+ python -m lidar_slam --no-model /working/f55c6d08-0cf5-4c88-a38a-f543fe0e8899 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/f55c6d08-0cf5-4c88-a38a-f543fe0e8899 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 0.019115933 Adjusted end_distance from 9.223372036854776e+18 to 152.845835933 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.019115933 meters Centerline goodness [0,1] 0.9564217786602571 Centerline is valid? [0, True] SLAMing on 0.049115933 meters Centerline goodness [0,1] 0.985038286460355 Centerline is valid? [True, True] Translation: X:-0.03, Y:-0.01, Z:-0.02 [[ 9.98754794e-01 -4.91665132e-02 -8.45664186e-03 -3.09746073e-02] [ 4.91748365e-02 9.98789882e-01 7.79007124e-04 -5.08608441e-03] [ 8.40810726e-03 -1.19389108e-03 9.99963939e-01 -1.65772885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.079115933 meters Centerline goodness [0,1] 0.9912589239073655 Centerline is valid? [True, True] Translation: X:-0.06, Y:-0.00, Z:-0.02 [[ 9.96316718e-01 -8.47391202e-02 -1.31254946e-02 -6.07803083e-02] [ 8.47621770e-02 9.96400477e-01 1.20941722e-03 -5.11698282e-04] [ 1.29757641e-02 -2.31750809e-03 9.99913126e-01 -1.73371807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.109115933 meters Centerline goodness [0,1] 0.9851573799848474 Centerline is valid? [True, True] Translation: X:-0.09, Y:0.01, Z:-0.03 [[ 9.93536230e-01 -1.13464166e-01 -3.41221713e-03 -9.08744315e-02] [ 1.13465887e-01 9.93541843e-01 3.14454155e-04 7.66432542e-03] [ 3.35450122e-03 -6.99591838e-04 9.99994129e-01 -2.73608562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.139115933 meters Centerline goodness [0,1] 0.9959784104138004 Centerline is valid? [True, True] Translation: X:-0.12, Y:-0.00, Z:0.00 [[ 9.95399376e-01 -9.50253994e-02 -1.22579039e-02 -1.22607280e-01] [ 9.50462581e-02 9.95472217e-01 1.12914853e-03 -2.16450701e-04] [ 1.20951050e-02 -2.28902165e-03 9.99924232e-01 9.22522408e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.169115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.16, Y:-0.05, Z:0.02 [[ 0.99715063 -0.06996663 -0.02820093 -0.15797205] [ 0.07006732 0.99753889 0.00259695 -0.05178446] [ 0.02794983 -0.00456551 0.9995989 0.02067684] [ 0. 0. 0. 1. ]] SLAMing on 0.199115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.19, Y:-0.06, Z:0.02 [[ 0.99709606 -0.06766835 -0.03493493 -0.18988757] [ 0.06782144 0.9976923 0.00321454 -0.05892028] [ 0.03463679 -0.00557454 0.99938442 0.02353118] [ 0. 0. 0. 1. ]] SLAMing on 0.229115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.22, Y:-0.06, Z:0.03 [[ 0.99701477 -0.06828403 -0.03603945 -0.2194238 ] [ 0.06844747 0.9976492 0.00331948 -0.06157363] [ 0.03572806 -0.00577638 0.99934485 0.02980813] [ 0. 0. 0. 1. ]] SLAMing on 0.259115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.25, Y:-0.06, Z:0.04 [[ 0.99745188 -0.06322507 -0.03305044 -0.25086434] [ 0.06335989 0.99798609 0.00304678 -0.06439618] [ 0.03279125 -0.00513309 0.99944904 0.04101918] [ 0. 0. 0. 1. ]] SLAMing on 0.28911593300000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.28, Y:-0.06, Z:0.05 [[ 0.9975873 -0.06138258 -0.03243079 -0.28009956] [ 0.06151154 0.99810189 0.00299285 -0.06357001] [ 0.03218552 -0.0049805 0.9994695 0.04552385] [ 0. 0. 0. 1. ]] SLAMing on 0.31911593299999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.31, Y:-0.07, Z:0.05 [[ 0.99779885 -0.05840881 -0.0313986 -0.31082138] [ 0.05852831 0.99828154 0.00289946 -0.06534405] [ 0.03117529 -0.00473079 0.99950274 0.04981071] [ 0. 0. 0. 1. ]] SLAMing on 0.349115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.34, Y:-0.07, Z:0.06 [[ 0.99774361 -0.05843601 -0.03305946 -0.34024265] [ 0.05856865 0.9982787 0.00305709 -0.07313606] [ 0.03282391 -0.00498644 0.99944871 0.05821878] [ 0. 0. 0. 1. ]] SLAMing on 0.379115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.37, Y:-0.07, Z:0.07 [[ 0.99785305 -0.05622232 -0.03359086 -0.37021927] [ 0.05635819 0.99840577 0.00311114 -0.07410902] [ 0.03336239 -0.00499758 0.99943083 0.06515374] [ 0. 0. 0. 1. ]] SLAMing on 0.40911593300000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.40, Y:-0.07, Z:0.07 [[ 0.99750474 -0.06147444 -0.03471589 -0.40060311] [ 0.06162269 0.99809434 0.00321579 -0.07106935] [ 0.03445205 -0.00534705 0.99939205 0.06925396] [ 0. 0. 0. 1. ]] SLAMing on 0.43911593299999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.43, Y:-0.07, Z:0.08 [[ 0.99784211 -0.05679127 -0.03295266 -0.4318234 ] [ 0.05692233 0.99837394 0.00305215 -0.07453344] [ 0.03272575 -0.00492131 0.99945225 0.07679549] [ 0. 0. 0. 1. ]] SLAMing on 0.469115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.46, Y:-0.07, Z:0.08 [[ 0.99783433 -0.05627755 -0.03405113 -0.46081593] [ 0.05641736 0.99840228 0.0031583 -0.07388108] [ 0.03381898 -0.00507254 0.9994151 0.08153856] [ 0. 0. 0. 1. ]] SLAMing on 0.499115933 meters Centerline goodness [0,1] 0.9999618349744295 Centerline is valid? [True, True] Translation: X:-0.49, Y:-0.08, Z:0.09 [[ 0.99746109 -0.06196716 -0.03509202 -0.4919973 ] [ 0.06211918 0.99806342 0.00325747 -0.07643005] [ 0.03482221 -0.00542909 0.99937878 0.0863361 ] [ 0. 0. 0. 1. ]] SLAMing on 0.529115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.52, Y:-0.08, Z:0.09 [[ 0.99734796 -0.0623786 -0.03749598 -0.52141122] [ 0.06255266 0.99803558 0.00348565 -0.0764545 ] [ 0.03720489 -0.00582188 0.9992907 0.09197762] [ 0. 0. 0. 1. ]] SLAMing on 0.5591159330000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.55, Y:-0.07, Z:0.10 [[ 0.99733095 -0.06309512 -0.036742 -0.54984644] [ 0.06326298 0.99799102 0.00342287 -0.07372142] [ 0.03645222 -0.00573815 0.99931892 0.09554069] [ 0. 0. 0. 1. ]] SLAMing on 0.589115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.58, Y:-0.08, Z:0.10 [[ 0.99708214 -0.06650658 -0.03747105 -0.57999064] [ 0.06668366 0.99776805 0.00349462 -0.07558882] [ 0.037155 -0.00598313 0.9992916 0.10206962] [ 0. 0. 0. 1. ]] SLAMing on 0.619115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.61, Y:-0.08, Z:0.10 [[ 0.99709079 -0.06648908 -0.03727146 -0.60938774] [ 0.06666447 0.99776938 0.00348161 -0.07511174] [ 0.03695684 -0.00595616 0.99929911 0.10307316] [ 0. 0. 0. 1. ]] SLAMing on 0.649115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.64, Y:-0.07, Z:0.11 [[ 0.99695336 -0.06742386 -0.03921751 -0.63768573] [ 0.06761908 0.99770446 0.00367141 -0.07044921] [ 0.03887994 -0.00631208 0.99922395 0.10705397] [ 0. 0. 0. 1. ]] SLAMing on 0.679115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.67, Y:-0.07, Z:0.11 [[ 0.99693767 -0.06682873 -0.04061033 -0.66596129] [ 0.06703793 0.99774315 0.00381011 -0.06530555] [ 0.04026406 -0.00652088 0.9991678 0.109831 ] [ 0. 0. 0. 1. ]] SLAMing on 0.709115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.69, Y:-0.07, Z:0.11 [[ 0.99689175 -0.06732333 -0.04091947 -0.69486043] [ 0.06753648 0.99770939 0.00384757 -0.06594706] [ 0.0405667 -0.00659916 0.99915504 0.11047061] [ 0. 0. 0. 1. ]] SLAMing on 0.739115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.72, Y:-0.06, Z:0.11 [[ 0.99708148 -0.06534679 -0.03947551 -0.72451189] [ 0.06554385 0.99784277 0.00371707 -0.06099533] [ 0.03914746 -0.0062936 0.99921362 0.11359507] [ 0. 0. 0. 1. ]] SLAMing on 0.769115933 meters Centerline goodness [0,1] 0.9998834815706684 Centerline is valid? [True, True] Translation: X:-0.75, Y:-0.06, Z:0.12 [[ 0.99722162 -0.0626284 -0.04033266 -0.75313024] [ 0.06283217 0.99801686 0.00380334 -0.05502513] [ 0.04001448 -0.00632696 0.99917907 0.11697884] [ 0. 0. 0. 1. ]] SLAMing on 0.7991159330000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.78, Y:-0.05, Z:0.12 [[ 0.99740665 -0.05836793 -0.04210886 -0.78367889] [ 0.05858644 0.99827443 0.00397287 -0.05216818] [ 0.04180431 -0.00642957 0.99910513 0.11903155] [ 0. 0. 0. 1. ]] SLAMing on 0.829115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.81, Y:-0.05, Z:0.12 [[ 0.99760929 -0.05386707 -0.04329024 -0.81354451] [ 0.05409396 0.99852749 0.00408587 -0.04864005] [ 0.0430064 -0.00641784 0.99905418 0.12407956] [ 0. 0. 0. 1. ]] SLAMing on 0.859115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.84, Y:-0.04, Z:0.13 [[ 0.99773393 -0.05130347 -0.04353106 -0.84267793] [ 0.05153073 0.99866294 0.00411395 -0.0434518 ] [ 0.0432618 -0.00634781 0.9990436 0.12702177] [ 0. 0. 0. 1. ]] SLAMing on 0.889115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.87, Y:-0.04, Z:0.13 [[ 0.9980668 -0.04448512 -0.043402 -0.87314061] [ 0.0447048 0.99899181 0.00410364 -0.03763006] [ 0.04317569 -0.00603598 0.99904926 0.13215718] [ 0. 0. 0. 1. ]] SLAMing on 0.9191159329999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.90, Y:-0.03, Z:0.13 [[ 0.99823284 -0.04141246 -0.04261703 -0.90226341] [ 0.04162171 0.9991253 0.0040341 -0.03271945] [ 0.04241269 -0.00580076 0.99908334 0.13234943] [ 0. 0. 0. 1. ]] SLAMing on 0.949115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.93, Y:-0.03, Z:0.14 [[ 0.99823457 -0.04095724 -0.04301459 -0.93126611] [ 0.04117103 0.99914372 0.00409584 -0.03062427] [ 0.04281 -0.00585956 0.99906605 0.13642133] [ 0. 0. 0. 1. ]] SLAMing on 0.979115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.96, Y:-0.03, Z:0.14 [[ 0.9982678 -0.04014244 -0.04301135 -0.95910792] [ 0.04035693 0.99917679 0.00412973 -0.02810267] [ 0.04281016 -0.00585838 0.99906605 0.13606741] [ 0. 0. 0. 1. ]] SLAMing on 1.009115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.99, Y:-0.02, Z:0.14 [[ 0.99831704 -0.03624226 -0.04527229 -0.98832967] [ 0.03647662 0.99932499 0.00436112 -0.02142222] [ 0.04508367 -0.00600516 0.99896516 0.14049432] [ 0. 0. 0. 1. ]] SLAMing on 1.039115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.02, Y:-0.02, Z:0.14 [[ 0.99848529 -0.03103453 -0.04543111 -1.01772849] [ 0.03126538 0.99950152 0.00437931 -0.01694234] [ 0.04527256 -0.0057931 0.99895787 0.14260925] [ 0. 0. 0. 1. ]] SLAMing on 1.069115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.05, Y:-0.02, Z:0.15 [[ 0.99844326 -0.02842133 -0.04799264 -1.04652244] [ 0.02867724 0.9995779 0.00465211 -0.01642308] [ 0.04784016 -0.00602116 0.99883686 0.14810358] [ 0. 0. 0. 1. ]] SLAMing on 1.099115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.08, Y:-0.01, Z:0.15 [[ 0.99860138 -0.02573754 -0.04618285 -1.07568733] [ 0.02597231 0.99965258 0.00449052 -0.01161935] [ 0.04605123 -0.00568372 0.99892291 0.14911385] [ 0. 0. 0. 1. ]] SLAMing on 1.1291159329999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.10, Y:-0.01, Z:0.15 [[ 0.99857206 -0.0243333 -0.04755765 -1.10461623] [ 0.02458201 0.99968699 0.0046517 -0.0097821 ] [ 0.04742957 -0.00581412 0.99885766 0.14782191] [ 0. 0. 0. 1. ]] SLAMing on 1.1591159329999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.13, Y:-0.01, Z:0.15 [[ 0.99857428 -0.02203516 -0.04861943 -1.13374869] [ 0.02229417 0.99973997 0.00479125 -0.006085 ] [ 0.04850121 -0.00586835 0.99880588 0.15074094] [ 0. 0. 0. 1. ]] SLAMing on 1.1891159329999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.16, Y:-0.00, Z:0.15 [[ 0.99855827 -0.02387258 -0.04807791 -1.16263455] [ 0.02412874 0.99969755 0.0047546 -0.00397876] [ 0.04794986 -0.0059078 0.99883227 0.15219232] [ 0. 0. 0. 1. ]] SLAMing on 1.2191159329999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.19, Y:-0.00, Z:0.16 [[ 0.9985566 -0.02253725 -0.04875224 -1.19144032] [ 0.02280052 0.99972827 0.00485066 -0.00236687] [ 0.04862967 -0.00595524 0.99879912 0.15536042] [ 0. 0. 0. 1. ]] SLAMing on 1.249115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.22, Y:0.00, Z:0.16 [[ 9.98393920e-01 -2.44818364e-02 -5.10903148e-02 -1.22076223e+00] [ 2.47742047e-02 9.99680078e-01 5.09707512e-03 5.89110895e-04] [ 5.09491841e-02 -6.35461073e-03 9.98681030e-01 1.56434429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.279115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.25, Y:0.00, Z:0.16 [[ 0.9983259 -0.02419335 -0.05253655 -1.2499122 ] [ 0.0245037 0.99968584 0.00527125 0.0039244 ] [ 0.05239252 -0.00654976 0.99860509 0.15752903] [ 0. 0. 0. 1. ]] SLAMing on 1.309115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.28, Y:0.01, Z:0.16 [[ 0.99846322 -0.02328821 -0.05028774 -1.27921042] [ 0.0235732 0.9997092 0.00508145 0.00585384] [ 0.05015478 -0.00625908 0.99872184 0.15910469] [ 0. 0. 0. 1. ]] SLAMing on 1.3391159329999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.31, Y:0.00, Z:0.16 [[ 0.99828711 -0.02741956 -0.05168188 -1.3098371 ] [ 0.02772662 0.99960184 0.00523379 0.00381275] [ 0.05151779 -0.00665779 0.99864988 0.16101852] [ 0. 0. 0. 1. ]] SLAMing on 1.3691159329999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.34, Y:0.01, Z:0.16 [[ 0.99825903 -0.02684071 -0.05252129 -1.33855676] [ 0.02715861 0.99961683 0.00534835 0.00569967] [ 0.05235761 -0.00676544 0.99860548 0.16356559] [ 0. 0. 0. 1. ]] SLAMing on 1.3991159329999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.37, Y:0.01, Z:0.16 [[ 0.99816874 -0.02918071 -0.05298732 -1.36818488] [ 0.02950823 0.9995499 0.00540923 0.00712316] [ 0.05280562 -0.00696288 0.99858053 0.16347108] [ 0. 0. 0. 1. ]] SLAMing on 1.4291159329999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.40, Y:0.01, Z:0.17 [[ 0.99813363 -0.02860298 -0.05395485 -1.39725332] [ 0.02894345 0.9995657 0.00553926 0.00816904] [ 0.05377298 -0.00709056 0.99852801 0.16650447] [ 0. 0. 0. 1. ]] SLAMing on 1.4591159329999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.43, Y:0.01, Z:0.17 [[ 0.99791545 -0.03363378 -0.05507745 -1.42729831] [ 0.03399668 0.99940589 0.00566489 0.00853448] [ 0.0548542 -0.00752553 0.99846602 0.17125635] [ 0. 0. 0. 1. ]] SLAMing on 1.489115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.46, Y:0.01, Z:0.17 [[ 0.99828988 -0.030615 -0.04979995 -1.45708772] [ 0.03090801 0.9995091 0.00512426 0.01179456] [ 0.04961863 -0.00665471 0.99874607 0.16673623] [ 0. 0. 0. 1. ]] SLAMing on 1.519115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.49, Y:0.01, Z:0.17 [[ 0.9977836 -0.03582344 -0.0560765 -1.48727818] [ 0.03620333 0.99932777 0.005773 0.00964141] [ 0.05583199 -0.00779036 0.99840979 0.17381397] [ 0. 0. 0. 1. ]] SLAMing on 1.549115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.52, Y:0.01, Z:0.18 [[ 0.99746005 -0.03974811 -0.05910606 -1.51776677] [ 0.04017709 0.99917404 0.00608678 0.00872957] [ 0.05881531 -0.00844603 0.99823315 0.1781605 ] [ 0. 0. 0. 1. ]] SLAMing on 1.579115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.55, Y:0.01, Z:0.18 [[ 0.99758518 -0.03807929 -0.05808419 -1.54694584] [ 0.03849134 0.99924097 0.00599135 0.01051633] [ 0.05781195 -0.00821262 0.99829371 0.17989605] [ 0. 0. 0. 1. ]] SLAMing on 1.6091159329999998 meters Centerline goodness [0,1] 0.9999615428988963 Centerline is valid? [True, True] Translation: X:-1.58, Y:0.01, Z:0.18 [[ 0.99731006 -0.04371213 -0.05883781 -1.57784461] [ 0.04414476 0.99900669 0.00607275 0.01049392] [ 0.05851392 -0.00865379 0.99824908 0.18244102] [ 0. 0. 0. 1. ]] SLAMing on 1.6391159329999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.61, Y:0.01, Z:0.18 [[ 0.99743664 -0.0410743 -0.05859232 -1.60721833] [ 0.0414993 0.99912019 0.0060547 0.01020478] [ 0.05829208 -0.00847072 0.99826363 0.18414154] [ 0. 0. 0. 1. ]] SLAMing on 1.6691159329999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.64, Y:0.01, Z:0.19 [[ 0.99731104 -0.04345696 -0.05900998 -1.63763691] [ 0.04389239 0.99901763 0.00610216 0.01072057] [ 0.05868682 -0.00867584 0.99823874 0.18701307] [ 0. 0. 0. 1. ]] SLAMing on 1.6991159329999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.67, Y:0.01, Z:0.19 [[ 0.99734245 -0.04209359 -0.05946575 -1.66671428] [ 0.0425354 0.99907583 0.00618283 0.00980943] [ 0.05915054 -0.00869579 0.9982112 0.1861625 ] [ 0. 0. 0. 1. ]] SLAMing on 1.7291159329999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.70, Y:0.01, Z:0.19 [[ 0.99704692 -0.04642309 -0.06117466 -1.69763094] [ 0.04689929 0.99887931 0.00637064 0.0067272 ] [ 0.06081035 -0.00922088 0.99810675 0.18863414] [ 0. 0. 0. 1. ]] SLAMing on 1.759115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.73, Y:0.01, Z:0.19 [[ 0.9970713 -0.04571631 -0.06130939 -1.72611185] [ 0.04619569 0.99891175 0.00642376 0.00510628] [ 0.060949 -0.00923718 0.99809814 0.19285607] [ 0. 0. 0. 1. ]] SLAMing on 1.789115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.76, Y:0.01, Z:0.19 [[ 0.99700612 -0.04583687 -0.06227175 -1.75535638] [ 0.04633445 0.99890438 0.00656934 0.00588055] [ 0.06190241 -0.009435 0.99803761 0.19441508] [ 0. 0. 0. 1. ]] SLAMing on 1.8191159329999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.79, Y:0.01, Z:0.19 [[ 0.99721072 -0.0413909 -0.06210942 -1.78515145] [ 0.04187815 0.99910117 0.00656338 0.0064343 ] [ 0.06178193 -0.0091461 0.99804777 0.19457439] [ 0. 0. 0. 1. ]] SLAMing on 1.8491159329999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.81, Y:0.01, Z:0.20 [[ 0.99731402 -0.03910187 -0.06193379 -1.81405081] [ 0.03958239 0.99919484 0.00655039 0.01123576] [ 0.06162779 -0.00898428 0.99805877 0.19962543] [ 0. 0. 0. 1. ]] SLAMing on 1.8791159329999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.84, Y:0.01, Z:0.20 [[ 0.99747302 -0.03759157 -0.06028636 -1.8433308 ] [ 0.03804449 0.99925566 0.0063823 0.01413855] [ 0.06000157 -0.00865974 0.99816072 0.19901008] [ 0. 0. 0. 1. ]] SLAMing on 1.9091159329999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.87, Y:0.01, Z:0.20 [[ 0.99715018 -0.03513158 -0.06676298 -1.87329679] [ 0.03568439 0.99933785 0.0071054 0.01226348] [ 0.06646915 -0.00946755 0.99774356 0.20319838] [ 0. 0. 0. 1. ]] SLAMing on 1.9391159329999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.90, Y:0.02, Z:0.20 [[ 0.99761745 -0.0294981 -0.06236416 -1.903715 ] [ 0.02997002 0.99952871 0.00664521 0.0150142 ] [ 0.06213874 -0.00849843 0.99803134 0.19739264] [ 0. 0. 0. 1. ]] SLAMing on 1.9691159329999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.93, Y:0.02, Z:0.21 [[ 0.99741039 -0.03233507 -0.06424135 -1.93424811] [ 0.03284183 0.9994371 0.00684788 0.0150453 ] [ 0.06398376 -0.00893995 0.9979109 0.20522981] [ 0. 0. 0. 1. ]] SLAMing on 1.999115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.96, Y:0.01, Z:0.21 [[ 0.99752008 -0.02969136 -0.06381307 -1.96441324] [ 0.03018646 0.9995211 0.00680827 0.01443711] [ 0.06358036 -0.00871768 0.99793865 0.20629864] [ 0. 0. 0. 1. ]] SLAMing on 2.029115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.99, Y:0.02, Z:0.21 [[ 0.99745182 -0.0300764 -0.06469372 -1.99409539] [ 0.03058844 0.99950798 0.00693875 0.01564057] [ 0.0644532 -0.00889995 0.99788104 0.20887527] [ 0. 0. 0. 1. ]] SLAMing on 2.059115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.02, Y:0.01, Z:0.21 [[ 0.99745333 -0.0314365 -0.06402036 -2.0239546 ] [ 0.03194342 0.99946579 0.00690977 0.01437814] [ 0.06376894 -0.0089372 0.99792467 0.21075085] [ 0. 0. 0. 1. ]] SLAMing on 2.089115933 meters Centerline goodness [0,1] 0.9997965660346652 Centerline is valid? [True, True] Translation: X:-2.05, Y:0.02, Z:0.22 [[ 0.9977725 -0.0258352 -0.0615027 -2.05440933] [ 0.02629313 0.99963217 0.00664785 0.01681259] [ 0.06130833 -0.00825014 0.99808478 0.21508714] [ 0. 0. 0. 1. ]] SLAMing on 2.1191159330000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.08, Y:0.01, Z:0.22 [[ 0.99748078 -0.027205 -0.06551322 -2.08474423] [ 0.02772802 0.99959038 0.0070873 0.01380286] [ 0.06529357 -0.008886 0.99782653 0.21564997] [ 0. 0. 0. 1. ]] SLAMing on 2.149115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.11, Y:0.01, Z:0.22 [[ 0.99740663 -0.02808257 -0.06626754 -2.11410902] [ 0.02862205 0.99956434 0.00720543 0.01282688] [ 0.06603632 -0.00908345 0.99777587 0.21700843] [ 0. 0. 0. 1. ]] SLAMing on 2.1791159330000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.14, Y:0.01, Z:0.22 [[ 0.99767244 -0.02675657 -0.06271997 -2.14229299] [ 0.02723828 0.99960558 0.00683781 0.01453008] [ 0.06251227 -0.00853028 0.99800774 0.22065235] [ 0. 0. 0. 1. ]] SLAMing on 2.209115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.17, Y:0.01, Z:0.22 [[ 0.99772329 -0.02628858 -0.06210594 -2.17143513] [ 0.02676272 0.99961859 0.0068147 0.01157713] [ 0.0619031 -0.00846131 0.9980463 0.22429378] [ 0. 0. 0. 1. ]] SLAMing on 2.239115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.20, Y:0.01, Z:0.23 [[ 0.99775116 -0.02579902 -0.06186306 -2.19975576] [ 0.02627164 0.99963145 0.00683838 0.01143571] [ 0.06166384 -0.00844825 0.99806122 0.22584242] [ 0. 0. 0. 1. ]] SLAMing on 2.269115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.23, Y:0.01, Z:0.22 [[ 0.9971958 -0.02516757 -0.07047792 -2.22983235] [ 0.02578103 0.99963712 0.00780813 0.00960765] [ 0.07025583 -0.00960323 0.99748278 0.2247814 ] [ 0. 0. 0. 1. ]] SLAMing on 2.299115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.26, Y:0.01, Z:0.22 [[ 0.99734882 -0.02068437 -0.06976734 -2.25906123] [ 0.02127522 0.99974372 0.00773646 0.00988006] [ 0.06958943 -0.00920026 0.99753329 0.21936419] [ 0. 0. 0. 1. ]] SLAMing on 2.329115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.29, Y:0.01, Z:0.22 [[ 0.997687 -0.02034133 -0.06486044 -2.28826899] [ 0.02085171 0.99975664 0.00720169 0.01314539] [ 0.06469816 -0.00853749 0.99786836 0.22167231] [ 0. 0. 0. 1. ]] SLAMing on 2.359115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.32, Y:0.01, Z:0.22 [[ 0.99764706 -0.01893938 -0.0658911 -2.31663671] [ 0.01946626 0.9997834 0.0073633 0.00981699] [ 0.06573738 -0.00862863 0.99779965 0.22408773] [ 0. 0. 0. 1. ]] SLAMing on 2.3891159330000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.35, Y:0.01, Z:0.23 [[ 0.99740686 -0.01536318 -0.0703102 -2.34603022] [ 0.01595832 0.99984136 0.00791058 0.00779173] [ 0.07017752 -0.0090121 0.99749381 0.22596735] [ 0. 0. 0. 1. ]] SLAMing on 2.419115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.38, Y:0.00, Z:0.22 [[ 0.9969074 -0.01094908 -0.07781868 -2.37513209] [ 0.01167034 0.999893 0.00881977 0.00395427] [ 0.07771378 -0.00970067 0.99692852 0.21987375] [ 0. 0. 0. 1. ]] SLAMing on 2.449115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.41, Y:0.00, Z:0.22 [[ 0.99692134 -0.00405363 -0.07830338 -2.40542413] [ 0.00476403 0.99994915 0.00888775 0.00306365] [ 0.07826337 -0.00923343 0.99688996 0.21921513] [ 0. 0. 0. 1. ]] SLAMing on 2.479115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.43, Y:0.01, Z:0.22 [[ 9.97105716e-01 -2.41305375e-03 -7.59892699e-02 -2.43471013e+00] [ 3.07806729e-03 9.99957976e-01 8.63551060e-03 6.20104968e-03] [ 7.59652386e-02 -8.84441706e-03 9.97071241e-01 2.20556499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.509115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.47, Y:0.00, Z:0.22 [[ 9.97180198e-01 2.93540597e-03 -7.49869061e-02 -2.46551462e+00] [-2.30238893e-03 9.99960996e-01 8.52675315e-03 4.26380765e-03] [ 7.50090107e-02 -8.33006037e-03 9.97148062e-01 2.20092221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.539115933 meters Centerline goodness [0,1] 0.9999585663973483 Centerline is valid? [True, True] Translation: X:-2.50, Y:0.00, Z:0.22 [[ 9.97074153e-01 5.07825288e-03 -7.62715156e-02 -2.49518565e+00] [-4.42592437e-03 9.99952191e-01 8.71931405e-03 9.59426936e-04] [ 7.63121480e-02 -8.35623072e-03 9.97048960e-01 2.19910309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.569115933 meters Centerline goodness [0,1] 0.9997535326979954 Centerline is valid? [True, True] Translation: X:-2.53, Y:-0.00, Z:0.22 [[ 0.99696761 0.004478 -0.07768868 -2.52560796] [-0.00379517 0.99995288 0.00893468 -0.00433596] [ 0.07772503 -0.00861275 0.99693763 0.22254836] [ 0. 0. 0. 1. ]] SLAMing on 2.599115933 meters Centerline goodness [0,1] 0.9996093919534742 Centerline is valid? [True, True] Translation: X:-2.56, Y:-0.01, Z:0.23 [[ 0.99693785 0.01390205 -0.07695226 -2.55651761] [-0.01325884 0.99987282 0.00886318 -0.01046819] [ 0.07706568 -0.00781574 0.99699538 0.22632651] [ 0. 0. 0. 1. ]] SLAMing on 2.629115933 meters Centerline goodness [0,1] 0.9999565330783274 Centerline is valid? [True, True] Translation: X:-2.59, Y:-0.01, Z:0.23 [[ 0.99685934 0.02183029 -0.07612422 -2.58755487] [-0.02122344 0.99973627 0.00877194 -0.01419459] [ 0.07629564 -0.00712877 0.99705976 0.22830507] [ 0. 0. 0. 1. ]] SLAMing on 2.659115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.62, Y:-0.02, Z:0.23 [[ 0.9968726 0.03402992 -0.07132304 -2.61710961] [-0.03352782 0.99940394 0.00822547 -0.0176297 ] [ 0.07156043 -0.00580844 0.99741935 0.22784254] [ 0. 0. 0. 1. ]] SLAMing on 2.689115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.65, Y:-0.02, Z:0.23 [[ 0.99657653 0.03849968 -0.07316411 -2.64625967] [-0.03798195 0.99924265 0.00845509 -0.02073085] [ 0.07343422 -0.00564723 0.99728407 0.23270976] [ 0. 