83407004e-01 -1.42196330e+02] [ 5.78545483e-02 9.98263166e-01 -1.11131502e-02 1.01413801e+01] [ 1.83743149e-01 2.94074292e-04 9.82974246e-01 -1.32638999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.56534707 meters Centerline goodness [0,1] 0.9999149533306402 Centerline is valid? [True, True] Translation: X:-142.22, Y:10.14, Z:-13.27 [[ 9.81318930e-01 -5.89964661e-02 -1.83119019e-01 -1.42224133e+02] [ 5.79493434e-02 9.98258160e-01 -1.10688451e-02 1.01387168e+01] [ 1.83453078e-01 2.50440318e-04 9.83028436e-01 -1.32651234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.59534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-142.25, Y:10.14, Z:-13.27 [[ 9.81050074e-01 -5.95048885e-02 -1.84390675e-01 -1.42251278e+02] [ 5.84571869e-02 9.98228006e-01 -1.11178001e-02 1.01356364e+01] [ 1.84725499e-01 1.28158421e-04 9.82790147e-01 -1.32727192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.62534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-142.28, Y:10.13, Z:-13.28 [[ 9.81102456e-01 -5.71799180e-02 -1.84847039e-01 -1.42279437e+02] [ 5.60912253e-02 9.98363744e-01 -1.11179391e-02 1.01337921e+01] [ 1.85180305e-01 5.39540405e-04 9.82704413e-01 -1.32772878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.65534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-142.31, Y:10.13, Z:-13.28 [[ 9.81081601e-01 -5.66590566e-02 -1.85117920e-01 -1.42307969e+02] [ 5.55622671e-02 9.98393396e-01 -1.11113498e-02 1.01322747e+01] [ 1.85450067e-01 6.15569542e-04 9.82653496e-01 -1.32824133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.68534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-142.34, Y:10.13, Z:-13.28 [[ 9.81251599e-01 -5.41817938e-02 -1.84958459e-01 -1.42335005e+02] [ 5.30480816e-02 9.98530528e-01 -1.10763263e-02 1.01300027e+01] [ 1.85286803e-01 1.05697145e-03 9.82683918e-01 -1.32847821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.71534707 meters Centerline goodness [0,1] 0.9998294570338314 Centerline is valid? [True, True] Translation: X:-142.36, Y:10.13, Z:-13.28 [[ 9.81739523e-01 -5.30326962e-02 -1.82688372e-01 -1.42364165e+02] [ 5.19156802e-02 9.98592042e-01 -1.08947998e-02 1.01267819e+01] [ 1.83008935e-01 1.21146450e-03 9.83110503e-01 -1.32844549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.74534707 meters Centerline goodness [0,1] 0.9999363273622549 Centerline is valid? [True, True] Translation: X:-142.39, Y:10.12, Z:-13.29 [[ 9.81909237e-01 -5.39182411e-02 -1.81513286e-01 -1.42392281e+02] [ 5.28451723e-02 9.98544892e-01 -1.07464385e-02 1.01238297e+01] [ 1.81828594e-01 9.59926352e-04 9.83329772e-01 -1.32915689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.77534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-142.42, Y:10.12, Z:-13.30 [[ 9.81726376e-01 -5.71124871e-02 -1.81525442e-01 -1.42419420e+02] [ 5.61064252e-02 9.98367706e-01 -1.06767692e-02 1.01192023e+01] [ 1.81838916e-01 2.96922293e-04 9.83328287e-01 -1.33003692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.80534707 meters Centerline goodness [0,1] 0.9998508130687752 Centerline is valid? [True, True] Translation: X:-142.45, Y:10.12, Z:-13.30 [[ 9.81965773e-01 -5.59146024e-02 -1.80601160e-01 -1.42448434e+02] [ 5.49028559e-02 9.98435433e-01 -1.06001257e-02 1.01157630e+01] [ 1.80911299e-01 4.93441156e-04 9.83499293e-01 -1.32967658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.83534707 meters Centerline goodness [0,1] 0.9998931760885357 Centerline is valid? [True, True] Translation: X:-142.48, Y:10.11, Z:-13.30 [[ 9.81648595e-01 -5.75360339e-02 -1.81812100e-01 -1.42476721e+02] [ 5.65430674e-02 9.98343416e-01 -1.06444942e-02 1.01111100e+01] [ 1.82123355e-01 1.68938964e-04 9.83275676e-01 -1.33033104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.86534707 meters Centerline goodness [0,1] 0.9999572229114086 Centerline is valid? [True, True] Translation: X:-142.51, Y:10.11, Z:-13.31 [[ 9.81478804e-01 -5.80604233e-02 -1.82560523e-01 -1.42505331e+02] [ 5.70729364e-02 9.98313070e-01 -1.06627763e-02 1.01068036e+01] [ 1.82871642e-01 4.60238186e-05 9.83136796e-01 -1.33089651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.89534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-142.53, Y:10.10, Z:-13.32 [[ 9.81250190e-01 -5.83938333e-02 -1.83679678e-01 -1.42533523e+02] [ 5.74072522e-02 9.98293623e-01 -1.06887942e-02 1.01038467e+01] [ 1.83990411e-01 -5.61642072e-05 9.82928037e-01 -1.33170755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.92534707000002 meters Centerline goodness [0,1] 0.9998718770019218 Centerline is valid? [True, True] Translation: X:-142.56, Y:10.10, Z:-13.32 [[ 9.81392598e-01 -5.74629678e-02 -1.83211836e-01 -1.42562000e+02] [ 5.64694466e-02 9.98347634e-01 -1.06397111e-02 1.01018852e+01] [ 1.83520492e-01 9.58627508e-05 9.83015880e-01 -1.33196077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.95534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-142.59, Y:10.10, Z:-13.33 [[ 9.81323211e-01 -5.62006945e-02 -1.83973467e-01 -1.42589955e+02] [ 5.51807253e-02 9.98419443e-01 -1.06631661e-02 1.00991882e+01] [ 1.84281964e-01 3.12223044e-04 9.82873369e-01 -1.33271827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.98534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-142.62, Y:10.10, Z:-13.33 [[ 9.81565358e-01 -5.52291687e-02 -1.82973188e-01 -1.42618515e+02] [ 5.42074575e-02 9.98473594e-01 -1.05846336e-02 1.00957254e+01] [ 1.83278477e-01 4.70998401e-04 9.83060923e-01 -1.33313920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.01534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-142.65, Y:10.09, Z:-13.33 [[ 9.81606150e-01 -5.37754438e-02 -1.83187246e-01 -1.42646352e+02] [ 5.27302709e-02 9.98552794e-01 -1.05753074e-02 1.00940192e+01] [ 1.83490828e-01 7.21273714e-04 9.83021157e-01 -1.33340727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.04534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-142.67, Y:10.09, Z:-13.34 [[ 9.81999375e-01 -5.05036249e-02 -1.82007173e-01 -1.42674624e+02] [ 4.94209408e-02 9.98723034e-01 -1.04820070e-02 1.00930350e+01] [ 1.82304136e-01 1.29835857e-03 9.83241332e-01 -1.33394126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.07534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-142.70, Y:10.09, Z:-13.34 [[ 9.82270927e-01 -4.79014494e-02 -1.81243695e-01 -1.42702265e+02] [ 4.67883163e-02 9.98850534e-01 -1.04146268e-02 1.00911510e+01] [ 1.81534237e-01 1.74989782e-03 9.83383068e-01 -1.33402874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.10534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-142.73, Y:10.09, Z:-13.34 [[ 9.82595145e-01 -4.60409500e-02 -1.79963916e-01 -1.42730391e+02] [ 4.49191368e-02 9.98937464e-01 -1.03059775e-02 1.00894099e+01] [ 1.80247195e-01 2.04277973e-03 9.83619223e-01 -1.33435399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.13534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-142.76, Y:10.09, Z:-13.35 [[ 9.82615807e-01 -4.43630617e-02 -1.80272277e-01 -1.42759332e+02] [ 4.32155502e-02 9.99012780e-01 -1.02898953e-02 1.00884642e+01] [ 1.80550800e-01 2.32044816e-03 9.83562923e-01 -1.33475485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.16534707 meters Centerline goodness [0,1] 0.9999568137159638 Centerline is valid? [True, True] Translation: X:-142.79, Y:10.09, Z:-13.35 [[ 9.82774944e-01 -4.21108713e-02 -1.79944670e-01 -1.42787643e+02] [ 4.09427575e-02 9.99109405e-01 -1.02023103e-02 1.00862119e+01] [ 1.80214041e-01 2.65914389e-03 9.83623825e-01 -1.33484142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19534707 meters Centerline goodness [0,1] 0.9998919456270395 Centerline is valid? [True, True] Translation: X:-142.81, Y:10.09, Z:-13.35 [[ 9.82775129e-01 -4.04694006e-02 -1.80319922e-01 -1.42814685e+02] [ 3.92762616e-02 9.99176494e-01 -1.01837932e-02 1.00850462e+01] [ 1.80583559e-01 2.92608623e-03 9.83555294e-01 -1.33525913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.22534707 meters Centerline goodness [0,1] 0.9999782769257506 Centerline is valid? [True, True] Translation: X:-142.84, Y:10.08, Z:-13.36 [[ 9.82539933e-01 -3.90797951e-02 -1.81901208e-01 -1.42843191e+02] [ 3.78485053e-02 9.99231054e-01 -1.02367488e-02 1.00828102e+01] [ 1.82161386e-01 3.17332561e-03 9.83263525e-01 -1.33594794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.25534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-142.87, Y:10.08, Z:-13.36 [[ 9.82484044e-01 -3.90420826e-02 -1.82210918e-01 -1.42869788e+02] [ 3.78195402e-02 9.99232724e-01 -1.01806838e-02 1.00796050e+01] [ 1.82468587e-01 3.11122630e-03 9.83206761e-01 -1.33633328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.28534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-142.90, Y:10.08, Z:-13.37 [[ 9.82531725e-01 -3.91550878e-02 -1.81929349e-01 -1.42898550e+02] [ 3.79466806e-02 9.99228523e-01 -1.01196590e-02 1.00773267e+01] [ 1.82185231e-01 3.03927115e-03 9.83259531e-01 -1.33678871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.31534707 meters Centerline goodness [0,1] 0.9999568937646831 Centerline is valid? [True, True] Translation: X:-142.93, Y:10.08, Z:-13.37 [[ 9.82775883e-01 -4.01441386e-02 -1.80388502e-01 -1.42927308e+02] [ 3.89871191e-02 9.99190109e-01 -9.95643199e-03 1.00755494e+01] [ 1.80642099e-01 2.75211324e-03 9.83545046e-01 -1.33725294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.34534707 meters Centerline goodness [0,1] 0.9999135452914605 Centerline is valid? [True, True] Translation: X:-142.96, Y:10.07, Z:-13.37 [[ 9.82800223e-01 -4.07375742e-02 -1.80122656e-01 -1.42955379e+02] [ 3.96069575e-02 9.99166584e-01 -9.87047468e-03 1.00739287e+01] [ 1.80374638e-01 2.56659435e-03 9.83594633e-01 -1.33746159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.37534707 meters Centerline goodness [0,1] 0.9999135452914605 Centerline is valid? [True, True] Translation: X:-142.98, Y:10.07, Z:-13.38 [[ 9.82819836e-01 -4.02527190e-02 -1.80124649e-01 -1.42982582e+02] [ 3.91207206e-02 9.99186100e-01 -9.83395162e-03 1.00722532e+01] [ 1.80373889e-01 2.61839664e-03 9.83594634e-01 -1.33788506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.40534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-143.01, Y:10.07, Z:-13.38 [[ 9.83242117e-01 -4.02802963e-02 -1.77798867e-01 -1.43010445e+02] [ 3.91923618e-02 9.99185296e-01 -9.62828942e-03 1.00705115e+01] [ 1.78041843e-01 2.49858217e-03 9.84019745e-01 -1.33841143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.43534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-143.04, Y:10.07, Z:-13.39 [[ 9.83272689e-01 -4.19182890e-02 -1.77250322e-01 -1.43038586e+02] [ 4.08695626e-02 9.99118705e-01 -9.56512738e-03 1.00698172e+01] [ 1.77495066e-01 2.16098539e-03 9.84119318e-01 -1.33906897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.46534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-143.07, Y:10.07, Z:-13.39 [[ 9.83198518e-01 -4.11015377e-02 -1.77852009e-01 -1.43066179e+02] [ 4.00458117e-02 9.99152462e-01 -9.52319789e-03 1.00687909e+01] [ 1.78092690e-01 2.24096602e-03 9.84011164e-01 -1.33946306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.49534707 meters Centerline goodness [0,1] 0.9997206523841244 Centerline is valid? [True, True] Translation: X:-143.09, Y:10.07, Z:-13.39 [[ 9.83485038e-01 -4.12252149e-02 -1.76231841e-01 -1.43094392e+02] [ 4.02039255e-02 9.99147623e-01 -9.36332633e-03 1.00663344e+01] [ 1.76467630e-01 2.12347955e-03 9.84304153e-01 -1.33939745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.52534707 meters Centerline goodness [0,1] 0.9999140542747255 Centerline is valid? [True, True] Translation: X:-143.12, Y:10.07, Z:-13.40 [[ 9.83572694e-01 -3.99847896e-02 -1.76028330e-01 -1.43121732e+02] [ 3.89542511e-02 9.99197647e-01 -9.30742206e-03 1.00656688e+01] [ 1.76259249e-01 2.29747440e-03 9.84341099e-01 -1.33998662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.55534707 meters Centerline goodness [0,1] 0.9998498627316403 Centerline is valid? [True, True] Translation: X:-143.15, Y:10.06, Z:-13.40 [[ 9.83828149e-01 -3.79654597e-02 -1.75045128e-01 -1.43149217e+02] [ 3.69286058e-02 9.99275759e-01 -9.17798607e-03 1.00643464e+01] [ 1.75266799e-01 2.56538854e-03 9.84517632e-01 -1.34012035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.58534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-143.18, Y:10.06, Z:-13.41 [[ 9.84132649e-01 -3.82725541e-02 -1.73257441e-01 -1.43177684e+02] [ 3.72689502e-02 9.99264352e-01 -9.04323794e-03 1.00626873e+01] [ 1.73476092e-01 2.44262279e-03 9.84835052e-01 -1.34075207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.61534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-143.21, Y:10.06, Z:-13.41 [[ 9.84619910e-01 -3.66199899e-02 -1.70829182e-01 -1.43206206e+02] [ 3.56324848e-02 9.99325826e-01 -8.84420175e-03 1.00620273e+01] [ 1.71037888e-01 2.62110890e-03 9.85260966e-01 -1.34108802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.64534707 meters Centerline goodness [0,1] 0.9998289977128444 Centerline is valid? [True, True] Translation: X:-143.23, Y:10.06, Z:-13.41 [[ 9.85245005e-01 -3.31539508e-02 -1.67908000e-01 -1.43234905e+02] [ 3.21623237e-02 9.99445464e-01 -8.62256132e-03 1.00634064e+01] [ 1.68100761e-01 3.09502401e-03 9.85764959e-01 -1.34094894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.67534707000002 meters Centerline goodness [0,1] 0.9997864662296342 Centerline is valid? [True, True] Translation: X:-143.26, Y:10.06, Z:-13.41 [[ 9.85666831e-01 -3.13744500e-02 -1.65760497e-01 -1.43263194e+02] [ 3.03965553e-02 9.99502338e-01 -8.43361207e-03 1.00632281e+01] [ 1.65942604e-01 3.27418356e-03 9.86129977e-01 -1.34129484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.70534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-143.29, Y:10.06, Z:-13.42 [[ 9.86154223e-01 -2.89894891e-02 -1.63277243e-01 -1.43290768e+02] [ 2.80206599e-02 9.99573431e-01 -8.23403762e-03 1.00637434e+01] [ 1.63446294e-01 3.54489489e-03 9.86545864e-01 -1.34169399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.73534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-143.32, Y:10.06, Z:-13.42 [[ 9.86190376e-01 -2.82731435e-02 -1.63184468e-01 -1.43318584e+02] [ 2.73002792e-02 9.99593631e-01 -8.20164806e-03 1.00625042e+01] [ 1.63350042e-01 3.63340484e-03 9.86561484e-01 -1.34209706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.76534707 meters Centerline goodness [0,1] 0.9999353322842793 Centerline is valid? [True, True] Translation: X:-143.35, Y:10.06, Z:-13.43 [[ 9.85699202e-01 -2.78012661e-02 -1.66205214e-01 -1.43345762e+02] [ 2.67982466e-02 9.99606613e-01 -8.27482582e-03 1.00614471e+01] [ 1.66369882e-01 3.70248089e-03 9.86056466e-01 -1.34273697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.79534707 meters Centerline goodness [0,1] 0.9997850340720996 Centerline is valid? [True, True] Translation: X:-143.38, Y:10.06, Z:-13.43 [[ 9.85838604e-01 -2.55138577e-02 -1.65744655e-01 -1.43375468e+02] [ 2.44911081e-02 9.99666320e-01 -8.21181449e-03 1.00638525e+01] [ 1.65898865e-01 4.03625345e-03 9.86134512e-01 -1.34284866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.82534707 meters Centerline goodness [0,1] 0.9999352960207053 Centerline is valid? [True, True] Translation: X:-143.40, Y:10.06, Z:-13.43 [[ 9.85835139e-01 -2.57352927e-02 -1.65731027e-01 -1.43402342e+02] [ 2.47265161e-02 9.99661051e-01 -8.14754676e-03 1.00606023e+01] [ 1.65884532e-01 3.93418698e-03 9.86137335e-01 -1.34340345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.85534707 meters Centerline goodness [0,1] 0.9999568323584641 Centerline is valid? [True, True] Translation: X:-143.43, Y:10.06, Z:-13.44 [[ 9.85668390e-01 -2.62981674e-02 -1.66632024e-01 -1.43429839e+02] [ 2.52911270e-02 9.99646800e-01 -8.16298352e-03 1.00588503e+01] [ 1.66787841e-01 3.83168314e-03 9.85985362e-01 -1.34392766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.88534707 meters Centerline goodness [0,1] 0.9998268323304039 Centerline is valid? [True, True] Translation: X:-143.46, Y:10.06, Z:-13.44 [[ 9.85533911e-01 -2.60338053e-02 -1.67466866e-01 -1.43457582e+02] [ 2.50262982e-02 9.99653781e-01 -8.12415275e-03 1.00559011e+01] [ 1.67620389e-01 3.81555230e-03 9.85844231e-01 -1.34433620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.91534707 meters Centerline goodness [0,1] 0.9999351547639633 Centerline is valid? [True, True] Translation: X:-143.49, Y:10.05, Z:-13.45 [[ 9.85437319e-01 -2.79655287e-02 -1.67723640e-01 -1.43485149e+02] [ 2.69952892e-02 9.99603047e-01 -8.06244337e-03 1.00505736e+01] [ 1.67882532e-01 3.41728442e-03 9.85801084e-01 -1.34477338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.94534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-143.51, Y:10.05, Z:-13.45 [[ 9.85536997e-01 -2.81782866e-02 -1.67101201e-01 -1.43513806e+02] [ 2.72232568e-02 9.99597337e-01 -8.00361376e-03 1.00487546e+01] [ 1.67259443e-01 3.33881858e-03 9.85907263e-01 -1.34527516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97534707 meters Centerline goodness [0,1] 0.999869701181376 Centerline is valid? [True, True] Translation: X:-143.54, Y:10.04, Z:-13.45 [[ 9.85702704e-01 -3.08502242e-02 -1.65645533e-01 -1.43541987e+02] [ 2.99606727e-02 9.99520120e-01 -7.86682073e-03 1.00447649e+01] [ 1.65808737e-01 2.79149485e-03 9.86153979e-01 -1.34544411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.00534707 meters Centerline goodness [0,1] 0.9998271391529818 Centerline is valid? [True, True] Translation: X:-143.57, Y:10.04, Z:-13.46 [[ 9.86176268e-01 -3.16698914e-02 -1.62644970e-01 -1.43570894e+02] [ 3.08281043e-02 9.99495061e-01 -7.69747264e-03 1.00423151e+01] [ 1.62806622e-01 2.57702875e-03 9.86654632e-01 -1.34564714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.03534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-143.60, Y:10.04, Z:-13.46 [[ 9.86184946e-01 -3.39976364e-02 -1.62121597e-01 -1.43598409e+02] [ 3.32035898e-02 9.99419670e-01 -7.60556374e-03 1.00389055e+01] [ 1.62286084e-01 2.11747346e-03 9.86741477e-01 -1.34596261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.06534707 meters Centerline goodness [0,1] 0.9999567539516077 Centerline is valid? [True, True] Translation: X:-143.63, Y:10.04, Z:-13.46 [[ 9.87507907e-01 -3.41168552e-02 -1.53831638e-01 -1.43627768e+02] [ 3.34075728e-02 9.99415919e-01 -7.19413715e-03 1.00351743e+01] [ 1.53987229e-01 1.96512567e-03 9.88070884e-01 -1.34573854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.09534707 meters Centerline goodness [0,1] 0.9999566893325826 Centerline is valid? [True, True] Translation: X:-143.66, Y:10.03, Z:-13.45 [[ 9.88793840e-01 -3.39120347e-02 -1.45384714e-01 -1.43656366e+02] [ 3.32860051e-02 9.99423160e-01 -6.73713252e-03 1.00310476e+01] [ 1.45529320e-01 1.82235881e-03 9.89352261e-01 -1.34540306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.12534707 meters Centerline goodness [0,1] 0.9998912192150379 Centerline is valid? [True, True] Translation: X:-143.69, Y:10.03, Z:-13.46 [[ 9.89231171e-01 -3.12229557e-02 -1.42992369e-01 -1.43685413e+02] [ 3.05922790e-02 9.99510107e-01 -6.60751214e-03 1.00293882e+01] [ 1.43128624e-01 2.16189453e-03 9.89701734e-01 -1.34568097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.15534707 meters Centerline goodness [0,1] 0.9999564346083472 Centerline is valid? [True, True] Translation: X:-143.71, Y:10.03, Z:-13.46 [[ 9.89160549e-01 -2.94881092e-02 -1.43846653e-01 -1.43712750e+02] [ 2.88411277e-02 9.99562342e-01 -6.58129866e-03 1.00265848e+01] [ 1.43977768e-01 2.36126130e-03 9.89578106e-01 -1.34606874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.18534707 meters Centerline goodness [0,1] 0.9997607395323546 Centerline is valid? [True, True] Translation: X:-143.74, Y:10.02, Z:-13.46 [[ 9.89120162e-01 -3.27153262e-02 -1.43425983e-01 -1.43739796e+02] [ 3.21106526e-02 9.99462993e-01 -6.52924941e-03 1.00214086e+01] [ 1.43562569e-01 1.85271033e-03 9.89639508e-01 -1.34646903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.21534707 meters Centerline goodness [0,1] 0.9999349028968211 Centerline is valid? [True, True] Translation: X:-143.77, Y:10.02, Z:-13.47 [[ 9.88970893e-01 -3.44363004e-02 -1.44051081e-01 -1.43767562e+02] [ 3.38476385e-02 9.99405633e-01 -6.53589863e-03 1.00186079e+01] [ 1.44190534e-01 1.58802459e-03 9.89548669e-01 -1.34702247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.24534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-143.80, Y:10.02, Z:-13.47 [[ 9.88992113e-01 -3.36723548e-02 -1.44085992e-01 -1.43795305e+02] [ 3.30780886e-02 9.99431512e-01 -6.51863371e-03 1.00162600e+01] [ 1.44223579e-01 1.68078810e-03 9.89543700e-01 -1.34745796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.27534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-143.82, Y:10.02, Z:-13.48 [[ 9.88633061e-01 -3.25417242e-02 -1.46784562e-01 -1.43823230e+02] [ 3.19234226e-02 9.99468746e-01 -6.56666625e-03 1.00152873e+01] [ 1.46920273e-01 1.80615774e-03 9.89146688e-01 -1.34797131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.30534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-143.85, Y:10.01, Z:-13.49 [[ 9.88141530e-01 -3.14045105e-02 -1.50299947e-01 -1.43850581e+02] [ 3.07546355e-02 9.99504863e-01 -6.64689766e-03 1.00144926e+01] [ 1.50434270e-01 1.94565554e-03 9.88618099e-01 -1.34863440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.33534707 meters Centerline goodness [0,1] 0.9997624549204224 Centerline is valid? [True, True] Translation: X:-143.88, Y:10.01, Z:-13.49 [[ 9.88068037e-01 -3.13716217e-02 -1.50789178e-01 -1.43877633e+02] [ 3.07276088e-02 9.99506007e-01 -6.59965305e-03 1.00109136e+01] [ 1.50921731e-01 1.88751538e-03 9.88543913e-01 -1.34886136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.36534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-143.91, Y:10.01, Z:-13.50 [[ 9.87692079e-01 -2.76599900e-02 -1.53945708e-01 -1.43905599e+02] [ 2.69518666e-02 9.99614377e-01 -6.68533427e-03 1.00094212e+01] [ 1.54071260e-01 2.45392752e-03 9.88056691e-01 -1.34962503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.39534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-143.93, Y:10.01, Z:-13.50 [[ 9.87093030e-01 -2.68315048e-02 -1.57884198e-01 -1.43932913e+02] [ 2.60869080e-02 9.99636639e-01 -6.78693764e-03 1.00079761e+01] [ 1.58008933e-01 2.58062829e-03 9.87434310e-01 -1.35017278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.42534707000002 meters Centerline goodness [0,1] 0.999913286652648 Centerline is valid? [True, True] Translation: X:-143.96, Y:10.01, Z:-13.51 [[ 9.87209333e-01 -2.61258495e-02 -1.57274195e-01 -1.43960956e+02] [ 2.53904506e-02 9.99655268e-01 -6.68357075e-03 1.00075908e+01] [ 1.57394591e-01 2.60482074e-03 9.87532358e-01 -1.35063040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.45534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-143.99, Y:10.01, Z:-13.51 [[ 9.87663055e-01 -2.11109760e-02 -1.55164483e-01 -1.43989872e+02] [ 2.03454416e-02 9.99771748e-01 -6.52028348e-03 1.00092310e+01] [ 1.55266716e-01 3.28295317e-03 9.87867131e-01 -1.35079610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.48534707 meters Centerline goodness [0,1] 0.9999132998092596 Centerline is valid? [True, True] Translation: X:-144.02, Y:10.01, Z:-13.51 [[ 9.87866495e-01 -1.54779557e-02 -1.54532268e-01 -1.44019394e+02] [ 1.46602157e-02 9.99871859e-01 -6.42996081e-03 1.00136369e+01] [ 1.54611989e-01 4.08646645e-03 9.87966818e-01 -1.35088516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.51534707 meters Centerline goodness [0,1] 0.9999127228295258 Centerline is valid? [True, True] Translation: X:-144.05, Y:10.01, Z:-13.51 [[ 9.87713225e-01 -1.04579855e-02 -1.55926959e-01 -1.44047509e+02] [ 9.57328580e-03 9.99933542e-01 -6.42370954e-03 1.00139359e+01] [ 1.55983775e-01 4.85204953e-03 9.87747700e-01 -1.35135698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.54534707 meters Centerline goodness [0,1] 0.9999562296194165 Centerline is valid? [True, True] Translation: X:-144.08, Y:10.02, Z:-13.52 [[ 9.87318149e-01 -4.85838962e-03 -1.58679765e-01 -1.44075684e+02] [ 3.87297062e-03 9.99971253e-01 -6.51876292e-03 1.00153316e+01] [ 1.58706874e-01 5.82153088e-03 9.87308583e-01 -1.35203385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.57534707 meters Centerline goodness [0,1] 0.9999563166171588 Centerline is valid? [True, True] Translation: X:-144.10, Y:10.02, Z:-13.53 [[ 9.87057217e-01 -2.65472740e-03 -1.60346506e-01 -1.44104514e+02] [ 1.62182998e-03 9.99977088e-01 -6.57218929e-03 1.00159128e+01] [ 1.60360280e-01 6.22707210e-03 9.87038907e-01 -1.35257137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.60534707 meters Centerline goodness [0,1] 0.9999340746275216 Centerline is valid? [True, True] Translation: X:-144.13, Y:10.02, Z:-13.53 [[ 9.86861709e-01 2.94801263e-04 -1.61566954e-01 -1.44133439e+02] [-1.37684847e-03 9.99977369e-01 -6.58528505e-03 1.00168977e+01] [ 