0. 0. 1. ]] SLAMing on 2.719115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.68, Y:-0.02, Z:0.23 [[ 0.99657283 0.03801392 -0.0734679 -2.67585613] [-0.03748703 0.99926064 0.00853794 -0.02438571] [ 0.07373814 -0.00575459 0.99726103 0.23304522] [ 0. 0. 0. 1. ]] SLAMing on 2.749115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.70, Y:-0.02, Z:0.23 [[ 0.9963441 0.03954002 -0.07572991 -2.7049681 ] [-0.03898027 0.99920074 0.00885597 -0.02340565] [ 0.07601954 -0.00587162 0.99708904 0.231353 ] [ 0. 0. 0. 1. ]] SLAMing on 2.779115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.73, Y:-0.02, Z:0.22 [[ 0.99493586 0.04600361 -0.08936609 -2.73491042] [-0.04524751 0.99892095 0.01046926 -0.02496673] [ 0.08975128 -0.00637265 0.99594382 0.21768156] [ 0. 0. 0. 1. ]] SLAMing on 2.809115933 meters Centerline goodness [0,1] 0.9998224589436308 Centerline is valid? [True, True] Translation: X:-2.76, Y:-0.03, Z:0.22 [[ 0.99412683 0.05377871 -0.09391323 -2.76421731] [-0.05297222 0.99853472 0.01106132 -0.02634861] [ 0.09437049 -0.00602156 0.99551894 0.2157717 ] [ 0. 0. 0. 1. ]] SLAMing on 2.839115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.79, Y:-0.02, Z:0.21 [[ 0.99403115 0.05785694 -0.09249129 -2.79391578] [-0.05709072 0.99830937 0.01091098 -0.02474932] [ 0.0929662 -0.00556546 0.99565371 0.2131931 ] [ 0. 0. 0. 1. ]] SLAMing on 2.8691159330000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.82, Y:-0.03, Z:0.22 [[ 0.99361263 0.06223564 -0.09413111 -2.82271373] [-0.06145934 0.99804757 0.01112661 -0.02521187] [ 0.0946398 -0.00527031 0.99549763 0.2172384 ] [ 0. 0. 0. 1. ]] SLAMing on 2.899115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.85, Y:-0.02, Z:0.22 [[ 0.99356243 0.06304428 -0.09412289 -2.85050584] [-0.06226505 0.99799685 0.01119585 -0.02200986] [ 0.09464019 -0.00526321 0.99549763 0.21688331] [ 0. 0. 0. 1. ]] SLAMing on 2.929115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.88, Y:-0.02, Z:0.21 [[ 0.99354848 0.06362204 -0.09388112 -2.8792574 ] [-0.06284195 0.99796013 0.01124544 -0.0204283 ] [ 0.09440507 -0.00527322 0.9955199 0.21192654] [ 0. 0. 0. 1. ]] SLAMing on 2.959115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.91, Y:-0.02, Z:0.21 [[ 0.99300966 0.0640207 -0.09916233 -2.90910762] [-0.06314998 0.99793312 0.01189809 -0.01926726] [ 0.0997191 -0.00555282 0.99500013 0.20749612] [ 0. 0. 0. 1. ]] SLAMing on 2.989115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.94, Y:-0.02, Z:0.20 [[ 0.99204087 0.0714281 -0.10369642 -2.93790644] [-0.07050865 0.99743272 0.01251021 -0.01905033] [ 0.10432378 -0.00509915 0.99453032 0.19879237] [ 0. 0. 0. 1. ]] SLAMing on 3.019115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.97, Y:-0.02, Z:0.20 [[ 0.99212317 0.07152514 -0.10283861 -2.96662076] [-0.07061369 0.99742565 0.01248101 -0.01745173] [ 0.10346658 -0.00512089 0.99461975 0.20259746] [ 0. 0. 0. 1. ]] SLAMing on 3.049115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.00, Y:-0.01, Z:0.20 [[ 0.9928924 0.06694223 -0.0984044 -2.9954812 ] [-0.06607852 0.9977421 0.01201391 -0.0148975 ] [ 0.09898645 -0.0054261 0.99507399 0.20323748] [ 0. 0. 0. 1. ]] SLAMing on 3.079115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.02, Y:-0.02, Z:0.20 [[ 0.99259804 0.07022013 -0.09908711 -3.02478733] [-0.06935348 0.99751793 0.01216825 -0.01610546] [ 0.09969562 -0.00520614 0.99500436 0.20366606] [ 0. 0. 0. 1. ]] SLAMing on 3.109115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.05, Y:-0.02, Z:0.20 [[ 0.99217616 0.07231086 -0.1017723 -3.0536728 ] [-0.07139978 0.99736855 0.01257136 -0.01571399] [ 0.10241354 -0.00520648 0.99472828 0.20075401] [ 0. 0. 0. 1. ]] SLAMing on 3.1391159330000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.08, Y:-0.02, Z:0.20 [[ 0.99178311 0.07143547 -0.10612843 -3.08318684] [-0.07043692 0.99742979 0.01313244 -0.01526049] [ 0.10679378 -0.00554917 0.99426571 0.19897815] [ 0. 0. 0. 1. ]] SLAMing on 3.169115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.11, Y:-0.01, Z:0.20 [[ 0.99177523 0.06667819 -0.10925162 -3.11277952] [-0.06558879 0.99775488 0.01353901 -0.01195006] [ 0.10990909 -0.00626198 0.99392192 0.19898091] [ 0. 0. 0. 1. ]] SLAMing on 3.199115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.14, Y:-0.01, Z:0.19 [[ 0.99129808 0.06296711 -0.11559957 -3.14179953] [-0.06171733 0.99799033 0.0143625 -0.00835146] [ 0.11627162 -0.00710302 0.99319205 0.19061098] [ 0. 0. 0. 1. ]] SLAMing on 3.229115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.17, Y:-0.00, Z:0.18 [[ 0.99039339 0.06457343 -0.12227516 -3.17139713] [-0.0631773 0.99788557 0.01526489 -0.00317762] [ 0.12300232 -0.00739323 0.99237884 0.18130177] [ 0. 0. 0. 1. ]] SLAMing on 3.259115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.20, Y:0.00, Z:0.18 [[ 9.90437081e-01 6.35054766e-02 -1.22480382e-01 -3.19971562e+00] [-6.20855593e-02 9.97952342e-01 1.53787809e-02 1.96959927e-03] [ 1.23206221e-01 -7.62745188e-03 9.92351777e-01 1.75116741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.289115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.23, Y:0.01, Z:0.18 [[ 0.99063039 0.05282232 -0.1259414 -3.22937284] [-0.05123012 0.99856109 0.01585025 0.0074508 ] [ 0.12659743 -0.00924975 0.99191105 0.17901293] [ 0. 0. 0. 1. ]] SLAMing on 3.319115933 meters Centerline goodness [0,1] 0.9998225140879443 Centerline is valid? [True, True] Translation: X:-3.26, Y:0.01, Z:0.17 [[ 0.99021858 0.05619195 -0.12770912 -3.25759828] [-0.05456928 0.99837901 0.01617227 0.0106478 ] [ 0.12841086 -0.00904509 0.99167981 0.17427995] [ 0. 0. 0. 1. ]] SLAMing on 3.349115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.29, Y:0.01, Z:0.16 [[ 0.98862666 0.06267506 -0.13670831 -3.28701128] [-0.0608627 0.99799446 0.01740113 0.01150608] [ 0.13752475 -0.00888278 0.9904585 0.16367925] [ 0. 0. 0. 1. ]] SLAMing on 3.379115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.32, Y:0.01, Z:0.16 [[ 0.98809351 0.0671514 -0.13842656 -3.31528217] [-0.06532054 0.99770677 0.01773222 0.01436867] [ 0.13929986 -0.008479 0.99021394 0.15682517] [ 0. 0. 0. 1. ]] SLAMing on 3.409115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.34, Y:0.02, Z:0.16 [[ 0.98823215 0.06258489 -0.13957205 -3.34473661] [-0.06066474 0.99799636 0.01797383 0.01688499] [ 0.14041728 -0.00929522 0.99004878 0.15657044] [ 0. 0. 0. 1. ]] SLAMing on 3.439115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.37, Y:0.02, Z:0.16 [[ 0.98870853 0.06025891 -0.13720173 -3.37382453] [-0.05836817 0.99813703 0.01776607 0.01851641] [ 0.13801669 -0.00955725 0.99038379 0.16339376] [ 0. 0. 0. 1. ]] SLAMing on 3.469115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.40, Y:0.02, Z:0.16 [[ 0.98876584 0.06807907 -0.13306901 -3.40370327] [-0.06636718 0.99764592 0.01726328 0.01794523] [ 0.13393102 -0.00823792 0.99095642 0.16013594] [ 0. 0. 0. 1. ]] SLAMing on 3.499115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.43, Y:0.02, Z:0.15 [[ 0.98711188 0.07257731 -0.14262774 -3.4333567 ] [-0.07065192 0.99732901 0.01852452 0.01605806] [ 0.14359124 -0.00820885 0.98960304 0.14749246] [ 0. 0. 0. 1. ]] SLAMing on 3.529115933 meters Centerline goodness [0,1] 0.9998248456452249 Centerline is valid? [True, True] Translation: X:-3.46, Y:0.02, Z:0.15 [[ 0.98726262 0.06937914 -0.14317489 -3.46263587] [-0.06740123 0.9975521 0.01862474 0.0163207 ] [ 0.14411658 -0.00873735 0.98952214 0.15328223] [ 0. 0. 0. 1. ]] SLAMing on 3.559115933 meters Centerline goodness [0,1] 0.9995165047690211 Centerline is valid? [True, True] Translation: X:-3.49, Y:0.02, Z:0.15 [[ 0.98635797 0.07348233 -0.14730346 -3.49166105] [-0.07142839 0.99726107 0.01919241 0.01685726] [ 0.14831031 -0.00840894 0.98890512 0.15168482] [ 0. 0. 0. 1. ]] SLAMing on 3.589115933 meters Centerline goodness [0,1] 0.9999561749496012 Centerline is valid? [True, True] Translation: X:-3.52, Y:0.02, Z:0.14 [[ 0.98489899 0.07971038 -0.15368878 -3.52176338] [-0.07753316 0.99678677 0.02011811 0.01686779] [ 0.15479856 -0.00789833 0.98791448 0.14195588] [ 0. 0. 0. 1. ]] SLAMing on 3.619115933 meters Centerline goodness [0,1] 0.9999562592948998 Centerline is valid? [True, True] Translation: X:-3.55, Y:0.02, Z:0.14 [[ 0.98518907 0.0856316 -0.14855881 -3.55183474] [-0.08365076 0.99630348 0.01954273 0.01601312] [ 0.14968313 -0.00682623 0.98871045 0.14482065] [ 0. 0. 0. 1. ]] SLAMing on 3.649115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.58, Y:0.02, Z:0.15 [[ 0.98612023 0.08267273 -0.1439865 -3.58137528] [-0.08077306 0.99655142 0.01899956 0.01688347] [ 0.1450607 -0.00710562 0.98939724 0.15174807] [ 0. 0. 0. 1. ]] SLAMing on 3.679115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.61, Y:0.02, Z:0.14 [[ 0.98488614 0.09126081 -0.14720991 -3.61039983] [-0.08935417 0.99580847 0.01952725 0.01729545] [ 0.14837495 -0.00607829 0.9889125 0.14166375] [ 0. 0. 0. 1. ]] SLAMing on 3.709115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.64, Y:0.02, Z:0.15 [[ 0.98652505 0.08331368 -0.1408089 -3.64090657] [-0.08147754 0.99649851 0.01876533 0.01676784] [ 0.14187927 -0.00703971 0.98985894 0.14932704] [ 0. 0. 0. 1. ]] SLAMing on 3.739115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.67, Y:0.02, Z:0.15 [[ 0.987388 0.09212013 -0.12875873 -3.67014504] [-0.09065769 0.99573382 0.01718574 0.01767198] [ 0.12979258 -0.00529602 0.99152702 0.15391001] [ 0. 0. 0. 1. ]] SLAMing on 3.769115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.70, Y:0.01, Z:0.17 [[ 0.9892659 0.08350035 -0.11991945 -3.70091465] [-0.08216146 0.99648939 0.01607483 0.0149353 ] [ 0.12084071 -0.00604952 0.99265348 0.17222871] [ 0. 0. 0. 1. ]] SLAMing on 3.799115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.73, Y:0.01, Z:0.17 [[ 0.99057774 0.07058267 -0.11736194 -3.7303763 ] [-0.06920714 0.99747782 0.01575976 0.01375915] [ 0.1181783 -0.00748898 0.99296415 0.17266176] [ 0. 0. 0. 1. ]] SLAMing on 3.829115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.76, Y:0.02, Z:0.17 [[ 0.99010362 0.06616992 -0.12375928 -3.75980937] [-0.06460289 0.99777236 0.01663682 0.01612681] [ 0.12458444 -0.00847696 0.9921728 0.16639125] [ 0. 0. 0. 1. ]] SLAMing on 3.859115933 meters Centerline goodness [0,1] 0.9995890035619691 Centerline is valid? [True, True] Translation: X:-3.79, Y:0.02, Z:0.15 [[ 0.98882478 0.05687244 -0.1378081 -3.78898686] [-0.05483326 0.99832317 0.0185518 0.01860136] [ 0.13863211 -0.01078801 0.99028519 0.15090813] [ 0. 0. 0. 1. ]] SLAMing on 3.889115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.82, Y:0.02, Z:0.15 [[ 0.98972519 0.05488404 -0.13202951 -3.81799389] [-0.05299348 0.99843632 0.01779321 0.02189954] [ 0.13279962 -0.01061368 0.99108608 0.15052864] [ 0. 0. 0. 1. ]] SLAMing on 3.919115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.85, Y:0.03, Z:0.14 [[ 0.98833977 0.05445254 -0.14219502 -3.84645025] [-0.05224829 0.99844968 0.01919234 0.03281254] [ 0.14301965 -0.01153911 0.98965258 0.14112982] [ 0. 0. 0. 1. ]] SLAMing on 3.949115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.88, Y:0.04, Z:0.13 [[ 0.98774032 0.04763468 -0.14866069 -3.87578261] [-0.04513341 0.99877761 0.02015578 0.03914627] [ 0.14943909 -0.01319911 0.98868283 0.13051116] [ 0. 0. 0. 1. ]] SLAMing on 3.979115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.91, Y:0.04, Z:0.13 [[ 0.98749222 0.04498781 -0.15111326 -3.9056344 ] [-0.04235722 0.99889047 0.02058368 0.0405362 ] [ 0.15187161 -0.01392548 0.98830213 0.12600055] [ 0. 0. 0. 1. ]] SLAMing on 4.0091159329999995 meters Centerline goodness [0,1] 0.9998232200468467 Centerline is valid? [True, True] Translation: X:-3.94, Y:0.04, Z:0.12 [[ 0.98755386 0.04199084 -0.15157225 -3.93516389] [-0.0393023 0.99901311 0.02069155 0.04196794] [ 0.15229152 -0.01447688 0.98822959 0.12497099] [ 0. 0. 0. 1. ]] SLAMing on 4.039115933 meters Centerline goodness [0,1] 0.9999101123595505 Centerline is valid? [True, True] Translation: X:-3.96, Y:0.04, Z:0.12 [[ 0.98670038 0.04731463 -0.15551103 -3.96408746] [-0.04453131 0.99878014 0.02133515 0.04404142] [ 0.15633079 -0.01412629 0.98760373 0.12186576] [ 0. 0. 0. 1. ]] SLAMing on 4.069115933 meters Centerline goodness [0,1] 0.9998657357679914 Centerline is valid? [True, True] Translation: X:-3.99, Y:0.05, Z:0.11 [[ 0.98547902 0.05619773 -0.16022771 -3.99239836] [-0.05333528 0.99833178 0.02211338 0.04619516] [ 0.16120314 -0.01324648 0.98683235 0.1147328 ] [ 0. 0. 0. 1. ]] SLAMing on 4.099115933 meters Centerline goodness [0,1] 0.9993173750796396 Centerline is valid? [True, True] Translation: X:-4.02, Y:0.05, Z:0.11 [[ 0.98471803 0.064585 -0.16173797 -4.02193887] [-0.06176452 0.9978391 0.02241158 0.04969743] [ 0.16283592 -0.01207942 0.98657922 0.11233735] [ 0. 0. 0. 1. ]] SLAMing on 4.129115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-4.05, Y:0.05, Z:0.11 [[ 0.98438178 0.07009563 -0.16149029 -4.05159685] [-0.06735223 0.99747762 0.02240696 0.04655069] [ 0.16265358 -0.01118027 0.98661989 0.10588599] [ 0. 0. 0. 1. ]] SLAMing on 4.159115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-4.08, Y:0.04, Z:0.10 [[ 0.98370883 0.07254646 -0.16448084 -4.0807983 ] [-0.06972762 0.99730422 0.02285503 0.0447582 ] [ 0.16569549 -0.01101384 0.98611546 0.10153131] [ 0. 0. 0. 1. ]] SLAMing on 4.189115933 meters Centerline goodness [0,1] 0.9547446451242987 Centerline is valid? [True, True] Translation: X:-4.07, Y:0.37, Z:0.15 [[ 0.98512362 -0.11236397 -0.13002229 -4.06626751] [ 0.11566567 0.99312323 0.01810241 0.36516313] [ 0.1270941 -0.03287223 0.99134581 0.14775731] [ 0. 0. 0. 1. ]] SLAMing on 4.219115933 meters Centerline goodness [0,1] 0.9590323364940433 Centerline is valid? [True, True] Translation: X:-4.09, Y:0.38, Z:0.15 [[ 0.98424161 -0.11761032 -0.13204646 -4.09479921] [ 0.12106145 0.99247464 0.0183909 0.37850377] [ 0.1288898 -0.03408682 0.99107291 0.15091327] [ 0. 0. 0. 1. ]] SLAMing on 4.249115933 meters Centerline goodness [0,1] 0.971079160469344 Centerline is valid? [True, True] Translation: X:-4.12, Y:0.40, Z:0.15 [[ 0.98409858 -0.12008648 -0.13087868 -4.1208327 ] [ 0.12349714 0.99217742 0.01823271 0.39907254] [ 0.12766536 -0.03410592 0.99123072 0.14977454] [ 0. 0. 0. 1. ]] SLAMing on 4.279115933 meters Centerline goodness [0,1] 0.9666073571399015 Centerline is valid? [True, True] Translation: X:-4.15, Y:0.40, Z:0.15 [[ 0.983912 -0.12474508 -0.12788996 -4.15021571] [ 0.12803826 0.99160898 0.01782811 0.40359987] [ 0.12459286 -0.03391609 0.99162811 0.15315505] [ 0. 0. 0. 1. ]] SLAMing on 4.309115933 meters Centerline goodness [0,1] 0.9621887232447739 Centerline is valid? [True, True] Translation: X:-4.18, Y:0.41, Z:0.15 [[ 0.98387466 -0.12693846 -0.12600504 -4.17989767] [ 0.13015265 0.99133813 0.01757827 0.40982755] [ 0.12268224 -0.03369471 0.99187385 0.15144763] [ 0. 0. 0. 1. ]] SLAMing on 4.339115933 meters Centerline goodness [0,1] 0.9642637344602634 Centerline is valid? [True, True] Translation: X:-4.21, Y:0.41, Z:0.15 [[ 0.98499488 -0.12305242 -0.12100906 -4.21100552] [ 0.12598817 0.991888 0.01688697 0.40653388] [ 0.11794945 -0.03187928 0.99250775 0.15357724] [ 0. 0. 0. 1. ]] SLAMing on 4.369115933 meters Centerline goodness [0,1] 0.966284074605452 Centerline is valid? [True, True] Translation: X:-4.24, Y:0.40, Z:0.15 [[ 0.98497978 -0.11729081 -0.12671895 -4.24218285] [ 0.12046867 0.99255958 0.01768547 0.40452889] [ 0.12370177 -0.03268549 0.99178099 0.15322618] [ 0. 0. 0. 1. ]] SLAMing on 4.399115933 meters Centerline goodness [0,1] 0.9557174191946365 Centerline is valid? [True, True] Translation: X:-4.27, Y:0.39, Z:0.15 [[ 0.9853489 -0.11581774 -0.12519501 -4.27406357] [ 0.11890848 0.99275138 0.01747769 0.39423373] [ 0.12226329 -0.03210837 0.9919782 0.14674286] [ 0. 0. 0. 1. ]] SLAMing on 4.429115933 meters Centerline goodness [0,1] 0.9721578721578722 Centerline is valid? [True, True] Translation: X:-4.30, Y:0.40, Z:0.16 [[ 0.9881986 -0.10572426 -0.11084184 -4.3034728 ] [ 0.10808345 0.99402131 0.01547922 0.39906256] [ 0.10854262 -0.02727672 0.99371751 0.16203159] [ 0. 0. 0. 1. ]] SLAMing on 4.459115933 meters Centerline goodness [0,1] 0.9692588250618731 Centerline is valid? [True, True] Translation: X:-4.34, Y:0.39, Z:0.16 [[ 0.98857951 -0.09826198 -0.11425911 -4.33531925] [ 0.10072374 0.99478639 0.01596146 0.38896734] [ 0.112095 -0.02728778 0.99332275 0.16004854] [ 0. 0. 0. 1. ]] SLAMing on 4.489115933 meters Centerline goodness [0,1] 0.9679495542509241 Centerline is valid? [True, True] Translation: X:-4.37, Y:0.39, Z:0.16 [[ 0.98932543 -0.08895091 -0.11542498 -4.36545152] [ 0.09140439 0.99568322 0.01612966 0.39090272] [ 0.11349197 -0.02650783 0.99318523 0.1566028 ] [ 0. 0. 0. 1. ]] SLAMing on 4.519115933 meters Centerline goodness [0,1] 0.9720231413522148 Centerline is valid? [True, True] Translation: X:-4.39, Y:0.40, Z:0.17 [[ 0.99144261 -0.07653075 -0.10575726 -4.39351807] [ 0.07852148 0.9968028 0.01478356 0.40103642] [ 0.10428774 -0.02296127 0.99428208 0.165457 ] [ 0. 0. 0. 1. ]] SLAMing on 4.549115933 meters Centerline goodness [0,1] 0.9704644900706832 Centerline is valid? [True, True] Translation: X:-4.42, Y:0.41, Z:0.16 [[ 0.99138435 -0.07810277 -0.10515242 -4.42207779] [ 0.08007998 0.99667992 0.01470798 0.40922984] [ 0.10365458 -0.02300187 0.99434735 0.16020507] [ 0. 0. 0. 1. ]] SLAMing on 4.579115933 meters Centerline goodness [0,1] 0.9755268817204301 Centerline is valid? [True, True] Translation: X:-4.45, Y:0.42, Z:0.16 [[ 0.99038635 -0.08549975 -0.10874134 -4.44961685] [ 0.08765835 0.99603433 0.01521909 0.42378389] [ 0.10700888 -0.02460486 0.99395357 0.15846283] [ 0. 0. 0. 1. ]] SLAMing on 4.609115933 meters Centerline goodness [0,1] 0.9754687300710004 Centerline is valid? [True, True] Translation: X:-4.48, Y:0.43, Z:0.17 [[ 0.99122392 -0.08502882 -0.10121873 -4.47848172] [ 0.08689575 0.99611659 0.01417251 0.43448313] [ 0.09962058 -0.02284361 0.99476324 0.16552989] [ 0. 0. 0. 1. ]] SLAMing on 4.639115933 meters Centerline goodness [0,1] 0.9762308998302207 Centerline is valid? [True, True] Translation: X:-4.51, Y:0.44, Z:0.16 [[ 0.99222432 -0.08072038 -0.09473707 -4.50795579] [ 0.08233624 0.9965163 0.01326675 0.44371678] [ 0.09333614 -0.02096389 0.99541392 0.16150839] [ 0. 0. 0. 1. ]] SLAMing on 4.669115933 meters Centerline goodness [0,1] 0.9797118745205012 Centerline is valid? [True, True] Translation: X:-4.54, Y:0.46, Z:0.16 [[ 0.99178552 -0.08397854 -0.09648361 -4.53639806] [ 0.08567004 0.99623186 0.01351737 0.4556366 ] [ 0.09498488 -0.02167208 0.99524278 0.16125981] [ 0. 0. 0. 1. ]] SLAMing on 4.699115933 meters Centerline goodness [0,1] 0.9768715266426937 Centerline is valid? [True, True] Translation: X:-4.57, Y:0.47, Z:0.16 [[ 0.99123377 -0.09656506 -0.09017092 -4.56565511] [ 0.0980917 0.99509704 0.01264485 0.46549104] [ 0.08850777 -0.02137902 0.99584603 0.1558176 ] [ 0. 0. 0. 1. ]] SLAMing on 4.729115933 meters Centerline goodness [0,1] 0.9762347767253045 Centerline is valid? [True, True] Translation: X:-4.60, Y:0.47, Z:0.15 [[ 0.99046235 -0.10067605 -0.09406735 -4.59543759] [ 0.10235595 0.99466032 0.0131953 0.47235081] [ 0.09223661 -0.0226978 0.99547839 0.15337638] [ 0. 0. 0. 1. ]] SLAMing on 4.759115933 meters Centerline goodness [0,1] 0.9774458487595217 Centerline is valid? [True, True] Translation: X:-4.62, Y:0.49, Z:0.16 [[ 0.99137296 -0.09640409 -0.08880258 -4.62387774] [ 0.09788404 0.9951199 0.01245425 0.48865684] [ 0.08716857 -0.02103916 0.99597138 0.15561497] [ 0. 0. 0. 1. ]] SLAMing on 4.789115933 meters Centerline goodness [0,1] 0.9774458487595217 Centerline is valid? [True, True] Translation: X:-4.65, Y:0.49, Z:0.16 [[ 0.99143812 -0.09573829 -0.08879547 -4.65207768] [ 0.09722 0.99518436 0.01250478 0.49253614] [ 0.08717068 -0.02103041 0.99597138 0.15525213] [ 0. 0. 0. 1. ]] SLAMing on 4.819115933 meters Centerline goodness [0,1] 0.9788389192886457 Centerline is valid? [True, True] Translation: X:-4.68, Y:0.49, Z:0.16 [[ 0.99155491 -0.09489374 -0.088397 -4.68085211] [ 0.09636363 0.99526768 0.01250219 0.49474443] [ 0.0867923 -0.02091486 0.99600686 0.16065899] [ 0. 0. 0. 1. ]] SLAMing on 4.849115933 meters Centerline goodness [0,1] 0.9768997727846503 Centerline is valid? [True, True] Translation: X:-4.71, Y:0.50, Z:0.15 [[ 0.99148424 -0.09588869 -0.08811562 -4.71004672] [ 0.09735466 0.99517147 0.01248271 0.49502789] [ 0.0864932 -0.02095488 0.99603204 0.15287454] [ 0. 0. 0. 1. ]] SLAMing on 4.879115933 meters Centerline goodness [0,1] 0.9757193866834699 Centerline is valid? [True, True] Translation: X:-4.74, Y:0.49, Z:0.15 [[ 0.99095097 -0.0953565 -0.09446334 -4.74195165] [ 0.09704108 0.99519027 0.01339245 0.4853157 ] [ 0.09273194 -0.02243809 0.99543825 0.1482402 ] [ 0. 0. 0. 1. ]] SLAMing on 4.909115933 meters Centerline goodness [0,1] 0.976218888510058 Centerline is valid? [True, True] Translation: X:-4.77, Y:0.50, Z:0.15 [[ 0.99096452 -0.1007149 -0.08857672 -4.76912623] [ 0.10221581 0.9946829 0.0125638 0.5007522 ] [ 0.08684038 -0.02150422 0.99599012 0.15022073] [ 0. 0. 0. 1. ]] SLAMing on 4.939115933 meters Centerline goodness [0,1] 0.9751448085069595 Centerline is valid? [True, True] Translation: X:-4.80, Y:0.49, Z:0.15 [[ 0.99145386 -0.09531968 -0.08906962 -4.80207888] [ 0.09681691 0.99522203 0.01263333 0.48766223] [ 0.08743984 -0.02114881 0.99594528 0.15214824] [ 0. 0. 0. 1. ]] SLAMing on 4.969115933 meters Centerline goodness [0,1] 0.9761629153269025 Centerline is valid? [True, True] Translation: X:-4.83, Y:0.48, Z:0.15 [[ 0.99192593 -0.08984668 -0.08950152 -4.83282279] [ 0.09133777 0.99573901 0.0126977 0.48410949] [ 0.08797931 -0.02077005 0.99590574 0.15015384] [ 0. 0. 0. 1. ]] SLAMing on 4.999115933 meters Centerline goodness [0,1] 0.9745809698468887 Centerline is valid? [True, True] Translation: X:-4.86, Y:0.48, Z:0.14 [[ 0.99179901 -0.08494246 -0.09549612 -4.8642421 ] [ 0.08661983 0.99614927 0.01355132 0.47802789] [ 0.09397731 -0.02171204 0.99533756 0.14447698] [ 0. 0. 0. 1. ]] SLAMing on 5.029115933 meters Centerline goodness [0,1] 0.9751395230847286 Centerline is valid? [True, True] Translation: X:-4.89, Y:0.47, Z:0.14 [[ 0.9918322 -0.086394 -0.09383482 -4.89435884] [ 0.08802079 0.99602943 0.01333071 0.47117721] [ 0.09231055 -0.02148124 0.99549853 0.14139651] [ 0. 0. 0. 1. ]] SLAMing on 5.059115933 meters Centerline goodness [0,1] 0.973561430793157 Centerline is valid? [True, True] Translation: X:-4.93, Y:0.46, Z:0.14 [[ 0.99220555 -0.08540115 -0.09074571 -4.92610779] [ 0.0869187 0.99613191 0.0128976 0.45910448] [ 0.08929322 -0.02068457 0.99579057 0.14017817] [ 0. 0. 0. 1. ]] SLAMing on 5.0891159329999995 meters Centerline goodness [0,1] 0.9740248457996699 Centerline is valid? [True, True] Translation: X:-4.96, Y:0.45, Z:0.13 [[ 0.99201893 -0.08212769 -0.09567385 -4.956277 ] [ 0.08380602 0.99638858 0.0136512 0.45332177] [ 0.09420719 -0.02156029 0.99531912 0.13369733] [ 0. 0. 0. 1. ]] SLAMing on 5.119115933 meters Centerline goodness [0,1] 0.9724806201550388 Centerline is valid? [True, True] Translation: X:-4.99, Y:0.44, Z:0.13 [[ 0.9917701 -0.07648161 -0.1026773 -4.98820739] [ 0.07838865 0.99681505 0.01466237 0.43966562] [ 0.10122887 -0.02259044 0.99460665 0.12787502] [ 0. 0. 0. 1. ]] SLAMing on 5.149115933 meters Centerline goodness [0,1] 0.9667849356645151 Centerline is valid? [True, True] Translation: X:-5.02, Y:0.43, Z:0.12 [[ 0.99225103 -0.07409544 -0.09973842 -5.02031855] [ 0.075883 0.99701498 0.01424441 0.43165939] [ 0.09838525 -0.02170248 0.99491173 0.12370849] [ 0. 0. 0. 1. ]] SLAMing on 5.179115933 meters Centerline goodness [0,1] 0.9651989577352824 Centerline is valid? [True, True] Translation: X:-5.05, Y:0.43, Z:0.12 [[ 0.99265971 -0.06904824 -0.09929275 -5.05083523] [ 0.07079611 0.99738995 0.01418457 0.42733666] [ 0.09805417 -0.02110999 0.99495716 0.11546371] [ 0. 0. 0. 1. ]] SLAMing on 5.209115933 meters Centerline goodness [0,1] 0.9653716216216216 Centerline is valid? [True, True] Translation: X:-5.08, Y:0.41, Z:0.11 [[ 0.99253444 -0.0637727 -0.10396359 -5.08345942] [ 0.06566265 0.99773129 0.01485547 0.41386636] [ 0.10278035 -0.02157109 0.99447015 0.11208803] [ 0. 0. 0. 1. ]] SLAMing on 5.239115933 meters Centerline goodness [0,1] 0.9665175545614748 Centerline is valid? [True, True] Translation: X:-5.11, Y:0.41, Z:0.11 [[ 0.99255258 -0.06136963 -0.10522902 -5.11436322] [ 0.06329533 0.99788126 0.01505608 0.40563983] [ 0.10408208 -0.02160445 0.99433403 0.10823721] [ 0. 0. 0. 1. ]] SLAMing on 5.269115933 meters Centerline goodness [0,1] 0.9644308943089431 Centerline is valid? [True, True] Translation: X:-5.14, Y:0.40, Z:0.11 [[ 0.99250998 -0.0596309 -0.10662124 -5.14473459] [ 0.06160562 0.99798297 0.01532127 0.39875451] [ 0.10549256 -0.02177498 0.99418166 0.10803416] [ 0. 0. 0. 1. ]] SLAMing on 5.2991159329999995 meters Centerline goodness [0,1] 0.9615041547345196 Centerline is valid? [True, True] Translation: X:-5.18, Y:0.40, Z:0.10 [[ 0.99276371 -0.05603309 -0.10620973 -5.17609409] [ 0.05797396 0.99820126 0.01527305 0.39579261] [ 0.10516289 -0.02131993 0.99422645 0.10253372] [ 0. 0. 0. 1. ]] SLAMing on 5.329115933 meters Centerline goodness [0,1] 0.9616731424185734 Centerline is valid? [True, True] Translation: X:-5.21, Y:0.40, Z:0.10 [[ 0.99272147 -0.05542813 -0.10691963 -5.20586181] [ 0.05739858 0.99823197 0.01543837 0.39534496] [ 0.10587487 -0.02146304 0.9941478 0.0981378 ] [ 0. 0. 0. 1. ]] SLAMing on 5.359115933 meters Centerline goodness [0,1] 0.957503384258364 Centerline is valid? [True, True] Translation: X:-5.24, Y:0.38, Z:0.10 [[ 0.99272032 -0.05422827 -0.10754374 -5.23692946] [ 0.05622302 0.99829633 0.01560152 0.38129398] [ 0.10651448 -0.02153437 0.99407793 0.09705171] [ 0. 0. 0. 1. ]] SLAMing on 5.389115933 meters Centerline goodness [0,1] 0.9682492727900212 Centerline is valid? [True, True] Translation: X:-5.27, Y:0.38, Z:0.10 [[ 0.99298584 -0.04969452 -0.10728266 -5.26674226] [ 0.05165609 0.99854337 0.01558155 0.37890444] [ 0.10635207 -0.02101406 0.99410646 0.09974254] [ 0. 0. 0. 1. ]] SLAMing on 5.419115933 meters Centerline goodness [0,1] 0.9690537995622741 Centerline is valid? [True, True] Translation: X:-5.30, Y:0.38, Z:0.10 [[ 0.99275487 -0.04588609 -0.11105061 -5.2969693 ] [ 0.04796713 0.99871851 0.01613963 0.3773315 ] [ 0.11016771 -0.02134947 0.99368369 0.09592126] [ 0. 0. 0. 1. ]] SLAMing on 5.449115933 meters Centerline goodness [0,1] 0.9709896725310083 Centerline is valid? [True, True] Translation: X:-5.33, Y:0.38, Z:0.09 [[ 0.99258157 -0.04460277 -0.11310358 -5.32511937] [ 0.04676171 0.99876969 0.01650626 0.38141364] [ 0.1122282 -0.02167273 0.99344608 0.09483944] [ 0. 0. 0. 1. ]] SLAMing on 5.479115933 meters Centerline goodness [0,1] 0.9693956411973826 Centerline is valid? [True, True] Translation: X:-5.35, Y:0.38, Z:0.09 [[ 0.9930011 -0.04508523 -0.10916105 -5.35443192] [ 0.04710618 0.99876166 0.0160047 0.38266166] [ 0.1083043 -0.02103484 0.99389522 0.09222444] [ 0. 0. 0. 1. ]] SLAMing on 5.509115933 meters Centerline goodness [0,1] 0.9685197943717208 Centerline is valid? [True, True] Translation: X:-5.39, Y:0.38, Z:0.09 [[ 0.99269569 -0.0463376 -0.11139159 -5.38528083] [ 0.04845161 0.99869178 0.01634524 0.3812287 ] [ 0.11048846 -0.02162295 0.99364216 0.08920216] [ 0. 0. 0. 1. ]] SLAMing on 5.539115933 meters Centerline goodness [0,1] 0.9669382391590013 Centerline is valid? [True, True] Translation: X:-5.42, Y:0.38, Z:0.09 [[ 0.99249437 -0.04947838 -0.11183389 -5.41645079] [ 0.05162923 0.99853137 0.01641728 0.37922421] [ 0.11085735 -0.02206796 0.99359129 0.09274597] [ 0. 0. 0. 1. ]] SLAMing on 5.569115933 meters Centerline goodness [0,1] 0.9682590918872391 Centerline is valid? [True, True] Translation: X:-5.45, Y:0.38, Z:0.09 [[ 0.99234347 -0.045223 -0.11493177 -5.44662632] [ 0.04746883 0.99873012 0.01687792 0.3797835 ] [ 0.11402255 -0.02220437 0.99323 0.09102249] [ 0. 0. 0. 1. ]] SLAMing on 5.599115933 meters Centerline goodness [0,1] 0.9687687687687687 Centerline is valid? [True, True] Translation: X:-5.48, Y:0.38, Z:0.09 [[ 0.99224665 -0.04239848 -0.11682877 -5.47649083] [ 0.04470268 0.99885273 0.01717248 0.37776137] [ 0.11596665 -0.02226189 0.9930036 0.09483316] [ 0. 0. 0. 1. ]] SLAMing on 5.629115933 meters Centerline goodness [0,1] 0.9576181394363212 Centerline is valid? [True, True] Translation: X:-5.51, Y:0.37, Z:0.10 [[ 0.99237632 -0.04091479 -0.11625495 -5.50730426] [ 0.04319498 0.99891925 0.01716147 0.36920247] [ 0.11542715 -0.02205227 0.99307113 0.09891268] [ 0. 0. 0. 1. ]] SLAMing on 5.659115933 meters Centerline goodness [0,1] 0.9657572695632648 Centerline is valid? [True, True] Translation: X:-5.54, Y:0.36, Z:0.10 [[ 0.991544 -0.03232824 -0.12567971 -5.53829001] [ 0.03493262 0.99921706 0.01857343 0.36015063] [ 0.12498086 -0.02280669 0.99189699 0.09502239] [ 0. 0. 0. 1. ]] SLAMing on 5.689115933 meters Centerline goodness [0,1] 0.9660160734787601 Centerline is valid? [True, True] Translation: X:-5.57, Y:0.36, Z:0.10 [[ 0.99143051 -0.03494927 -0.12587333 -5.56886564] [ 0.03758385 0.99912006 0.01861599 0.35859175] [ 0.12511195 -0.02318727 0.99187164 0.09604083] [ 0. 0. 0. 1. ]] SLAMing on 5.719115933 meters Centerline goodness [0,1] 0.9700905624404195 Centerline is valid? [True, True] Translation: X:-5.60, Y:0.35, Z:0.10 [[ 0.99093177 -0.02232842 -0.13249777 -5.60100418] [ 0.02514283 0.99949159 0.01960608 0.3500879 ] [ 0.13199264 -0.02275966 0.99098938 0.0951054 ] [ 0. 0. 0. 1. ]] SLAMing on 5.749115933 meters Centerline goodness [0,1] 0.9565910903497779 Centerline is valid? [True, True] Translation: X:-5.63, Y:0.34, Z:0.10 [[ 0.99095773 -0.02884859 -0.13103642 -5.63225727] [ 0.03165712 0.99931049 0.01940048 0.34310875] [ 0.13038639 -0.0233733 0.99118771 0.10095728] [ 0. 0. 0. 1. ]] SLAMing on 5.779115933 meters Centerline goodness [0,1] 0.9723189734188817 Centerline is valid? [True, True] Translation: X:-5.66, Y:0.34, Z:0.09 [[ 0.98986214 -0.00977058 -0.14169504 -5.6615999 ] [ 0.0128733 0.99969666 0.02099699 0.34064522] [ 0.1414469 -0.02260821 0.98968765 0.0941371 ] [ 0. 0. 0. 1. ]] SLAMing on 5.809115933 meters Centerline goodness [0,1] 0.9710162576873896 Centerline is valid? [True, True] Translation: X:-5.69, Y:0.34, Z:0.09 [[ 0.98967277 -0.01136146 -0.14289411 -5.69143849] [ 0.01453577 0.99966979 0.02119012 0.34088438] [ 0.14260618 -0.02304836 0.98951112 0.09376091] [ 0. 0. 0. 1. ]] SLAMing on 5.8391159329999995 meters Centerline goodness [0,1] 0.9727496917385944 Centerline is valid? [True, True] Translation: X:-5.72, Y:0.34, Z:0.09 [[ 9.88571617e-01 -3.99635224e-03 -1.50698992e-01 -5.72066827e+00] [ 7.46369496e-03 9.99720111e-01 2.24498070e-02 3.40143156e-01] [ 1.50567096e-01 -2.33180134e-02 9.88324754e-01 8.73184929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.869115933 meters Centerline goodness [0,1] 0.9671048821451323 Centerline is valid? [True, True] Translation: X:-5.75, Y:0.34, Z:0.09 [[ 0.9884369 -0.0078471 -0.15142957 -5.7514469 ] [ 0.01139553 0.99968011 0.0225793 0.33558884] [ 0.15120395 -0.02404383 0.98821013 0.08706439] [ 0. 0. 0. 1. ]] SLAMing on 5.899115933 meters Centerline goodness [0,1] 0.9823273179838208 Centerline is valid? [True, True] Translation: X:-5.78, Y:0.34, Z:0.08 [[ 0.98739638 0.02494925 -0.15628797 -5.77989983] [-0.02156321 0.99949539 0.0233238 0.33732339] [ 0.15679102 -0.01965976 0.98743611 0.07877116] [ 0. 0. 0. 1. ]] SLAMing on 5.929115933 meters Centerline goodness [0,1] 0.9862218103181959 Centerline is valid? [True, True] Translation: X:-5.81, Y:0.34, Z:0.07 [[ 0.98640908 0.03944646 -0.15950269 -5.8085538 ] [-0.0360998 0.99906412 0.02382636 0.34281889] [ 0.16029328 -0.01774452 0.98690992 0.07224709] [ 0. 0. 0. 1. ]] SLAMing on 5.959115933 meters Centerline goodness [0,1] 0.9866519037952882 Centerline is valid? [True, True] Translation: X:-5.84, Y:0.35, Z:0.08 [[ 0.98744938 0.03792841 -0.15331392 -5.83816849] [-0.03480927 0.99912976 0.02297906 0.34879359] [ 0.15405206 -0.01735391 0.98791032 0.07508567] [ 0. 0. 0. 1. ]] SLAMing on 5.989115933 meters Centerline goodness [0,1] 0.9858765735339269 Centerline is valid? [True, True] Translation: X:-5.87, Y:0.35, Z:0.07 [[ 0.98697382 0.03468007 -0.1570986 -5.86747094] [-0.0313587 0.9992302 0.02357214 0.35119802] [ 0.15779515 -0.01833868 0.98730157 0.0746429 ] [ 0. 0. 0. 1. ]] SLAMing on 6.019115933 meters Centerline goodness [0,1] 0.9863487440844557 Centerline is valid? [True, True] Translation: X:-5.90, Y:0.36, Z:0.07 [[ 0.98688665 0.0388581 -0.15666773 -5.89677807] [-0.03560306 0.99908895 0.02353078 0.35539701] [ 0.15743936 -0.01764436 0.98737102 0.07486878] [ 0. 0. 0. 1. ]] SLAMing on 6.0491159329999995 meters Centerline goodness [0,1] 0.9849377123442808 Centerline is valid? [True, True] Translation: X:-5.92, Y:0.37, Z:0.09 [[ 0.98887761 0.04217818 -0.14262566 -5.92491354] [-0.03951627 0.99898875 0.02144616 0.36973627] [ 0.14338599 -0.01557159 0.98954433 0.0850705 ] [ 0. 0. 0. 1. ]] SLAMing on 6.079115933 meters Centerline goodness [0,1] 0.9922276694965921 Centerline is valid? [True, True] Translation: X:-5.95, Y:0.37, Z:0.07 [[ 0.98453597 0.09251574 -0.14876077 -5.95342846] [-0.09017834 0.99567378 0.02239618 0.37492861] [ 0.15018919 -0.00863484 0.98861957 0.07401132] [ 0. 0. 0. 1. ]] SLAMing on 6.109115933 meters Centerline goodness [0,1] 0.989319686265784 Centerline is valid? [True, True] Translation: X:-5.98, Y:0.39, Z:0.09 [[ 0.98554055 0.10031949 -0.13654972 -5.98067036] [-0.09841559 0.99493133 0.02064039 0.39134168] [ 0.13792823 -0.00690332 0.99041817 0.08936515] [ 0. 0. 0. 1. ]] SLAMing on 6.139115933 meters Centerline goodness [0,1] 0.9917421722674619 Centerline is valid? [True, True] Translation: X:-6.01, Y:0.39, Z:0.07 [[ 9.79007377e-01 1.46013793e-01 -1.42212965e-01 -6.01042337e+00] [-1.44415417e-01 9.89282394e-01 2.15530005e-02 3.91621784e-01] [ 1.43835818e-01 -5.62801833e-04 9.89601405e-01 6.74160685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.169115933 meters Centerline goodness [0,1] 0.9903769045709703 Centerline is valid? [True, True] Translation: X:-6.04, Y:0.40, Z:0.07 [[ 9.78343714e-01 1.55063013e-01 -1.37109585e-01 -6.03916965e+00] [-1.53659568e-01 9.87904339e-01 2.08267829e-02 3.98441024e-01] [ 1.38680617e-01 6.92447365e-04 9.90336916e-01 7.26812677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.199115933 meters Centerline goodness [0,1] 0.9917671614100185 Centerline is valid? [True, True] Translation: X:-6.07, Y:0.40, Z:0.07 [[ 9.77533280e-01 1.63860105e-01 -1.32584136e-01 -6.06847704e+00] [-1.62622854e-01 9.86481883e-01 2.01817007e-02 3.99813639e-01] [ 1.34098823e-01 1.83292640e-03 9.90966269e-01 7.45828383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.229115933 meters Centerline goodness [0,1] 0.9902148239793049 Centerline is valid? [True, True] Translation: X:-6.10, Y:0.40, Z:0.08 [[ 9.77054856e-01 1.64796570e-01 -1.34929235e-01 -6.09910321e+00] [-1.63513101e-01 9.86325711e-01 2.06169219e-02 3.96293622e-01] [ 1.36481772e-01 1.91883401e-03 9.90640724e-01 7.95790588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.259115933 meters Centerline goodness [0,1] 0.9924618606042477 Centerline is valid? [True, True] Translation: X:-6.13, Y:0.39, Z:0.07 [[ 9.74771084e-01 1.74050086e-01 -1.39742269e-01 -6.12814675e+00] [-1.72759963e-01 9.84731348e-01 2.14048254e-02 3.94162271e-01] [ 1.41334105e-01 3.27706441e-03 9.89956530e-01 6.85714978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.289115933 meters Centerline goodness [0,1] 0.991747146619842 Centerline is valid? [True, True] Translation: X:-6.16, Y:0.40, Z:0.09 [[ 9.81835708e-01 1.40579478e-01 -1.27420768e-01 -6.15637110e+00] [-1.39218228e-01 9.90068295e-01 1.95718257e-02 4.01696647e-01] [ 1.28906660e-01 -1.47702387e-03 9.91655631e-01 9.22449038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.319115933 meters Centerline goodness [0,1] 0.9931917369799244 Centerline is valid? [True, True] Translation: X:-6.19, Y:0.40, Z:0.09 [[ 9.80668179e-01 1.46435742e-01 -1.29794055e-01 -6.18634947e+00] [-1.45062938e-01 9.89219857e-01 2.00204565e-02 4.00216239e-01] [ 1.31326567e-01 -8.05117510e-04 9.91338834e-01 8.90790626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.349115933 meters Centerline goodness [0,1] 0.9950661713489668 Centerline is valid? [True, True] Translation: X:-6.22, Y:0.40, Z:0.08 [[ 9.79106073e-01 1.54878571e-01 -1.31772250e-01 -6.21588339e+00] [-1.53532066e-01 9.87933475e-01 2.03802082e-02 4.01539716e-01] [ 1.33338674e-01 2.76880269e-04 9.91070493e-01 8.34898062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.379115933 meters Centerline goodness [0,1] 0.9954311821816105 Centerline is valid? [True, True] Translation: X:-6.24, Y:0.41, Z:0.08 [[ 9.78291434e-01 1.59147990e-01 -1.32732010e-01 -6.24415164e+00] [-1.57808323e-01 9.87254435e-01 2.06207108e-02 4.07442284e-01] [ 1.34322010e-01 7.73151146e-04 9.90937435e-01 8.22358522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.409115933 meters Centerline goodness [0,1] 0.9947586206896551 Centerline is valid? [True, True] Translation: X:-6.27, Y:0.42, Z:0.09 [[ 9.79136770e-01 1.54633920e-01 -1.31831471e-01 -6.27160288e+00] [-1.53266196e-01 9.87971831e-01 2.05215677e-02 4.16081036e-01] [ 1.33419110e-01 1.11886631e-04 9.91059700e-01 8.60878552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.439115933 meters Centerline goodness [0,1] 0.9936326530612245 Centerline is valid? [True, True] Translation: X:-6.30, Y:0.43, Z:0.10 [[ 9.81118482e-01 1.46258261e-01 -1.26550562e-01 -6.29964198e+00] [-1.44922941e-01 9.89245902e-01 1.97455402e-02 4.26713914e-01] [ 1.28077573e-01 -1.03263479e-03 9.91763615e-01 9.55532485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.469115933 meters Centerline goodness [0,1] 0.9936464838446918 Centerline is valid? [True, True] Translation: X:-6.33, Y:0.44, Z:0.10 [[ 9.82749670e-01 1.40565956e-01 -1.20184433e-01 -6.32744501e+00] [-1.39309712e-01 9.90069742e-01 1.88337654e-02 4.38444503e-01] [ 1.21638356e-01 -1.76601796e-03 9.92572915e-01 1.02749224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.499115933 meters Centerline goodness [0,1] 0.9937826685006877 Centerline is valid? [True, True] Translation: X:-6.36, Y:0.45, Z:0.10 [[ 9.82105950e-01 1.47768543e-01 -1.16757702e-01 -6.35646442e+00] [-1.46625110e-01 9.89021540e-01 1.83703498e-02 4.46440833e-01] [ 1.18190442e-01 -9.22019021e-04 9.92990518e-01 1.03593907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.529115933 meters Centerline goodness [0,1] 0.9959287808055586 Centerline is valid? [True, True] Translation: X:-6.38, Y:0.45, Z:0.10 [[ 9.80045187e-01 1.61291490e-01 -1.16174381e-01 -6.38494781e+00] [-1.60244201e-01 9.86906616e-01 1.83610294e-02 4.52548007e-01] [ 1.17614743e-01 6.21632360e-04 9.93059105e-01 1.03930115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.559115933 meters Centerline goodness [0,1] 0.9946854197981533 Centerline is valid? [True, True] Translation: X:-6.41, Y:0.46, Z:0.12 [[ 9.81710848e-01 1.55115275e-01 -1.10376908e-01 -6.41322417e+00] [-1.54122858e-01 9.87896359e-01 1.75193730e-02 4.63950184e-01] [ 1.11758468e-01 -1.87354031e-04 9.93735382e-01 1.17385990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5891159329999995 meters Centerline goodness [0,1] 0.9934612266954878 Centerline is valid? [True, True] Translation: X:-6.44, Y:0.47, Z:0.12 [[ 9.80221418e-01 1.63550654e-01 -1.11432292e-01 -6.44099598e+00] [-1.62584240e-01 9.86534689e-01 1.77671969e-02 4.74127266e-01] [ 1.12837658e-01 7.01347481e-04 9.93613190e-01 1.24004065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.619115933 meters Centerline goodness [0,1] 0.9935469758285027 Centerline is valid? [True, True] Translation: X:-6.47, Y:0.48, Z:0.13 [[ 9.79563251e-01 1.69921511e-01 -1.07622102e-01 -6.46862702e+00] [-1.69055290e-01 9.85456666e-01 1.71891858e-02 4.83838296e-01] [ 1.08977730e-01 1.35619094e-03 9.94043266e-01 1.28896249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.649115933 meters Centerline goodness [0,1] 0.9909161404674864 Centerline is valid? [True, True] Translation: X:-6.50, Y:0.49, Z:0.13 [[ 9.80342612e-01 1.69778676e-01 -1.00516486e-01 -6.49761705e+00] [-1.69016034e-01 9.85481502e-01 1.61179948e-02 4.91292225e-01] [ 1.01793630e-01 1.18774077e-03 9.94804828e-01 1.34740687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.679115933 meters Centerline goodness [0,1] 0.9902522304218526 Centerline is valid? [True, True] Translation: X:-6.53, Y:0.49, Z:0.14 [[ 9.79537177e-01 1.75861500e-01 -9.78756973e-02 -6.52639546e+00] [-1.75161783e-01 9.84413447e-01 1.57643504e-02 4.94306493e-01] [ 9.91224949e-02 1.70231435e-03 9.95073783e-01 1.35733473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.709115933 meters Centerline goodness [0,1] 0.9902522304218526 Centerline is valid? [True, True] Translation: X:-6.55, Y:0.50, Z:0.14 [[ 9.79395993e-01 1.76653001e-01 -9.78631956e-02 -6.55398587e+00] [-1.75949493e-01 9.84271718e-01 1.58417491e-02 4.98719050e-01] [ 9.91224682e-02 1.70363407e-03 9.95073783e-01 1.35381346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.739115933 meters Centerline goodness [0,1] 0.9899375241886438 Centerline is valid? [True, True] Translation: X:-6.58, Y:0.51, Z:0.14 [[ 9.79510193e-01 1.76169236e-01 -9.75919129e-02 -6.58277125e+00] [-1.75460124e-01 9.84358627e-01 1.58694215e-02 5.05353737e-01] [ 9.88611453e-02 1.57922896e-03 9.95099985e-01 1.37889746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.769115933 meters Centerline goodness [0,1] 0.9941242305540011 Centerline is valid? [True, True] Translation: X:-6.61, Y:0.51, Z:0.13 [[ 9.75457000e-01 1.92417839e-01 -1.07046799e-01 -6.61201051e+00] [-1.91653646e-01 9.81306967e-01 1.74790437e-02 5.08717428e-01] [ 1.08409049e-01 3.46585368e-03 9.94100330e-01 1.34610336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7991159329999995 meters Centerline goodness [0,1] 0.9940386651066911 Centerline is valid? [True, True] Translation: X:-6.64, Y:0.51, Z:0.14 [[ 9.76139079e-01 1.91134270e-01 -1.03054300e-01 -6.64110621e+00] [-1.90411926e-01 9.81558905e-01 1.68942220e-02 5.14663840e-01] [ 1.04382930e-01 3.13165745e-03 9.94532250e-01 1.37794310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.829115933 meters Centerline goodness [0,1] 0.9963869272458532 Centerline is valid? [True, True] Translation: X:-6.67, Y:0.51, Z:0.14 [[ 9.74742751e-01 1.97605190e-01 -1.04061316e-01 -6.67106754e+00] [-1.96898078e-01 9.80274345e-01 1.71276238e-02 5.14197033e-01] [ 1.05393146e-01 3.79444602e-03 9.94423394e-01 1.36629230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.859115933 meters Centerline goodness [0,1] 0.9964254289485261 Centerline is valid? [True, True] Translation: X:-6.70, Y:0.52, Z:0.14 [[ 9.74529779e-01 1.98663216e-01 -1.04041509e-01 -6.69994832e+00] [-1.97953642e-01 9.80060346e-01 1.72068025e-02 5.15877552e-01] [ 1.05385316e-01 3.82685420e-03 9.94424100e-01 1.40455538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.889115933 meters Centerline goodness [0,1] 0.9963800400980174 Centerline is valid? [True, True] Translation: X:-6.73, Y:0.51, Z:0.14 [[ 9.72706034e-01 2.07120179e-01 -1.04614545e-01 -6.72966290e+00] [-2.06443961e-01 9.78304216e-01 1.73709849e-02 5.14983505e-01] [ 1.05942732e-01 4.70017923e-03 9.94361124e-01 1.35935396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.919115933 meters Centerline goodness [0,1] 0.9976607519826554 Centerline is valid? [True, True] Translation: X:-6.76, Y:0.52, Z:0.14 [[ 9.72800105e-01 2.08688098e-01 -1.00544682e-01 -6.75788494e+00] [-2.08065357e-01 9.77971349e-01 1.67585129e-02 5.19577642e-01] [ 1.01827121e-01 4.61718216e-03 9.94791395e-01 1.38725517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.949115933 meters Centerline goodness [0,1] 0.9980123674911661 Centerline is valid? [True, True] Translation: X:-6.79, Y:0.53, Z:0.14 [[ 9.73912145e-01 2.04204679e-01 -9.89726385e-02 -6.78641698e+00] [-2.03574714e-01 9.78919843e-01 1.65310870e-02 5.25859643e-01] [ 1.00262005e-01 4.04850019e-03 9.94952833e-01 1.42582463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.979115933 meters Centerline goodness [0,1] 0.9964265773311 Centerline is valid? [True, True] Translation: X:-6.82, Y:0.53, Z:0.14 [[ 9.74816260e-01 2.01322030e-01 -9.59306974e-02 -6.81584127e+00] [-2.00710707e-01 9.79518572e-01 1.60804219e-02 5.30750390e-01] [ 9.72032428e-02 3.57886137e-03 9.95258118e-01 1.40706433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0091159329999995 meters Centerline goodness [0,1] 0.9948311702904657 Centerline is valid? [True, True] Translation: X:-6.84, Y:0.54, Z:0.14 [[ 9.74970515e-01 2.02328695e-01 -9.21715465e-02 -6.84480297e+00] [-2.01763210e-01 9.79311507e-01 1.55106255e-02 5.35753177e-01] [ 9.34029007e-02 3.47442457e-03 9.95622331e-01 1.43810870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.039115933 meters Centerline goodness [0,1] 0.9961216345343151 Centerline is valid? [True, True] Translation: X:-6.87, Y:0.54, Z:0.14 [[ 9.73607697e-01 2.08063313e-01 -9.37961058e-02 -6.87355724e+00] [-2.07497913e-01 9.78107053e-01 1.58495726e-02 5.38684115e-01] [ 9.50403472e-02 4.03123034e-03 9.95465259e-01 1.40826647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.069115933 meters Centerline goodness [0,1] 0.9925195511730703 Centerline is valid? [True, True] Translation: X:-6.90, Y:0.54, Z:0.14 [[ 9.74605989e-01 2.05094060e-01 -8.98865532e-02 -6.90313179e+00] [-2.04556932e-01 9.78735913e-01 1.52471262e-02 5.41188683e-01] [ 9.11022927e-02 3.52697695e-03 9.95835294e-01 1.40270764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.099115933 meters Centerline goodness [0,1] 0.9901183624714953 Centerline is valid? [True, True] Translation: X:-6.93, Y:0.55, Z:0.14 [[ 9.77050470e-01 1.97272095e-01 -8.03498524e-02 -6.93176297e+00] [-1.96812289e-01 9.80345723e-01 1.36816060e-02 5.48966462e-01] [ 8.14696332e-02 2.44621876e-03 9.96672822e-01 1.42342243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.129115933 meters Centerline goodness [0,1] 0.9918975579352938 Centerline is valid? [True, True] Translation: X:-6.96, Y:0.55, Z:0.14 [[ 9.75191355e-01 2.05380715e-01 -8.25868197e-02 -6.96070408e+00] [-2.04921969e-01 9.78676963e-01 1.40850743e-02 5.50083434e-01] [ 8.37186205e-02 3.18821099e-03 9.96484334e-01 1.39429918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.159115933 meters Centerline goodness [0,1] 0.9936658749010293 Centerline is valid? [True, True] Translation: X:-6.99, Y:0.55, Z:0.13 [[ 9.71367545e-01 2.18461035e-01 -9.33802342e-02 -6.99065629e+00] [-2.17929063e-01 9.75833741e-01 1.59822894e-02 5.49087643e-01] [ 9.46150907e-02 4.82558979e-03 9.95502234e-01 1.34526036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.189115933 meters Centerline goodness [0,1] 0.9944245320589407 Centerline is valid? [True, True] Translation: X:-7.02, Y:0.55, Z:0.13 [[ 9.70361609e-01 2.22222312e-01 -9.49504729e-02 -7.01997081e+00] [-2.21683861e-01 9.74982070e-01 1.63165223e-02 5.51729811e-01] [ 9.62009040e-02 5.21606069e-03 9.95348270e-01 1.31456558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.219115932999999 meters Centerline goodness [0,1] 0.9975694444444444 Centerline is valid? [True, True] Translation: X:-7.05, Y:0.54, Z:0.12 [[ 0.96532637 0.24136203 -0.0994453 -7.05140511] [-0.24086513 0.97040698 0.01715454 0.54007666] [ 0.10064287 0.00739318 0.99489515 0.12150293] [ 0. 0. 0. 1. ]] SLAMing on 7.249115933 meters Centerline goodness [0,1] 0.9982535801606707 Centerline is valid? [True, True] Translation: X:-7.08, Y:0.54, Z:0.12 [[ 0.96527623 0.24164141 -0.0992534 -7.08101749] [-0.24114119 0.97033783 0.01718769 0.53724166] [ 0.10046258 0.00734321 0.99491374 0.11985773] [ 0. 0. 0. 1. ]] SLAMing on 7.279115933 meters Centerline goodness [0,1] 0.9974285547308749 Centerline is valid? [True, True] Translation: X:-7.11, Y:0.54, Z:0.12 [[ 0.96517637 0.24014636 -0.10375114 -7.10966443] [-0.23958377 0.97070812 0.01803765 0.54202383] [ 0.10504375 0.00744758 0.99443971 0.12419153] [ 0. 0. 0. 1. ]] SLAMing on 7.309115933 meters Centerline goodness [0,1] 0.995820389720418 Centerline is valid? [True, True] Translation: X:-7.14, Y:0.54, Z:0.13 [[ 9.66170569e-01 2.37531023e-01 -1.00466143e-01 -7.13790769e+00] [-2.36981999e-01 9.71355709e-01 1.75390609e-02 5.44940103e-01] [ 1.01754432e-01 6.86294290e-03 9.94785874e-01 1.27596377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3391159329999995 meters Centerline goodness [0,1] 0.9961763513122067 Centerline is valid? [True, True] Translation: X:-7.17, Y:0.54, Z:0.12 [[ 0.96417374 0.24588725 -0.09954121 -7.16782194] [-0.24538545 0.9692686 0.01744586 0.54303106] [ 0.10077189 0.00760512 0.99488049 0.11904689] [ 0. 0. 0. 1. ]] SLAMing on 7.369115933 meters Centerline goodness [0,1] 0.9976949230680574 Centerline is valid? [True, True] Translation: X:-7.20, Y:0.54, Z:0.12 [[ 0.96334366 0.24795403 -0.10240996 -7.19676672] [-0.24742688 0.96873895 0.01802182 0.54321625] [ 0.1036771 0.00797777 0.99457901 0.11992035] [ 0. 0. 0. 1. ]] SLAMing on 7.399115933 meters Centerline goodness [0,1] 0.9970712475359054 Centerline is valid? [True, True] Translation: X:-7.23, Y:0.55, Z:0.13 [[ 0.96439681 0.24470283 -0.10029618 -7.22566765] [-0.24417242 0.96956989 0.01772148 0.54561005] [ 0.10158065 0.00739902 0.99479979 0.12727747] [ 0. 0. 0. 