1.61561356e-01 6.72121887e-03 9.86839781e-01 -1.35300152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.63534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-144.16, Y:10.02, Z:-13.53 [[ 9.86938028e-01 4.31183505e-03 -1.61042653e-01 -1.44161683e+02] [-5.42944955e-03 9.99964132e-01 -6.50045077e-03 1.00151444e+01] [ 1.61008848e-01 7.28991503e-03 9.86926040e-01 -1.35318813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.66534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-144.19, Y:10.02, Z:-13.54 [[ 9.86710119e-01 7.50190413e-03 -1.62317168e-01 -1.44190815e+02] [-8.67667255e-03 9.99941037e-01 -6.52980105e-03 1.00153182e+01] [ 1.62258611e-01 7.85139368e-03 9.86717031e-01 -1.35359004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69534707 meters Centerline goodness [0,1] 0.9998909297151084 Centerline is valid? [True, True] Translation: X:-144.22, Y:10.02, Z:-13.54 [[ 9.86368055e-01 1.37055006e-02 -1.63982374e-01 -1.44220416e+02] [-1.49795907e-02 9.99866440e-01 -6.53557835e-03 1.00181635e+01] [ 1.63870899e-01 8.90287454e-03 9.86441619e-01 -1.35432972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.72534707 meters Centerline goodness [0,1] 0.9995635284361224 Centerline is valid? [True, True] Translation: X:-144.25, Y:10.02, Z:-13.54 [[ 9.86489582e-01 1.86354531e-02 -1.62760637e-01 -1.44251603e+02] [-1.99559031e-02 9.99779852e-01 -6.48154227e-03 1.00202693e+01] [ 1.62604019e-01 9.64200943e-03 9.86644295e-01 -1.35410881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.75534707 meters Centerline goodness [0,1] 0.999803664921466 Centerline is valid? [True, True] Translation: X:-144.28, Y:10.02, Z:-13.55 [[ 9.86195432e-01 1.77023580e-02 -1.64636561e-01 -1.44278609e+02] [-1.90382421e-02 9.99797369e-01 -6.53959540e-03 1.00203845e+01] [ 1.64487434e-01 9.58370981e-03 9.86332620e-01 -1.35544250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.78534707 meters Centerline goodness [0,1] 0.9997163244375586 Centerline is valid? [True, True] Translation: X:-144.31, Y:10.02, Z:-13.56 [[ 9.85704017e-01 1.70001240e-02 -1.67626329e-01 -1.44305928e+02] [-1.83643244e-02 9.99809634e-01 -6.59145046e-03 1.00164694e+01] [ 1.67482363e-01 9.57556349e-03 9.85828569e-01 -1.35590778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.81534707 meters Centerline goodness [0,1] 0.9999564668495059 Centerline is valid? [True, True] Translation: X:-144.33, Y:10.02, Z:-13.57 [[ 9.84933305e-01 1.48037070e-02 -1.72299838e-01 -1.44332933e+02] [-1.62075709e-02 9.99845906e-01 -6.74377008e-03 1.00160496e+01] [ 1.72173455e-01 9.43472560e-03 9.85021465e-01 -1.35707201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.84534707 meters Centerline goodness [0,1] 0.9998917397423406 Centerline is valid? [True, True] Translation: X:-144.36, Y:10.02, Z:-13.58 [[ 9.84714783e-01 1.32344173e-02 -1.73671086e-01 -1.44360792e+02] [-1.46239498e-02 9.99870457e-01 -6.72372558e-03 1.00151883e+01] [ 1.73559604e-01 9.16070923e-03 9.84780760e-01 -1.35769593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.87534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-144.39, Y:10.01, Z:-13.59 [[ 9.84115757e-01 1.02371489e-02 -1.77232550e-01 -1.44388724e+02] [-1.16237382e-02 9.99909408e-01 -6.78702860e-03 1.00146165e+01] [ 1.77147015e-01 8.73932656e-03 9.84145599e-01 -1.35850268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.90534707 meters Centerline goodness [0,1] 0.9999564867393338 Centerline is valid? [True, True] Translation: X:-144.42, Y:10.02, Z:-13.59 [[ 9.84337617e-01 7.68993599e-03 -1.76125866e-01 -1.44417768e+02] [-9.00713043e-03 9.99937119e-01 -6.68047736e-03 1.00152915e+01] [ 1.76063419e-01 8.16223381e-03 9.84344986e-01 -1.35915823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.93534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-144.45, Y:10.01, Z:-13.60 [[ 9.84448567e-01 5.87056933e-03 -1.75574926e-01 -1.44445470e+02] [-7.14853606e-03 9.99952356e-01 -6.64717039e-03 1.00139040e+01] [ 1.75527538e-01 7.79890106e-03 9.84443630e-01 -1.35972589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.96534707 meters Centerline goodness [0,1] 0.9996936676731871 Centerline is valid? [True, True] Translation: X:-144.47, Y:10.01, Z:-13.60 [[ 9.84431389e-01 5.77286354e-03 -1.75674453e-01 -1.44473619e+02] [-7.04619546e-03 9.99953227e-01 -6.62533701e-03 1.00112656e+01] [ 1.75627989e-01 7.76002625e-03 9.84426021e-01 -1.35960605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.99534707 meters Centerline goodness [0,1] 0.9999782428963057 Centerline is valid? [True, True] Translation: X:-144.50, Y:10.01, Z:-13.61 [[ 9.83869529e-01 4.09789054e-03 -1.78840589e-01 -1.44500211e+02] [-5.38459906e-03 9.99962991e-01 -6.70990892e-03 1.00089220e+01] [ 1.78806474e-01 7.56465980e-03 9.83855183e-01 -1.36093006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.02534707 meters Centerline goodness [0,1] 0.9997602859135286 Centerline is valid? [True, True] Translation: X:-144.53, Y:10.01, Z:-13.61 [[ 9.83849660e-01 7.25064502e-03 -1.78849866e-01 -1.44529200e+02] [-8.57530847e-03 9.99941221e-01 -6.63458977e-03 1.00096517e+01] [ 1.78791249e-01 8.06113167e-03 9.83854007e-01 -1.36112887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.05534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-144.56, Y:10.01, Z:-13.62 [[ 9.83716655e-01 6.02572667e-03 -1.79625258e-01 -1.44556827e+02] [-7.33657510e-03 9.99951079e-01 -6.63425197e-03 1.00085920e+01] [ 1.79576495e-01 7.84405835e-03 9.83712739e-01 -1.36202832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.08534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-144.59, Y:10.01, Z:-13.63 [[ 9.83845509e-01 9.59751283e-03 -1.78762138e-01 -1.44585145e+02] [-1.09405423e-02 9.99918838e-01 -6.52861717e-03 1.00120073e+01] [ 1.78684971e-01 8.37890543e-03 9.83870660e-01 -1.36252530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.11534707 meters Centerline goodness [0,1] 0.999956531188872 Centerline is valid? [True, True] Translation: X:-144.61, Y:10.01, Z:-13.63 [[ 9.83334830e-01 1.44571475e-02 -1.81228043e-01 -1.44614779e+02] [-1.59078802e-02 9.99851981e-01 -6.55398080e-03 1.00143964e+01] [ 1.81106466e-01 9.32771160e-03 9.83419260e-01 -1.36325482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.14534707 meters Centerline goodness [0,1] 0.9999782111341105 Centerline is valid? [True, True] Translation: X:-144.64, Y:10.02, Z:-13.64 [[ 9.83044750e-01 1.66504696e-02 -1.82608275e-01 -1.44643264e+02] [-1.81605866e-02 9.99813296e-01 -6.60051354e-03 1.00161369e+01] [ 1.82464280e-01 9.80487358e-03 9.83163593e-01 -1.36394431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.17534707000002 meters Centerline goodness [0,1] 0.9999350410324145 Centerline is valid? [True, True] Translation: X:-144.67, Y:10.02, Z:-13.65 [[ 9.82449455e-01 2.13354098e-02 -1.85304797e-01 -1.44671925e+02] [-2.29699081e-02 9.99713853e-01 -6.67801910e-03 1.00178178e+01] [ 1.85109294e-01 1.08172504e-02 9.82658403e-01 -1.36476021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.20534707000002 meters Centerline goodness [0,1] 0.9999565359122026 Centerline is valid? [True, True] Translation: X:-144.70, Y:10.02, Z:-13.65 [[ 9.82521158e-01 2.49994794e-02 -1.84464631e-01 -1.44700039e+02] [-2.66803286e-02 9.99621996e-01 -6.63518992e-03 1.00189205e+01] [ 1.84229027e-01 1.14407915e-02 9.82816755e-01 -1.36503039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.23534707 meters Centerline goodness [0,1] 0.9998253389515971 Centerline is valid? [True, True] Translation: X:-144.73, Y:10.02, Z:-13.65 [[ 9.82403490e-01 2.72129212e-02 -1.84777810e-01 -1.44729110e+02] [-2.89325305e-02 9.99559472e-01 -6.61597735e-03 1.00201077e+01] [ 1.84516370e-01 1.18456489e-02 9.82758052e-01 -1.36545861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.26534707 meters Centerline goodness [0,1] 0.9995882008712803 Centerline is valid? [True, True] Translation: X:-144.76, Y:10.03, Z:-13.66 [[ 9.82300894e-01 3.12706569e-02 -1.84681074e-01 -1.44759039e+02] [-3.30477557e-02 9.99432301e-01 -6.55148578e-03 1.00255328e+01] [ 1.84371362e-01 1.25388254e-02 9.82776668e-01 -1.36598162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.29534707 meters Centerline goodness [0,1] 0.9995882008712803 Centerline is valid? [True, True] Translation: X:-144.79, Y:10.02, Z:-13.66 [[ 9.82286168e-01 3.17259362e-02 -1.84681749e-01 -1.44786310e+02] [-3.35073963e-02 9.99417121e-01 -6.53236200e-03 1.00243808e+01] [ 1.84366857e-01 1.26048534e-02 9.82776668e-01 -1.36640608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.32534707 meters Centerline goodness [0,1] 0.9993726067109447 Centerline is valid? [True, True] Translation: X:-144.81, Y:10.02, Z:-13.67 [[ 9.81818913e-01 3.29207078e-02 -1.86943437e-01 -1.44813905e+02] [-3.47532292e-02 9.99374572e-01 -6.53277494e-03 1.00216827e+01] [ 1.86611454e-01 1.29108901e-02 9.82348957e-01 -1.36662243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.35534707 meters Centerline goodness [0,1] 0.9997618171188533 Centerline is valid? [True, True] Translation: X:-144.84, Y:10.02, Z:-13.68 [[ 9.81635302e-01 3.12521964e-02 -1.88189889e-01 -1.44841357e+02] [-3.30703972e-02 9.99431701e-01 -6.52869049e-03 1.00249660e+01] [ 1.87878905e-01 1.26323074e-02 9.82110962e-01 -1.36808655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.38534707 meters Centerline goodness [0,1] 0.9996528606452453 Centerline is valid? [True, True] Translation: X:-144.87, Y:10.02, Z:-13.68 [[ 9.81454204e-01 3.09304642e-02 -1.89184966e-01 -1.44868565e+02] [-3.27483912e-02 9.99442556e-01 -6.49007225e-03 1.00224605e+01] [ 1.88878765e-01 1.25652120e-02 9.81920021e-01 -1.36836351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.41534707 meters Centerline goodness [0,1] 0.9997620129378421 Centerline is valid? [True, True] Translation: X:-144.90, Y:10.02, Z:-13.69 [[ 9.81379729e-01 2.77471813e-02 -1.90062942e-01 -1.44897747e+02] [-2.95168556e-02 9.99543240e-01 -6.48593693e-03 1.00217175e+01] [ 1.89796163e-01 1.19752274e-02 9.81750483e-01 -1.36900959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.44534707 meters Centerline goodness [0,1] 0.9999567894566275 Centerline is valid? [True, True] Translation: X:-144.93, Y:10.02, Z:-13.70 [[ 9.81393293e-01 2.46831136e-02 -1.90415202e-01 -1.44925885e+02] [-2.64001322e-02 9.99630418e-01 -6.48541397e-03 1.00208464e+01] [ 1.90184747e-01 1.13917283e-02 9.81682225e-01 -1.36987682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47534707 meters Centerline goodness [0,1] 0.999869966624767 Centerline is valid? [True, True] Translation: X:-144.96, Y:10.01, Z:-13.70 [[ 9.81441027e-01 1.79315977e-02 -1.90923984e-01 -1.44955667e+02] [-1.95288768e-02 9.99788245e-01 -6.48760945e-03 1.00137694e+01] [ 1.90767222e-01 1.00957371e-02 9.81583386e-01 -1.37033506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.50534707 meters Centerline goodness [0,1] 0.9998485995457986 Centerline is valid? [True, True] Translation: X:-144.98, Y:10.01, Z:-13.71 [[ 9.81362858e-01 1.41990799e-02 -1.91638534e-01 -1.44983961e+02] [-1.57363793e-02 9.99855033e-01 -6.50222366e-03 1.00078080e+01] [ 1.91518428e-01 9.39673745e-03 9.81444035e-01 -1.37087012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.53534707 meters Centerline goodness [0,1] 0.9999784143156258 Centerline is valid? [True, True] Translation: X:-145.01, Y:10.00, Z:-13.72 [[ 9.81180390e-01 8.06717599e-03 -1.92924758e-01 -1.45012200e+02] [-9.50529571e-03 9.99933503e-01 -6.52985248e-03 1.00034677e+01] [ 1.92859251e-01 8.24077008e-03 9.81191826e-01 -1.37192385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.56534707 meters Centerline goodness [0,1] 0.9999348718060048 Centerline is valid? [True, True] Translation: X:-145.04, Y:10.00, Z:-13.72 [[ 9.81383532e-01 4.22323712e-03 -1.92011789e-01 -1.45040828e+02] [-5.57229251e-03 9.99963437e-01 -6.48644232e-03 9.99676728e+00] [ 1.91977375e-01 7.43563353e-03 9.81371183e-01 -1.37217627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.59534707 meters Centerline goodness [0,1] 0.999956601931214 Centerline is valid? [True, True] Translation: X:-145.07, Y:9.99, Z:-13.73 [[ 9.81382115e-01 2.03722743e-03 -1.92054665e-01 -1.45068162e+02] [-3.34113407e-03 9.99973516e-01 -6.46563695e-03 9.99211968e+00] [ 1.92036407e-01 6.98694085e-03 9.81362930e-01 -1.37261743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.62534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-145.10, Y:9.99, Z:-13.74 [[ 9.81258081e-01 1.45370046e-04 -1.92698101e-01 -1.45095671e+02] [-1.41187288e-03 9.99978297e-01 -6.43516865e-03 9.99162055e+00] [ 1.92692984e-01 6.58662646e-03 9.81236990e-01 -1.37355621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.65534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-145.12, Y:9.99, Z:-13.74 [[ 9.81083990e-01 -1.09838921e-03 -1.93579437e-01 -1.45122659e+02] [-1.41920180e-04 9.99979553e-01 -6.39325327e-03 9.98853776e+00] [ 1.93582501e-01 6.29979126e-03 9.81063774e-01 -1.37400034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.68534707 meters Centerline goodness [0,1] 0.9998485438573715 Centerline is valid? [True, True] Translation: X:-145.15, Y:9.99, Z:-13.74 [[ 9.80659121e-01 -2.67661897e-03 -1.95705198e-01 -1.45150854e+02] [ 1.44745351e-03 9.99978322e-01 -6.42344952e-03 9.98794840e+00] [ 1.95718149e-01 6.01594018e-03 9.80641736e-01 -1.37438569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.71534707 meters Centerline goodness [0,1] 0.9999352443446727 Centerline is valid? [True, True] Translation: X:-145.18, Y:9.98, Z:-13.75 [[ 9.80191570e-01 -7.29285597e-03 -1.97917406e-01 -1.45177894e+02] [ 6.14252345e-03 9.99960490e-01 -6.42549917e-03 9.98315641e+00] [ 1.97956446e-01 5.08250782e-03 9.80197640e-01 -1.37495870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.74534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-145.20, Y:9.98, Z:-13.76 [[ 9.80055413e-01 -8.93780786e-03 -1.98523307e-01 -1.45204683e+02] [ 7.81963781e-03 9.99948845e-01 -6.41573174e-03 9.98130465e+00] [ 1.98570494e-01 4.73539227e-03 9.80075168e-01 -1.37558388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.77534707 meters Centerline goodness [0,1] 0.9998916365054941 Centerline is valid? [True, True] Translation: X:-145.23, Y:9.98, Z:-13.76 [[ 9.80186563e-01 -9.86513424e-03 -1.97830686e-01 -1.45232221e+02] [ 8.78213294e-03 9.99941268e-01 -6.35101742e-03 9.98260535e+00] [ 1.97881720e-01 4.48780656e-03 9.80215632e-01 -1.37648009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.80534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-145.26, Y:9.98, Z:-13.77 [[ 9.79675225e-01 -1.20926619e-02 -2.00225426e-01 -1.45259185e+02] [ 1.10437861e-02 9.99918823e-01 -6.35462097e-03 9.98076646e+00] [ 2.00286016e-01 4.01421797e-03 9.79729247e-01 -1.37720355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.83534707 meters Centerline goodness [0,1] 0.9999566226386449 Centerline is valid? [True, True] Translation: X:-145.29, Y:9.98, Z:-13.77 [[ 9.79625663e-01 -1.15936295e-02 -2.00497252e-01 -1.45287169e+02] [ 1.05373175e-02 9.99924414e-01 -6.33488250e-03 9.97893721e+00] [ 2.00555541e-01 4.09311027e-03 9.79673783e-01 -1.37739080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.86534707 meters Centerline goodness [0,1] 0.9999133842922414 Centerline is valid? [True, True] Translation: X:-145.32, Y:9.98, Z:-13.78 [[ 9.79891823e-01 -1.10167035e-02 -1.99225116e-01 -1.45315328e+02] [ 9.97065234e-03 9.99930740e-01 -6.25312618e-03 9.97977493e+00] [ 1.99280206e-01 4.14098285e-03 9.79933800e-01 -1.37803217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.89534707 meters Centerline goodness [0,1] 0.9998914954102559 Centerline is valid? [True, True] Translation: X:-145.34, Y:9.98, Z:-13.78 [[ 9.80004463e-01 -8.82490918e-03 -1.98779711e-01 -1.45343387e+02] [ 7.75330174e-03 9.99950916e-01 -6.16866632e-03 9.97924319e+00] [ 1.98824392e-01 4.50412144e-03 9.80024782e-01 -1.37818519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.92534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-145.37, Y:9.98, Z:-13.79 [[ 9.79517316e-01 -5.17680946e-03 -2.01293390e-01 -1.45371004e+02] [ 4.00674301e-03 9.99972630e-01 -6.21974532e-03 9.98025519e+00] [ 2.01320079e-01 5.28581736e-03 9.79511249e-01 -1.37899599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.95534707000002 meters Centerline goodness [0,1] 0.9999567782508159 Centerline is valid? [True, True] Translation: X:-145.40, Y:9.99, Z:-13.80 [[ 9.78924669e-01 -1.36764405e-03 -2.04217097e-01 -1.45400020e+02] [ 8.39175313e-05 9.99980185e-01 -6.29461505e-03 9.98591754e+00] [ 2.04221659e-01 6.14481656e-03 9.78905386e-01 -1.38024420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.98534707 meters Centerline goodness [0,1] 0.9998690985251767 Centerline is valid? [True, True] Translation: X:-145.43, Y:9.98, Z:-13.80 [[ 9.78857794e-01 1.62768721e-03 -2.04535495e-01 -1.45428745e+02] [-2.97754164e-03 9.99975772e-01 -6.29202310e-03 9.98284526e+00] [ 2.04520299e-01 6.76800881e-03 9.78838925e-01 -1.37967163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.01534707 meters Centerline goodness [0,1] 0.9999349028968211 Centerline is valid? [True, True] Translation: X:-145.46, Y:9.99, Z:-13.81 [[ 9.79024030e-01 3.62954800e-03 -2.03712483e-01 -1.45456024e+02] [-5.00114289e-03 9.99968158e-01 -6.21860094e-03 9.98614469e+00] [ 2.03683426e-01 7.10695498e-03 9.79011008e-01 -1.38060902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.04534707 meters Centerline goodness [0,1] 0.9998486322845713 Centerline is valid? [True, True] Translation: X:-145.48, Y:9.99, Z:-13.81 [[ 9.79276384e-01 4.97054927e-03 -2.02467423e-01 -1.45484557e+02] [-6.33367510e-03 9.99961427e-01 -6.08523037e-03 9.98720011e+00] [ 2.02429366e-01 7.24148527e-03 9.79270092e-01 -1.38104420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.07534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-145.51, Y:9.99, Z:-13.82 [[ 9.79036933e-01 6.14513649e-03 -2.03590081e-01 -1.45512187e+02] [-7.53171144e-03 9.99953416e-01 -6.03650945e-03 9.98808509e+00] [ 2.03543502e-01 7.44334744e-03 9.79037609e-01 -1.38199809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.10534707 meters Centerline goodness [0,1] 0.999739933249534 Centerline is valid? [True, True] Translation: X:-145.54, Y:9.99, Z:-13.82 [[ 9.78711177e-01 6.35231120e-03 -2.05144049e-01 -1.45541086e+02] [-7.74819596e-03 9.99951971e-01 -6.00183083e-03 9.98779971e+00] [ 2.05096070e-01 7.46355520e-03 9.78713389e-01 -1.38221933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.13534707 meters Centerline goodness [0,1] 0.999935032591983 Centerline is valid? [True, True] Translation: X:-145.57, Y:9.98, Z:-13.83 [[ 9.78798794e-01 3.44571723e-03 -2.04795135e-01 -1.45567887e+02] [-4.75857488e-03 9.99971164e-01 -5.91844863e-03 9.98390882e+00] [ 2.04768836e-01 6.76750337e-03 9.78786966e-01 -1.38276214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.16534707 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-145.60, Y:9.98, Z:-13.83 [[ 9.79093199e-01 1.39067120e-03 -2.03407408e-01 -1.45596441e+02] [-2.63238003e-03 9.99979517e-01 -5.83411724e-03 9.98128977e+00] [ 2.03395128e-01 6.24759011e-03 9.79076805e-01 -1.38311768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19534707 meters Centerline goodness [0,1] 0.9998692297633058 Centerline is valid? [True, True] Translation: X:-145.63, Y:9.98, Z:-13.83 [[ 9.79221933e-01 -2.85704190e-03 -2.02771404e-01 -1.45626575e+02] [ 1.71674779e-03 9.99981711e-01 -5.79920310e-03 9.97885880e+00] [ 2.02784264e-01 5.33059951e-03 9.79208929e-01 -1.38320197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.22534707 meters Centerline goodness [0,1] 0.9999783226030218 Centerline is valid? [True, True] Translation: X:-145.65, Y:9.98, Z:-13.85 [[ 9.78587081e-01 -5.56609554e-03 -2.05757972e-01 -1.45653154e+02] [ 4.45707087e-03 9.99972938e-01 -5.85305602e-03 9.97954567e+00] [ 2.05784982e-01 4.81064714e-03 9.78585407e-01 -1.38511290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.25534707 meters Centerline goodness [0,1] 0.9999783273010988 Centerline is valid? [True, True] Translation: X:-145.68, Y:9.98, Z:-13.85 [[ 9.78362269e-01 -5.95517370e-03 -2.06813459e-01 -1.45681533e+02] [ 4.86132848e-03 9.99971382e-01 -5.79683214e-03 9.97518686e+00] [ 2.06842061e-01 4.66601369e-03 9.78363220e-01 -1.38526254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.28534707 meters Centerline goodness [0,1] 0.9999782320033087 Centerline is valid? [True, True] Translation: X:-145.71, Y:9.97, Z:-13.86 [[ 9.78316553e-01 -9.72444005e-03 -2.06886823e-01 -1.45709215e+02] [ 8.73058380e-03 9.99945549e-01 -5.71634227e-03 9.97245454e+00] [ 2.06931145e-01 3.78614953e-03 9.78348182e-01 -1.38600089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.31534707 meters Centerline goodness [0,1] 0.9997834325933946 Centerline is valid? [True, True] Translation: X:-145.74, Y:9.97, Z:-13.86 [[ 9.78583416e-01 -9.16934557e-03 -2.05646349e-01 -1.45737157e+02] [ 8.18997136e-03 9.99950707e-01 -5.61314821e-03 9.97105372e+00] [ 2.05687681e-01 3.80869604e-03 9.78610276e-01 -1.38587514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.34534707 meters Centerline goodness [0,1] 0.9998700285937094 Centerline is valid? [True, True] Translation: X:-145.76, Y:9.97, Z:-13.87 [[ 9.78308329e-01 -1.25223873e-02 -2.06775246e-01 -1.45763481e+02] [ 1.16158799e-02 9.99916866e-01 -5.59754697e-03 9.96905993e+00] [ 2.06828151e-01 3.07425039e-03 9.78372457e-01 -1.38708259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.37534707 meters Centerline goodness [0,1] 0.9999347896967721 Centerline is valid? [True, True] Translation: X:-145.79, Y:9.96, Z:-13.87 [[ 9.77744474e-01 -1.62736140e-02 -2.09167189e-01 -1.45791829e+02] [ 1.54484402e-02 9.99865105e-01 -5.57827352e-03 9.96451703e+00] [ 2.09229752e-01 2.22281930e-03 9.77863983e-01 -1.38712900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.40534707 meters Centerline goodness [0,1] 0.9998485536877177 Centerline is valid? [True, True] Translation: X:-145.82, Y:9.96, Z:-13.88 [[ 9.77795354e-01 -1.56349919e-02 -2.08977971e-01 -1.45818960e+02] [ 1.48102346e-02 9.99875136e-01 -5.51092087e-03 9.96454062e+00] [ 2.09038041e-01 2.29354004e-03 9.77904820e-01 -1.38797039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.43534707 meters Centerline goodness [0,1] 0.9999783577890318 Centerline is valid? [True, True] Translation: X:-145.85, Y:9.97, Z:-13.89 [[ 9.77583377e-01 -1.64854096e-02 -2.09902294e-01 -1.45846893e+02] [ 1.56902574e-02 9.99862031e-01 -5.45301468e-03 9.96552826e+00] [ 2.09963229e-01 2.03735548e-03 9.77707160e-01 -1.38894486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.46534707 meters Centerline goodness [0,1] 0.9997186451682718 Centerline is valid? [True, True] Translation: X:-145.88, Y:9.97, Z:-13.89 [[ 9.77666818e-01 -1.29192525e-02 -2.09763405e-01 -1.45875623e+02] [ 1.20504153e-02 9.99912704e-01 -5.41959888e-03 9.96821834e+00] [ 2.09815111e-01 2.77082586e-03 9.77737154e-01 -1.38865688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.49534707 meters Centerline goodness [0,1] 0.9997404900413054 Centerline is valid? [True, True] Translation: X:-145.90, Y:9.97, Z:-13.89 [[ 9.77612042e-01 -9.45728052e-03 -2.10202893e-01 -1.45903450e+02] [ 8.51771428e-03 9.99949279e-01 -5.37471573e-03 9.97257314e+00] [ 2.10243061e-01 3.46393864e-03 9.77643011e-01 -1.38931286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.52534707 meters Centerline goodness [0,1] 0.9999568407423393 Centerline is valid? [True, True] Translation: X:-145.93, Y:9.98, Z:-13.90 [[ 9.77421763e-01 -7.01371444e-03 -2.11181214e-01 -1.45931565e+02] [ 6.02716192e-03 9.99967712e-01 -5.31490810e-03 9.97586289e+00] [ 2.11211673e-01 3.92208347e-03 9.77432477e-01 -1.39040901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.55534707 meters Centerline goodness [0,1] 0.9999785209528105 Centerline is valid? [True, True] Translation: X:-145.96, Y:9.98, Z:-13.91 [[ 9.77291592e-01 -2.89526627e-03 -2.11879120e-01 -1.45960149e+02] [ 1.82058788e-03 9.99984472e-01 -5.26704135e-03 9.98069204e+00] [ 2.11891079e-01 4.76169067e-03 9.77281688e-01 -1.39106356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.58534707 meters Centerline goodness [0,1] 0.9998702674652425 Centerline is valid? [True, True] Translation: X:-145.99, Y:9.98, Z:-13.91 [[ 9.77071931e-01 1.04657040e-03 -2.12906894e-01 -1.45987912e+02] [-2.21861910e-03 9.99983673e-01 -5.26613824e-03 9.98284162e+00] [ 2.12897907e-01 5.61775516e-03 9.77058300e-01 -1.39136530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.61534707 meters Centerline goodness [0,1] 0.9998284366287797 Centerline is valid? [True, True] Translation: X:-146.02, Y:9.99, Z:-13.92 [[ 9.76836900e-01 5.52901330e-03 -2.13913771e-01 -1.46016246e+02] [-6.80846115e-03 9.99963067e-01 -5.24485629e-03 9.98787827e+00] [ 2.13876872e-01 6.57979276e-03 9.76838467e-01 -1.39222504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.64534707 meters Centerline goodness [0,1] 0.9997212035428596 Centerline is valid? [True, True] Translation: X:-146.05, Y:9.99, Z:-13.93 [[ 9.76552110e-01 7.56049934e-03 -2.15148357e-01 -1.46045261e+02] [-8.88538626e-03 9.99947048e-01 -5.19150467e-03 9.98948667e+00] [ 2.15097714e-01 6.98145109e-03 9.76567577e-01 -1.39275995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.67534707000002 meters Centerline goodness [0,1] 0.9998926808327967 Centerline is valid? [True, True] Translation: X:-146.08, Y:9.99, Z:-13.93 [[ 9.76280606e-01 1.17925009e-02 -2.16187683e-01 -1.46075080e+02] [-1.32193803e-02 9.99899330e-01 -5.15529289e-03 9.99412183e+00] [ 2.16105126e-01 7.89087967e-03 9.76338214e-01 -1.39328138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.70534707000002 meters Centerline goodness [0,1] 0.9996771555249451 Centerline is valid? [True, True] Translation: X:-146.10, Y:10.00, Z:-13.93 [[ 9.76752615e-01 1.61254152e-02 -2.13762253e-01 -1.46103516e+02] [-1.76147972e-02 9.99832021e-01 -5.06447085e-03 9.99929637e+00] [ 2.13644679e-01 8.71211387e-03 9.76872587e-01 -1.39346683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.73534707 meters Centerline goodness [0,1] 0.9998507589971004 Centerline is valid? [True, True] Translation: X:-146.13, Y:10.00, Z:-13.94 [[ 9.76480177e-01 1.67242017e-02 -2.14957590e-01 -1.46130245e+02] [-1.82270984e-02 9.99821315e-01 -5.01116043e-03 9.99997934e+00] [ 2.14835372e-01 8.81135197e-03 9.76610528e-01 -1.39444269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.76534707 meters Centerline goodness [0,1] 0.9994641287805714 Centerline is valid? [True, True] Translation: X:-146.16, Y:10.00, Z:-13.95 [[ 9.76307754e-01 1.77863144e-02 -2.15654393e-01 -1.46158378e+02] [-1.93178653e-02 9.99800910e-01 -4.99599537e-03 1.00003675e+01] [ 2.15522598e-01 9.04361154e-03 9.76456974e-01 -1.39470474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.79534707 meters Centerline goodness [0,1] 0.9994439573130306 Centerline is valid? [True, True] Translation: X:-146.19, Y:10.01, Z:-13.96 [[ 9.76450696e-01 1.73118912e-02 -2.15044965e-01 -1.46185547e+02] [-1.88124936e-02 9.99810859e-01 -4.93318051e-03 1.00069681e+01] [ 2.14918888e-01 8.86253956e-03 9.76591689e-01 -1.39600682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.82534707 meters Centerline goodness [0,1] 0.9993812013229489 Centerline is valid? [True, True] Translation: X:-146.21, Y:10.00, Z:-13.96 [[ 9.76438294e-01 1.76039066e-02 -2.15077569e-01 -1.46213796e+02] [-1.90932927e-02 9.99805947e-01 -4.84909510e-03 1.00013751e+01] [ 2.14950469e-01 8.84138111e-03 9.76584930e-01 -1.39560981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.85534707 meters Centerline goodness [0,1] 0.999424331585007 Centerline is valid? [True, True] Translation: X:-146.24, Y:10.00, Z:-13.97 [[ 9.76097515e-01 1.50645208e-02 -2.16810289e-01 -1.46240290e+02] [-1.64988057e-02 9.99852332e-01 -4.80672286e-03 1.00016393e+01] [ 2.16705862e-01 8.26894108e-03 9.76201923e-01 -1.39676049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.88534707 meters Centerline goodness [0,1] 0.9994475725061086 Centerline is valid? [True, True] Translation: X:-146.27, Y:10.00, Z:-13.98 [[ 9.76368828e-01 1.44604864e-02 -2.15626543e-01 -1.46268112e+02] [-1.58422430e-02 9.99863546e-01 -4.68105151e-03 1.00031019e+01] [ 2.15529429e-01 7.98644086e-03 9.76464685e-01 -1.39750490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.91534707 meters Centerline goodness [0,1] 0.9989896384195365 Centerline is valid? [True, True] Translation: X:-146.30, Y:10.00, Z:-13.98 [[ 9.76077828e-01 1.16393092e-02 -2.17109649e-01 -1.46295639e+02] [-1.29555259e-02 9.99905308e-01 -4.64002639e-03 9.99786317e+00] [ 2.17035084e-01 7.34179656e-03 9.76136195e-01 -1.39756596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.94534707 meters Centerline goodness [0,1] 0.9995946234264989 Centerline is valid? [True, True] Translation: X:-146.32, Y:10.00, Z:-13.98 [[ 9.75992265e-01 7.37621609e-03 -2.17680248e-01 -1.46322392e+02] [-8.58768102e-03 9.99952453e-01 -4.61982602e-03 9.99503528e+00] [ 2.17635821e-01 6.37828299e-03 9.76009204e-01 -1.39835600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97534707 meters Centerline goodness [0,1] 0.9995331664049569 Centerline is valid? [True, True] Translation: X:-146.35, Y:9.99, Z:-13.99 [[ 9.76337259e-01 5.28680331e-03 -2.16188821e-01 -1.46351208e+02] [-6.42478276e-03 9.99968958e-01 -4.56136258e-03 9.99331353e+00] [ 2.16157995e-01 5.84239444e-03 9.76340918e-01 -1.39901054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.00534707 meters Centerline goodness [0,1] 0.9992295509994435 Centerline is valid? [True, True] Translation: X:-146.38, Y:9.99, Z:-14.00 [[ 9.76257287e-01 2.70306946e-03 -2.16597331e-01 -1.46379094e+02] [-3.77467868e-03 9.99982598e-01 -4.53392085e-03 9.99218016e+00] [ 2.16581306e-01 5.24385859e-03 9.76250501e-01 -1.39992595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.03534707 meters Centerline goodness [0,1] 0.9996793432950682 Centerline is valid? [True, True] Translation: X:-146.41, Y:9.99, Z:-14.01 [[ 9.75645923e-01 -4.68844501e-04 -2.19350889e-01 -1.46405864e+02] [-5.34940812e-04 9.99989656e-01 -4.51674703e-03 9.98899136e+00] [ 2.19350738e-01 4.52408557e-03 9.75635581e-01 -1.40067765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.06534707 meters Centerline goodness [0,1] 0.9993371394359271 Centerline is valid? [True, True] Translation: X:-146.43, Y:9.99, Z:-14.01 [[ 9.75670452e-01 -1.89853759e-03 -2.19234043e-01 -1.46433872e+02] [ 9.39670906e-04 9.99989533e-01 -4.47790210e-03 9.98588827e+00] [ 2.19240249e-01 4.16294891e-03 9.75662023e-01 -1.40101286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.09534707 meters Centerline goodness [0,1] 0.9993180897990496 Centerline is valid? [True, True] Translation: X:-146.46, Y:9.98, Z:-14.02 [[ 9.75868384e-01 -2.70403343e-03 -2.18342816e-01 -1.46462502e+02] [ 1.78673046e-03 9.99988730e-01 -4.39853807e-03 9.98379635e+00] [ 2.18352249e-01 3.90227448e-03 9.75862218e-01 -1.40150038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.12534707 meters Centerline goodness [0,1] 0.9995519904424628 Centerline is valid? [True, True] Translation: X:-146.49, Y:9.98, Z:-14.02 [[ 9.75994569e-01 -4.27542989e-03 -2.17752892e-01 -1.46491002e+02] [ 3.42191254e-03 9.99984915e-01 -4.29660120e-03 9.98140572e+00] [ 2.17767977e-01 3.44832809e-03 9.75994476e-01 -1.40186237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.15534707 meters Centerline goodness [0,1] 0.9992282130989388 Centerline is valid? [True, True] Translation: X:-146.52, Y:9.98, Z:-14.03 [[ 9.75785666e-01 -5.63187563e-03 -2.18656388e-01 -1.46519118e+02] [ 4.82067389e-03 9.99979378e-01 -4.24325590e-03 9.98064053e+00] [ 2.18675776e-01 3.08643715e-03 9.75792692e-01 -1.40276745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.18534707 meters Centerline goodness [0,1] 0.9992282130989388 Centerline is valid? [True, True] Translation: X:-146.55, Y:9.98, Z:-14.03 [[ 9.75786551e-01 -5.45329817e-03 -2.18656966e-01 -1.46546361e+02] [ 4.64438218e-03 9.99980339e-01 -4.21329036e-03 9.97997183e+00] [ 2.18675643e-01 3.09574556e-03 9.75792693e-01 -1.40319107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.21534707 meters Centerline goodness [0,1] 0.9994028832210186 Centerline is valid? [True, True] Translation: X:-146.57, Y:9.98, Z:-14.04 [[ 9.76144582e-01 -5.68833996e-03 -2.17046996e-01 -1.46574489e+02] [ 4.90550657e-03 9.99979376e-01 -4.14536481e-03 9.98027902e+00] [ 2.17066100e-01 2.98174993e-03 9.76152354e-01 -1.40363229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.24534707 meters Centerline goodness [0,1] 0.9995951848300841 Centerline is valid? [True, True] Translation: X:-146.60, Y:9.98, Z:-14.04 [[ 9.76079489e-01 -3.75162889e-03 -2.17381594e-01 -1.46603113e+02] [ 2.92521707e-03 9.99987221e-01 -4.12333237e-03 9.98157483e+00] [ 2.17394285e-01 3.38881180e-03 9.76077989e-01 -1.40435061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.27534707 meters Centerline goodness [0,1] 0.9991889180593797 Centerline is valid? [True, True] Translation: X:-146.63, Y:9.98, Z:-14.05 [[ 9.76320741e-01 -3.59807903e-03 -2.16298092e-01 -1.46630453e+02] [ 2.78168712e-03 9.99987813e-01 -4.07870613e-03 9.98019293e+00] [ 2.16310132e-01 3.38045178e-03 9.76318851e-01 -1.40454415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.30534707 meters Centerline goodness [0,1] 0.9995076211680082 Centerline is valid? [True, True] Translation: X:-146.66, Y:9.98, Z:-14.06 [[ 9.75587997e-01 -1.32684620e-03 -2.19604871e-01 -1.46657944e+02] [ 4.35260164e-04 9.99991466e-01 -4.10828906e-03 9.98125285e+00] [ 2.19608448e-01 3.91241224e-03 9.75580249e-01 -1.40551351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.33534707 meters Centerline goodness [0,1] 0.9987877498936623 Centerline is valid? [True, True] Translation: X:-146.69, Y:9.98, Z:-14.06 [[ 9.75657499e-01 4.07752417e-03 -2.19261988e-01 -1.46686092e+02] [-5.09618394e-03 9.99978689e-01 -4.08047384e-03 9.98470317e+00] [ 2.19240677e-01 5.09854432e-03 9.75657486e-01 -1.40637779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.36534707 meters Centerline goodness [0,1] 0.9987797045600514 Centerline is valid? [True, True] Translation: X:-146.71, Y:9.99, Z:-14.07 [[ 9.76086602e-01 5.73292732e-03 -2.17306416e-01 -1.46714895e+02] [-6.76389610e-03 9.99969121e-01 -4.00079334e-03 9.98554564e+00] [ 2.17276770e-01 5.37495880e-03 9.76095239e-01 -1.40684490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.39534707 meters Centerline goodness [0,1] 0.9986709254217668 Centerline is valid? [True, True] Translation: X:-146.74, Y:9.99, Z:-14.06 [[ 9.76243114e-01 1.25260501e-02 -2.16315698e-01 -1.46744099e+02] [-1.36956085e-02 9.99898572e-01 -3.90847207e-03 9.98550683e+00] [ 2.16244800e-01 6.77819404e-03 9.76315647e-01 -1.40630215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.42534707000002 meters Centerline goodness [0,1] 0.9988195905052153 Centerline is valid? [True, True] Translation: X:-146.77, Y:9.99, Z:-14.07 [[ 9.76184999e-01 1.82385158e-02 -2.16171703e-01 -1.46771826e+02] [-1.95353611e-02 9.99801701e-01 -3.86372190e-03 9.99067593e+00] [ 2.16058368e-01 7.99469963e-03 9.76347718e-01 -1.40717720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.45534707000002 meters Centerline goodness [0,1] 0.9987340414118657 Centerline is valid? [True, True] Translation: X:-146.80, Y:9.99, Z:-14.08 [[ 9.75842189e-01 2.27186767e-02 -2.17292162e-01 -1.46801018e+02] [-2.41342989e-02 9.99701262e-01 -3.86289742e-03 9.99383235e+00] [ 2.17139489e-01 9.01377227e-03 9.76098967e-01 -1.40807350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.48534707 meters Centerline goodness [0,1] 0.9987517754917574 Centerline is valid? [True, True] Translation: X:-146.83, Y:9.99, Z:-14.08 [[ 9.76027842e-01 2.39086809e-02 -2.16328514e-01 -1.46828812e+02] [-2.53360881e-02 9.99671664e-01 -3.82703405e-03 9.99334996e+00] [ 2.16165986e-01 9.21621008e-03 9.76313130e-01 -1.40845606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.51534707 meters Centerline goodness [0,1] 0.9983473876011696 Centerline is valid? [True, True] Translation: X:-146.86, Y:10.00, Z:-14.09 [[ 9.76712184e-01 2.61189564e-02 -2.12957999e-01 -1.46856645e+02] [-2.75434462e-02 9.99613669e-01 -3.72446049e-03 9.99672086e+00] [ 2.12778447e-01 9.50332312e-03 9.77054256e-01 -1.40912909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.54534707 meters Centerline goodness [0,1] 0.9986168152703594 Centerline is valid? [True, True] Translation: X:-146.88, Y:10.00, Z:-14.10 [[ 9.75989267e-01 2.77744210e-02 -2.16040581e-01 -1.46884292e+02] [-2.92753236e-02 9.99564353e-01 -3.74966797e-03 9.99534998e+00] [ 2.15842318e-01 9.98429360e-03 9.76377185e-01 -1.40996329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.57534707 meters Centerline goodness [0,1] 0.9992682034394438 Centerline is valid? [True, True] Translation: X:-146.91, Y:9.99, Z:-14.10 [[ 9.75541198e-01 2.67474194e-02 -2.18183287e-01 -1.46911542e+02] [-2.82476836e-02 9.99593885e-01 -3.75932642e-03 9.99170878e+00] [ 2.17994127e-01 9.83055026e-03 9.75900569e-01 -1.41048562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.60534707 meters Centerline goodness [0,1] 0.9985401459854014 Centerline is valid? [True, True] Translation: X:-146.94, Y:9.99, Z:-14.11 [[ 9.76266300e-01 2.63799159e-02 -2.14960955e-01 -1.46941254e+02] [-2.78179712e-02 9.99606280e-01 -3.66679705e-03 9.99120052e+00] [ 2.14779591e-01 9.55954804e-03 9.76615760e-01 -1.41083314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.63534707 meters Centerline goodness [0,1] 0.9984631803628602 Centerline is valid? [True, True] Translation: X:-146.97, Y:9.99, Z:-14.11 [[ 9.76560795e-01 2.23904029e-02 -2.14074012e-01 -1.46969589e+02] [-2.37185031e-02 9.99712061e-01 -3.63708055e-03 9.98593523e+00] [ 2.13930936e-01 8.62934539e-03 9.76810672e-01 -1.41147924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.66534707 meters Centerline goodness [0,1] 0.999570308303792 Centerline is valid? [True, True] Translation: X:-147.00, Y:9.98, Z:-14.12 [[ 9.76257287e-01 1.82319787e-02 -2.15845558e-01 -1.46996873e+02] [-1.94738499e-02 9.99803784e-01 -3.62799473e-03 9.97974928e+00] [ 2.15737060e-01 7.74520029e-03 9.76420777e-01 -1.41246959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69534707 meters Centerline goodness [0,1] 0.9992308021024743 Centerline is valid? [True, True] Translation: X:-147.03, Y:9.98, Z:-14.13 [[ 9.76585976e-01 1.51995516e-02 -2.14589851e-01 -1.47025720e+02] [-1.63398649e-02 9.99860225e-01 -3.54096783e-03 9.97654073e+00] [ 2.14506036e-01 6.96442869e-03 9.76697833e-01 -1.41315170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.72534707 meters Centerline goodness [0,1] 0.9996131528046421 Centerline is valid? [True, True] Translation: X:-147.05, Y:9.97, Z:-14.14 [[ 9.76219803e-01 8.96998328e-03 -2.16597403e-01 -1.47053319e+02] [-9.97564252e-03 9.99943940e-01 -3.55008575e-03 9.96616678e+00] [ 2.16553416e-01 5.62636228e-03 9.76254558e-01 -1.41364807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.75534707 meters Centerline goodness [0,1] 0.9996995192307693 Centerline is valid? [True, True] Translation: X:-147.08, Y:9.96, Z:-14.15 [[ 9.76407256e-01 2.46197079e-03 -2.15923155e-01 -1.47080892e+02] [-3.29484565e-03 9.99988456e-01 -3.49739626e-03 9.95955382e+00] [ 2.15912052e-01 4.12631655e-03 9.76404096e-01 -1.41484407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.78534707 meters Centerline goodness [0,1] 0.9996355060034305 Centerline is valid? [True, True] Translation: X:-147.11, Y:9.95, Z:-14.15 [[ 9.76692339e-01 -5.09030877e-04 -2.14643461e-01 -1.47109268e+02] [-2.38645738e-04 9.99993995e-01 -3.45741389e-03 9.95411416e+00] [ 2.14643932e-01 3.42805341e-03 9.76686352e-01 -1.41502689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.81534707 meters Centerline goodness [0,1] 0.999550253785364 Centerline is valid? [True, True] Translation: X:-147.14, Y:9.95, Z:-14.16 [[ 9.76801567e-01 -5.49276224e-03 -2.14075987e-01 -1.47136809e+02] [ 4.87579233e-03 9.99982299e-01 -3.40992670e-03 9.94803555e+00] [ 2.14090928e-01 2.28703169e-03 9.76811058e-01 -1.41593977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.84534707 meters Centerline goodness [0,1] 0.999893185216834 Centerline is valid? [True, True] Translation: X:-147.17, Y:9.94, Z:-14.16 [[ 9.76442668e-01 -9.35092572e-03 -2.15574295e-01 -1.47165030e+02] [ 8.83324313e-03 9.99955325e-01 -3.36474479e-03 9.94175609e+00] [ 2.15596128e-01 1.38126021e-03 9.76481644e-01 -1.41649493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.87534707 meters Centerline goodness [0,1] 0.9997634205092911 Centerline is valid? [True, True] Translation: X:-147.19, Y:9.94, Z:-14.17 [[ 9.76571693e-01 -1.24176406e-02 -2.14833726e-01 -1.47194330e+02] [ 1.19806130e-02 9.99922664e-01 -3.33631409e-03 9.93821135e+00] [ 2.14858541e-01 6.84310160e-04 9.76644940e-01 -1.41703774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.90534707 meters Centerline goodness [0,1] 0.9996087977049465 Centerline is valid? [True, True] Translation: X:-147.22, Y:9.93, Z:-14.18 [[ 9.76929171e-01 -1.56005280e-02 -2.12993003e-01 -1.47223820e+02] [ 1.52477901e-02 9.99878304e-01 -3.29878700e-03 9.93280885e+00] [ 2.13018545e-01 -2.49913450e-05 9.77048156e-01 -1.41794691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.93534707 meters Centerline goodness [0,1] 0.9997635832187071 Centerline is valid? [True, True] Translation: X:-147.25, Y:9.93, Z:-14.18 [[ 9.76648904e-01 -1.64162854e-02 -2.14213502e-01 -1.47253999e+02] [ 1.60784443e-02 9.99865223e-01 -3.31948243e-03 9.93064570e+00] [ 2.14239124e-01 -2.02250974e-04 9.76781223e-01 -1.41808789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.96534707 meters Centerline goodness [0,1] 0.9998050259965338 Centerline is valid? [True, True] Translation: X:-147.28, Y:9.93, Z:-14.19 [[ 9.76480394e-01 -1.96282971e-02 -2.14710899e-01 -1.47284228e+02] [ 1.93637911e-02 9.99806941e-01 -3.33539357e-03 9.92580487e+00] [ 2.14734915e-01 -9.00670558e-04 9.76671954e-01 -1.41886359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.99534707 meters Centerline goodness [0,1] 0.999653071402242 Centerline is valid? [True, True] Translation: X:-147.31, Y:9.92, Z:-14.21 [[ 9.76747408e-01 -2.12534056e-02 -2.13337279e-01 -1.47313399e+02] [ 2.10230294e-02 9.99773384e-01 -3.34868671e-03 9.92028275e+00] [ 2.13360104e-01 -1.21417482e-03 9.76972872e-01 -1.42097029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.02534707 meters Centerline goodness [0,1] 0.9997181144021857 Centerline is valid? [True, True] Translation: X:-147.35, Y:9.92, Z:-14.22 [[ 9.76759865e-01 -2.14717176e-02 -2.13258366e-01 -1.47345261e+02] [ 2.12274664e-02 9.99768770e-01 -3.43534220e-03 9.91831250e+00] [ 2.13282817e-01 -1.17143042e-03 9.76989799e-01 -1.42150771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.05534707 meters Centerline goodness [0,1] 0.9995438550762413 Centerline is valid? [True, True] Translation: X:-147.38, Y:9.91, Z:-14.22 [[ 9.76619353e-01 -2.46017616e-02 -2.13563558e-01 -1.47375645e+02] [ 2.44136941e-02 9.99695750e-01 -3.51834567e-03 9.91448843e+00] [ 2.13585139e-01 -1.77779090e-03 9.76922836e-01 -1.42201759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.08534707 meters Centerline goodness [0,1] 0.9997376131543272 Centerline is valid? [True, True] Translation: X:-147.41, Y:9.91, Z:-14.23 [[ 9.76498247e-01 -2.75731864e-02 -2.13754281e-01 -1.47406865e+02] [ 2.74392209e-02 9.99617012e-01 -3.59419729e-03 9.90931680e+00] [ 2.13771519e-01 -2.35552358e-03 9.76880847e-01 -1.42273543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.11534707 meters Centerline goodness [0,1] 0.9999564488382727 Centerline is valid? [True, True] Translation: X:-147.44, Y:9.90, Z:-14.24 [[ 9.75939564e-01 -3.30304164e-02 -2.15524845e-01 -1.47437222e+02] [ 3.30123180e-02 9.99448152e-01 -3.68477863e-03 9.90170494e+00] [ 2.15527618e-01 -3.51885348e-03 9.76491405e-01 -1.42378918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.14534707 meters Centerline goodness [0,1] 0.9999781521050447 Centerline is valid? [True, True] Translation: X:-147.47, Y:9.90, Z:-14.24 [[ 9.75730581e-01 -3.63515686e-02 -2.15936096e-01 -1.47468638e+02] [ 3.64060063e-02 9.99330132e-01 -3.72686248e-03 9.89908149e+00] [ 2.15926925e-01 -4.22495720e-03 9.76400385e-01 -1.42359614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.17534707000002 meters Centerline goodness [0,1] 0.9998242685177049 Centerline is valid? [True, True] Translation: X:-147.50, Y:9.89, Z:-14.24 [[ 9.75511860e-01 -4.40318810e-02 -2.15494326e-01 -1.47499258e+02] [ 4.42578000e-02 9.99012995e-01 -3.77927591e-03 9.88931880e+00] [ 2.15448041e-01 -5.85057631e-03 9.76497779e-01 -1.42434003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.20534707000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-147.53, Y:9.88, Z:-14.25 [[ 9.74878605e-01 -5.13730721e-02 -2.16731432e-01 -1.47529078e+02] [ 5.17784258e-02 9.98651323e-01 -3.81166190e-03 9.87972402e+00] [ 2.16634948e-01 -7.50610473e-03 9.76223826e-01 -1.42513014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.23534707 meters Centerline goodness [0,1] 0.9999122633853172 Centerline is valid? [True, True] Translation: X:-147.56, Y:9.87, Z:-14.27 [[ 9.74701902e-01 -5.56655849e-02 -2.16466035e-01 -1.47557577e+02] [ 5.61720834e-02 9.98413806e-01 -3.81700515e-03 9.86567468e+00] [ 2.16335154e-01 -8.43890598e-03 9.76282688e-01 -1.42728295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.26534707 meters Centerline goodness [0,1] 0.9984316800627328 Centerline is valid? [True, True] Translation: X:-147.59, Y:9.85, Z:-14.28 [[ 9.75212248e-01 -6.21902226e-02 -2.12352177e-01 -1.47589591e+02] [ 6.28212527e-02 9.98017633e-01 -3.78090621e-03 9.85485713e+00] [ 2.12166353e-01 -9.65304374e-03 9.77185887e-01 -1.42776840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.29534707 meters Centerline goodness [0,1] 0.9984409310496267 Centerline is valid? [True, True] Translation: X:-147.62, Y:9.85, Z:-14.28 [[ 9.75097859e-01 -6.58797701e-02 -2.11764071e-01 -1.47621003e+02] [ 6.65789690e-02 9.97773789e-01 -3.83491747e-03 9.84858755e+00] [ 2.11545283e-01 -1.03596137e-02 9.77313293e-01 -1.42820405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.32534707 meters Centerline goodness [0,1] 0.9958581585417174 Centerline is valid? [True, True] Translation: X:-147.65, Y:9.84, Z:-14.29 [[ 9.74725809e-01 -7.42658313e-02 -2.10699274e-01 -1.47650639e+02] [ 7.51482068e-02 9.97165031e-01 -3.82722438e-03 9.83729628e+00] [ 2.10386181e-01 -1.21031783e-02 9.77543435e-01 -1.42860801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.35534707 meters Centerline goodness [0,1] 0.9950972814204633 Centerline is valid? [True, True] Translation: X:-147.68, Y:9.83, Z:-14.29 [[ 9.74848633e-01 -7.71611419e-02 -2.09084435e-01 -1.47681410e+02] [ 7.80909405e-02 9.96938932e-01 -3.81711720e-03 9.83015432e+00] [ 2.08738947e-01 -1.26064887e-02 9.77890141e-01 -1.42911089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.38534707 meters Centerline goodness [0,1] 0.9907936086398442 Centerline is valid? [True, True] Translation: X:-147.71, Y:9.83, Z:-14.30 [[ 9.74555569e-01 -7.91991543e-02 -2.09687714e-01 -1.47711630e+02] [ 8.01696271e-02 9.96773678e-01 -3.88137073e-03 9.82509802e+00] [ 2.09318595e-01 -1.30279744e-02 9.77760706e-01 -1.42986885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.41534707 meters Centerline goodness [0,1] 0.9878588898926911 Centerline is valid? [True, True] Translation: X:-147.74, Y:9.82, Z:-14.31 [[ 9.74976987e-01 -8.10369965e-02 -2.07009373e-01 -1.47742419e+02] [ 8.20172309e-02 9.96623448e-01 -3.85711124e-03 9.81834867e+00] [ 2.06622964e-01 -1.32177408e-02 9.78331356e-01 -1.43060189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.44534707 meters Centerline goodness [0,1] 0.9869009024796285 Centerline is valid? [True, True] Translation: X:-147.77, Y:9.81, Z:-14.31 [[ 9.75189768e-01 -8.24119078e-02 -2.05458498e-01 -1.47774050e+02] [ 8.33926205e-02 9.96509151e-01 -3.89660224e-03 9.81458008e+00] [ 2.05062400e-01 -1.33337959e-02 9.78658072e-01 -1.43112863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47534707 meters Centerline goodness [0,1] 0.9892078424476877 Centerline is valid? [True, True] Translation: X:-147.80, Y:9.81, Z:-14.31 [[ 9.75585717e-01 -8.07299181e-02 -2.04242965e-01 -1.47804766e+02] [ 8.16508015e-02 9.96653256e-01 -3.92855653e-03 9.81398945e+00] [ 2.03876568e-01 -1.28439582e-02 9.78912344e-01 -1.43140503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.50534707 meters Centerline goodness [0,1] 0.9897979289357882 Centerline is valid? [True, True] Translation: X:-147.84, Y:9.82, Z:-14.32 [[ 9.76485216e-01 -7.58357706e-02 -2.01805744e-01 -1.47835248e+02] [ 7.66298937e-02 9.97052033e-01 -3.88616778e-03 9.81662876e+00] [ 2.01505538e-01 -1.16695673e-02 9.79417857e-01 -1.43183236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.53534707 meters Centerline goodness [0,1] 0.9911716262215878 Centerline is valid? [True, True] Translation: X:-147.87, Y:9.82, Z:-14.32 [[ 9.76881567e-01 -6.89473080e-02 -2.02357786e-01 -1.47865290e+02] [ 6.95997727e-02 9.97567379e-01 -3.89829470e-03 9.82329554e+00] [ 2.02134303e-01 -1.02758837e-02 9.79303901e-01 -1.43217211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.56534707 meters Centerline goodness [0,1] 0.9909120770831052 Centerline is valid? [True, True] Translation: X:-147.89, Y:9.83, Z:-14.33 [[ 9.77259384e-01 -5.78223505e-02 -2.04011453e-01 -1.47894766e+02] [ 5.82467900e-02 9.98294484e-01 -3.92875711e-03 9.83441361e+00] [ 2.03890678e-01 -8.04359749e-03 9.78960618e-01 -1.43325901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.59534707 meters Centerline goodness [0,1] 0.989409885565499 Centerline is valid? [True, True] Translation: X:-147.92, Y:9.85, Z:-14.34 [[ 9.77701159e-01 -4.42679423e-02 -2.05282225e-01 -1.47924108e+02] [ 4.44020534e-02 9.99005912e-01 -3.95551542e-03 9.84864500e+00] [ 2.05253259e-01 -5.24764031e-03 9.78694826e-01 -1.43434911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.62534707 meters Centerline goodness [0,1] 0.9871374912648497 Centerline is valid? [True, True] Translation: X:-147.95, Y:9.86, Z:-14.35 [[ 9.78794709e-01 -3.07738336e-02 -2.02518860e-01 -1.47954378e+02] [ 3.06178159e-02 9.99523541e-01 -3.90390740e-03 9.86246519e+00] [ 2.02542507e-01 -2.37956129e-03 9.79270581e-01 -1.43483026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.65534707 meters Centerline goodness [0,1] 0.986012002182215 Centerline is valid? [True, True] Translation: X:-147.99, Y:9.87, Z:-14.35 [[ 9.79645981e-01 -2.48868197e-02 -1.99184334e-01 -1.47985805e+02] [ 2.46146497e-02 9.99689627e-01 -3.84293679e-03 9.86885495e+00] [ 1.99218151e-01 -1.13813504e-03 9.79954505e-01 -1.43501054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.68534707 meters Centerline goodness [0,1] 0.9861327482172244 Centerline is valid? [True, True] Translation: X:-148.02, Y:9.88, Z:-14.35 [[ 9.81077508e-01 -1.35764568e-02 -1.93138817e-01 -1.48017504e+02] [ 1.31016283e-02 9.99907192e-01 -3.73557185e-03 9.88033835e+00] [ 1.93171608e-01 1.13445253e-03 9.81164330e-01 -1.43475639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.71534707 meters Centerline goodness [0,1] 0.9849992312929652 Centerline is valid? [True, True] Translation: X:-148.05, Y:9.89, Z:-14.35 [[ 9.81820691e-01 -7.59918636e-03 -1.89658597e-01 -1.48050469e+02] [ 7.02718081e-03 9.99968507e-01 -3.68828798e-03 9.88676534e+00] [ 1.89680652e-01 2.28847220e-03 9.81843171e-01 -1.43470538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.74534707 meters Centerline goodness [0,1] 0.9832605690967727 Centerline is valid? [True, True] Translation: X:-148.08, Y:9.90, Z:-14.35 [[ 9.81868813e-01 2.58503010e-03 -1.89544064e-01 -1.48081853e+02] [-3.35487845e-03 9.99987375e-01 -3.74083493e-03 9.89761887e+00] [ 1.89532001e-01 4.30890645e-03 9.81865089e-01 -1.43530114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.77534707 meters Centerline goodness [0,1] 0.9824751142207606 Centerline is valid? [True, True] Translation: X:-148.11, Y:9.90, Z:-14.37 [[ 9.80139805e-01 1.04374502e-02 -1.98032881e-01 -1.48111493e+02] [-1.14403486e-02 9.99926870e-01 -3.92083422e-03 9.90488486e+00] [ 1.97977475e-01 6.10853087e-03 9.80187536e-01 -1.43653411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.80534707 meters Centerline goodness [0,1] 0.9791643577524105 Centerline is valid? [True, True] Translation: X:-148.14, Y:9.91, Z:-14.37 [[ 9.79931858e-01 1.83780361e-02 -1.98483758e-01 -1.48141379e+02] [-1.95474178e-02 9.99801193e-01 -3.93359653e-03 9.91333369e+00] [ 1.98372006e-01 7.73450149e-03 9.80096283e-01 -1.43745575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.83534707 meters Centerline goodness [0,1] 0.9796077037563587 Centerline is valid? [True, True] Translation: X:-148.17, Y:9.92, Z:-14.38 [[ 9.80246486e-01 2.02697976e-02 -1.96738309e-01 -1.48174213e+02] [-2.14579115e-02 9.99762110e-01 -3.90908500e-03 9.91573396e+00] [ 1.96612270e-01 8.05346005e-03 9.80448243e-01 -1.43786720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.86534707 meters Centerline goodness [0,1] 0.9782885194689278 Centerline is valid? [True, True] Translation: X:-148.20, Y:9.92, Z:-14.38 [[ 9.81322043e-01 1.90352449e-02 -1.91428072e-01 -1.48204418e+02] [-2.01404308e-02 9.99789828e-01 -3.82913822e-03 9.91665967e+00] [ 1.91314950e-01 7.61306158e-03 9.81499175e-01 -1.43770461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.89534707 meters Centerline goodness [0,1] 0.9759401852471823 Centerline is valid? [True, True] Translation: X:-148.23, Y:9.92, Z:-14.38 [[ 9.81769644e-01 1.71207265e-02 -1.89302000e-01 -1.48234451e+02] [-1.81693866e-02 9.99827681e-01 -3.80543206e-03 9.91562631e+00] [ 1.89204228e-01 7.17555890e-03 9.81911539e-01 -1.43793495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.92534707000002 meters Centerline goodness [0,1] 0.9698972755694506 Centerline is valid? [True, True] Translation: X:-148.26, Y:9.91, Z:-14.38 [[ 9.82488036e-01 1.18446521e-02 -1.85948820e-01 -1.48264713e+02] [-1.27658752e-02 9.99911453e-01 -3.75757368e-03 9.91236938e+00] [ 1.85887848e-01 6.06557061e-03 9.82552246e-01 -1.43829263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.95534707000002 meters Centerline goodness [0,1] 0.9660033726812817 Centerline is valid? [True, True] Translation: X:-148.29, Y:9.91, Z:-14.39 [[ 9.82619367e-01 5.21393075e-03 -1.85558602e-01 -1.48294215e+02] [-6.01559430e-03 9.99974847e-01 -3.75751840e-03 9.90785686e+00] [ 1.85534343e-01 4.80845562e-03 9.82626015e-01 -1.43872104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.98534707 meters Centerline goodness [0,1] 0.9596015989638 Centerline is valid? [True, True] Translation: X:-148.33, Y:9.91, Z:-14.39 [[ 9.82730199e-01 3.60886934e-03 -1.85009004e-01 -1.48325206e+02] [-4.38155445e-03 9.99983303e-01 -3.76779930e-03 9.90746871e+00] [ 1.84992317e-01 4.51335718e-03 9.82729603e-01 -1.43936841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.01534707 meters Centerline goodness [0,1] 0.9544155698053775 Centerline is valid? [True, True] Translation: X:-148.36, Y:9.91, Z:-14.40 [[ 9.82784752e-01 5.72832909e-03 -1.84665419e-01 -1.48355465e+02] [-6.53787592e-03 9.99971501e-01 -3.77525431e-03 9.91193415e+00] [ 1.84638531e-01 4.91758197e-03 9.82794195e-01 -1.44011587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.04534707 meters Centerline goodness [0,1] 0.9455674760022587 Centerline is valid? [True, False] Translation: X:-148.36, Y:9.92, Z:-14.40 [[ 9.83143770e-01 5.22970419e-03 -1.82759341e-01 -1.48362795e+02] [-6.17042797e-03 9.99970479e-01 -4.57907107e-03 9.91624229e+00] [ 1.82729998e-01 5.62958855e-03 9.83147016e-01 -1.43990008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.07534707 meters Centerline goodness [0,1] 0.9368335625239523 Centerline is valid? [False, False] Translation: X:-148.37, Y:9.92, Z:-14.40 [[ 9.83564373e-01 3.56191184e-03 -1.80522676e-01 -1.48367456e+02] [-4.75933028e-03 9.99969452e-01 -6.20035496e-03 9.91845560e+00] [ 1.80495076e-01 6.95761528e-03 9.83551279e-01 -1.43985020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.10534707 meters Centerline goodness [0,1] 0.9368335625239523 Centerline is valid? [False, False] Translation: X:-148.37, Y:9.92, Z:-14.40 [[ 9.83564373e-01 3.56191184e-03 -1.80522676e-01 -1.48367456e+02] [-4.75933028e-03 9.99969452e-01 -6.20035496e-03 9.91845560e+00] [ 1.80495076e-01 6.95761528e-03 9.83551279e-01 -1.43985020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.13534707 meters Centerline goodness [0,1] 0.9232178396960377 Centerline is valid? [False, False] Translation: X:-148.40, Y:9.93, Z:-14.40 [[ 9.85447960e-01 -5.92355053e-03 -1.69874159e-01 -1.48395762e+02] [ 7.76300849e-03 9.99918189e-01 1.01662017e-02 9.92961341e+00] [ 1.69800041e-01 -1.13369973e-02 9.85413324e-01 -1.44040925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.16534707 meters Centerline goodness [0,1] 0.9060279675974114 Centerline is valid? [False, False] Translation: X:-148.41, Y:9.94, Z:-14.41 [[ 9.85617481e-01 -7.85438515e-03 -1.68809033e-01 -1.48408594e+02] [ 9.54034983e-03 9.99912363e-01 9.17864838e-03 9.93762384e+00] [ 1.68722146e-01 -1.06571335e-02 9.85606038e-01 -1.44055198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19534707 meters Centerline goodness [0,1] 0.8678476567775627 Centerline is valid? [False, False] Translation: X:-148.42, Y:9.94, Z:-14.41 [[ 9.85485183e-01 -1.57617691e-02 -1.69028163e-01 -1.48422555e+02] [ 1.68159616e-02 9.99847046e-01 4.80702604e-03 9.94402526e+00] [ 1.68926542e-01 -7.57962404e-03 9.85599499e-01 -1.44062594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.22534707 meters Centerline goodness [0,1] 0.8315652835593752 Centerline is valid? [False, False] Translation: X:-148.43, Y:9.95, Z:-14.41 [[ 9.85485322e-01 -2.03419033e-02 -1.68537497e-01 -1.48425364e+02] [ 2.06843753e-02 9.99786017e-01 2.76483044e-04 9.94581043e+00] [ 1.68495809e-01 -3.75856283e-03 9.85695204e-01 -1.44067926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.25534707 meters Centerline goodness [0,1] 0.7364309854741602 Centerline is valid? [False, False] Translation: X:-148.47, Y:9.95, Z:-14.41 [[ 9.84408129e-01 -3.73027789e-02 -1.71898629e-01 -1.48465782e+02] [ 3.95233597e-02 9.99173367e-01 9.51242843e-03 9.95206179e+00] [ 1.71401692e-01 -1.61581232e-02 9.85068716e-01 -1.44106540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.28534707 meters Centerline goodness [0,1] 0.5955841189511163 Centerline is valid? [False, False] Translation: X:-148.47, Y:9.95, Z:-14.41 [[ 9.84426344e-01 -3.99296654e-02 -1.71202791e-01 -1.48470766e+02] [ 4.16767787e-02 9.99109204e-01 6.62151979e-03 9.95313842e+00] [ 1.70785889e-01 -1.36535794e-02 9.85213560e-01 -1.44097944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.31534707 meters Centerline goodness [0,1] 0.4655265648235771 Centerline is valid? [False, False] Translation: X:-148.51, Y:9.95, Z:-14.41 [[ 9.83364589e-01 -3.93857168e-02 -1.77321321e-01 -1.48512149e+02] [ 4.03769531e-02 9.99182549e-01 1.98365869e-03 9.95444709e+00] [ 1.77098242e-01 -9.11035438e-03 9.84151012e-01 -1.44118434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.34534707 meters Centerline goodness [0,1] 0.268017071714469 Centerline is valid? [False, False] Translation: X:-148.54, Y:9.96, Z:-14.41 [[ 9.79432614e-01 -4.49609170e-02 -1.96698424e-01 -1.48544800e+02] [ 4.49524057e-02 9.98978948e-01 -4.51024101e-03 9.95825003e+00] [ 1.96700369e-01 -4.42459022e-03 9.80453664e-01 -1.44083039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.37534707 meters Centerline goodness [0,1] 0.26641003517621287 Centerline is valid? [False, False] Translation: X:-148.55, Y:9.96, Z:-14.41 [[ 9.79415986e-01 -4.83145627e-02 -1.95984766e-01 -1.48552810e+02] [ 4.74336926e-02 9.98832125e-01 -9.18857422e-03 9.95891124e+00] [ 1.96199822e-01 -2.96844646e-04 9.80563890e-01 -1.44075621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.40534707 meters Centerline goodness [0,1] 0.24672493749065028 Centerline is valid? [False, False] Translation: X:-148.58, Y:9.97, Z:-14.40 [[ 9.72452089e-01 -5.70628072e-02 -2.26010554e-01 -1.48575973e+02] [ 5.40919433e-02 9.98349015e-01 -1.93211072e-02 9.96587828e+00] [ 2.26739931e-01 6.56350098e-03 9.73933224e-01 -1.43973603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.43534707 meters Centerline goodness [0,1] 0.25529935975082196 Centerline is valid? [False, False] Translation: X:-148.60, Y:9.98, Z:-14.39 [[ 9.65370485e-01 -6.18044148e-02 -2.53456190e-01 -1.48599946e+02] [ 5.79853602e-02 9.98063440e-01 -2.25181776e-02 9.97518113e+00] [ 2.54357080e-01 7.04163558e-03 9.67084738e-01 -1.43901593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.46534707 meters Centerline goodness [0,1] 0.2593292087267991 Centerline is valid? [False, False] Translation: X:-148.61, Y:9.98, Z:-14.39 [[ 9.62976660e-01 -6.07675224e-02 -2.62646645e-01 -1.48605245e+02] [ 5.53688252e-02 9.98075680e-01 -2.79146909e-02 9.97777790e+00] [ 2.63837535e-01 1.23387596e-02 9.64488211e-01 -1.43883426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.49534707 meters Centerline goodness [0,1] 0.2545199003385933 Centerline is valid? [False, False] Translation: X:-148.62, Y:9.99, Z:-14.38 [[ 9.48577804e-01 -7.29695014e-02 -3.08018833e-01 -1.48616151e+02] [ 6.31862196e-02 9.97133054e-01 -4.16314037e-02 9.98813031e+00] [ 3.10173582e-01 2.00280799e-02 9.50468950e-01 -1.43779320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.52534707 meters Centerline goodness [0,1] 0.2548387096774194 Centerline is valid? [False, False] Translation: X:-148.61, Y:9.99, Z:-14.37 [[ 9.40243211e-01 -8.07059763e-02 -3.30800923e-01 -1.48611523e+02] [ 6.77812688e-02 9.96424221e-01 -5.04427606e-02 9.99465345e+00] [ 3.33689084e-01 2.50063569e-02 9.42351462e-01 -1.43705132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.55534707 meters Centerline goodness [0,1] 0.25659227046961264 Centerline is valid? [False, False] Translation: X:-148.63, Y:10.00, Z:-14.36 [[ 9.25314003e-01 -9.39572876e-02 -3.67377222e-01 -1.48625190e+02] [ 7.77217710e-02 9.95241008e-01 -5.87763779e-02 1.00048701e+01] [ 3.71151346e-01 2.58333972e-02 9.28212968e-01 -1.43592666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.58534707 meters Centerline goodness [0,1] 0.2637900924308898 Centerline is valid? [False, False] Translation: X:-148.65, Y:10.01, Z:-14.35 [[ 9.12300054e-01 -1.08864456e-01 -3.94787464e-01 -1.48646239e+02] [ 8.93461428e-02 9.93707160e-01 -6.75525468e-02 1.00133782e+01] [ 3.99657201e-01 2.63554550e-02 9.16285715e-01 -1.43503781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.61534707 meters Centerline goodness [0,1] 0.2645393830170677 Centerline is valid? [False, False] Translation: X:-148.67, Y:10.02, Z:-14.35 [[ 9.00199192e-01 -1.26965720e-01 -4.16558664e-01 -1.48671358e+02] [ 1.08631845e-01 9.91785309e-01 -6.75353531e-02 1.00229339e+01] [ 4.21711438e-01 1.55437341e-02 9.06596854e-01 -1.43528157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.64534707 meters Centerline goodness [0,1] 0.2409809356551914 Centerline is valid? [False, False] Translation: X:-148.67, Y:10.03, Z:-14.35 [[ 8.90790045e-01 -1.41283839e-01 -4.31893474e-01 -1.48674900e+02] [ 1.20253641e-01 9.89846733e-01 -7.57793343e-02 1.00307404e+01] [ 4.38214739e-01 1.55667137e-02 8.98735512e-01 -1.43484509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.67534707000002 meters Centerline goodness [0,1] 0.24236528212503172 Centerline is valid? [False, False] Translation: X:-148.70, Y:10.04, Z:-14.35 [[ 8.74259116e-01 -1.66332564e-01 -4.56075077e-01 -1.48696609e+02] [ 1.44153437e-01 9.86044387e-01 -8.32841717e-02 1.00414548e+01] [ 4.63563140e-01 7.06715651e-03 8.86035705e-01 -1.43488539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.70534707000002 meters Centerline goodness [0,1] 0.24390812885712465 Centerline is valid? [False, False] Translation: X:-148.74, Y:10.04, Z:-14.37 [[ 8.80550178e-01 -1.72671951e-01 -4.41379408e-01 -1.48744719e+02] [ 1.52994858e-01 9.84974790e-01 -8.01076545e-02 1.00378815e+01] [ 4.48579935e-01 3.01002959e-03 8.93737647e-01 -1.43716324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.73534707 meters Centerline goodness [0,1] 0.24924976056188142 Centerline is valid? [False, False] Translation: X:-148.76, Y:10.04, Z:-14.37 [[ 8.81794307e-01 -1.72074976e-01 -4.39122994e-01 -1.48759085e+02] [ 1.52282209e-01 9.85076274e-01 -8.02175971e-02 1.00358844e+01] [ 4.46373084e-01 3.86480084e-03 8.94838608e-01 -1.43707253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.76534707 meters Centerline goodness [0,1] 0.3535665665449359 Centerline is valid? [False, False] Translation: X:-148.81, Y:10.03, Z:-14.39 [[ 8.85452607e-01 -1.73679637e-01 -4.31055755e-01 -1.48806924e+02] [ 1.55253546e-01 9.84800103e-01 -7.78787136e-02 1.00345600e+01] [ 4.38029698e-01 2.03497563e-03 8.98958198e-01 -1.43892950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.79534707 meters Centerline goodness [0,1] 0.34081530164414076 Centerline is valid? [False, False] Translation: X:-148.83, Y:10.03, Z:-14.39 [[ 8.87901526e-01 -1.69129134e-01 -4.27815633e-01 -1.48827740e+02] [ 1.48879243e-01 9.85562209e-01 -8.06356135e-02 1.00315553e+01] [ 4.35276752e-01 7.90361669e-03 9.00262008e-01 -1.43934916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.82534707 meters Centerline goodness [0,1] 0.3021465548018565 Centerline is valid? [False, False] Translation: X:-148.89, Y:10.03, Z:-14.42 [[ 8.92928658e-01 -1.67542881e-01 -4.17860975e-01 -1.48885446e+02] [ 1.45640288e-01 9.85762924e-01 -8.40259684e-02 1.00257652e+01] [ 4.25989809e-01 1.41718025e-02 9.04616959e-01 -1.44204723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.85534707 meters Centerline goodness [0,1] 0.23284729286763872 Centerline is valid? [False, False] Translation: X:-148.94, Y:10.02, Z:-14.44 [[ 8.95570463e-01 -1.66632051e-01 -4.12537641e-01 -1.48941505e+02] [ 1.41986470e-01 9.85774336e-01 -8.99377573e-02 1.00194754e+01] [ 4.21655532e-01 2.19708355e-02 9.06489876e-01 -1.44446000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.88534707 meters Centerline goodness [0,1] 0.19087098492392485 Centerline is valid? [False, False] Translation: X:-149.00, Y:10.01, Z:-14.47 [[ 9.00595920e-01 -1.68127947e-01 -4.00824129e-01 -1.49001555e+02] [ 1.44452127e-01 9.85517677e-01 -8.88171774e-02 1.00122798e+01] [ 4.09951914e-01 2.20884896e-02 9.11839639e-01 -1.44694288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.91534707 meters Centerline goodness [0,1] 0.19357437331185134 Centerline is valid? [False, False] Translation: X:-149.03, Y:10.01, Z:-14.47 [[ 9.01150266e-01 -1.72735309e-01 -3.97606225e-01 -1.49025773e+02] [ 1.47816423e-01 9.84655677e-01 -9.27550696e-02 1.00069197e+01] [ 4.07527302e-01 2.48135257e-02 9.12855841e-01 -1.44719225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.94534707 meters Centerline goodness [0,1] 0.24302460763417943 Centerline is valid? [False, False] Translation: X:-149.08, Y:9.99, Z:-14.50 [[ 9.05220838e-01 -1.80528227e-01 -3.84687918e-01 -1.49084020e+02] [ 1.56701461e-01 9.83285795e-01 -9.27021945e-02 9.99311089e+00] [ 3.94993528e-01 2.36347997e-02 9.18379828e-01 -1.44962948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97534707 meters Centerline goodness [0,1] 0.29669753625720774 Centerline is valid? [False, False] Translation: X:-149.14, Y:9.98, Z:-14.51 [[ 9.13571460e-01 -1.84872637e-01 -3.62228237e-01 -1.49143222e+02] [ 1.66392047e-01 9.82655208e-01 -8.18683684e-02 9.97715852e+00] [ 3.71080685e-01 1.45207071e-02 9.28487089e-01 -1.45149610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.00534707 meters Centerline goodness [0,1] 0.34353853562105585 Centerline is valid? [False, False] Translation: X:-149.17, Y:9.97, Z:-14.52 [[ 9.17105458e-01 -1.88953036e-01 -3.51018986e-01 -1.49168200e+02] [ 1.70481586e-01 9.81849501e-01 -8.31118907e-02 9.96693564e+00] [ 3.60352060e-01 1.63800953e-02 9.32672550e-01 -1.45168386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.03534707 meters Centerline goodness [0,1] 0.40294764059469945 Centerline is valid? [False, False] Translation: X:-149.22, Y:9.95, Z:-14.53 [[ 9.24148757e-01 -1.96436206e-01 -3.27661246e-01 -1.49224658e+02] [ 1.82172264e-01 9.80478038e-01 -7.40005560e-02 9.94892616e+00] [ 3.35801044e-01 8.69673084e-03 9.41892789e-01 -1.45333406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.06534707 meters Centerline goodness [0,1] 0.43898674897557344 Centerline is valid? [False, False] Translation: X:-149.27, Y:9.93, Z:-14.54 [[ 9.29381476e-01 -2.05062327e-01 -3.06919394e-01 -1.49273649e+02] [ 1.94950434e-01 9.78748650e-01 -6.36035217e-02 9.93445393e+00] [ 3.13439629e-01 -7.22134071e-04 9.49607855e-01 -1.45394170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.09534707 meters Centerline goodness [0,1] 0.42569397881185467 Centerline is valid? [False, False] Translation: X:-149.30, Y:9.93, Z:-14.54 [[ 9.32598555e-01 -2.05243102e-01 -2.96875738e-01 -1.49296075e+02] [ 1.98523157e-01 9.78664441e-01 -5.29572307e-02 9.92680006e+00] [ 3.01410834e-01 -9.54887175e-03 9.53446552e-01 -1.45427196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.12534707 meters Centerline goodness [0,1] 0.33674177701836827 Centerline is valid? [False, False] Translation: X:-149.34, Y:9.91, Z:-14.55 [[ 9.44949176e-01 -2.04030968e-01 -2.55817161e-01 -1.49343067e+02] [ 1.98826949e-01 9.78938817e-01 -4.63318116e-02 9.90879747e+00] [ 2.59882473e-01 -7.08213844e-03 9.65614283e-01 -1.45507853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.15534707 meters Centerline goodness [0,1] 0.35865865333475166 Centerline is valid? [False, False] Translation: X:-149.38, Y:9.90, Z:-14.55 [[ 9.54086415e-01 -1.97153340e-01 -2.25498723e-01 -1.49378856e+02] [ 1.94121679e-01 9.80325180e-01 -3.57675076e-02 9.90231734e+00] [ 2.28113760e-01 -9.64889763e-03 9.73586674e-01 -1.45504980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.18534707 meters Centerline goodness [0,1] 0.35646629272938934 Centerline is valid? [False, False] Translation: X:-149.39, Y:9.90, Z:-14.55 [[ 9.57328310e-01 -1.92997701e-01 -2.15114839e-01 -1.49391712e+02] [ 1.89694986e-01 9.81179305e-01 -3.60968555e-02 9.90109305e+00] [ 2.18032839e-01 -6.24966482e-03 9.75921422e-01 -1.45479232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.21534707 meters Centerline goodness [0,1] 0.34090193196136076 Centerline is valid? [False, False] Translation: X:-149.42, Y:9.89, Z:-14.56 [[ 9.61127752e-01 -1.82242942e-01 -2.07414933e-01 -1.49416294e+02] [ 1.75985797e-01 9.83202606e-01 -4.83904462e-02 9.88980520e+00] [ 2.12749720e-01 1.00073184e-02 9.77055480e-01 -1.45642889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.24534707 meters Centerline goodness [0,1] 0.33651457706889787 Centerline is valid? [False, False] Translation: X:-149.43, Y:9.88, Z:-14.58 [[ 9.66417652e-01 -1.62259987e-01 -1.99270215e-01 -1.49433448e+02] [ 1.53541028e-01 9.86405499e-01 -5.85605989e-02 9.88257392e+00] [ 2.06063278e-01 2.59978428e-02 9.78193252e-01 -1.45756672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.27534707 meters Centerline goodness [0,1] 0.328185631882538 Centerline is valid? [False, False] Translation: X:-149.45, Y:9.87, Z:-14.58 [[ 9.72047827e-01 -1.30328640e-01 -1.95288168e-01 -1.49445496e+02] [ 1.20533695e-01 9.90816044e-01 -6.12796560e-02 9.87177566e+00] [ 2.01481144e-01 3.60279521e-02 9.78829574e-01 -1.45848832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.30534707 meters Centerline goodness [0,1] 0.3243200795749025 Centerline is valid? [False, False] Translation: X:-149.45, Y:9.87, Z:-14.58 [[ 9.72402235e-01 -1.27487206e-01 -1.95399348e-01 -1.49445171e+02] [ 1.18020601e-01 9.91233164e-01 -5.93965688e-02 9.86812815e+00] [ 2.01258616e-01 3.46962079e-02 9.78923461e-01 -1.45848338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.33534707 meters Centerline goodness [0,1] 0.31237269546143 Centerline is valid? [False, False] Translation: X:-149.45, Y:9.86, Z:-14.58 [[ 9.72996510e-01 -1.22216560e-01 -1.95808337e-01 -1.49445524e+02] [ 1.13376981e-01 9.91985173e-01 -5.57770349e-02 9.86048822e+00] [ 2.01055844e-01 3.20707020e-02 9.79054655e-01 -1.45839442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.36534707 meters Centerline goodness [0,1] 0.2880767926546156 Centerline is valid? [False, False] Translation: X:-149.44, Y:9.85, Z:-14.58 [[ 9.73425031e-01 -1.17355510e-01 -1.96650434e-01 -1.49444301e+02] [ 1.09062110e-01 9.92646341e-01 -5.25232992e-02 9.85271020e+00] [ 2.01368232e-01 2.96803828e-02 9.79065835e-01 -1.45832157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.39534707 meters Centerline goodness [0,1] 0.2766178187005577 Centerline is valid? [False, False] Translation: X:-149.44, Y:9.85, Z:-14.58 [[ 9.73632482e-01 -1.14738960e-01 -1.97166838e-01 -1.49443116e+02] [ 1.06732189e-01 9.92989086e-01 -5.08027056e-02 9.84939973e+00] [ 2.01613568e-01 2.84191162e-02 9.79052768e-01 -1.45830650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.42534707000002 meters Centerline goodness [0,1] 0.26614087991958557 Centerline is valid? [False, False] Translation: X:-149.44, Y:9.84, Z:-14.58 [[ 9.73994286e-01 -1.09072256e-01 -1.98590973e-01 -1.49439592e+02] [ 1.01367415e-01 9.93661716e-01 -4.85905384e-02 9.84117041e+00] [ 2.02632127e-01 2.71962532e-02 9.78877206e-01 -1.45819268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.45534707000002 meters Centerline goodness [0,1] 0.2538709923470036 Centerline is valid? [False, False] Translation: X:-149.43, Y:9.83, Z:-14.58 [[ 9.74335682e-01 -1.02600516e-01 -2.00357461e-01 -1.49434684e+02] [ 9.51872530e-02 9.94381335e-01 -4.63157269e-02 9.83471444e+00] [ 2.03983737e-01 2.60555891e-02 9.78627478e-01 -1.45807446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.48534707 meters Centerline goodness [0,1] 0.2357380404195446 Centerline is valid? [False, False] Translation: X:-149.43, Y:9.83, Z:-14.58 [[ 9.74566927e-01 -9.65608436e-02 -2.02225883e-01 -1.49429496e+02] [ 8.92921383e-02 9.94998098e-01 -4.47850234e-02 9.82797000e+00] [ 2.05538849e-01 2.55888211e-02 9.78314363e-01 -1.45793480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.51534707 meters Centerline goodness [0,1] 0.22173106724589076 Centerline is valid? [False, False] Translation: X:-149.43, Y:9.82, Z:-14.58 [[ 9.74915782e-01 -9.10702994e-02 -2.03089682e-01 -1.49427062e+02] [ 8.42112750e-02 9.95554724e-01 -4.21811966e-02 9.82169590e+00] [ 2.06028347e-01 2.40206732e-02 9.78251158e-01 -1.45787469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 3164.65 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%| | 0/5351 [00:00