1. ]] SLAMing on 7.429115933 meters Centerline goodness [0,1] 0.9986866455733986 Centerline is valid? [True, True] Translation: X:-7.25, Y:0.55, Z:0.12 [[ 0.95828796 0.26560797 -0.10553008 -7.25481286] [-0.26514006 0.96402861 0.01869752 0.54514711] [ 0.10670023 0.01006265 0.99424032 0.11537752] [ 0. 0. 0. 1. ]] SLAMing on 7.459115933 meters Centerline goodness [0,1] 0.9984626300851467 Centerline is valid? [True, True] Translation: X:-7.28, Y:0.55, Z:0.12 [[ 0.9605731 0.25946634 -0.09988265 -7.28326773] [-0.2590067 0.96571205 0.01776985 0.54672071] [ 0.10106855 0.00880104 0.99484053 0.11730405] [ 0. 0. 0. 1. ]] SLAMing on 7.489115933 meters Centerline goodness [0,1] 0.9974530592904105 Centerline is valid? [True, True] Translation: X:-7.31, Y:0.54, Z:0.11 [[ 0.95545594 0.27479617 -0.10766152 -7.31290814] [-0.27435236 0.96143742 0.01920587 0.53882793] [ 0.10878752 0.01118683 0.99400208 0.10815151] [ 0. 0. 0. 1. ]] SLAMing on 7.519115933 meters Centerline goodness [0,1] 0.9980157572220602 Centerline is valid? [True, True] Translation: X:-7.34, Y:0.54, Z:0.11 [[ 0.95557612 0.27558581 -0.10453109 -7.34081074] [-0.27516408 0.96121498 0.01872153 0.54382459] [ 0.10563624 0.01087335 0.99434539 0.11486422] [ 0. 0. 0. 1. ]] SLAMing on 7.5491159329999995 meters Centerline goodness [0,1] 0.997801307643349 Centerline is valid? [True, True] Translation: X:-7.37, Y:0.55, Z:0.12 [[ 0.9546264 0.27915576 -0.10373278 -7.36823831] [-0.27875298 0.96018161 0.01865635 0.54983216] [ 0.10481034 0.01110597 0.99443021 0.11882021] [ 0. 0. 0. 1. ]] SLAMing on 7.579115933 meters Centerline goodness [0,1] 0.9973932688408735 Centerline is valid? [True, True] Translation: X:-7.40, Y:0.55, Z:0.12 [[ 0.95484149 0.27875877 -0.10281667 -7.39714653] [-0.27835326 0.96029936 0.01856342 0.55315446] [ 0.1039095 0.01089423 0.99452709 0.11714526] [ 0. 0. 0. 1. ]] SLAMing on 7.609115933 meters Centerline goodness [0,1] 0.9979752530933633 Centerline is valid? [True, True] Translation: X:-7.43, Y:0.55, Z:0.12 [[ 0.95521121 0.27793832 -0.1015964 -7.42622549] [-0.27753092 0.96054031 0.01840926 0.55284647] [ 0.10270408 0.01061141 0.99465535 0.11955792] [ 0. 0. 0. 1. ]] SLAMing on 7.639115933 meters Centerline goodness [0,1] 0.9988236678037878 Centerline is valid? [True, True] Translation: X:-7.45, Y:0.55, Z:0.11 [[ 0.95089387 0.29028746 -0.10739661 -7.45407058] [-0.28990071 0.95685718 0.01954284 0.55444508] [ 0.10843625 0.01255119 0.99402417 0.10974302] [ 0. 0. 0. 1. ]] SLAMing on 7.669115933 meters Centerline goodness [0,1] 0.9993959528843249 Centerline is valid? [True, True] Translation: X:-7.48, Y:0.56, Z:0.11 [[ 0.9493568 0.29650033 -0.10396743 -7.48235557] [-0.29616637 0.9549475 0.01899338 0.55726449] [ 0.10491498 0.01276016 0.99439933 0.10834198] [ 0. 0. 0. 1. ]] SLAMing on 7.699115933 meters Centerline goodness [0,1] 0.9971148297749567 Centerline is valid? [True, True] Translation: X:-7.51, Y:0.56, Z:0.12 [[ 0.95484692 0.28017775 -0.09883208 -7.51072763] [-0.27978301 0.95989231 0.01811679 0.5591451 ] [ 0.09994408 0.01035277 0.9949392 0.12238628] [ 0. 0. 0. 1. ]] SLAMing on 7.729115933 meters Centerline goodness [0,1] 0.9980166831943067 Centerline is valid? [True, True] Translation: X:-7.54, Y:0.56, Z:0.12 [[ 0.95215991 0.28803512 -0.10211402 -7.53889972] [-0.28765062 0.95755103 0.01879207 0.56200125] [ 0.10319216 0.0114801 0.99459519 0.11686719] [ 0. 0. 0. 1. ]] SLAMing on 7.7591159329999995 meters Centerline goodness [0,1] 0.9988899275531666 Centerline is valid? [True, True] Translation: X:-7.57, Y:0.57, Z:0.12 [[ 0.95163137 0.28984192 -0.10192842 -7.5670455 ] [-0.28946134 0.95700444 0.01883196 0.56649223] [ 0.10300424 0.01158325 0.99461347 0.11815504] [ 0. 0. 0. 1. ]] SLAMing on 7.789115933 meters Centerline goodness [0,1] 0.9980305838739574 Centerline is valid? [True, True] Translation: X:-7.59, Y:0.57, Z:0.12 [[ 0.95315771 0.28491489 -0.10155727 -7.59494778] [-0.28450356 0.95849022 0.01882062 0.57088861] [ 0.10270393 0.01095439 0.99465165 0.12336896] [ 0. 0. 0. 1. ]] SLAMing on 7.819115933 meters Centerline goodness [0,1] 0.9974050483604624 Centerline is valid? [True, True] Translation: X:-7.62, Y:0.57, Z:0.12 [[ 0.95131758 0.28968078 -0.10526115 -7.62403067] [-0.28925968 0.95705035 0.01958243 0.56909603] [ 0.10641287 0.0118187 0.99425179 0.11770709] [ 0. 0. 0. 1. ]] SLAMing on 7.849115933 meters Centerline goodness [0,1] 0.9979530403371463 Centerline is valid? [True, True] Translation: X:-7.65, Y:0.57, Z:0.11 [[ 0.95090997 0.29185039 -0.10292515 -7.65364032] [-0.29145233 0.95639219 0.01922282 0.5662203 ] [ 0.104047 0.01171861 0.99450334 0.1098014 ] [ 0. 0. 0. 1. ]] SLAMing on 7.879115933 meters Centerline goodness [0,1] 0.99796711509716 Centerline is valid? [True, True] Translation: X:-7.68, Y:0.57, Z:0.11 [[ 0.95181319 0.28845165 -0.10415034 -7.68231571] [-0.28801589 0.95742649 0.01952875 0.56821835] [ 0.1053494 0.01140923 0.99436982 0.1141062 ] [ 0. 0. 0. 1. ]] SLAMing on 7.909115933 meters Centerline goodness [0,1] 0.9983071038936611 Centerline is valid? [True, True] Translation: X:-7.71, Y:0.58, Z:0.11 [[ 0.94989955 0.29291064 -0.10906051 -7.70896042] [-0.29245456 0.95605932 0.02051602 0.57584592] [ 0.11027768 0.01240708 0.99382337 0.10511751] [ 0. 0. 0. 1. ]] SLAMing on 7.939115933 meters Centerline goodness [0,1] 0.99784030235767 Centerline is valid? [True, True] Translation: X:-7.74, Y:0.58, Z:0.11 [[ 0.95244605 0.28526362 -0.10710365 -7.73610569] [-0.28476632 0.95838335 0.02023596 0.5808619 ] [ 0.10841894 0.01122585 0.99404191 0.11350169] [ 0. 0. 0. 1. ]] SLAMing on 7.969115932999999 meters Centerline goodness [0,1] 0.9974453236961804 Centerline is valid? [True, True] Translation: X:-7.76, Y:0.58, Z:0.10 [[ 0.94959378 0.29583948 -0.10368539 -7.76372971] [-0.29542815 0.95516272 0.01965664 0.58365817] [ 0.10485163 0.01196575 0.99441589 0.10478436] [ 0. 0. 0. 1. ]] SLAMing on 7.999115933 meters Centerline goodness [0,1] 0.9984671040529769 Centerline is valid? [True, True] Translation: X:-7.79, Y:0.59, Z:0.11 [[ 0.95040693 0.29348976 -0.10290985 -7.79203784] [-0.29306301 0.9558925 0.01958553 0.58631605] [ 0.10411891 0.01154485 0.99449785 0.1063209 ] [ 0. 0. 0. 1. ]] SLAMing on 8.029115933 meters Centerline goodness [0,1] 0.9987107864202837 Centerline is valid? [True, True] Translation: X:-7.82, Y:0.59, Z:0.11 [[ 0.94988003 0.29389919 -0.10654198 -7.81962814] [-0.29343745 0.95576183 0.02034176 0.59040075] [ 0.10780718 0.01194118 0.99410011 0.10753171] [ 0. 0. 0. 1. ]] SLAMing on 8.059115933 meters Centerline goodness [0,1] 0.9987063389391979 Centerline is valid? [True, True] Translation: X:-7.85, Y:0.60, Z:0.12 [[ 0.95120417 0.28986298 -0.10578318 -7.84654799] [-0.28937424 0.9570012 0.02027952 0.59742447] [ 0.10711291 0.01132097 0.99418241 0.11795876] [ 0. 0. 0. 1. ]] SLAMing on 8.089115933 meters Centerline goodness [0,1] 0.9974070872947277 Centerline is valid? [True, True] Translation: X:-7.87, Y:0.60, Z:0.10 [[ 0.94640102 0.30435418 -0.1081371 -7.87390425] [-0.30392865 0.95246773 0.02079904 0.60126513] [ 0.10932737 0.01318173 0.99391839 0.10336471] [ 0. 0. 0. 1. ]] SLAMing on 8.119115933 meters Centerline goodness [0,1] 0.9975229130542482 Centerline is valid? [True, True] Translation: X:-7.90, Y:0.61, Z:0.10 [[ 0.94550914 0.30752341 -0.10696646 -7.8998627 ] [-0.30711675 0.95144741 0.02066687 0.60614868] [ 0.10812851 0.01331047 0.99404781 0.10493279] [ 0. 0. 0. 1. ]] SLAMing on 8.149115933 meters Centerline goodness [0,1] 0.9973433831706413 Centerline is valid? [True, True] Translation: X:-7.92, Y:0.62, Z:0.11 [[ 0.94521935 0.30842957 -0.10691853 -7.92456103] [-0.30801932 0.95115387 0.02074626 0.62180734] [ 0.10809474 0.0133232 0.99405132 0.10980589] [ 0. 0. 0. 1. ]] SLAMing on 8.179115933 meters Centerline goodness [0,1] 0.9980032447273182 Centerline is valid? [True, True] Translation: X:-7.95, Y:0.63, Z:0.11 [[ 0.9446982 0.30982051 -0.10750141 -7.95043039] [-0.30940505 0.9506996 0.02094704 0.63120085] [ 0.10869137 0.01347285 0.99398424 0.11073786] [ 0. 0. 0. 1. ]] SLAMing on 8.209115933 meters Centerline goodness [0,1] 0.9982625961777116 Centerline is valid? [True, True] Translation: X:-7.98, Y:0.63, Z:0.11 [[ 0.9444381 0.31004983 -0.10911359 -7.97865504] [-0.30961594 0.95062246 0.02132865 0.6325106 ] [ 0.11033877 0.01363972 0.99380044 0.10991467] [ 0. 0. 0. 1. ]] SLAMing on 8.239115932999999 meters Centerline goodness [0,1] 0.9978159126365055 Centerline is valid? [True, True] Translation: X:-8.01, Y:0.64, Z:0.12 [[ 0.94726366 0.30266277 -0.10529387 -8.00513146] [-0.3022041 0.95301911 0.0206701 0.638049 ] [ 0.10660314 0.0122402 0.99422631 0.11792275] [ 0. 0. 0. 1. ]] SLAMing on 8.269115933 meters Centerline goodness [0,1] 0.9979918418575463 Centerline is valid? [True, True] Translation: X:-8.03, Y:0.64, Z:0.12 [[ 0.9467355 0.30344242 -0.10777101 -8.03251162] [-0.30295718 0.95276731 0.02124595 0.6429853 ] [ 0.10912762 0.01253571 0.9939487 0.1168391 ] [ 0. 0. 0. 1. ]] SLAMing on 8.299115933 meters Centerline goodness [0,1] 0.9985285101164929 Centerline is valid? [True, True] Translation: X:-8.06, Y:0.65, Z:0.12 [[ 0.94725574 0.30030524 -0.11190767 -8.05976277] [-0.29975014 0.95376048 0.02215423 0.64836312] [ 0.11338614 0.01255862 0.99347162 0.11746325] [ 0. 0. 0. 1. ]] SLAMing on 8.329115933 meters Centerline goodness [0,1] 0.9984318153305733 Centerline is valid? [True, True] Translation: X:-8.09, Y:0.65, Z:0.11 [[ 0.94655651 0.30265661 -0.11148882 -8.08705302] [-0.30211117 0.95301501 0.02216366 0.65354152] [ 0.11295849 0.01270286 0.9935185 0.11363677] [ 0. 0. 0. 1. ]] SLAMing on 8.359115933 meters Centerline goodness [0,1] 0.99835213588541 Centerline is valid? [True, True] Translation: X:-8.11, Y:0.66, Z:0.11 [[ 0.94577291 0.30352339 -0.11570286 -8.11335501] [-0.30293054 0.95273256 0.02310324 0.65884178] [ 0.11724626 0.01319951 0.99301515 0.10784154] [ 0. 0. 0. 1. ]] SLAMing on 8.389115933 meters Centerline goodness [0,1] 0.9985389906860657 Centerline is valid? [True, True] Translation: X:-8.14, Y:0.67, Z:0.11 [[ 0.94717676 0.29829241 -0.11780419 -8.14012874] [-0.29762558 0.95439027 0.02362688 0.66504857] [ 0.11947889 0.01268271 0.99275573 0.11307406] [ 0. 0. 0. 1. ]] SLAMing on 8.419115933 meters Centerline goodness [0,1] 0.9980562473425256 Centerline is valid? [True, True] Translation: X:-8.17, Y:0.67, Z:0.12 [[ 0.9482118 0.29556796 -0.11633561 -8.16581344] [-0.29488728 0.95524507 0.02341705 0.67437119] [ 0.11805034 0.01210156 0.99293387 0.11601967] [ 0. 0. 0. 1. ]] SLAMing on 8.449115933 meters Centerline goodness [0,1] 0.9977461013645225 Centerline is valid? [True, True] Translation: X:-8.19, Y:0.67, Z:0.12 [[ 0.94775338 0.29685111 -0.11680308 -8.19357436] [-0.29616324 0.95484558 0.02360605 0.6743612 ] [ 0.11853639 0.01222007 0.99287451 0.11590473] [ 0. 0. 0. 1. ]] SLAMing on 8.479115933 meters Centerline goodness [0,1] 0.9969485060394151 Centerline is valid? [True, True] Translation: X:-8.22, Y:0.68, Z:0.10 [[ 0.94646096 0.30047521 -0.11800977 -8.22057056] [-0.29978935 0.95370487 0.02394504 0.67948919] [ 0.11974139 0.01271502 0.99272369 0.1036832 ] [ 0. 0. 0. 1. ]] SLAMing on 8.509115933 meters Centerline goodness [0,1] 0.9967984238394286 Centerline is valid? [True, True] Translation: X:-8.25, Y:0.69, Z:0.11 [[ 0.9468859 0.29843982 -0.11975296 -8.24506859] [-0.29770636 0.95434586 0.02439069 0.69101068] [ 0.12156489 0.01255602 0.99250407 0.11253511] [ 0. 0. 0. 1. ]] SLAMing on 8.539115933 meters Centerline goodness [0,1] 0.9968056894889104 Centerline is valid? [True, True] Translation: X:-8.27, Y:0.70, Z:0.12 [[ 0.94772369 0.29696697 -0.11674938 -8.27063497] [-0.2962469 0.95481288 0.02387753 0.70114639] [ 0.11856465 0.01195734 0.99287434 0.11873262] [ 0. 0. 0. 1. ]] SLAMing on 8.569115932999999 meters Centerline goodness [0,1] 0.9973322015400473 Centerline is valid? [True, True] Translation: X:-8.30, Y:0.71, Z:0.11 [[ 0.94669548 0.30049869 -0.11605259 -8.29731593] [-0.2998018 0.9537038 0.02383173 0.7060247 ] [ 0.1178412 0.01223139 0.99295712 0.11171183] [ 0. 0. 0. 1. ]] SLAMing on 8.599115933 meters Centerline goodness [0,1] 0.9973322015400473 Centerline is valid? [True, True] Translation: X:-8.32, Y:0.71, Z:0.11 [[ 0.94645623 0.30125872 -0.11603356 -8.32412526] [-0.30055624 0.95346399 0.02392422 0.71155216] [ 0.1178412 0.01223138 0.99295712 0.11136859] [ 0. 0. 0. 1. ]] SLAMing on 8.629115933 meters Centerline goodness [0,1] 0.9969447562040155 Centerline is valid? [True, True] Translation: X:-8.35, Y:0.72, Z:0.11 [[ 0.94570065 0.30321755 -0.11708713 -8.35079556] [-0.30250635 0.95283932 0.02423106 0.71706571] [ 0.1189125 0.01250427 0.992826 0.11010682] [ 0. 0. 0. 1. ]] SLAMing on 8.659115933 meters Centerline goodness [0,1] 0.9961316431589597 Centerline is valid? [True, True] Translation: X:-8.38, Y:0.72, Z:0.12 [[ 0.94798778 0.29778353 -0.11244616 -8.3775374 ] [-0.29707848 0.95456709 0.02336755 0.72239862] [ 0.11429588 0.01125318 0.99338302 0.117418 ] [ 0. 0. 0. 1. ]] SLAMing on 8.689115933 meters Centerline goodness [0,1] 0.9953594889411197 Centerline is valid? [True, True] Translation: X:-8.40, Y:0.73, Z:0.12 [[ 0.94680228 0.30096453 -0.11395522 -8.40392018] [-0.30025187 0.95356353 0.02377819 0.72936905] [ 0.11581993 0.01170202 0.99320129 0.11662845] [ 0. 0. 0. 1. ]] SLAMing on 8.719115933 meters Centerline goodness [0,1] 0.9977352643184934 Centerline is valid? [True, True] Translation: X:-8.43, Y:0.73, Z:0.11 [[ 0.94571355 0.30320697 -0.11701028 -8.43058319] [-0.3024602 0.95284659 0.02451939 0.73306528] [ 0.1189273 0.01220264 0.99282798 0.111494 ] [ 0. 0. 0. 1. ]] SLAMing on 8.749115933 meters Centerline goodness [0,1] 0.9975653206650832 Centerline is valid? [True, True] Translation: X:-8.46, Y:0.74, Z:0.12 [[ 0.94821071 0.2979589 -0.11007696 -8.45725051] [-0.29725388 0.9545179 0.02314548 0.73797965] [ 0.11196683 0.01077402 0.99365354 0.11719178] [ 0. 0. 0. 1. ]] SLAMing on 8.779115933 meters Centerline goodness [0,1] 0.9977021225131524 Centerline is valid? [True, True] Translation: X:-8.48, Y:0.75, Z:0.12 [[ 0.94782125 0.29923725 -0.10996338 -8.48290818] [-0.29853092 0.95411742 0.02322151 0.74639602] [ 0.11186672 0.01081763 0.99366434 0.11828224] [ 0. 0. 0. 1. ]] SLAMing on 8.809115933 meters Centerline goodness [0,1] 0.9978068839476089 Centerline is valid? [True, True] Translation: X:-8.51, Y:0.76, Z:0.12 [[ 0.94788932 0.29823481 -0.1120796 -8.50942331] [-0.29748368 0.9544312 0.02375996 0.75666282] [ 0.11405832 0.01082004 0.99341513 0.11854613] [ 0. 0. 0. 1. ]] SLAMing on 8.839115933 meters Centerline goodness [0,1] 0.9977690684353331 Centerline is valid? [True, True] Translation: X:-8.54, Y:0.76, Z:0.11 [[ 0.94663998 0.30200701 -0.11253667 -8.53510726] [-0.30126182 0.95323988 0.02398013 0.75704462] [ 0.11451661 0.01120245 0.99335817 0.11463087] [ 0. 0. 0. 1. ]] SLAMing on 8.869115933 meters Centerline goodness [0,1] 0.9986531161993388 Centerline is valid? [True, True] Translation: X:-8.56, Y:0.76, Z:0.12 [[ 0.94790331 0.30021239 -0.10654503 -8.56237124] [-0.29952291 0.95381673 0.02279641 0.76079622] [ 0.1084682 0.01030389 0.99404652 0.11590092] [ 0. 0. 0. 1. ]] SLAMing on 8.899115933 meters Centerline goodness [0,1] 0.9971815452484529 Centerline is valid? [True, True] Translation: X:-8.59, Y:0.77, Z:0.12 [[ 0.94933162 0.29619437 -0.10506362 -8.58935348] [-0.29548997 0.95507924 0.02256835 0.76868429] [ 0.1070287 0.00962039 0.99420939 0.1196183 ] [ 0. 0. 0. 1. ]] SLAMing on 8.929115933 meters Centerline goodness [0,1] 0.9958029872855203 Centerline is valid? [True, True] Translation: X:-8.62, Y:0.77, Z:0.12 [[ 0.9483915 0.29811101 -0.10808973 -8.61538668] [-0.29736655 0.95447855 0.02332002 0.77420472] [ 0.11012128 0.01002577 0.99386759 0.11762118] [ 0. 0. 0. 1. ]] SLAMing on 8.959115933 meters Centerline goodness [0,1] 0.9961543232849522 Centerline is valid? [True, True] Translation: X:-8.64, Y:0.78, Z:0.11 [[ 0.94787047 0.30054949 -0.10588477 -8.64242242] [-0.2998402 0.9537137 0.02293522 0.778303 ] [ 0.10787693 0.01000889 0.99411387 0.11483582] [ 0. 0. 0. 1. ]] SLAMing on 8.989115932999999 meters Centerline goodness [0,1] 0.9955830930617754 Centerline is valid? [True, True] Translation: X:-8.67, Y:0.78, Z:0.12 [[ 0.94809038 0.29948323 -0.10693192 -8.66994502] [-0.29874334 0.9540502 0.02325162 0.78355293] [ 0.10898189 0.00990056 0.99399443 0.11795573] [ 0. 0. 0. 1. ]] SLAMing on 9.019115933 meters Centerline goodness [0,1] 0.9958351197403075 Centerline is valid? [True, True] Translation: X:-8.70, Y:0.79, Z:0.12 [[ 0.94783426 0.29990984 -0.10800135 -8.69697283] [-0.29914768 0.95391553 0.02357598 0.79069776] [ 0.11009484 0.00996223 0.99387116 0.11646729] [ 0. 0. 0. 1. ]] SLAMing on 9.049115933 meters Centerline goodness [0,1] 0.9959255655558258 Centerline is valid? [True, True] Translation: X:-8.72, Y:0.80, Z:0.12 [[ 0.94788483 0.30114413 -0.10405073 -8.72344629] [-0.30043454 0.95352984 0.0228021 0.79824126] [ 0.1060822 0.00964667 0.99431057 0.12055282] [ 0. 0. 0. 1. ]] SLAMing on 9.079115933 meters Centerline goodness [0,1] 0.9972804252425984 Centerline is valid? [True, True] Translation: X:-8.75, Y:0.80, Z:0.12 [[ 0.94553426 0.30696571 -0.10833753 -8.75135765] [-0.30622386 0.95166111 0.02383458 0.79935844] [ 0.11041701 0.01063913 0.9938284 0.11914663] [ 0. 0. 0. 1. ]] SLAMing on 9.109115933 meters Centerline goodness [0,1] 0.996854764107308 Centerline is valid? [True, True] Translation: X:-8.78, Y:0.80, Z:0.12 [[ 0.94644496 0.30466453 -0.10687124 -8.7787372 ] [-0.30391966 0.95240559 0.02358886 0.80088722] [ 0.10897145 0.01015471 0.99399301 0.11525166] [ 0. 0. 0. 1. ]] SLAMing on 9.139115933 meters Centerline goodness [0,1] 0.9982292239115833 Centerline is valid? [True, True] Translation: X:-8.81, Y:0.81, Z:0.12 [[ 0.9451197 0.30860615 -0.10728934 -8.80532352] [-0.30787076 0.95113122 0.02376965 0.80802859] [ 0.10938171 0.01056609 0.99394366 0.12083402] [ 0. 0. 0. 1. ]] SLAMing on 9.169115933 meters Centerline goodness [0,1] 0.9989508115781028 Centerline is valid? [True, True] Translation: X:-8.83, Y:0.82, Z:0.12 [[ 0.94188272 0.31722769 -0.11056007 -8.83124561] [-0.31649593 0.94827545 0.02457659 0.81712801] [ 0.11263777 0.01184354 0.99356553 0.11697556] [ 0. 0. 0. 1. ]] SLAMing on 9.199115933 meters Centerline goodness [0,1] 0.99796370605498 Centerline is valid? [True, True] Translation: X:-8.86, Y:0.82, Z:0.12 [[ 0.94111567 0.32028817 -0.10824406 -8.85771395] [-0.31959735 0.94724578 0.02414486 0.81978703] [ 0.11026705 0.01187141 0.9938311 0.11679458] [ 0. 0. 0. 1. ]] SLAMing on 9.229115933 meters Centerline goodness [0,1] 0.9983201343892488 Centerline is valid? [True, True] Translation: X:-8.88, Y:0.82, Z:0.11 [[ 0.93816947 0.3283769 -0.1095749 -8.88436476] [-0.32771387 0.94445867 0.02452448 0.8241095 ] [ 0.11154224 0.0129011 0.99367595 0.11461994] [ 0. 0. 0. 1. ]] SLAMing on 9.259115933 meters Centerline goodness [0,1] 0.9957186180650532 Centerline is valid? [True, True] Translation: X:-8.91, Y:0.83, Z:0.12 [[ 0.93753398 0.33078118 -0.10776755 -8.91044104] [-0.33014479 0.94361964 0.02421556 0.82996092] [ 0.10970163 0.01287599 0.99388116 0.11527218] [ 0. 0. 0. 1. ]] SLAMing on 9.289115933 meters Centerline goodness [0,1] 0.9968417856058306 Centerline is valid? [True, True] Translation: X:-8.94, Y:0.84, Z:0.12 [[ 0.93577715 0.33635502 -0.10576593 -8.93684205] [-0.33576694 0.94164292 0.02385734 0.83593714] [ 0.10761827 0.01318755 0.99410482 0.11711631] [ 0. 0. 0. 1. ]] SLAMing on 9.319115932999999 meters Centerline goodness [0,1] 0.9961168528585937 Centerline is valid? [True, True] Translation: X:-8.96, Y:0.84, Z:0.11 [[ 0.93342656 0.34329148 -0.10423918 -8.96387242] [-0.34275293 0.93912904 0.02360252 0.83910409] [ 0.10599659 0.01369707 0.99427215 0.11291062] [ 0. 0. 0. 1. ]] SLAMing on 9.349115933 meters Centerline goodness [0,1] 0.9953226193331735 Centerline is valid? [True, True] Translation: X:-8.99, Y:0.84, Z:0.11 [[ 0.9315794 0.34878952 -0.1024973 -8.99093943] [-0.34829215 0.93709654 0.0232948 0.8426861 ] [ 0.10417485 0.01399805 0.99446048 0.10761936] [ 0. 0. 0. 1. ]] SLAMing on 9.379115933 meters Centerline goodness [0,1] 0.9977000363152161 Centerline is valid? [True, True] Translation: X:-9.02, Y:0.85, Z:0.11 [[ 0.92870045 0.35578212 -0.10456844 -9.01711888] [-0.35529796 0.9344486 0.02385737 0.84738121] [ 0.10620185 0.0149966 0.9942315 0.10629494] [ 0. 0. 0. 1. ]] SLAMing on 9.409115932999999 meters Centerline goodness [0,1] 0.9974669115318853 Centerline is valid? [True, True] Translation: X:-9.04, Y:0.85, Z:0.10 [[ 0.92588683 0.36366766 -0.10236902 -9.04279509] [-0.36324092 0.93140019 0.023446 0.85354589] [ 0.10387308 0.01547628 0.99447014 0.10110477] [ 0. 0. 0. 1. ]] SLAMing on 9.439115933 meters Centerline goodness [0,1] 0.9964044122128101 Centerline is valid? [True, True] Translation: X:-9.07, Y:0.85, Z:0.10 [[ 0.92560647 0.36525971 -0.09918676 -9.07002844] [-0.36485949 0.93078341 0.02279916 0.85328517] [ 0.100649 0.01508618 0.99480761 0.10200148] [ 0. 0. 0. 1. ]] SLAMing on 9.469115933 meters Centerline goodness [0,1] 0.9962151272816068 Centerline is valid? [True, True] Translation: X:-9.10, Y:0.85, Z:0.10 [[ 0.92502954 0.36673865 -0.0991116 -9.09791599] [-0.36633881 0.93020053 0.02286581 0.8514663 ] [ 0.10057944 0.01515688 0.99481357 0.10327551] [ 0. 0. 0. 1. ]] SLAMing on 9.499115933 meters Centerline goodness [0,1] 0.9971736896197327 Centerline is valid? [True, True] Translation: X:-9.12, Y:0.86, Z:0.09 [[ 0.92220645 0.37367753 -0.09950053 -9.12337734] [-0.37330517 0.92742245 0.02304001 0.85866202] [ 0.10088856 0.01589642 0.99477073 0.09346189] [ 0. 0. 0. 1. ]] SLAMing on 9.529115933 meters Centerline goodness [0,1] 0.9973820357788443 Centerline is valid? [True, True] Translation: X:-9.15, Y:0.87, Z:0.10 [[ 0.92141196 0.37612675 -0.09761491 -9.14851154] [-0.37577321 0.9264339 0.02268758 0.86975852] [ 0.09896717 0.01577646 0.99496563 0.10020688] [ 0. 0. 0. 1. ]] SLAMing on 9.559115933 meters Centerline goodness [0,1] 0.997907305964178 Centerline is valid? [True, True] Translation: X:-9.18, Y:0.87, Z:0.10 [[ 0.91968005 0.38035793 -0.09755231 -9.17630288] [-0.38001974 0.92469844 0.02275512 0.86870616] [ 0.09886155 0.01614438 0.99497023 0.09887236] [ 0. 0. 0. 1. ]] SLAMing on 9.589115933 meters Centerline goodness [0,1] 0.9970363052605582 Centerline is valid? [True, True] Translation: X:-9.20, Y:0.87, Z:0.10 [[ 0.91910059 0.38271307 -0.09372727 -9.20242944] [-0.38240434 0.92373437 0.02194838 0.87115944] [ 0.09497904 0.01566895 0.99535595 0.09755924] [ 0. 0. 0. 1. ]] SLAMing on 9.619115933 meters Centerline goodness [0,1] 0.9961210240496509 Centerline is valid? [True, True] Translation: X:-9.23, Y:0.88, Z:0.09 [[ 0.91734758 0.38714588 -0.09269024 -9.22749074] [-0.38685813 0.92188185 0.02178643 0.87862589] [ 0.09388397 0.01587224 0.99545661 0.09206622] [ 0. 0. 0. 1. ]] SLAMing on 9.649115933 meters Centerline goodness [0,1] 0.9952650925176002 Centerline is valid? [True, True] Translation: X:-9.25, Y:0.88, Z:0.10 [[ 0.91712719 0.38827091 -0.09012998 -9.25382483] [-0.38799726 0.92141535 0.02125745 0.8824706 ] [ 0.09130079 0.0154744 0.99570312 0.09797419] [ 0. 0. 0. 1. ]] SLAMing on 9.679115933 meters Centerline goodness [0,1] 0.9965113381510092 Centerline is valid? [True, True] Translation: X:-9.28, Y:0.89, Z:0.10 [[ 0.91525701 0.39264726 -0.09018166 -9.28068917] [-0.39238699 0.91955254 0.02134403 0.88602842] [ 0.09130745 0.01585083 0.99569659 0.09649883] [ 0. 0. 0. 1. ]] SLAMing on 9.709115933 meters Centerline goodness [0,1] 0.9936871054440902 Centerline is valid? [True, True] Translation: X:-9.31, Y:0.89, Z:0.09 [[ 0.91399386 0.39575889 -0.08938747 -9.30589615] [-0.39551023 0.91821604 0.02123598 0.89268708] [ 0.09048134 0.0159441 0.99577051 0.09388513] [ 0. 0. 0. 1. ]] SLAMing on 9.739115932999999 meters Centerline goodness [0,1] 0.9945214308733483 Centerline is valid? [True, True] Translation: X:-9.33, Y:0.90, Z:0.09 [[ 0.91164636 0.40129165 -0.08869002 -9.33118426] [-0.40106485 0.91580548 0.0211499 0.89929066] [ 0.08971008 0.01628922 0.99583471 0.08851044] [ 0. 0. 0. 1. ]] SLAMing on 9.769115933 meters Centerline goodness [0,1] 0.9946777438826507 Centerline is valid? [True, True] Translation: X:-9.36, Y:0.91, Z:0.10 [[ 0.91195137 0.40122484 -0.08580979 -9.3568358 ] [-0.40100568 0.91584535 0.02053634 0.90695917] [ 0.08682819 0.01568207 0.99609986 0.09510276] [ 0. 0. 0. 1. ]] SLAMing on 9.799115933 meters Centerline goodness [0,1] 0.9939043952518447 Centerline is valid? [True, True] Translation: X:-9.38, Y:0.91, Z:0.09 [[ 0.90961762 0.40658133 -0.08536627 -9.38405922] [-0.40638085 0.91347374 0.0205021 0.90575942] [ 0.08631562 0.01604214 0.99613868 0.08758763] [ 0. 0. 0. 1. ]] SLAMing on 9.829115933 meters Centerline goodness [0,1] 0.9956966812284019 Centerline is valid? [True, True] Translation: X:-9.41, Y:0.91, Z:0.09 [[ 0.90933866 0.40780801 -0.08243683 -9.41041614] [-0.40761955 0.91293558 0.01987253 0.90744108] [ 0.08336369 0.015532 0.99639814 0.08586558] [ 0. 0. 0. 1. ]] SLAMing on 9.859115933 meters Centerline goodness [0,1] 0.9944665060868433 Centerline is valid? [True, True] Translation: X:-9.44, Y:0.91, Z:0.08 [[ 0.90720374 0.41209023 -0.08463459 -9.43578618] [-0.41190322 0.9109975 0.02047659 0.91406615] [ 0.08554011 0.01628483 0.99620163 0.08469327] [ 0. 0. 0. 1. ]] SLAMing on 9.889115933 meters Centerline goodness [0,1] 0.9951878007624524 Centerline is valid? [True, True] Translation: X:-9.46, Y:0.92, Z:0.09 [[ 0.9071435 0.41242345 -0.08365148 -9.46201878] [-0.41223642 0.91085061 0.02030514 0.91883011] [ 0.08456832 0.01606452 0.99628818 0.09159351] [ 0. 0. 0. 1. ]] SLAMing on 9.919115933 meters Centerline goodness [0,1] 0.996084128086907 Centerline is valid? [True, True] Translation: X:-9.49, Y:0.93, Z:0.09 [[ 0.90624969 0.41464019 -0.08237123 -9.48726606] [-0.41446172 0.90984554 0.02006431 0.92709793] [ 0.08326456 0.01595644 0.99639972 0.09025466] [ 0. 0. 0. 1. ]] SLAMing on 9.949115933 meters Centerline goodness [0,1] 0.9958612905248636 Centerline is valid? [True, True] Translation: X:-9.51, Y:0.93, Z:0.09 [[ 0.90683039 0.41370833 -0.08064783 -9.51420109] [-0.41352806 0.91027796 0.01971241 0.92822087] [ 0.08156713 0.01547433 0.99654772 0.09145291] [ 0. 0. 0. 1. ]] SLAMing on 9.979115933 meters Centerline goodness [0,1] 0.9952300257327559 Centerline is valid? [True, True] Translation: X:-9.54, Y:0.93, Z:0.09 [[ 0.90625069 0.41477686 -0.08166913 -9.5407481 ] [-0.41459025 0.90978765 0.02003402 0.92878024] [ 0.08261122 0.01570338 0.99645812 0.09171287] [ 0. 0. 0. 1. ]] SLAMing on 10.009115933 meters Centerline goodness [0,1] 0.993456994028713 Centerline is valid? [True, True] Translation: X:-9.57, Y:0.94, Z:0.09 [[ 0.90513159 0.41748199 -0.08028447 -9.56596647] [-0.417306 0.90855106 0.01976548 0.93515227] [ 0.08119427 0.01561283 0.996576 0.09461025] [ 0. 0. 0. 1. ]] SLAMing on 10.039115933 meters Centerline goodness [0,1] 0.9945362216365623 Centerline is valid? [True, True] Translation: X:-9.59, Y:0.94, Z:0.09 [[ 0.90365625 0.42076353 -0.0797711 -9.59096875] [-0.42059646 0.90703375 0.0197077 0.94348934] [ 0.08064737 0.01574245 0.99661837 0.09464715] [ 0. 0. 0. 1. ]] SLAMing on 10.069115932999999 meters Centerline goodness [0,1] 0.9909904153354633 Centerline is valid? [True, True] Translation: X:-9.62, Y:0.95, Z:0.09 [[ 0.90419085 0.42025897 -0.07629748 -9.616171 ] [-0.4200992 0.90728105 0.01891476 0.94843248] [ 0.07717236 0.01494996 0.99690568 0.09223995] [ 0. 0. 0. 1. ]] SLAMing on 10.099115933 meters Centerline goodness [0,1] 0.9935808351531996 Centerline is valid? [True, True] Translation: X:-9.64, Y:0.96, Z:0.09 [[ 0.90255003 0.42361307 -0.07717124 -9.64085407] [-0.42345615 0.90571315 0.01919848 0.95583908] [ 0.07802774 0.01535105 0.99683299 0.08733341] [ 0. 0. 0. 1. ]] SLAMing on 10.129115933 meters Centerline goodness [0,1] 0.9931649895576229 Centerline is valid? [True, True] Translation: X:-9.67, Y:0.96, Z:0.09 [[ 0.90343592 0.42214474 -0.07481551 -9.66600065] [-0.4219872 0.90640933 0.01867979 0.96101678] [ 0.07569905 0.0146952 0.99702242 0.09448577] [ 0. 0. 0. 1. ]] SLAMing on 10.159115932999999 meters Centerline goodness [0,1] 0.9938764986463839 Centerline is valid? [True, True] Translation: X:-9.69, Y:0.97, Z:0.09 [[ 0.89891267 0.43140949 -0.07643207 -9.6909139 ] [-0.43127218 0.90201869 0.01914638 0.96876165] [ 0.07720308 0.01575211 0.99689094 0.08877664] [ 0. 0. 0. 1. ]] SLAMing on 10.189115933 meters Centerline goodness [0,1] 0.9941897586515133 Centerline is valid? [True, True] Translation: X:-9.72, Y:0.97, Z:0.09 [[ 0.89785045 0.43369939 -0.07595669 -9.71680889] [-0.4335665 0.90091927 0.01909328 0.97087618] [ 0.07671159 0.01578937 0.9969283 0.08642279] [ 0. 0. 0. 1. ]] SLAMing on 10.219115933 meters Centerline goodness [0,1] 0.9948717948717949 Centerline is valid? [True, True] Translation: X:-9.74, Y:0.97, Z:0.09 [[ 0.89599352 0.43752268 -0.07595731 -9.74317114] [-0.43739779 0.899064 0.01915962 0.97305158] [ 0.07667325 0.01605667 0.99692698 0.08502232] [ 0. 0. 0. 1. ]] SLAMing on 10.249115933 meters Centerline goodness [0,1] 0.9940723924832892 Centerline is valid? [True, True] Translation: X:-9.77, Y:0.98, Z:0.09 [[ 0.89600087 0.43810016 -0.0724617 -9.76750306] [-0.43798353 0.89879589 0.01834069 0.98326492] [ 0.07316334 0.01530376 0.99720255 0.09008733] [ 0. 0. 0. 1. ]] SLAMing on 10.279115933 meters Centerline goodness [0,1] 0.9957610789980732 Centerline is valid? [True, True] Translation: X:-9.79, Y:1.00, Z:0.09 [[ 0.89506334 0.44041375 -0.06998095 -9.79135437] [-0.44030742 0.89767117 0.01777195 0.99615591] [ 0.07064689 0.01490611 0.99739001 0.09090501] [ 0. 0. 0. 1. ]] SLAMing on 10.309115933 meters Centerline goodness [0,1] 0.9956806282722513 Centerline is valid? [True, True] Translation: X:-9.82, Y:1.00, Z:0.09 [[ 0.8934199 0.4437422 -0.06995529 -9.81588227] [-0.44364134 0.89602711 0.01782617 1.00347976] [ 0.07059206 0.01510881 0.99739084 0.08966545] [ 0. 0. 0. 1. ]] SLAMing on 10.339115933 meters Centerline goodness [0,1] 0.9967854096962541 Centerline is valid? [True, True] Translation: X:-9.84, Y:1.01, Z:0.09 [[ 0.89154971 0.44750608 -0.06983853 -9.84220362] [-0.4474124 0.89414951 0.01785474 1.00677969] [ 0.07043619 0.01532823 0.99739851 0.08691811] [ 0. 0. 0. 1. ]] SLAMing on 10.369115933 meters Centerline goodness [0,1] 0.9951754675831075 Centerline is valid? [True, True] Translation: X:-9.87, Y:1.01, Z:0.09 [[ 0.88984294 0.45089061 -0.06983697 -9.86814376] [-0.45080255 0.8924439 0.0179148 1.01079403] [ 0.07040319 0.01554132 0.99739754 0.08679358] [ 0. 0. 0. 1. ]] SLAMing on 10.399115933 meters Centerline goodness [0,1] 0.9942185514612453 Centerline is valid? [True, True] Translation: X:-9.89, Y:1.01, Z:0.09 [[ 0.8898814 0.4507767 -0.07008184 -9.89395176] [-0.45068319 0.89250164 0.01804122 1.01457023] [ 0.07068072 0.01553017 0.99737809 0.09299648] [ 0. 0. 0. 1. ]] SLAMing on 10.429115933 meters Centerline goodness [0,1] 0.9959908361970218 Centerline is valid? [True, True] Translation: X:-9.92, Y:1.02, Z:0.10 [[ 0.89213943 0.44665636 -0.06771506 -9.91972925] [-0.44655382 0.89458586 0.01748784 1.01800954] [ 0.06838799 0.01463683 0.99755143 0.09968093] [ 0. 0. 0. 1. ]] SLAMing on 10.459115933 meters Centerline goodness [0,1] 0.9942233225417381 Centerline is valid? [True, True] Translation: X:-9.95, Y:1.02, Z:0.10 [[ 0.89095635 0.4492001 -0.06645335 -9.94576637] [-0.44910441 0.89331341 0.0172158 1.02255815] [ 0.06709701 0.01450596 0.997641 0.09677916] [ 0. 0. 0. 1. ]] SLAMing on 10.489115932999999 meters Centerline goodness [0,1] 0.9954904171364148 Centerline is valid? [True, True] Translation: X:-9.97, Y:1.04, Z:0.10 [[ 0.89072127 0.45003292 -0.0639218 -9.96866789] [-0.44994332 0.8929027 0.01660661 1.0383728 ] [ 0.06454947 0.01396932 0.99781673 0.09838226] [ 0. 0. 0. 1. ]] SLAMing on 10.519115933 meters Centerline goodness [0,1] 0.9954904171364148 Centerline is valid? [True, True] Translation: X:-9.99, Y:1.04, Z:0.10 [[ 0.89031077 0.45084652 -0.0639074 -9.99311513] [-0.45075513 0.89249212 0.01666192 1.04478712] [ 0.06454882 0.01397231 0.99781673 0.09806538] [ 0. 0. 0. 1. ]] SLAMing on 10.549115933 meters Centerline goodness [0,1] 0.9952498574957249 Centerline is valid? [True, True] Translation: X:-10.02, Y:1.05, Z:0.10 [[ 0.89153706 0.44867676 -0.06205507 -10.01963635] [ -0.44858211 0.89359418 0.0162335 1.04502707] [ 0.06273564 0.01336403 0.9979407 0.10194695] [ 0. 0. 0. 1. ]] SLAMing on 10.579115932999999 meters Centerline goodness [0,1] 0.9935118110236221 Centerline is valid? [True, True] Translation: X:-10.05, Y:1.05, Z:0.11 [[ 0.89212126 0.44726381 -0.06383373 -10.04521845] [ -0.44715701 0.89429865 0.01674889 1.05090843] [ 0.06457759 0.01360166 0.99781999 0.10584279] [ 0. 0. 0. 1. ]] SLAMing on 10.609115933 meters Centerline goodness [0,1] 0.9955362756192632 Centerline is valid? [True, True] Translation: X:-10.07, Y:1.05, Z:0.11 [[ 0.89306464 0.44533306 -0.06414055 -10.07099583] [ -0.44521692 0.89526355 0.01688422 1.05406341] [ 0.0649418 0.01347775 0.99779803 0.10744383] [ 0. 0. 0. 1. ]] SLAMing on 10.639115933 meters Centerline goodness [0,1] 0.9950748247774199 Centerline is valid? [True, True] Translation: X:-10.10, Y:1.06, Z:0.11 [[ 0.89390048 0.44438851 -0.05882846 -10.09764423] [ -0.44428573 0.89575042 0.01553621 1.05517105] [ 0.05959972 0.01224882 0.9981472 0.10838464] [ 0. 0. 0. 1. ]] SLAMing on 10.669115933 meters Centerline goodness [0,1] 0.9964868089619515 Centerline is valid? [True, True] Translation: X:-10.12, Y:1.07, Z:0.10 [[ 0.89033817 0.4512546 -0.06055762 -10.12081803] [ -0.45115749 0.89230007 0.01604709 1.06826925] [ 0.06127689 0.01303368 0.9980357 0.09902945] [ 0. 0. 0. 1. ]] SLAMing on 10.699115933 meters Centerline goodness [0,1] 0.995318233582184 Centerline is valid? [True, True] Translation: X:-10.15, Y:1.07, Z:0.11 [[ 0.89123253 0.44940588 -0.0611468 -10.14592467] [ -0.44929944 0.89323331 0.01625638 1.07226585] [ 0.06192407 0.012985 0.99799639 0.10627083] [ 0. 0. 0. 1. ]] SLAMing on 10.729115933 meters Centerline goodness [0,1] 0.9950832072617246 Centerline is valid? [True, True] Translation: X:-10.17, Y:1.08, Z:0.11 [[ 0.89114761 0.44986251 -0.05898856 -10.17019083] [ -0.44976082 0.89301031 0.01574175 1.07505483] [ 0.05975901 0.01250252 0.99813453 0.10512644] [ 0. 0. 0. 1. ]] SLAMing on 10.759115933 meters Centerline goodness [0,1] 0.9952113918467645 Centerline is valid? [True, True] Translation: X:-10.19, Y:1.08, Z:0.11 [[ 0.89059902 0.45100788 -0.05852585 -10.19423212] [ -0.45090675 0.89243341 0.01567498 1.08105452] [ 0.05929997 0.01242958 0.99816282 0.10539117] [ 0. 0. 0. 1. ]] SLAMing on 10.789115933 meters Centerline goodness [0,1] 0.9958214624881292 Centerline is valid? [True, True] Translation: X:-10.22, Y:1.09, Z:0.11 [[ 0.8898994 0.45205516 -0.06103438 -10.21911964] [ -0.4519442 0.89189542 0.01640152 1.08834586] [ 0.06185067 0.01298843 0.9980009 0.10548174] [ 0. 0. 0. 1. ]] SLAMing on 10.819115932999999 meters Centerline goodness [0,1] 0.9970631424375918 Centerline is valid? [True, True] Translation: X:-10.24, Y:1.10, Z:0.11 [[ 0.89126617 0.44951645 -0.05982953 -10.24388662] [ -0.44940115 0.89318443 0.01613003 1.09555709] [ 0.06068951 0.01251131 0.99807828 0.10877623] [ 0. 0. 0. 1. ]] SLAMing on 10.849115933 meters Centerline goodness [0,1] 0.9965277777777778 Centerline is valid? [True, True] Translation: X:-10.27, Y:1.09, Z:0.11 [[ 0.89157746 0.44875517 -0.06089683 -10.27170812] [ -0.44863057 0.89356545 0.01647403 1.0919415 ] [ 0.06180811 0.01263231 0.99800811 0.10857756] [ 0. 0. 0. 1. ]] SLAMing on 10.879115933 meters Centerline goodness [0,1] 0.9973546680430996 Centerline is valid? [True, True] Translation: X:-10.30, Y:1.10, Z:0.10 [[ 0.88926945 0.45311601 -0.06233564 -10.29677158] [ -0.45299202 0.89135397 0.01692112 1.09531037] [ 0.06323035 0.01319011 0.99791179 0.0996618 ] [ 0. 0. 0. 1. ]] SLAMing on 10.909115932999999 meters Centerline goodness [0,1] 0.9996765219641587 Centerline is valid? [True, True] Translation: X:-10.32, Y:1.10, Z:0.10 [[ 0.8881922 0.45492346 -0.06449235 -10.32183782] [ -0.45479148 0.89042471 0.01756547 1.0998071 ] [ 0.06541653 0.01372906 0.99776359 0.09928797] [ 0. 0. 0. 1. ]] SLAMing on 10.939115933 meters Centerline goodness [0,1] 0.9992896810021955 Centerline is valid? [True, True] Translation: X:-10.34, Y:1.11, Z:0.10 [[ 0.88766836 0.4557585 -0.06579567 -10.3443553 ] [ -0.45561917 0.88999313 0.01798315 1.11101159] [ 0.06675367 0.0140147 0.99767106 0.10013599] [ 0. 0. 0. 1. ]] SLAMing on 10.969115933 meters Centerline goodness [0,1] 0.9972487043316911 Centerline is valid? [True, True] Translation: X:-10.37, Y:1.11, Z:0.10 [[ 0.88814342 0.4547054 -0.06666533 -10.37018427] [ -0.45455521 0.89053086 0.01828502 1.11229478] [ 0.06768183 0.01406335 0.99760783 0.09669192] [ 0. 0. 0. 1. ]] SLAMing on 10.999115933 meters Centerline goodness [0,1] 0.9968789428248888 Centerline is valid? [True, True] Translation: X:-10.39, Y:1.12, Z:0.09 [[ 0.88511816 0.46027472 -0.06865146 -10.39389456] [ -0.46012648 0.88765218 0.01890058 1.11939406] [ 0.06963807 0.01485911 0.99746165 0.09027592] [ 0. 0. 0. 1. ]] SLAMing on 11.029115933 meters Centerline goodness [0,1] 0.997951090548579 Centerline is valid? [True, True] Translation: X:-10.42, Y:1.12, Z:0.09 [[ 0.88489177 0.46038911 -0.07077016 -10.41959161] [ -0.46022694 0.88758594 0.0195544 1.12224113] [ 0.07181723 0.01526681 0.99730096 0.09198815] [ 0. 0. 0. 1. ]] SLAMing on 11.059115933 meters Centerline goodness [0,1] 0.9983343327336931 Centerline is valid? [True, True] Translation: X:-10.44, Y:1.13, Z:0.09 [[ 0.88269851 0.46437223 -0.07212326 -10.4440264 ] [ -0.46421098 0.88549875 0.02000313 1.12517744] [ 0.07315396 0.01582367 0.99719512 0.0878655 ] [ 0. 0. 0. 1. ]] SLAMing on 11.089115933 meters Centerline goodness [0,1] 0.9979595740610853 Centerline is valid? [True, True] Translation: X:-10.47, Y:1.13, Z:0.10 [[ 0.88840683 0.45332673 -0.07230612 -10.4688582 ] [ -0.45312393 0.89122022 0.02013032 1.12968722] [ 0.07356629 0.01487972 0.99717932 0.09681234] [ 0. 0. 0. 1. ]] SLAMing on 11.119115933 meters Centerline goodness [0,1] 0.9992721979621543 Centerline is valid? [True, True] Translation: X:-10.49, Y:1.14, Z:0.09 [[ 0.88473397 0.45973336 -0.07675312 -10.49282173] [ -0.45952182 0.88790749 0.0214472 1.13585975] [ 0.07800967 0.01629467 0.99681943 0.08704096] [ 0. 0. 0. 1. ]] SLAMing on 11.149115933 meters Centerline goodness [0,1] 0.9986060404912048 Centerline is valid? [True, True] Translation: X:-10.52, Y:1.14, Z:0.09 [[ 0.88747549 0.45474327 -0.07480519 -10.51709227] [ -0.45451836 0.89048995 0.02099317 1.1414159 ] [ 0.07615977 0.01536941 0.99697717 0.09194153] [ 0. 0. 0. 1. ]] SLAMing on 11.179115933 meters Centerline goodness [0,1] 0.9992689572672293 Centerline is valid? [True, True] Translation: X:-10.54, Y:1.14, Z:0.09 [[ 0.88849636 0.45210007 -0.07861131 -10.54234506] [ -0.45183505 0.89182654 0.02214745 1.14297985] [ 0.08012052 0.01584142 0.9966593 0.0910799 ] [ 0. 0. 0. 1. ]] SLAMing on 11.209115933 meters Centerline goodness [0,1] 0.9991984503373188 Centerline is valid? [True, True] Translation: X:-10.57, Y:1.15, Z:0.09 [[ 0.89036196 0.44823136 -0.07965071 -10.56628001] [ -0.44793705 0.89378115 0.02253122 1.15013011] [ 0.0812895 0.01561756 0.99656817 0.09346961] [ 0. 0. 0. 1. ]] SLAMing on 11.239115932999999 meters Centerline goodness [0,1] 0.9992209815632304 Centerline is valid? [True, True] Translation: X:-10.59, Y:1.14, Z:0.10 [[ 0.89993933 0.42899514 -0.0779254 -10.59311326] [ -0.42863554 0.90320623 0.0221378 1.14318252] [ 0.07987972 0.01347892 0.99671337 0.10444332] [ 0. 0. 0. 1. ]] SLAMing on 11.269115933 meters Centerline goodness [0,1] 0.9992182410423452 Centerline is valid? [True, True] Translation: X:-10.62, Y:1.15, Z:0.11 [[ 0.9040592 0.41979223 -0.08032089 -10.61816787] [ -0.41936735 0.90752752 0.02290919 1.14643316] [ 0.08251052 0.0129727 0.99650576 0.10815214] [ 0. 0. 0. 1. ]] SLAMing on 11.299115933 meters Centerline goodness [0,1] 0.9989508196721312 Centerline is valid? [True, True] Translation: X:-10.64, Y:1.15, Z:0.11 [[ 0.90862394 0.40928682 -0.082987 -10.64296644] [ -0.40878214 0.91232248 0.02376668 1.15143489] [ 0.08543829 0.01232863 0.99626718 0.11154637] [ 0. 0. 0. 1. ]] SLAMing on 11.329115932999999 meters Centerline goodness [0,1] 0.9990753582986592 Centerline is valid? [True, True] Translation: X:-10.67, Y:1.15, Z:0.12 [[ 0.91544748 0.39396636 -0.08213656 -10.66846523] [ -0.3934028 0.91906271 0.02362157 1.15409379] [ 0.08479475 0.01068845 0.99634111 0.11859286] [ 0. 0. 0. 1. ]] SLAMing on 11.359115933 meters Centerline goodness [0,1] 0.9988714816781731 Centerline is valid? [True, True] Translation: X:-10.69, Y:1.16, Z:0.13 [[ 9.21800016e-01 3.78388076e-01 -8.43041756e-02 -1.06932004e+01] [-3.77721036e-01 9.25599310e-01 2.43461939e-02 1.15844501e+00] [ 8.72441962e-02 9.40113856e-03 9.96142595e-01 1.31490190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.389115933 meters Centerline goodness [0,1] 0.9996001599360256 Centerline is valid? [True, True] Translation: X:-10.72, Y:1.16, Z:0.14 [[ 9.24950423e-01 3.70746039e-01 -8.37501664e-02 -1.07180415e+01] [-3.70047343e-01 9.28695197e-01 2.42939200e-02 1.16190405e+00] [ 8.67852519e-02 8.52085489e-03 9.96190602e-01 1.38791710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.419115933 meters Centerline goodness [0,1] 0.9997991564571199 Centerline is valid? [True, True] Translation: X:-10.74, Y:1.17, Z:0.16 [[ 9.32403596e-01 3.51748889e-01 -8.30436877e-02 -1.07423798e+01] [-3.50978467e-01 9.36071154e-01 2.41849091e-02 1.17022709e+00] [ 8.62418155e-02 6.59644997e-03 9.96252396e-01 1.61691522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.449115933 meters Centerline goodness [0,1] 0.9992638693702737 Centerline is valid? [True, True] Translation: X:-10.77, Y:1.18, Z:0.17 [[ 9.35841186e-01 3.42755369e-01 -8.19757998e-02 -1.07667620e+01] [-3.41962440e-01 9.39407975e-01 2.39655106e-02 1.17937833e+00] [ 8.52230276e-02 5.60473267e-03 9.96346136e-01 1.69662077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.479115933 meters Centerline goodness [0,1] 0.9996656636576395 Centerline is valid? [True, True] Translation: X:-10.79, Y:1.19, Z:0.17 [[ 9.36118351e-01 3.41311341e-01 -8.47879750e-02 -1.07920445e+01] [-3.40449025e-01 9.39933762e-01 2.48793921e-02 1.18668049e+00] [ 8.81866990e-02 5.57592792e-03 9.96088357e-01 1.67430682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.509115933 meters Centerline goodness [0,1] 0.9995984204537849 Centerline is valid? [True, True] Translation: X:-10.82, Y:1.20, Z:0.17 [[ 9.35615180e-01 3.42379730e-01 -8.60253235e-02 -1.08168037e+01] [-3.41488226e-01 9.39544537e-01 2.53348332e-02 1.19564657e+00] [ 8.94987561e-02 5.67298063e-03 9.95970778e-01 1.67559318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.539115933 meters Centerline goodness [0,1] 0.9990671641791045 Centerline is valid? [True, True] Translation: X:-10.84, Y:1.21, Z:0.17 [[ 9.35758283e-01 3.42349544e-01 -8.45767406e-02 -1.08399960e+01] [-3.41479567e-01 9.39556642e-01 2.50004275e-02 1.20745553e+00] [ 8.80235233e-02 5.48687167e-03 9.96103285e-01 1.65186150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.569115932999999 meters Centerline goodness [0,1] 0.9988686277119659 Centerline is valid? [True, True] Translation: X:-10.86, Y:1.22, Z:0.16 [[ 9.33110598e-01 3.49157261e-01 -8.59873198e-02 -1.08630091e+01] [-3.48278158e-01 9.37044011e-01 2.55116732e-02 1.21989019e+00] [ 8.94814890e-02 6.14229271e-03 9.95969545e-01 1.56841264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.599115933 meters Centerline goodness [0,1] 0.9998672419515433 Centerline is valid? [True, True] Translation: X:-10.89, Y:1.23, Z:0.15 [[ 9.29072245e-01 3.59048416e-01 -8.89325481e-02 -1.08862564e+01] [-3.58143531e-01 9.33290821e-01 2.64849793e-02 1.23188046e+00] [ 9.25093207e-02 7.24415755e-03 9.95685466e-01 1.47915138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.629115933 meters Centerline goodness [0,1] 0.9994712841186967 Centerline is valid? [True, True] Translation: X:-10.91, Y:1.24, Z:0.13 [[ 9.26117561e-01 3.67493752e-01 -8.51739697e-02 -1.09083689e+01] [-3.66690381e-01 9.29994520e-01 2.54628720e-02 1.24486661e+00] [ 8.85687714e-02 7.65086251e-03 9.96040680e-01 1.34089979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.659115932999999 meters Centerline goodness [0,1] 0.9995371288765457 Centerline is valid? [True, True] Translation: X:-10.93, Y:1.26, Z:0.12 [[ 9.21019120e-01 3.79579629e-01 -8.74247418e-02 -1.09309013e+01] [-3.78777930e-01 9.25115741e-01 2.62325465e-02 1.25814519e+00] [ 9.08353450e-02 8.95388585e-03 9.95825672e-01 1.24625540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.689115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-10.95, Y:1.27, Z:0.12 [[ 9.18104873e-01 3.86688924e-01 -8.69201795e-02 -1.09525948e+01] [-3.85918884e-01 9.22161189e-01 2.61793153e-02 1.27480614e+00] [ 9.02776673e-02 9.50878171e-03 9.95871240e-01 1.22019445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.719115933 meters Centerline goodness [0,1] 0.9997964307525277 Centerline is valid? [True, True] Translation: X:-10.98, Y:1.29, Z:0.12 [[ 9.13882637e-01 3.95930805e-01 -8.97625935e-02 -1.09759809e+01] [-3.95143892e-01 9.18218355e-01 2.71359081e-02 1.28619347e+00] [ 9.31656029e-02 1.06701053e-02 9.95593451e-01 1.21377222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.749115933 meters Centerline goodness [0,1] 0.9999323867478026 Centerline is valid? [True, True] Translation: X:-11.00, Y:1.30, Z:0.12 [[ 9.13492040e-01 3.96694253e-01 -9.03657187e-02 -1.09991386e+01] [-3.95891092e-01 9.17888089e-01 2.74171373e-02 1.29833099e+00] [ 9.38218376e-02 1.07296463e-02 9.95531184e-01 1.20178673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.779115933 meters Centerline goodness [0,1] 0.9997463538363982 Centerline is valid? [True, True] Translation: X:-11.02, Y:1.31, Z:0.12 [[ 9.16592462e-01 3.89784815e-01 -8.90284024e-02 -1.10226864e+01] [-3.88963944e-01 9.20854026e-01 2.71092882e-02 1.30904574e+00] [ 9.25489516e-02 9.78066939e-03 9.95660098e-01 1.23762209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.809115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-11.04, Y:1.32, Z:0.12 [[ 9.16630671e-01 3.89824254e-01 -8.84605235e-02 -1.10445654e+01] [-3.89005200e-01 9.20838881e-01 2.70316387e-02 1.32446870e+00] [ 9.19954779e-02 9.63357443e-03 9.95712823e-01 1.23942895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.839115933 meters Centerline goodness [0,1] 0.9997436061790911 Centerline is valid? [True, True] Translation: X:-11.07, Y:1.34, Z:0.12 [[ 9.17263995e-01 3.87556619e-01 -9.17966832e-02 -1.10678105e+01] [-3.86653409e-01 9.21795209e-01 2.81555256e-02 1.33577688e+00] [ 9.55296031e-02 9.66745069e-03 9.95379644e-01 1.24377065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.869115933 meters Centerline goodness [0,1] 0.9993044577932343 Centerline is valid? [True, True] Translation: X:-11.09, Y:1.35, Z:0.12 [[ 9.19071070e-01 3.82921698e-01 -9.31629789e-02 -1.10916271e+01] [-3.81957487e-01 9.23734747e-01 2.86809339e-02 1.34503097e+00] [ 9.70404326e-02 9.22448075e-03 9.95237692e-01 1.21591860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.899115933 meters Centerline goodness [0,1] 0.9998647003111892 Centerline is valid? [True, True] Translation: X:-11.11, Y:1.35, Z:0.12 [[ 9.15245882e-01 3.92136846e-01 -9.24860474e-02 -1.11125519e+01] [-3.91216152e-01 9.19852920e-01 2.86448667e-02 1.35400265e+00] [ 9.63062685e-02 9.96493929e-03 9.95301865e-01 1.19389141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.929115933 meters Centerline goodness [0,1] 0.9999342408101533 Centerline is valid? [True, True] Translation: X:-11.13, Y:1.37, Z:0.13 [[ 9.18138247e-01 3.85022761e-01 -9.36996955e-02 -1.11344821e+01] [-3.84029367e-01 9.22860933e-01 2.91400552e-02 1.37079249e+00] [ 9.76913729e-02 9.22883556e-03 9.95173967e-01 1.26574565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.959115933 meters Centerline goodness [0,1] 0.9996093241307462 Centerline is valid? [True, True] Translation: X:-11.16, Y:1.38, Z:0.13 [[ 9.17510949e-01 3.86179904e-01 -9.50722912e-02 -1.11568223e+01] [-3.85151917e-01 9.22375746e-01 2.96813711e-02 1.38410111e+00] [ 9.91547245e-02 9.38429225e-03 9.95027776e-01 1.25313613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.989115932999999 meters Centerline goodness [0,1] 0.9983276516369718 Centerline is valid? [True, True] Translation: X:-11.18, Y:1.40, Z:0.13 [[ 9.16446841e-01 3.88382899e-01 -9.63530537e-02 -1.11787865e+01] [-3.87327563e-01 9.21447575e-01 3.01947830e-02 1.39930014e+00] [ 1.00511425e-01 9.64827998e-03 9.94889122e-01 1.26228973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.019115933 meters Centerline goodness [0,1] 0.9990414722985494 Centerline is valid? [True, True] Translation: X:-11.20, Y:1.42, Z:0.14 [[ 9.17156501e-01 3.86867201e-01 -9.56959851e-02 -1.12007884e+01] [-3.85807200e-01 9.22088375e-01 3.00970469e-02 1.41654532e+00] [ 9.98837157e-02 9.31649790e-03 9.94955500e-01 1.35592847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.049115933 meters Centerline goodness [0,1] 0.9994941191349437 Centerline is valid? [True, True] Translation: X:-11.22, Y:1.43, Z:0.14 [[ 9.17342982e-01 3.86960321e-01 -9.35070232e-02 -1.12229824e+01] [-3.85938559e-01 9.22052299e-01 2.95124902e-02 1.43380931e+00] [ 9.76385284e-02 9.01489003e-03 9.95181114e-01 1.38622781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.079115932999999 meters Centerline goodness [0,1] 0.9985699185475346 Centerline is valid? [True, True] Translation: X:-11.24, Y:1.45, Z:0.14 [[ 9.18643688e-01 3.83900087e-01 -9.33514782e-02 -1.12444483e+01] [-3.82855782e-01 9.23334801e-01 2.95684925e-02 1.45170271e+00] [ 9.75460153e-02 8.57724425e-03 9.95194054e-01 1.43903118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.109115933 meters Centerline goodness [0,1] 0.9976899544234251 Centerline is valid? [True, True] Translation: X:-11.27, Y:1.47, Z:0.15 [[ 9.17996946e-01 3.85642777e-01 -9.25270567e-02 -1.12663442e+01] [-3.84615499e-01 9.22608203e-01 2.94112494e-02 1.46901810e+00] [ 9.67084574e-02 8.58790295e-03 9.95275702e-01 1.45187178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.139115933 meters Centerline goodness [0,1] 0.9965683708486012 Centerline is valid? [True, True] Translation: X:-11.29, Y:1.49, Z:0.16 [[ 9.21910388e-01 3.76665301e-01 -9.05786266e-02 -1.12879510e+01] [-3.75628691e-01 9.26319926e-01 2.88874048e-02 1.48662631e+00] [ 9.47856697e-02 7.39233229e-03 9.95470256e-01 1.55148490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.169115933 meters Centerline goodness [0,1] 0.9980571092140124 Centerline is valid? [True, True] Translation: X:-11.31, Y:1.51, Z:0.16 [[ 9.18562482e-01 3.83595342e-01 -9.53812335e-02 -1.13098386e+01] [-3.82472907e-01 9.23462625e-01 3.05164707e-02 1.50583716e+00] [ 9.97869803e-02 8.44945257e-03 9.94972947e-01 1.55094971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.199115933 meters Centerline goodness [0,1] 0.9974155547541772 Centerline is valid? [True, True] Translation: X:-11.33, Y:1.52, Z:0.16 [[ 9.22973614e-01 3.74383254e-01 -8.92013828e-02 -1.13321332e+01] [-3.73350481e-01 9.27248533e-01 2.86282525e-02 1.52448948e+00] [ 9.34297896e-02 6.88025752e-03 9.95602097e-01 1.64510129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.229115933 meters Centerline goodness [0,1] 0.9971632026862733 Centerline is valid? [True, True] Translation: X:-11.36, Y:1.54, Z:0.16 [[ 9.22746871e-01 3.75291938e-01 -8.77164367e-02 -1.13559034e+01] [-3.74289137e-01 9.26881923e-01 2.82408141e-02 1.53685605e+00] [ 9.19013293e-02 6.77218652e-03 9.95745089e-01 1.64989836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.259115933 meters Centerline goodness [0,1] 0.9964006523817558 Centerline is valid? [True, True] Translation: X:-11.38, Y:1.57, Z:0.18 [[ 9.28906393e-01 3.61134515e-01 -8.19437280e-02 -1.13754030e+01] [-3.60197259e-01 9.32500689e-01 2.64650781e-02 1.56585043e+00] [ 8.59700360e-02 4.93232600e-03 9.96285514e-01 1.83661346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.289115933 meters Centerline goodness [0,1] 0.9971688686577107 Centerline is valid? [True, True] Translation: X:-11.40, Y:1.59, Z:0.19 [[ 9.27724180e-01 3.64174670e-01 -8.18819643e-02 -1.13986706e+01] [-3.63243941e-01 9.31316494e-01 2.65221987e-02 1.58503915e+00] [ 8.59167369e-02 5.13784233e-03 9.96289073e-01 1.92800761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.319115932999999 meters Centerline goodness [0,1] 0.9975373593776236 Centerline is valid? [True, True] Translation: X:-11.42, Y:1.60, Z:0.20 [[ 9.25524932e-01 3.70342700e-01 -7.90562090e-02 -1.14222564e+01] [-3.69491364e-01 9.28879249e-01 2.56801981e-02 1.60177631e+00] [ 8.29441460e-02 5.44292293e-03 9.96539334e-01 1.99748589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.349115933 meters Centerline goodness [0,1] 0.997073116854429 Centerline is valid? [True, True] Translation: X:-11.44, Y:1.62, Z:0.20 [[ 9.22867414e-01 3.78077722e-01 -7.33005625e-02 -1.14438506e+01] [-3.77363901e-01 9.25756841e-01 2.38905498e-02 1.62062462e+00] [ 7.68909818e-02 5.61317624e-03 9.97023705e-01 2.03768660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.379115933 meters Centerline goodness [0,1] 0.9959748566387296 Centerline is valid? [True, True] Translation: X:-11.47, Y:1.64, Z:0.20 [[ 9.15108179e-01 3.97026322e-01 -7.03357658e-02 -1.14665698e+01] [-3.96419365e-01 9.17781692e-01 2.29880975e-02 1.63944444e+00] [ 7.36797579e-02 6.84586362e-03 9.97258456e-01 2.03304169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.409115932999999 meters Centerline goodness [0,1] 0.9959748566387296 Centerline is valid? [True, True] Translation: X:-11.49, Y:1.65, Z:0.20 [[ 9.14790227e-01 3.97761621e-01 -7.03173789e-02 -1.14923887e+01] [-3.97152537e-01 9.17463255e-01 2.30442662e-02 1.64790115e+00] [ 7.36797360e-02 6.84605588e-03 9.97258456e-01 2.02962496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.439115933 meters Centerline goodness [0,1] 0.9941118743866536 Centerline is valid? [True, True] Translation: X:-11.52, Y:1.66, Z:0.21 [[ 9.01089736e-01 4.26961548e-01 -7.57702080e-02 -1.15167512e+01] [-4.26350545e-01 9.04215757e-01 2.48812762e-02 1.66260417e+00] [ 7.91359642e-02 9.88440691e-03 9.96814826e-01 2.07626339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.469115933 meters Centerline goodness [0,1] 0.9928303905831996 Centerline is valid? [True, True] Translation: X:-11.54, Y:1.68, Z:0.21 [[ 8.93515622e-01 4.42314554e-01 -7.73800213e-02 -1.15415403e+01] [-4.41729520e-01 8.96787070e-01 2.54554898e-02 1.67568186e+00] [ 8.06527362e-02 1.14361618e-02 9.96676653e-01 2.07395441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.499115933 meters Centerline goodness [0,1] 0.9945170133849379 Centerline is valid? [True, True] Translation: X:-11.57, Y:1.69, Z:0.20 [[ 0.8908475 0.44681526 -0.08213926 -11.56684808] [ -0.4461695 0.89453861 0.02708222 1.68511934] [ 0.08557748 0.0125219 0.99625283 0.20213117] [ 0. 0. 0. 1. ]] SLAMing on 12.529115933 meters Centerline goodness [0,1] 0.9960315332225023 Centerline is valid? [True, True] Translation: X:-11.60, Y:1.68, Z:0.20 [[ 0.88860218 0.45086487 -0.08430325 -11.5951177 ] [ -0.45019598 0.89249477 0.02786853 1.68429095] [ 0.08780515 0.01318895 0.99605035 0.19784662] [ 0. 0. 0. 1. ]] SLAMing on 12.559115933 meters Centerline goodness [0,1] 0.995549766634104 Centerline is valid? [True, True] Translation: X:-11.62, Y:1.69, Z:0.20 [[ 0.89114385 0.44621176 -0.0822053 -11.62299816] [ -0.44555101 0.89484213 0.02723718 1.68580901] [ 0.08571431 0.01235441 0.99624316 0.1977098 ] [ 0. 0. 0. 1. ]] SLAMing on 12.589115933 meters Centerline goodness [0,1] 0.9925820879240755 Centerline is valid? [True, True] Translation: X:-11.65, Y:1.68, Z:0.19 [[ 8.95553430e-01 4.37575301e-01 -8.06964019e-02 -1.16515050e+01] [-4.36898636e-01 8.99111350e-01 2.68022792e-02 1.68444068e+00] [ 8.42830663e-02 1.12532749e-02 9.96378306e-01 1.94443129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.619115933 meters Centerline goodness [0,1] 0.994198694706309 Centerline is valid? [True, True] Translation: X:-11.68, Y:1.68, Z:0.19 [[ 8.95613616e-01 4.36866961e-01 -8.38063797e-02 -1.16792635e+01] [-4.36127311e-01 8.99451962e-01 2.79130007e-02 1.68375857e+00] [ 8.75740805e-02 1.15509876e-02 9.96091038e-01 1.86855285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.649115933 meters Centerline goodness [0,1] 0.9937592193350732 Centerline is valid? [True, True] Translation: X:-11.71, Y:1.69, Z:0.19 [[ 8.97760693e-01 4.33156337e-01 -8.00082849e-02 -1.17060019e+01] [-4.32461862e-01 9.01256299e-01 2.67174356e-02 1.68887865e+00] [ 8.36807973e-02 1.06146684e-02 9.96436076e-01 1.87266593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.679115933 meters Centerline goodness [0,1] 0.9930913415255677 Centerline is valid? [True, True] Translation: X:-11.73, Y:1.70, Z:0.20 [[ 9.05198060e-01 4.18485177e-01 -7.40717838e-02 -1.17314359e+01] [-4.17836503e-01 9.08183806e-01 2.47958038e-02 1.69792384e+00] [ 7.76474709e-02 8.50478159e-03 9.96944602e-01 1.99153070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.709115933 meters Centerline goodness [0,1] 0.9950103234686855 Centerline is valid? [True, True] Translation: X:-11.76, Y:1.70, Z:0.20 [[ 8.97768059e-01 4.33080434e-01 -8.03358532e-02 -1.17594365e+01] [-4.32368472e-01 9.01293790e-01 2.69630798e-02 1.69633554e+00] [ 8.40833879e-02 1.05280982e-02 9.96403103e-01 1.97342387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.739115932999999 meters Centerline goodness [0,1] 0.9929626613935094 Centerline is valid? [True, True] Translation: X:-11.79, Y:1.70, Z:0.20 [[ 8.93843010e-01 4.40614597e-01 -8.30870097e-02 -1.17861930e+01] [-4.39877975e-01 8.97622042e-01 2.79649129e-02 1.70143823e+00] [ 8.69024802e-02 1.15519037e-02 9.96149844e-01 1.95251766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.769115933 meters Centerline goodness [0,1] 0.9950280767430978 Centerline is valid? [True, True] Translation: X:-11.81, Y:1.71, Z:0.20 [[ 8.98114267e-01 4.32755506e-01 -7.81884552e-02 -1.18105581e+01] [-4.32068179e-01 9.01454901e-01 2.63846635e-02 1.71177056e+00] [ 8.19014745e-02 1.00863008e-02 9.96589391e-01 2.01917722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.799115933 meters Centerline goodness [0,1] 0.9937481741162723 Centerline is valid? [True, True] Translation: X:-11.84, Y:1.71, Z:0.21 [[ 8.95297795e-01 4.38630357e-01 -7.77513244e-02 -1.18374616e+01] [-4.37966421e-01 8.98606262e-01 2.63097112e-02 1.71435719e+00] [ 8.14080649e-02 1.04974428e-02 9.96625572e-01 2.06135508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.829115932999999 meters Centerline goodness [0,1] 0.9917452830188679 Centerline is valid? [True, True] Translation: X:-11.86, Y:1.72, Z:0.21 [[ 8.95728556e-01 4.37881357e-01 -7.70082480e-02 -1.18635151e+01] [-4.37221488e-01 8.98974176e-01 2.61304449e-02 1.72098581e+00] [ 8.06704610e-02 1.02638752e-02 9.96687980e-01 2.08224579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.859115933 meters Centerline goodness [0,1] 0.9919837281646326 Centerline is valid? [True, True] Translation: X:-11.89, Y:1.72, Z:0.20 [[ 8.91031473e-01 4.47190250e-01 -7.79986898e-02 -1.18905302e+01] [-4.46541956e-01 8.94368977e-01 2.65408224e-02 1.72463937e+00] [ 8.16284054e-02 1.11809794e-02 9.96600115e-01 2.03564408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.889115933 meters Centerline goodness [0,1] 0.9936146922889808 Centerline is valid? [True, True] Translation: X:-11.92, Y:1.73, Z:0.21 [[ 8.93364222e-01 4.43160081e-01 -7.42260702e-02 -1.19157128e+01] [-4.42554008e-01 8.96384180e-01 2.53249087e-02 1.73355030e+00] [ 7.77580637e-02 1.02246775e-02 9.96919826e-01 2.05132539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.919115933 meters Centerline goodness [0,1] 0.992555982671304 Centerline is valid? [True, True] Translation: X:-11.94, Y:1.74, Z:0.21 [[ 8.94693939e-01 4.40381489e-01 -7.47455721e-02 -1.19416274e+01] [-4.39751911e-01 8.97755164e-01 2.55719068e-02 1.74108975e+00] [ 7.83646177e-02 9.99047814e-03 9.96874705e-01 2.13664047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.949115933 meters Centerline goodness [0,1] 0.9949785670545009 Centerline is valid? [True, True] Translation: X:-11.97, Y:1.74, Z:0.22 [[ 8.90354142e-01 4.47755306e-01 -8.23692124e-02 -1.19695804e+01] [-4.47014649e-01 8.94080121e-01 2.82602334e-02 1.74209706e+00] [ 8.62983448e-02 1.16586287e-02 9.96201120e-01 2.18442014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.979115933 meters Centerline goodness [0,1] 0.9947387967318643 Centerline is valid? [True, True] Translation: X:-12.00, Y:1.75, Z:0.22 [[ 8.92552265e-01 4.43363699e-01 -8.23351976e-02 -1.19957185e+01] [-4.42598030e-01 8.96272415e-01 2.83327112e-02 1.74599474e+00] [ 8.63564620e-02 1.11529707e-02 9.96201873e-01 2.21573663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.009115933 meters Centerline goodness [0,1] 0.996501530580371 Centerline is valid? [True, True] Translation: X:-12.02, Y:1.75, Z:0.23 [[ 8.94188431e-01 4.39590204e-01 -8.47791371e-02 -1.20229904e+01] [-4.38753943e-01 8.98130696e-01 2.92614010e-02 1.74628574e+00] [ 8.90057707e-02 1.10319744e-02 9.95970014e-01 2.32166488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.039115933 meters Centerline goodness [0,1] 0.9961284589997461 Centerline is valid? [True, True] Translation: X:-12.05, Y:1.76, Z:0.23 [[ 8.94390298e-01 4.39114553e-01 -8.51140676e-02 -1.20468344e+01] [-4.38261504e-01 8.98364382e-01 2.94667686e-02 1.75552332e+00] [ 8.94027337e-02 1.09474274e-02 9.95935392e-01 2.28871939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.069115932999999 meters Centerline goodness [0,1] 0.9955033082803366 Centerline is valid? [True, True] Translation: X:-12.07, Y:1.76, Z:0.24 [[ 8.95589782e-01 4.35614668e-01 -9.03260932e-02 -1.20737511e+01] [-4.34626907e-01 9.00064037e-01 3.13716652e-02 1.75584389e+00] [ 9.49652257e-02 1.11620077e-02 9.95418010e-01 2.36849165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.099115933 meters Centerline goodness [0,1] 0.9972890983024592 Centerline is valid? [True, True] Translation: X:-12.10, Y:1.76, Z:0.23 [[ 8.92522417e-01 4.41695606e-01 -9.11522189e-02 -1.20992420e+01] [-4.40711054e-01 8.97087026e-01 3.17589964e-02 1.75879939e+00] [ 9.57992822e-02 1.18261742e-02 9.95330417e-01 2.34637733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.129115933 meters Centerline goodness [0,1] 0.9956578947368421 Centerline is valid? [True, True] Translation: X:-12.12, Y:1.77, Z:0.24 [[ 0.89120598 0.44412669 -0.09221383 -12.1232763 ] [ -0.4431211 0.89588188 0.03223896 1.76618041] [ 0.09693088 0.01213034 0.99521719 0.24219015] [ 0. 0. 0. 1. ]] SLAMing on 13.159115932999999 meters Centerline goodness [0,1] 0.9966392092257002 Centerline is valid? [True, True] Translation: X:-12.15, Y:1.77, Z:0.25 [[ 0.89077034 0.44482534 -0.0930517 -12.14815423] [ -0.44379458 0.89553395 0.03263933 1.77006691] [ 0.09784976 0.01222169 0.99512615 0.24804689] [ 0. 0. 0. 1. ]] SLAMing on 13.189115933 meters Centerline goodness [0,1] 0.9959935897435898 Centerline is valid? [True, True] Translation: X:-12.17, Y:1.78, Z:0.25 [[ 8.93090248e-01 4.40582575e-01 -9.09769431e-02 -1.21724948e+01] [-4.39565320e-01 8.97639766e-01 3.20184331e-02 1.77721768e+00] [ 9.57712856e-02 1.13949587e-02 9.95338141e-01 2.51391530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.219115933 meters Centerline goodness [0,1] 0.9963215623327983 Centerline is valid? [True, True] Translation: X:-12.20, Y:1.78, Z:0.25 [[ 8.92053652e-01 4.42221764e-01 -9.31675536e-02 -1.21999055e+01] [-4.41152492e-01 8.96828778e-01 3.29032244e-02 1.77719481e+00] [ 9.81058652e-02 1.17496570e-02 9.95106620e-01 2.52942750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.249115932999999 meters Centerline goodness [0,1] 0.9976343359242987 Centerline is valid? [True, True] Translation: X:-12.22, Y:1.79, Z:0.25 [[ 8.89948934e-01 4.46429023e-01 -9.32310161e-02 -1.22236806e+01] [-4.45370002e-01 8.94736936e-01 3.30359800e-02 1.78523851e+00] [ 9.81654540e-02 1.21219626e-02 9.95096278e-01 2.49013671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.279115933 meters Centerline goodness [0,1] 0.9974593835662232 Centerline is valid? [True, True] Translation: X:-12.25, Y:1.79, Z:0.26 [[ 8.90853326e-01 4.44335906e-01 -9.45830551e-02 -1.22472205e+01] [-4.43220952e-01 8.95780623e-01 3.36491136e-02 1.79368505e+00] [ 9.96771774e-02 1.19447669e-02 9.94948131e-01 2.59237971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.309115933 meters Centerline goodness [0,1] 0.998111935266352 Centerline is valid? [True, True] Translation: X:-12.27, Y:1.80, Z:0.26 [[ 8.90416413e-01 4.44614278e-01 -9.73486321e-02 -1.22717856e+01] [-4.43422863e-01 8.95638698e-01 3.47489055e-02 1.79899680e+00] [ 1.02639062e-01 1.22256134e-02 9.94643533e-01 2.57119709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.339115933 meters Centerline goodness [0,1] 0.9960266684625227 Centerline is valid? [True, True] Translation: X:-12.30, Y:1.81, Z:0.26 [[ 0.88927873 0.446827 -0.0976164 -12.29582366] [ -0.4456302 0.89453427 0.03495938 1.80712492] [ 0.10294201 0.01241218 0.99460991 0.26001396] [ 0. 0. 0. 1. ]] SLAMing on 13.369115933 meters Centerline goodness [0,1] 0.9965748824714573 Centerline is valid? [True, True] Translation: X:-12.32, Y:1.81, Z:0.26 [[ 0.88594831 0.4535151 -0.09705487 -12.31971909] [ -0.45235806 0.89115383 0.03488602 1.81428626] [ 0.10231215 0.01299634 0.99466744 0.26288479] [ 0. 0. 0. 1. ]] SLAMing on 13.399115933 meters Centerline goodness [0,1] 0.9972613719858393 Centerline is valid? [True, True] Translation: X:-12.34, Y:1.82, Z:0.27 [[ 0.88494623 0.45583346 -0.09532066 -12.34242711] [ -0.45471847 0.88997134 0.03438206 1.82293471] [ 0.10050515 0.01291779 0.99485267 0.26827834] [ 0. 0. 0. 1. ]] SLAMing on 13.429115933 meters Centerline goodness [0,1] 0.9975650997632736 Centerline is valid? [True, True] Translation: X:-12.36, Y:1.83, Z:0.27 [[ 0.88018159 0.46484512 -0.09591343 -12.36412884] [ -0.46375631 0.88528248 0.03471337 1.83492684] [ 0.10104682 0.01392639 0.9947842 0.26602999] [ 0. 0. 0. 1. ]] SLAMing on 13.459115933 meters Centerline goodness [0,1] 0.9969514260551453 Centerline is valid? [True, True] Translation: X:-12.39, Y:1.84, Z:0.27 [[ 0.87729228 0.47070185 -0.09379779 -12.38697104] [ -0.46968029 0.8821787 0.03407593 1.8435964 ] [ 0.09878602 0.01416042 0.99500794 0.26899666] [ 0. 0. 0. 1. ]] SLAMing on 13.489115932999999 meters Centerline goodness [0,1] 0.9967650905086379 Centerline is valid? [True, True] Translation: X:-12.41, Y:1.86, Z:0.27 [[ 0.87130808 0.48198552 -0.09226149 -12.40717219] [ -0.48104717 0.87604941 0.03363101 1.86010044] [ 0.09703528 0.01507916 0.99516671 0.27112685] [ 0. 0. 0. 1. ]] SLAMing on 13.519115933 meters Centerline goodness [0,1] 0.9958461744606727 Centerline is valid? [True, True] Translation: X:-12.43, Y:1.87, Z:0.28 [[ 0.8736934 0.47850261 -0.08772167 -12.42898822] [ -0.47762616 0.87797677 0.03209417 1.87319358] [ 0.09237473 0.0138577 0.99562788 0.27921296] [ 0. 0. 0. 1. ]] SLAMing on 13.549115933 meters Centerline goodness [0,1] 0.9956 Centerline is valid? [True, True] Translation: X:-12.45, Y:1.89, Z:0.28 [[ 0.87178792 0.48186713 -0.0882604 -12.45003051] [ -0.48098685 0.87612907 0.03239586 1.88828388] [ 0.09293801 0.01420977 0.99557049 0.28474846] [ 0. 0. 0. 1. ]] SLAMing on 13.579115932999999 meters Centerline goodness [0,1] 0.995764955002647 Centerline is valid? [True, True] Translation: X:-12.47, Y:1.90, Z:0.29 [[ 0.86586167 0.49271067 -0.08671654 -12.47281201] [ -0.49190345 0.87006384 0.03193616 1.89837119] [ 0.09118421 0.01500387 0.99572101 0.29128079] [ 0. 0. 0. 1. ]] SLAMing on 13.609115933 meters Centerline goodness [0,1] 0.9958855929391466 Centerline is valid? [True, True] Translation: X:-12.49, Y:1.91, Z:0.30 [[ 0.86439952 0.49600774 -0.08240013 -12.49486547] [ -0.49528522 0.86819701 0.03043845 1.91084519] [ 0.08663725 0.01450058 0.99613439 0.29640918] [ 0. 0. 0. 1. ]] SLAMing on 13.639115933 meters Centerline goodness [0,1] 0.9968293810687628 Centerline is valid? [True, True] Translation: X:-12.52, Y:1.92, Z:0.30 [[ 0.8637682 0.49776248 -0.07833904 -12.51700497] [ -0.4971093 0.86720241 0.02902288 1.92251551] [ 0.08238231 0.01387402 0.99650422 0.30299611] [ 0. 0. 0. 1. ]] SLAMing on 13.669115933 meters Centerline goodness [0,1] 0.9956002933137791 Centerline is valid? [True, True] Translation: X:-12.54, Y:1.94, Z:0.30 [[ 0.85705307 0.50914771 -0.07892176 -12.53868655] [ -0.50852386 0.86054841 0.02932423 1.93562943] [ 0.08284636 0.01500118 0.99644942 0.30091626] [ 0. 0. 0. 1. ]] SLAMing on 13.699115933 meters Centerline goodness [0,1] 0.9963865096359743 Centerline is valid? [True, True] Translation: X:-12.56, Y:1.95, Z:0.30 [[ 0.85397241 0.51432769 -0.07872832 -12.56129377] [ -0.51372084 0.85745564 0.02933817 1.94831534] [ 0.08259548 0.01539039 0.99646431 0.30357227] [ 0. 0. 0. 1. ]] SLAMing on 13.729115933 meters Centerline goodness [0,1] 0.9965184260658214 Centerline is valid? [True, True] Translation: X:-12.58, Y:1.96, Z:0.30 [[ 0.85154371 0.51850883 -0.07760094 -12.58442524] [ -0.51792887 0.85493188 0.02900298 1.95747971] [ 0.08138182 0.01549446 0.99656255 0.3039447 ] [ 0. 0. 0. 1. ]] SLAMing on 13.759115933 meters Centerline goodness [0,1] 0.9969483879527663 Centerline is valid? [True, True] Translation: X:-12.61, Y:1.96, Z:0.30 [[ 0.84842617 0.52316324 -0.08045655 -12.61010392] [ -0.5225516 0.85207377 0.03016801 1.96029395] [ 0.08433771 0.01644737 0.99630148 0.30236868] [ 0. 0. 0. 1. ]] SLAMing on 13.789115933 meters Centerline goodness [0,1] 0.9955941164508914 Centerline is valid? [True, True] Translation: X:-12.63, Y:1.97, Z:0.30 [[ 0.84585825 0.52779607 -0.0771695 -12.63332446] [ -0.52724336 0.84921804 0.02903733 1.96801097] [ 0.08085952 0.01612564 0.99659505 0.29993456] [ 0. 0. 0. 1. ]] SLAMing on 13.819115932999999 meters Centerline goodness [0,1] 0.9958139220849369 Centerline is valid? [True, True] Translation: X:-12.66, Y:1.98, Z:0.31 [[ 0.84755095 0.52543551 -0.07466537 -12.65652061] [ -0.52490261 0.8506957 0.02817939 1.97582816] [ 0.07832396 0.01530858 0.99681042 0.31444575] [ 0. 0. 0. 1. ]] SLAMing on 13.849115933 meters Centerline goodness [0,1] 0.9973203243094682 Centerline is valid? [True, True] Translation: X:-12.68, Y:1.98, Z:0.30 [[ 0.84153877 0.53441133 -0.07884817 -12.6805507 ] [ -0.53384726 0.84505404 0.02984582 1.9830008 ] [ 0.08258091 0.01697646 0.99643976 0.30294758] [ 0. 0. 0. 1. ]] SLAMing on 13.879115933 meters Centerline goodness [0,1] 0.9968941955966595 Centerline is valid? [True, True] Translation: X:-12.71, Y:1.99, Z:0.31 [[ 0.84250304 0.53311196 -0.07733223 -12.7055593 ] [ -0.53255676 0.84588484 0.02936209 1.98674232] [ 0.08106744 0.01644615 0.99657292 0.30569213] [ 0. 0. 0. 1. ]] SLAMing on 13.909115932999999 meters Centerline goodness [0,1] 0.9957333706371966 Centerline is valid? [True, True] Translation: X:-12.73, Y:2.00, Z:0.31 [[ 0.84049536 0.53650638 -0.07568649 -12.72794865] [ -0.53598041 0.84373811 0.02882721 1.99554891] [ 0.07932555 0.01633734 0.99671488 0.30660698] [ 0. 0. 0. 1. ]] SLAMing on 13.939115933 meters Centerline goodness [0,1] 0.9958979350622262 Centerline is valid? [True, True] Translation: X:-12.75, Y:2.00, Z:0.31 [[ 0.8403879 0.5363245 -0.07812944 -12.75253812] [ -0.53575437 0.84384548 0.02986734 2.00001759] [ 0.08194776 0.01675804 0.99649573 0.31176467] [ 0. 0. 0. 1. ]] SLAMing on 13.969115933 meters Centerline goodness [0,1] 0.996285654215432 Centerline is valid? [True, True] Translation: X:-12.78, Y:2.00, Z:0.31 [[ 0.83685306 0.54132353 -0.08152168 -12.77771088] [ -0.54071707 0.84062343 0.03126174 2.00224136] [ 0.08545175 0.01791868 0.99618117 0.30617399] [ 0. 0. 0. 1. ]] SLAMing on 13.999115932999999 meters Centerline goodness [0,1] 0.9960906958561376 Centerline is valid? [True, True] Translation: X:-12.80, Y:2.00, Z:0.31 [[ 0.83742189 0.54067803 -0.07994909 -12.80283921] [ -0.54008274 0.84104936 0.03076703 2.00319755] [ 0.08387619 0.01741414 0.99632401 0.31368043] [ 0. 0. 0. 1. ]] SLAMing on 14.029115933 meters Centerline goodness [0,1] 0.9963668071501235 Centerline is valid? [True, True] Translation: X:-12.82, Y:2.02, Z:0.30 [[ 0.83372218 0.54653794 -0.07876299 -12.82288832] [ -0.54597689 0.83724828 0.03040647 2.0186041 ] [ 0.08256246 0.01765222 0.99642955 0.30157722] [ 0. 0. 0. 1. ]] SLAMing on 14.059115933 meters Centerline goodness [0,1] 0.9969788519637462 Centerline is valid? [True, True] Translation: X:-12.85, Y:2.02, Z:0.32 [[ 0.83828024 0.53984976 -0.07647534 -12.84721868] [ -0.53928526 0.8416016 0.02963364 2.0228264 ] [ 0.08035948 0.01640073 0.99663101 0.31625602] [ 0. 0. 0. 1. ]] SLAMing on 14.089115933 meters Centerline goodness [0,1] 0.9968426463029592 Centerline is valid? [True, True] Translation: X:-12.87, Y:2.03, Z:0.32 [[ 0.8373368 0.54149361 -0.0751781 -12.8706623 ] [ -0.54094704 0.84054881 0.0292232 2.02987178] [ 0.07901504 0.01619771 0.99674182 0.31750402] [ 0. 0. 0. 1. ]] SLAMing on 14.119115933 meters Centerline goodness [0,1] 0.9976378533992766 Centerline is valid? [True, True] Translation: X:-12.90, Y:2.03, Z:0.32 [[ 0.84044609 0.53683604 -0.0738745 -12.89552828] [ -0.53628284 0.84354612 0.02882103 2.03290955] [ 0.07778872 0.01539511 0.99685099 0.32165379] [ 0. 0. 0. 1. ]] SLAMing on 14.149115933 meters Centerline goodness [0,1] 0.9954898336414048 Centerline is valid? [True, True] Translation: X:-12.92, Y:2.03, Z:0.33 [[ 0.83962724 0.53797736 -0.07487635 -12.92051773] [ -0.53740387 0.84281474 0.02933254 2.0333257 ] [ 0.07888713 0.01561044 0.99676132 0.32831601] [ 0. 0. 0. 1. ]] SLAMing on 14.179115933 meters Centerline goodness [0,1] 0.9974516564233248 Centerline is valid? [True, True] Translation: X:-12.94, Y:2.04, Z:0.32 [[ 0.83745276 0.54117254 -0.07619159 -12.94347469] [ -0.54058337 0.84075727 0.02994707 2.03990921] [ 0.08026517 0.01610865 0.99664337 0.32219723] [ 0. 0. 0. 1. ]] SLAMing on 14.209115933 meters Centerline goodness [0,1] 0.9963215572074489 Centerline is valid? [True, True] Translation: X:-12.97, Y:2.04, Z:0.32 [[ 0.83429337 0.54579799 -0.07784035 -12.96817172] [ -0.5451919 0.8377482 0.03072042 2.0423335 ] [ 0.08197776 0.01680808 0.99649242 0.31948491] [ 0. 0. 0. 1. ]] SLAMing on 14.239115932999999 meters Centerline goodness [0,1] 0.9970750988142293 Centerline is valid? [True, True] Translation: X:-12.99, Y:2.04, Z:0.31 [[ 0.83120199 0.54995582 -0.08155879 -12.99211703] [ -0.54929833 0.83500111 0.03231849 2.04385818] [ 0.08587543 0.01793691 0.99614441 0.31310996] [ 0. 0. 0. 1. ]] SLAMing on 14.269115933 meters Centerline goodness [0,1] 0.9978952291861553 Centerline is valid? [True, True] Translation: X:-13.02, Y:2.05, Z:0.33 [[ 0.83641036 0.54267767 -0.07693276 -13.01501023] [ -0.54205304 0.83978669 0.03060739 2.04833258] [ 0.08121705 0.01610129 0.99656637 0.33050744] [ 0. 0. 0. 1. ]] SLAMing on 14.299115933 meters Centerline goodness [0,1] 0.9974101396954952 Centerline is valid? [True, True] Translation: X:-13.04, Y:2.05, Z:0.34 [[ 0.83614566 0.54325664 -0.07571433 -13.03823922] [ -0.54264395 0.83941808 0.03024607 2.05323309] [ 0.07998736 0.0157958 0.99667072 0.33532348] [ 0. 0. 0. 1. ]] SLAMing on 14.329115932999999 meters Centerline goodness [0,1] 0.9974101396954952 Centerline is valid? [True, True] Translation: X:-13.06, Y:2.06, Z:0.34 [[ 0.83533054 0.54451544 -0.07566926 -13.06029235] [ -0.54389793 0.83860205 0.03035862 2.06221913] [ 0.07998713 0.01579688 0.99667072 0.33503077] [ 0. 0. 0. 1. ]] SLAMing on 14.359115933 meters Centerline goodness [0,1] 0.9950824873096447 Centerline is valid? [True, True] Translation: X:-13.08, Y:2.07, Z:0.34 [[ 0.8354011 0.54392947 -0.07902992 -13.08374338] [ -0.54324195 0.83897204 0.03184482 2.06741397] [ 0.08362523 0.01632917 0.99636348 0.33513122] [ 0. 0. 0. 1. ]] SLAMing on 14.389115933 meters Centerline goodness [0,1] 0.996814272061166 Centerline is valid? [True, True] Translation: X:-13.11, Y:2.07, Z:0.34 [[ 0.83265656 0.54844185 -0.07677623 -13.10696881] [ -0.54780139 0.83603178 0.03105639 2.07034832] [ 0.08121999 0.01619882 0.99656455 0.33796049] [ 0. 0. 0. 1. ]] SLAMing on 14.419115932999999 meters Centerline goodness [0,1] 0.9944645006016847 Centerline is valid? [True, True] Translation: X:-13.13, Y:2.08, Z:0.34 [[ 0.83315851 0.54763096 -0.0771183 -13.12820919] [ -0.54697159 0.83656525 0.03131549 2.08053408] [ 0.08166382 0.01609076 0.99653003 0.34388569] [ 0. 0. 0. 1. ]] SLAMing on 14.449115933 meters Centerline goodness [0,1] 0.9982354828360603 Centerline is valid? [True, True] Translation: X:-13.15, Y:2.08, Z:0.33 [[ 0.82643036 0.55749868 -0.07879139 -13.15098278] [ -0.55684225 0.82999696 0.0321211 2.08404294] [ 0.08330408 0.01732852 0.9963735 0.33369306] [ 0. 0. 0. 1. ]] SLAMing on 14.479115933 meters Centerline goodness [0,1] 0.9972613773660894 Centerline is valid? [True, True] Translation: X:-13.17, Y:2.09, Z:0.34 [[ 0.82350283 0.56203032 -0.07723345 -13.17261779] [ -0.56140695 0.82693536 0.03162524 2.0906174 ] [ 0.08164141 0.01731592 0.99651133 0.3355585 ] [ 0. 0. 0. 1. ]] SLAMing on 14.509115933 meters Centerline goodness [0,1] 0.997160934458144 Centerline is valid? [True, True] Translation: X:-13.19, Y:2.10, Z:0.35 [[ 0.82395731 0.56194062 -0.07291843 -13.19294575] [ -0.56137451 0.8270184 0.02998702 2.10082903] [ 0.07715581 0.01622653 0.996887 0.34531185] [ 0. 0. 0. 1. ]] SLAMing on 14.539115933 meters Centerline goodness [0,1] 0.9954571266325951 Centerline is valid? [True, True] Translation: X:-13.21, Y:2.11, Z:0.34 [[ 0.81961618 0.5681085 -0.07404086 -13.21363088] [ -0.56753921 0.82277874 0.03056788 2.11060118] [ 0.07828511 0.01696716 0.99678662 0.34428322] [ 0. 0. 0. 1. ]] SLAMing on 14.569115932999999 meters Centerline goodness [0,1] 0.9969073003987955 Centerline is valid? [True, True] Translation: X:-13.24, Y:2.12, Z:0.34 [[ 0.81432507 0.57592563 -0.07200237 -13.23606633] [ -0.57540639 0.81732274 0.02984988 2.11695864] [ 0.07604049 0.01712311 0.99695769 0.34036679] [ 0. 0. 0. 1. ]] SLAMing on 14.599115933 meters Centerline goodness [0,1] 0.9974654566266046 Centerline is valid? [True, True] Translation: X:-13.26, Y:2.13, Z:0.36 [[ 0.8151989 0.57480465 -0.07106599 -13.25694165] [ -0.5742854 0.81812037 0.02958603 2.12696583] [ 0.07514672 0.01669366 0.99703274 0.36063806] [ 0. 0. 0. 1. ]] SLAMing on 14.629115933 meters Centerline goodness [0,1] 0.9963738256139772 Centerline is valid? [True, True] Translation: X:-13.28, Y:2.13, Z:0.36 [[ 0.8103806 0.58167017 -0.07030715 -13.27854776] [ -0.58117709 0.81324618 0.02939116 2.1347837 ] [ 0.07427298 0.01704288 0.9970923 0.35644642] [ 0. 0. 0. 1. ]] SLAMing on 14.659115932999999 meters Centerline goodness [0,1] 0.9977347092876919 Centerline is valid? [True, True] Translation: X:-13.30, Y:2.14, Z:0.35 [[ 0.80341464 0.59126859 -0.07018817 -13.29942034] [ -0.59080288 0.80627816 0.02945326 2.14239785] [ 0.07400597 0.01780419 0.99709886 0.34630399] [ 0. 0. 0. 1. ]] SLAMing on 14.689115933 meters Centerline goodness [0,1] 0.9942062572421785 Centerline is valid? [True, True] Translation: X:-13.32, Y:2.15, Z:0.33 [[ 0.79308097 0.60447183 -0.07507578 -13.32109649] [ -0.60398406 0.79636874 0.03162412 2.14801076] [ 0.07890389 0.02026408 0.99667625 0.32903638] [ 0. 0. 0. 1. ]] SLAMing on 14.719115933 meters Centerline goodness [0,1] 0.9951307022039979 Centerline is valid? [True, True] Translation: X:-13.34, Y:2.15, Z:0.35 [[ 0.80558883 0.58817291 -0.07126899 -13.34312677] [ -0.5876637 0.80854367 0.03014168 2.15377727] [ 0.07535261 0.0176004 0.99700161 0.34991634] [ 0. 0. 0. 1. ]] SLAMing on 14.749115932999999 meters Centerline goodness [0,1] 0.9936045972750023 Centerline is valid? [True, True] Translation: X:-13.36, Y:2.16, Z:0.33 [[ 0.79126328 0.60681274 -0.07537051 -13.36451161] [ -0.60631077 0.79458361 0.03200201 2.15928427] [ 0.0793074 0.02037593 0.99664194 0.32904506] [ 0. 0. 0. 1. ]] SLAMing on 14.779115933 meters Centerline goodness [0,1] 0.9938549420114247 Centerline is valid? [True, True] Translation: X:-13.38, Y:2.17, Z:0.34 [[ 0.80049872 0.59505194 -0.07151915 -13.3849685 ] [ -0.59454563 0.80348324 0.03049875 2.16657601] [ 0.07561278 0.01810719 0.99697284 0.33745627] [ 0. 0. 0. 1. ]] SLAMing on 14.809115933 meters Centerline goodness [0,1] 0.9926561670500796 Centerline is valid? [True, True] Translation: X:-13.41, Y:2.17, Z:0.32 [[ 0.79367646 0.60362786 -0.07557173 -13.40797372] [ -0.60308819 0.79701794 0.03235793 2.16823536] [ 0.07976417 0.0198947 0.99661521 0.32121434] [ 0. 0. 0. 1. ]] SLAMing on 14.839115933 meters Centerline goodness [0,1] 0.9944874188672534 Centerline is valid? [True, True] Translation: X:-13.43, Y:2.17, Z:0.33 [[ 0.79783541 0.59850757 -0.07243852 -13.42631932] [ -0.59797825 0.80090513 0.03119277 2.17254539] [ 0.07668549 0.01842996 0.99688498 0.32905785] [ 0. 0. 0. 1. ]] SLAMing on 14.869115933 meters Centerline goodness [0,1] 0.9958681397646636 Centerline is valid? [True, True] Translation: X:-13.45, Y:2.18, Z:0.34 [[ 0.79865064 0.59759549 -0.07097029 -13.44750848] [ -0.59707422 0.80159872 0.0306899 2.17799462] [ 0.07522984 0.01786402 0.99700619 0.3392358 ] [ 0. 0. 0. 1. ]] SLAMing on 14.899115933 meters Centerline goodness [0,1] 0.9965015128593041 Centerline is valid? [True, True] Translation: X:-13.47, Y:2.19, Z:0.35 [[ 0.79806284 0.59870757 -0.06815382 -13.46512173] [ -0.59822196 0.80078393 0.02959013 2.19195558] [ 0.07229232 0.01715633 0.99723592 0.3509156 ] [ 0. 0. 0. 1. ]] SLAMing on 14.929115933 meters Centerline goodness [0,1] 0.995476341264815 Centerline is valid? [True, True] Translation: X:-13.49, Y:2.19, Z:0.35 [[ 0.80045495 0.5952061 -0.07072182 -13.48934989] [ -0.59466047 0.8033853 0.03083792 2.18965426] [ 0.07517179 0.01737111 0.99701928 0.34575591] [ 0. 0. 0. 1. ]] SLAMing on 14.959115933 meters Centerline goodness [0,1] 0.9965839626033801 Centerline is valid? [True, True] Translation: X:-13.51, Y:2.19, Z:0.35 [[ 0.80917443 0.58349315 -0.0690832 -13.51248946] [ -0.5829223 0.81196453 0.03025226 2.19170395] [ 0.0737451 0.01579078 0.9971521 0.35047767] [ 0. 0. 0. 1. ]] SLAMing on 14.989115932999999 meters Centerline goodness [0,1] 0.9974910394265233 Centerline is valid? [True, True] Translation: X:-13.53, Y:2.20, Z:0.35 [[ 0.81136873 0.58057906 -0.06788766 -13.53351187] [ -0.58000869 0.81406292 0.02985776 2.19861577] [ 0.07259962 0.01514978 0.9972461 0.35357186] [ 0. 0. 0. 1. ]] SLAMing on 15.019115933 meters Centerline goodness [0,1] 0.9990094552003602 Centerline is valid? [True, True] Translation: X:-13.56, Y:2.20, Z:0.35 [[ 0.80625317 0.58769693 -0.06758808 -13.55702985] [ -0.58714619 0.8089304 0.02984904 2.20027773] [ 0.07221624 0.0156182 0.99726671 0.35059753] [ 0. 0. 0. 1. ]] SLAMing on 15.049115933 meters Centerline goodness [0,1] 0.9978343259339469 Centerline is valid? [True, True] Translation: X:-13.58, Y:2.21, Z:0.35 [[ 0.80618577 0.58761166 -0.06911621 -13.57654903] [ -0.58702556 0.8089877 0.03065779 2.2093655 ] [ 0.07392904 0.01585711 0.99713743 0.3521892 ] [ 0. 0. 0. 1. ]] SLAMing on 15.079115932999999 meters Centerline goodness [0,1] 0.9966243955843445 Centerline is valid? [True, True] Translation: X:-13.60, Y:2.22, Z:0.37 [[ 0.81096224 0.58113828 -0.06795984 -13.59639974] [ -0.58054012 0.81366845 0.03027907 2.2192904 ] [ 0.0728931 0.01489823 0.99722848 0.37425373] [ 0. 0. 0. 1. ]] SLAMing on 15.109115933 meters Centerline goodness [0,1] 0.9965848255491969 Centerline is valid? [True, True] Translation: X:-13.62, Y:2.22, Z:0.39 [[ 8.17525254e-01 5.72216614e-01 -6.49661929e-02 -1.36184911e+01] [-5.71634229e-01 8.19993489e-01 2.90686476e-02 2.22273433e+00] [ 6.99054183e-02 1.33725460e-02 9.97463988e-01 3.88934064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.139115933 meters Centerline goodness [0,1] 0.9986462966544188 Centerline is valid? [True, True] Translation: X:-13.64, Y:2.23, Z:0.38 [[ 8.12280902e-01 5.79789325e-01 -6.35930416e-02 -1.36380569e+01] [-5.79244585e-01 8.14652584e-01 2.85810819e-02 2.23337882e+00] [ 6.83772419e-02 1.36200580e-02 9.97566563e-01 3.84970241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.169115932999999 meters Centerline goodness [0,1] 0.9988237600470496 Centerline is valid? [True, True] Translation: X:-13.66, Y:2.23, Z:0.36 [[ 0.8060822 0.58770628 -0.06951847 -13.66114807] [ -0.58707129 0.80892591 0.03140354 2.23019581] [ 0.07469135 0.01549847 0.99708626 0.35966456] [ 0. 0. 0. 1. ]] SLAMing on 15.199115933 meters Centerline goodness [0,1] 0.9983157106765229 Centerline is valid? [True, True] Translation: X:-13.68, Y:2.24, Z:0.38 [[ 8.17484985e-01 5.72267375e-01 -6.50257689e-02 -1.36801454e+01] [-5.71655131e-01 8.19963251e-01 2.95072410e-02 2.24116902e+00] [ 7.02047723e-02 1.30505880e-02 9.97447228e-01 3.82938252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.229115933 meters Centerline goodness [0,1] 0.9993351063829787 Centerline is valid? [True, True] Translation: X:-13.70, Y:2.24, Z:0.37 [[ 8.13070038e-01 5.78503652e-01 -6.51969150e-02 -1.37026225e+01] [-5.77897907e-01 8.15567825e-01 2.97175461e-02 2.24441901e+00] [ 7.03642151e-02 1.35147144e-02 9.97429812e-01 3.65313155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.259115933 meters Centerline goodness [0,1] 0.9981915096135542 Centerline is valid? [True, True] Translation: X:-13.72, Y:2.25, Z:0.38 [[ 8.20577189e-01 5.68222012e-01 -6.14558474e-02 -1.37213791e+01] [-5.67647058e-01 8.22790813e-01 2.81441709e-02 2.25478641e+00] [ 6.65574441e-02 1.17907663e-02 9.97712927e-01 3.82231631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.289115933 meters Centerline goodness [0,1] 0.9993990986479719 Centerline is valid? [True, True] Translation: X:-13.74, Y:2.26, Z:0.38 [[ 8.15929124e-01 5.74966660e-01 -6.06053127e-02 -1.37432506e+01] [-5.74417020e-01 8.18087884e-01 2.78801048e-02 2.26004504e+00] [ 6.56106028e-02 1.20645336e-02 9.97772367e-01 3.78442245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.319115932999999 meters Centerline goodness [0,1] 0.9987905664180609 Centerline is valid? [True, True] Translation: X:-13.77, Y:2.26, Z:0.37 [[ 8.13420138e-01 5.78390469e-01 -6.17425732e-02 -1.37651708e+01] [-5.77820677e-01 8.15664801e-01 2.85341489e-02 2.26443616e+00] [ 6.68651234e-02 1.24658842e-02 9.97684147e-01 3.72715450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.349115933 meters Centerline goodness [0,1] 0.9997989747713338 Centerline is valid? [True, True] Translation: X:-13.78, Y:2.27, Z:0.39 [[ 8.15576260e-01 5.75506069e-01 -6.02339485e-02 -1.37846542e+01] [-5.74947671e-01 8.17712056e-01 2.79672796e-02 2.27341614e+00] [ 6.53493650e-02 1.18219191e-02 9.97792415e-01 3.88702411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.379115933 meters Centerline goodness [0,1] 0.9993894993894994 Centerline is valid? [True, True] Translation: X:-13.81, Y:2.28, Z:0.36 [[ 8.11353923e-01 5.80903610e-01 -6.52365540e-02 -1.38069963e+01] [-5.80254719e-01 8.13866020e-01 3.04394766e-02 2.27500152e+00] [ 7.07762164e-02 1.31566296e-02 9.97405449e-01 3.64329703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.409115932999999 meters Centerline goodness [0,1] 0.9985621165644172 Centerline is valid? [True, True] Translation: X:-13.83, Y:2.28, Z:0.37 [[ 8.22306985e-01 5.65448744e-01 -6.38665844e-02 -1.38293366e+01] [-5.64771178e-01 8.24704027e-01 2.99463519e-02 2.27568993e+00] [ 6.96041564e-02 1.14449117e-02 9.97509035e-01 3.72544600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.439115933 meters Centerline goodness [0,1] 0.9998972778633796 Centerline is valid? [True, True] Translation: X:-13.85, Y:2.28, Z:0.37 [[ 8.18974283e-01 5.70491044e-01 -6.18149788e-02 -1.38492994e+01] [-5.69860694e-01 8.21225057e-01 2.91237962e-02 2.28237630e+00] [ 6.73788744e-02 1.13742866e-02 9.97662625e-01 3.68535629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.469115933 meters Centerline goodness [0,1] 0.9995816774733319 Centerline is valid? [True, True] Translation: X:-13.87, Y:2.28, Z:0.36 [[ 8.13717864e-01 5.77416899e-01 -6.67305164e-02 -1.38720305e+01] [-5.76691813e-01 8.16349799e-01 3.16158099e-02 2.27906236e+00] [ 7.27309465e-02 1.27565932e-02 9.97270013e-01 3.57402433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.499115932999999 meters Centerline goodness [0,1] 0.9994826158940397 Centerline is valid? [True, True] Translation: X:-13.89, Y:2.29, Z:0.36 [[ 8.18095455e-01 5.71483134e-01 -6.42405967e-02 -1.38908521e+01] [-5.70782218e-01 8.20531288e-01 3.05951949e-02 2.28683975e+00] [ 7.01960574e-02 1.16376003e-02 9.97465328e-01 3.59896227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.529115933 meters Centerline goodness [0,1] 0.9996871415163208 Centerline is valid? [True, True] Translation: X:-13.91, Y:2.29, Z:0.35 [[ 8.21014673e-01 5.67044729e-01 -6.62961690e-02 -1.39135706e+01] [-5.66272764e-01 8.23606863e-01 3.17315670e-02 2.28709200e+00] [ 7.25951976e-02 1.14896328e-02 9.97295305e-01 3.50193358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.559115933 meters Centerline goodness [0,1] 0.9992670924510523 Centerline is valid? [True, True] Translation: X:-13.94, Y:2.29, Z:0.34 [[ 8.22570114e-01 5.64457584e-01 -6.90365389e-02 -1.39355857e+01] [-5.63599046e-01 8.25380676e-01 3.32092428e-02 2.29015594e+00] [ 7.57266341e-02 1.15919968e-02 9.97061233e-01 3.43637123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.589115933 meters Centerline goodness [0,1] 0.9998946370245496 Centerline is valid? [True, True] Translation: X:-13.96, Y:2.29, Z:0.34 [[ 8.30078069e-01 5.53187512e-01 -7.03844875e-02 -1.39590486e+01] [-5.52242031e-01 8.32989042e-01 3.40293304e-02 2.28992850e+00] [ 7.74541075e-02 1.06222715e-02 9.96939330e-01 3.36933438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.619115933 meters Centerline goodness [0,1] 0.9998915871639202 Centerline is valid? [True, True] Translation: X:-13.98, Y:2.29, Z:0.33 [[ 8.29703976e-01 5.53550603e-01 -7.19238674e-02 -1.39805441e+01] [-5.52550484e-01 8.32746264e-01 3.49517194e-02 2.29301294e+00] [ 7.92418772e-02 1.07419872e-02 9.96797539e-01 3.33856842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.649115933 meters Centerline goodness [0,1] 0.9996767589699386 Centerline is valid? [True, True] Translation: X:-14.00, Y:2.30, Z:0.34 [[ 8.37185131e-01 5.42842047e-01 -6.66600909e-02 -1.40006917e+01] [-5.41936900e-01 8.39788043e-01 3.25643998e-02 2.29976003e+00] [ 7.36576727e-02 8.86313169e-03 9.97244199e-01 3.44633820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.679115933 meters Centerline goodness [0,1] 0.9992322035757376 Centerline is valid? [True, True] Translation: X:-14.02, Y:2.30, Z:0.35 [[ 8.39305950e-01 5.39629428e-01 -6.60727092e-02 -1.40216729e+01] [-5.38717939e-01 8.41861132e-01 3.24471277e-02 2.30455616e+00] [ 7.31334708e-02 8.36148642e-03 9.97287111e-01 3.46555992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.709115933 meters Centerline goodness [0,1] 0.9997794685191311 Centerline is valid? [True, True] Translation: X:-14.04, Y:2.31, Z:0.35 [[ 8.45502978e-01 5.29827982e-01 -6.63854253e-02 -1.40431190e+01] [-5.28865274e-01 8.48072841e-01 3.27716189e-02 2.30880016e+00] [ 7.36629969e-02 7.40044473e-03 9.97255733e-01 3.50476651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.739115932999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.06, Y:2.31, Z:0.34 [[ 8.44416735e-01 5.31082773e-01 -7.00818504e-02 -1.40635137e+01] [-5.29999602e-01 8.47284288e-01 3.47815600e-02 2.31406886e+00] [ 7.78511381e-02 7.77322148e-03 9.96934691e-01 3.41259888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.769115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.08, Y:2.32, Z:0.35 [[ 8.46987818e-01 5.27092446e-01 -6.91750581e-02 -1.40829942e+01] [-5.26009928e-01 8.49777836e-01 3.45135467e-02 2.32356412e+00] [ 7.69752610e-02 7.15421372e-03 9.97007335e-01 3.45482070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.799115933 meters Centerline goodness [0,1] 0.9992058089403222 Centerline is valid? [True, True] Translation: X:-14.10, Y:2.33, Z:0.34 [[ 8.43585227e-01 5.32581207e-01 -6.87111502e-02 -1.41029981e+01] [-5.31517234e-01 8.46346128e-01 3.44624744e-02 2.33015708e+00] [ 7.65074821e-02 7.44912618e-03 9.97041181e-01 3.43524206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.829115932999999 meters Centerline goodness [0,1] 0.9998875267124058 Centerline is valid? [True, True] Translation: X:-14.12, Y:2.34, Z:0.35 [[ 8.46030159e-01 5.28941934e-01 -6.67338036e-02 -1.41218221e+01] [-5.27913628e-01 8.48631101e-01 3.36519923e-02 2.33828669e+00] [ 7.44323311e-02 6.75908397e-03 9.97203160e-01 3.45459049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.859115933 meters Centerline goodness [0,1] 0.9998842056507642 Centerline is valid? [True, True] Translation: X:-14.14, Y:2.35, Z:0.34 [[ 8.43061945e-01 5.33628632e-01 -6.69853751e-02 -1.41415116e+01] [-5.32593282e-01 8.45689591e-01 3.39633982e-02 2.34502203e+00] [ 7.47726762e-02 7.04271226e-03 9.97175735e-01 3.38602738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.889115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.16, Y:2.36, Z:0.34 [[ 8.40465029e-01 5.37639340e-01 -6.75460876e-02 -1.41583526e+01] [-5.36585829e-01 8.43143225e-01 3.44260189e-02 2.35840733e+00] [ 7.54598082e-02 7.31040840e-03 9.97122046e-01 3.37329294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.919115932999999 meters Centerline goodness [0,1] 0.9997720018239854 Centerline is valid? [True, True] Translation: X:-14.17, Y:2.37, Z:0.34 [[ 8.39507139e-01 5.39126943e-01 -6.76010526e-02 -1.41742958e+01] [-5.38062852e-01 8.42192896e-01 3.46337126e-02 2.37367197e+00] [ 7.56050938e-02 7.29836620e-03 9.97111129e-01 3.38534423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.949115933 meters Centerline goodness [0,1] 0.9998841251448436 Centerline is valid? [True, True] Translation: X:-14.19, Y:2.38, Z:0.34 [[ 8.34765591e-01 5.46565652e-01 -6.65762411e-02 -1.41935051e+01] [-5.45543754e-01 8.37380840e-01 3.42832634e-02 2.38354999e+00] [ 7.44877229e-02 7.70176385e-03 9.97192189e-01 3.38004649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.979115933 meters Centerline goodness [0,1] 0.999882491186839 Centerline is valid? [True, True] Translation: X:-14.21, Y:2.40, Z:0.34 [[ 8.32464459e-01 5.50294896e-01 -6.46409502e-02 -1.42112922e+01] [-5.49330405e-01 8.34935246e-01 3.34550535e-02 2.39510704e+00] [ 7.23811529e-02 7.65909634e-03 9.97347636e-01 3.35092878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.009115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.23, Y:2.41, Z:0.33 [[ 8.24637200e-01 5.61961391e-01 -6.45978662e-02 -1.42280698e+01] [-5.61019810e-01 8.27119579e-01 3.36150958e-02 2.40715875e+00] [ 7.23205459e-02 8.52042416e-03 9.97345046e-01 3.26530364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.039115932999998 meters Centerline goodness [0,1] 0.9996496145760336 Centerline is valid? [True, True] Translation: X:-14.24, Y:2.42, Z:0.32 [[ 8.22867788e-01 5.64520748e-01 -6.48454264e-02 -1.42445223e+01] [-5.63566990e-01 8.25373719e-01 3.39186072e-02 2.42060849e+00] [ 7.26694682e-02 8.63421254e-03 9.97318705e-01 3.22902819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.069115933 meters Centerline goodness [0,1] 0.9995200383969283 Centerline is valid? [True, True] Translation: X:-14.26, Y:2.43, Z:0.32 [[ 8.19805685e-01 5.68960859e-01 -6.48242245e-02 -1.42614383e+01] [-5.68008790e-01 8.22316630e-01 3.40789400e-02 2.43249866e+00] [ 7.26956208e-02 8.88262062e-03 9.97314617e-01 3.18736873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.099115932999997 meters Centerline goodness [0,1] 0.9993990384615384 Centerline is valid? [True, True] Translation: X:-14.28, Y:2.45, Z:0.32 [[ 8.17486861e-01 5.72486500e-01 -6.30431525e-02 -1.42779492e+01] [-5.71584653e-01 8.19866849e-01 3.33066874e-02 2.44633800e+00] [ 7.07546197e-02 8.80671908e-03 9.97454874e-01 3.23904877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.129115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.29, Y:2.46, Z:0.32 [[ 8.15115129e-01 5.76149339e-01 -6.03263279e-02 -1.42949682e+01] [-5.75322073e-01 8.17299274e-01 3.20376072e-02 2.45943428e+00] [ 6.77631102e-02 8.59272971e-03 9.97664436e-01 3.21234870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.159115933 meters Centerline goodness [0,1] 0.9997584249305471 Centerline is valid? [True, True] Translation: X:-14.31, Y:2.47, Z:0.32 [[ 8.14913437e-01 5.76485645e-01 -5.98363738e-02 -1.43119032e+01] [-5.75661982e-01 8.17063886e-01 3.19357052e-02 2.47162016e+00] [ 6.73006157e-02 8.42069022e-03 9.97697208e-01 3.16527707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.189115932999997 meters Centerline goodness [0,1] 0.9996390326073878 Centerline is valid? [True, True] Translation: X:-14.33, Y:2.48, Z:0.31 [[ 8.12817172e-01 5.78842356e-01 -6.53434902e-02 -1.43299912e+01] [-5.77854691e-01 8.15386762e-01 3.50483172e-02 2.48143230e+00] [ 7.35676675e-02 9.27116826e-03 9.97247133e-01 3.11701538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.219115932999998 meters Centerline goodness [0,1] 0.9996390326073878 Centerline is valid? [True, True] Translation: X:-14.35, Y:2.49, Z:0.31 [[ 8.11654640e-01 5.80479291e-01 -6.52728014e-02 -1.43482134e+01] [-5.79486448e-01 8.14222232e-01 3.51797361e-02 2.49136893e+00] [ 7.35676743e-02 9.27090782e-03 9.97247135e-01 3.11456573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.249115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.36, Y:2.50, Z:0.32 [[ 8.17205155e-01 5.73136555e-01 -6.07472203e-02 -1.43642326e+01] [-5.72244723e-01 8.19422136e-01 3.29141283e-02 2.50406039e+00] [ 6.86419071e-02 7.86468103e-03 9.97610363e-01 3.15330864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.279115932999996 meters Centerline goodness [0,1] 0.9993824110671937 Centerline is valid? [True, True] Translation: X:-14.38, Y:2.51, Z:0.32 [[ 8.22405407e-01 5.66064988e-01 -5.67430679e-02 -1.43819501e+01] [-5.65260602e-01 8.24333660e-01 3.08944774e-02 2.51499095e+00] [ 6.42635028e-02 6.66683549e-03 9.97910695e-01 3.24070861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.309115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.40, Y:2.53, Z:0.32 [[ 8.22760448e-01 5.65874829e-01 -5.33940390e-02 -1.43989667e+01] [-5.65153714e-01 8.24468288e-01 2.92116691e-02 2.52773730e+00] [ 6.05518402e-02 6.14163350e-03 9.98146159e-01 3.22293558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.339115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.42, Y:2.54, Z:0.32 [[ 8.18954225e-01 5.70970133e-01 -5.75072506e-02 -1.44164031e+01] [-5.70133125e-01 8.20942163e-01 3.16573072e-02 2.53749879e+00] [ 6.52855036e-02 6.86090293e-03 9.97843039e-01 3.16250370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.369115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.43, Y:2.55, Z:0.32 [[ 8.21539069e-01 5.67296833e-01 -5.69900092e-02 -1.44334153e+01] [-5.66455483e-01 8.23488719e-01 3.15359356e-02 2.55072132e+00] [ 6.48208661e-02 6.37430001e-03 9.97876557e-01 3.19723354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.399115932999997 meters Centerline goodness [0,1] 0.9994855967078189 Centerline is valid? [True, True] Translation: X:-14.45, Y:2.56, Z:0.31 [[ 8.20258874e-01 5.69151685e-01 -5.69362756e-02 -1.44521426e+01] [-5.68306762e-01 8.22207690e-01 3.16534056e-02 2.56254749e+00] [ 6.48290328e-02 6.39328362e-03 9.97875905e-01 3.11164225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.429115933 meters Centerline goodness [0,1] 0.9998693664271718 Centerline is valid? [True, True] Translation: X:-14.47, Y:2.58, Z:0.33 [[ 8.24900751e-01 5.63014118e-01 -5.05356719e-02 -1.44665508e+01] [-5.62329620e-01 8.26431327e-01 2.82251796e-02 2.58129774e+00] [ 5.76554369e-02 5.13473332e-03 9.98323337e-01 3.32522961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.459115932999996 meters Centerline goodness [0,1] 0.9998689040377556 Centerline is valid? [True, True] Translation: X:-14.48, Y:2.59, Z:0.32 [[ 8.19717619e-01 5.70528002e-01 -5.06045822e-02 -1.44843394e+01] [-5.69848109e-01 8.21259320e-01 2.83947513e-02 2.59367316e+00] [ 5.77594855e-02 5.56124750e-03 9.98315038e-01 3.21148677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.489115932999997 meters Centerline goodness [0,1] 0.9997342545841085 Centerline is valid? [True, True] Translation: X:-14.50, Y:2.61, Z:0.32 [[ 8.14319688e-01 5.78364747e-01 -4.87613121e-02 -1.45011069e+01] [-5.77740337e-01 8.15757743e-01 2.74846922e-02 2.60706213e+00] [ 5.56735950e-02 5.79005088e-03 9.98432234e-01 3.16354447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.519115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.52, Y:2.62, Z:0.31 [[ 8.05036781e-01 5.91120765e-01 -4.99201540e-02 -1.45167855e+01] [-5.90482793e-01 8.06555060e-01 2.82666847e-02 2.62218699e+00] [ 5.69723771e-02 6.72127109e-03 9.98353130e-01 3.08608754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.549115933 meters Centerline goodness [0,1] 0.9986248624862486 Centerline is valid? [True, True] Translation: X:-14.53, Y:2.63, Z:0.29 [[ 7.92170342e-01 6.07613898e-01 -5.71970322e-02 -1.45336987e+01] [-6.06806915e-01 7.94182450e-01 3.25515565e-02 2.63303183e+00] [ 6.52036573e-02 8.92117705e-03 9.97832098e-01 2.87606793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.579115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.55, Y:2.65, Z:0.30 [[ 7.94441394e-01 6.05057557e-01 -5.26139246e-02 -1.45498564e+01] [-6.04360913e-01 7.96142546e-01 3.00821062e-02 2.64661131e+00] [ 6.00895896e-02 7.89932914e-03 9.98161731e-01 2.99078975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.609115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.57, Y:2.65, Z:0.28 [[ 7.92702739e-01 6.07091023e-01 -5.53430866e-02 -1.45720445e+01] [-6.06315706e-01 7.94588368e-01 3.17897655e-02 2.64980350e+00] [ 6.32742541e-02 8.35554842e-03 9.97961198e-01 2.84357557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.639115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.60, Y:2.65, Z:0.28 [[ 7.99183143e-01 5.98217299e-01 -5.86716874e-02 -1.45957250e+01] [-5.97310681e-01 8.01294257e-01 3.38742452e-02 2.64837331e+00] [ 6.72774456e-02 7.97349980e-03 9.97702445e-01 2.76233811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.669115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.62, Y:2.65, Z:0.28 [[ 8.06627079e-01 5.88039720e-01 -5.96828524e-02 -1.46164394e+01] [-5.87062305e-01 8.08800835e-01 3.46274366e-02 2.65353735e+00] [ 6.86338490e-02 7.10612486e-03 9.97616609e-01 2.77779339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.699115932999998 meters Centerline goodness [0,1] 0.9991496598639455 Centerline is valid? [True, True] Translation: X:-14.64, Y:2.66, Z:0.28 [[ 8.15827365e-01 5.75371389e-01 -5.80816342e-02 -1.46370009e+01] [-5.74400567e-01 8.17872337e-01 3.38943929e-02 2.65828548e+00] [ 6.70052258e-02 5.71015041e-03 9.97736285e-01 2.84172233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.729115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.66, Y:2.66, Z:0.29 [[ 8.23694799e-01 5.64056406e-01 -5.80279982e-02 -1.46579778e+01] [-5.63047476e-01 8.25723253e-01 3.40389484e-02 2.66467417e+00] [ 6.71149543e-02 4.63481318e-03 9.97734484e-01 2.88971307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.759115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.68, Y:2.67, Z:0.29 [[ 8.26813572e-01 5.59521083e-01 -5.75801535e-02 -1.46780751e+01] [-5.58505500e-01 8.28806010e-01 3.39441448e-02 2.67289023e+00] [ 6.67152419e-02 4.09335280e-03 9.97763660e-01 2.86928042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.789115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.70, Y:2.69, Z:0.29 [[ 8.28694747e-01 5.56907885e-01 -5.58446392e-02 -1.46956753e+01] [-5.55936114e-01 8.30566336e-01 3.30847221e-02 2.68560886e+00] [ 6.48078200e-02 3.62891622e-03 9.97891165e-01 2.85024910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.819115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.71, Y:2.70, Z:0.29 [[ 8.27053003e-01 5.59666778e-01 -5.25016925e-02 -1.47117070e+01] [-5.58804167e-01 8.28710405e-01 3.12564807e-02 2.70011450e+00] [ 6.10019127e-02 3.48739832e-03 9.98131557e-01 2.92427121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.849115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.72, Y:2.72, Z:0.30 [[ 8.29548844e-01 5.56378786e-01 -4.78681716e-02 -1.47249033e+01] [-5.55648458e-01 8.30923932e-01 2.86393114e-02 2.71986770e+00] [ 5.57091146e-02 2.84016809e-03 9.98443002e-01 3.01581239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.879115932999998 meters Centerline goodness [0,1] 0.9996736292428199 Centerline is valid? [True, True] Translation: X:-14.74, Y:2.73, Z:0.30 [[ 8.19566004e-01 5.70722089e-01 -5.08710411e-02 -1.47441428e+01] [-5.69915592e-01 8.21133896e-01 3.05833627e-02 2.73014970e+00] [ 5.92265369e-02 3.92711519e-03 9.98236843e-01 2.98854070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.909115933 meters Centerline goodness [0,1] 0.9998355533629337 Centerline is valid? [True, True] Translation: X:-14.76, Y:2.75, Z:0.29 [[ 8.16514315e-01 5.74991298e-01 -5.18592298e-02 -1.47598575e+01] [-5.74152940e-01 8.18148740e-01 3.13215615e-02 2.74648994e+00] [ 6.04381889e-02 4.20062589e-03 9.98163103e-01 2.91382907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.939115932999997 meters Centerline goodness [0,1] 0.9996669442131557 Centerline is valid? [True, True] Translation: X:-14.78, Y:2.76, Z:0.28 [[ 8.15873518e-01 5.75880840e-01 -5.20736085e-02 -1.47765375e+01] [-5.75028498e-01 8.17523032e-01 3.15961796e-02 2.76049936e+00] [ 6.07670088e-02 4.16532264e-03 9.98143287e-01 2.81441948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.969115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.79, Y:2.77, Z:0.28 [[ 8.11650503e-01 5.81856373e-01 -5.16393469e-02 -1.47944568e+01] [-5.81020948e-01 8.13279391e-01 3.14847451e-02 2.77111727e+00] [ 6.03168162e-02 4.44893305e-03 9.98169369e-01 2.82406248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.999115933 meters Centerline goodness [0,1] 0.999482669425763 Centerline is valid? [True, True] Translation: X:-14.81, Y:2.79, Z:0.29 [[ 8.15138152e-01 5.77564288e-01 -4.43766433e-02 -1.48086592e+01] [-5.76934430e-01 8.16337944e-01 2.71850007e-02 2.78839694e+00] [ 5.19274234e-02 3.44288215e-03 9.98644927e-01 2.89667830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.029115932999996 meters Centerline goodness [0,1] 0.9984202211690363 Centerline is valid? [True, True] Translation: X:-14.82, Y:2.80, Z:0.28 [[ 8.15026303e-01 5.77445713e-01 -4.78390428e-02 -1.48245223e+01] [-5.76705275e-01 8.16421214e-01 2.94521154e-02 2.80230228e+00] [ 5.60638071e-02 3.58477961e-03 9.98420752e-01 2.83677121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.059115932999998 meters Centerline goodness [0,1] 0.9998262078554049 Centerline is valid? [True, True] Translation: X:-14.84, Y:2.81, Z:0.28 [[ 8.11771616e-01 5.81476359e-01 -5.39637611e-02 -1.48411743e+01] [-5.80531884e-01 8.13552366e-01 3.33957850e-02 2.81452460e+00] [ 6.33212050e-02 4.21793361e-03 9.97984285e-01 2.79779188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.089115933 meters Centerline goodness [0,1] 0.998750669284312 Centerline is valid? [True, True] Translation: X:-14.86, Y:2.83, Z:0.27 [[ 8.15295500e-01 5.76815614e-01 -5.07641101e-02 -1.48572312e+01] [-5.75961834e-01 8.16866871e-01 3.15670737e-02 2.82846011e+00] [ 5.96759008e-02 3.50169679e-03 9.98211663e-01 2.73877475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.119115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.87, Y:2.84, Z:0.28 [[ 8.18433663e-01 5.72662183e-01 -4.71631637e-02 -1.48746752e+01] [-5.71910779e-01 8.19786471e-01 2.94652959e-02 2.84120921e+00] [ 5.55373842e-02 2.85773164e-03 9.98452519e-01 2.77851548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.149115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.89, Y:2.86, Z:0.29 [[ 8.21422429e-01 5.68329612e-01 -4.76092954e-02 -1.48898846e+01] [-5.67548381e-01 8.22797280e-01 2.98909923e-02 2.85744412e+00] [ 5.61607349e-02 2.46744701e-03 9.98418692e-01 2.85193907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.179115933 meters Centerline goodness [0,1] 0.9992591220596406 Centerline is valid? [True, True] Translation: X:-14.90, Y:2.87, Z:0.28 [[ 8.20864390e-01 5.69046168e-01 -4.86632484e-02 -1.49046065e+01] [-5.68219927e-01 8.22302040e-01 3.07484864e-02 2.87039496e+00] [ 5.75131968e-02 2.41108986e-03 9.98341835e-01 2.80219280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.209115932999996 meters Centerline goodness [0,1] 0.9998113919275745 Centerline is valid? [True, True] Translation: X:-14.92, Y:2.89, Z:0.28 [[ 8.22480875e-01 5.66947026e-01 -4.57851382e-02 -1.49193541e+01] [-5.66204056e-01 8.23751819e-01 2.90844753e-02 2.88683351e+00] [ 5.42049477e-02 2.00230626e-03 9.98527824e-01 2.75708010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.239115932999997 meters Centerline goodness [0,1] 0.999239977199316 Centerline is valid? [True, True] Translation: X:-14.93, Y:2.90, Z:0.28 [[ 8.21138353e-01 5.68941606e-01 -4.51359501e-02 -1.49347941e+01] [-5.68214797e-01 8.22375530e-01 2.88172132e-02 2.90253277e+00] [ 5.35140125e-02 1.98399572e-03 9.98565128e-01 2.81260648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.269115933 meters Centerline goodness [0,1] 0.9988463756969813 Centerline is valid? [True, True] Translation: X:-14.95, Y:2.92, Z:0.29 [[ 8.19502083e-01 5.71399003e-01 -4.38122790e-02 -1.49496716e+01] [-5.70710984e-01 8.20670019e-01 2.81014823e-02 2.92114921e+00] [ 5.20125828e-02 1.97492559e-03 9.98644477e-01 2.88559695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.299115933 meters Centerline goodness [0,1] 0.9996144949884348 Centerline is valid? [True, True] Translation: X:-14.96, Y:2.94, Z:0.29 [[ 8.20604529e-01 5.70043990e-01 -4.07192313e-02 -1.49642323e+01] [-5.69442461e-01 8.21612496e-01 2.62333727e-02 2.93954581e+00] [ 4.84096057e-02 1.66003485e-03 9.98826188e-01 2.88836325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.329115932999997 meters Centerline goodness [0,1] 0.9990222917481424 Centerline is valid? [True, True] Translation: X:-14.98, Y:2.96, Z:0.29 [[ 8.11449990e-01 5.82741321e-01 -4.42884407e-02 -1.49776966e+01] [-5.82040647e-01 8.12653842e-01 2.86778139e-02 2.95709998e+00] [ 5.27029187e-02 2.50706091e-03 9.98607088e-01 2.93315071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.359115932999998 meters Centerline goodness [0,1] 0.9970232558139535 Centerline is valid? [True, True] Translation: X:-14.99, Y:2.97, Z:0.29 [[ 8.10492984e-01 5.83853047e-01 -4.70822995e-02 -1.49921600e+01] [-5.83054382e-01 8.11855139e-01 3.06401964e-02 2.97214801e+00] [ 5.61133788e-02 2.61787687e-03 9.98420971e-01 2.92728402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.389115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-15.00, Y:3.00, Z:0.30 [[ 8.16173999e-01 5.76599317e-01 -3.73260220e-02 -1.50029401e+01] [-5.76085174e-01 8.17025517e-01 2.43962350e-02 2.99653576e+00] [ 4.45631649e-02 1.59139521e-03 9.99005301e-01 3.00768414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.419115932999997 meters Centerline goodness [0,1] 0.9997927461139896 Centerline is valid? [True, True] Translation: X:-15.02, Y:3.01, Z:0.30 [[ 8.14411261e-01 5.79141869e-01 -3.64553671e-02 -1.50203350e+01] [-5.78649341e-01 8.15225199e-01 2.39335539e-02 3.01035676e+00] [ 4.35802570e-02 1.60311838e-03 9.99048643e-01 3.01368337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.449115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-15.04, Y:3.02, Z:0.29 [[ 8.10517175e-01 5.84317631e-01 -4.04328395e-02 -1.50384302e+01] [-5.83712200e-01 8.11522616e-01 2.66666697e-02 3.02382426e+00] [ 4.83939689e-02 1.98734791e-03 9.98826348e-01 2.93145852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.479115933 meters Centerline goodness [0,1] 0.9985361773316604 Centerline is valid? [True, True] Translation: X:-15.06, Y:3.04, Z:0.28 [[ 8.08736055e-01 5.86589779e-01 -4.31094349e-02 -1.50564983e+01] [-5.85897990e-01 8.09881331e-01 2.85617689e-02 3.03721131e+00] [ 5.16675682e-02 2.15879898e-03 9.98662006e-01 2.82608733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.509115932999997 meters Centerline goodness [0,1] 0.9991214583790907 Centerline is valid? [True, True] Translation: X:-15.07, Y:3.06, Z:0.28 [[ 8.12230476e-01 5.81754457e-01 -4.29349117e-02 -1.50712460e+01] [-5.81054759e-01 8.13362611e-01 2.85767418e-02 3.05521399e+00] [ 5.15462988e-02 1.73663417e-03 9.98669096e-01 2.80407869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.539115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-15.09, Y:3.07, Z:0.28 [[ 8.10689131e-01 5.83806206e-01 -4.41978161e-02 -1.50871812e+01] [-5.83060618e-01 8.11891019e-01 2.95514655e-02 3.07257348e+00] [ 5.31361389e-02 1.81295409e-03 9.98585632e-01 2.76339679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.569115933 meters Centerline goodness [0,1] 0.9991035410129987 Centerline is valid? [True, True] Translation: X:-15.10, Y:3.09, Z:0.29 [[ 8.14358208e-01 5.78780443e-01 -4.28241462e-02 -1.51017416e+01] [-5.78066912e-01 8.15482324e-01 2.87614959e-02 3.09128345e+00] [ 5.15689257e-02 1.33306171e-03 9.98668548e-01 2.87380379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.599115932999997 meters Centerline goodness [0,1] 0.9975391498881432 Centerline is valid? [True, True] Translation: X:-15.12, Y:3.11, Z:0.29 [[ 8.16104049e-01 5.76342480e-01 -4.24679410e-02 -1.51180758e+01] [-5.75630972e-01 8.17207569e-01 2.86491435e-02 3.10800720e+00] [ 5.12168412e-02 1.06518011e-03 9.98686988e-01 2.88557901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.629115932999998 meters Centerline goodness [0,1] 0.9978595890410958 Centerline is valid? [True, True] Translation: X:-15.14, Y:3.12, Z:0.30 [[ 8.06248104e-01 5.89423138e-01 -5.04416364e-02 -1.51353950e+01] [-5.88432295e-01 8.07821768e-01 3.42260750e-02 3.11798559e+00] [ 6.09214924e-02 2.08677975e-03 9.98140379e-01 3.04779521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.659115933 meters Centerline goodness [0,1] 0.9993540051679587 Centerline is valid? [True, True] Translation: X:-15.15, Y:3.13, Z:0.30 [[ 8.07927885e-01 5.87087629e-01 -5.08000782e-02 -1.51514280e+01] [-5.86068112e-01 8.09521401e-01 3.46304527e-02 3.13490377e+00] [ 6.14548609e-02 1.79339754e-03 9.98108253e-01 2.95342431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.689115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-15.17, Y:3.15, Z:0.29 [[ 8.11925579e-01 5.82056252e-01 -4.45799634e-02 -1.51669584e+01] [-5.81256605e-01 8.13147735e-01 3.05208136e-02 3.15311254e+00] [ 5.40149266e-02 1.13176887e-03 9.98539487e-01 2.94153043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.719115932999998 meters Centerline goodness [0,1] 0.9971891891891892 Centerline is valid? [True, True] Translation: X:-15.19, Y:3.16, Z:0.28 [[ 8.03090661e-01 5.93457233e-01 -5.34219354e-02 -1.51861356e+01] [-5.92322314e-01 8.04862701e-01 3.67465521e-02 3.16357374e+00] [ 6.48048304e-02 2.13219158e-03 9.97895680e-01 2.80654432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.749115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-15.20, Y:3.18, Z:0.28 [[ 8.05169387e-01 5.90992757e-01 -4.92932037e-02 -1.52007082e+01] [-5.90013135e-01 8.06675147e-01 3.40544939e-02 3.18320538e+00] [ 5.98895616e-02 1.66400169e-03 9.98203622e-01 2.83580187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.779115932999996 meters Centerline goodness [0,1] 0.9997686256362796 Centerline is valid? [True, True] Translation: X:-15.22, Y:3.20, Z:0.28 [[ 8.05572979e-01 5.90434302e-01 -4.93913944e-02 -1.52175434e+01] [-5.89440869e-01 8.07084298e-01 3.42694892e-02 3.19959163e+00] [ 6.00969008e-02 1.50673190e-03 9.98191411e-01 2.79395833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.809115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-15.23, Y:3.22, Z:0.28 [[ 8.07602621e-01 5.88000632e-01 -4.50917290e-02 -1.52290224e+01] [-5.87161689e-01 8.08859717e-01 3.14183063e-02 3.22374408e+00] [ 5.49468671e-02 1.10262927e-03 9.98488671e-01 2.82124299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.839115933 meters Centerline goodness [0,1] 0.9997685720897941 Centerline is valid? [True, True] Translation: X:-15.24, Y:3.25, Z:0.28 [[ 8.02393959e-01 5.94943953e-01 -4.69641059e-02 -1.52414635e+01] [-5.94037532e-01 8.03765735e-01 3.28641690e-02 3.24684987e+00] [ 5.73004777e-02 1.52843091e-03 9.98355808e-01 2.79083279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.869115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-15.26, Y:3.27, Z:0.28 [[ 8.05710581e-01 5.90407914e-01 -4.74231343e-02 -1.52563537e+01] [-5.89467780e-01 8.07104252e-01 3.33236158e-02 3.26718570e+00] [ 5.79499398e-02 1.10521986e-03 9.98318878e-01 2.83113924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.899115932999997 meters Centerline goodness [0,1] 0.9950771984784068 Centerline is valid? [True, True] Translation: X:-15.28, Y:3.27, Z:0.29 [[ 7.97138608e-01 6.01112215e-01 -5.68695408e-02 -1.52790899e+01] [-5.99775373e-01 7.99161805e-01 4.01237104e-02 3.27474504e+00] [ 6.95668173e-02 2.12479137e-03 9.97575031e-01 2.87321108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.929115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-15.29, Y:3.30, Z:0.29 [[ 8.02953905e-01 5.94024083e-01 -4.89940278e-02 -1.52915571e+01] [-5.93010502e-01 8.04446382e-01 3.47068064e-02 3.29660831e+00] [ 6.00297472e-02 1.18600731e-03 9.98195884e-01 2.86906355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.959115932999996 meters Centerline goodness [0,1] 0.9993365767359575 Centerline is valid? [True, True] Translation: X:-15.31, Y:3.31, Z:0.29 [[ 7.96002287e-01 6.03031462e-01 -5.22820711e-02 -1.53131058e+01] [-6.01886425e-01 7.97715226e-01 3.71907169e-02 3.30603135e+00] [ 6.41333765e-02 1.86397317e-03 9.97939595e-01 2.91413307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.989115932999997 meters Centerline goodness [0,1] 0.9979291302346985 Centerline is valid? [True, True] Translation: X:-15.34, Y:3.31, Z:0.27 [[ 7.90400906e-01 6.09895530e-01 -5.73920736e-02 -1.53362368e+01] [-6.08520810e-01 7.92477834e-01 4.10037341e-02 3.31209891e+00] [ 7.04899403e-02 2.51488257e-03 9.97509320e-01 2.65387582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.019115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-15.34, Y:3.35, Z:0.29 [[ 7.99249879e-01 5.99110545e-01 -4.76044705e-02 -1.53400209e+01] [-5.98137526e-01 8.00665452e-01 3.41516193e-02 3.34683080e+00] [ 5.85758501e-02 1.17834256e-03 9.98282265e-01 2.90877100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.049115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-15.36, Y:3.36, Z:0.28 [[ 7.96607272e-01 6.02325319e-01 -5.11963290e-02 -1.53594329e+01] [-6.01196270e-01 7.98249503e-01 3.68887034e-02 3.36006917e+00] [ 6.30864442e-02 1.39323262e-03 9.98007094e-01 2.83164620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.079115932999997 meters Centerline goodness [0,1] 0.9975871901732836 Centerline is valid? [True, True] Translation: X:-15.38, Y:3.36, Z:0.28 [[ 7.79079319e-01 6.23407565e-01 -6.63206017e-02 -1.53840892e+01] [-6.21570577e-01 7.81887603e-01 4.79770259e-02 3.36486065e+00] [ 8.17644972e-02 3.84502593e-03 9.96644261e-01 2.79508342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.109115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-15.39, Y:3.39, Z:0.27 [[ 7.92291071e-01 6.07907883e-01 -5.21810805e-02 -1.53930035e+01] [-6.06727093e-01 7.94005893e-01 3.79061432e-02 3.39043695e+00] [ 6.44755287e-02 1.62697650e-03 9.97917962e-01 2.71894534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.139115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-15.41, Y:3.40, Z:0.27 [[ 7.90984260e-01 6.09614252e-01 -5.20995597e-02 -1.54108097e+01] [-6.08429791e-01 7.92696548e-01 3.80180609e-02 3.40329500e+00] [ 6.44754929e-02 1.62723643e-03 9.97917964e-01 2.71629715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.169115932999997 meters Centerline goodness [0,1] 0.9995422293430991 Centerline is valid? [True, True] Translation: X:-15.43, Y:3.42, Z:0.29 [[ 7.86473633e-01 6.15240790e-01 -5.42032762e-02 -1.54272939e+01] [-6.13960396e-01 7.88336618e-01 3.97241658e-02 3.42047403e+00] [ 6.71703546e-02 2.03665592e-03 9.97739443e-01 2.87466509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.199115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-15.45, Y:3.43, Z:0.27 [[ 7.78089534e-01 6.25499978e-01 -5.76754252e-02 -1.54496248e+01] [-6.24064441e-01 7.80218576e-01 4.24564098e-02 3.42813256e+00] [ 7.15559215e-02 2.95829382e-03 9.97432203e-01 2.70238406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.229115933 meters Centerline goodness [0,1] 0.9933993399339934 Centerline is valid? [True, True] Translation: X:-15.48, Y:3.43, Z:0.23 [[ 7.66035752e-01 6.39272764e-01 -6.72276662e-02 -1.54783204e+01] [-6.37355780e-01 7.68965229e-01 4.96999726e-02 3.42682322e+00] [ 8.34675766e-02 4.77598571e-03 9.96499048e-01 2.31511569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.259115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-15.50, Y:3.44, Z:0.22 [[ 7.64003561e-01 6.41692035e-01 -6.73044590e-02 -1.54966055e+01] [-6.39761748e-01 7.66946889e-01 4.99737517e-02 3.43840084e+00] [ 8.36867039e-02 4.87869409e-03 9.96480172e-01 2.15921129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.289115932999998 meters Centerline goodness [0,1] 0.99951992318771 Centerline is valid? [True, True] Translation: X:-15.53, Y:3.43, Z:0.16 [[ 7.62990321e-01 6.43004475e-01 -6.62647395e-02 -1.55263888e+01] [-6.41120828e-01 7.65847492e-01 4.94135872e-02 3.43467634e+00] [ 8.25218423e-02 4.78161582e-03 9.96577785e-01 1.61668499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.319115933 meters Centerline goodness [0,1] 0.9986056239832675 Centerline is valid? [True, True] Translation: X:-15.56, Y:3.42, Z:0.08 [[ 7.38491656e-01 6.68955445e-01 -8.44315524e-02 -1.55620228e+01] [-6.66025949e-01 7.43241551e-01 6.32568733e-02 3.42135897e+00] [ 1.05069068e-01 9.51893170e-03 9.94419369e-01 8.38789834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.349115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-15.57, Y:3.45, Z:0.09 [[ 7.32880909e-01 6.74412708e-01 -8.97389092e-02 -1.55666433e+01] [-6.71107208e-01 7.38276753e-01 6.75466587e-02 3.45036590e+00] [ 1.11806476e-01 1.07207722e-02 9.93672168e-01 8.85712020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.379115932999998 meters Centerline goodness [0,1] 0.9949616122840691 Centerline is valid? [True, True] Translation: X:-15.56, Y:3.49, Z:0.13 [[ 7.31090903e-01 6.75069076e-01 -9.89334869e-02 -1.55647120e+01] [-6.71012839e-01 7.37661877e-01 7.48112594e-02 3.48932697e+00] [ 1.23482229e-01 1.16918088e-02 9.92277905e-01 1.29276041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.409115933 meters Centerline goodness [0,1] 0.9969611968209444 Centerline is valid? [True, True] Translation: X:-15.57, Y:3.52, Z:0.15 [[ 7.39422833e-01 6.66533582e-01 -9.47990408e-02 -1.55713891e+01] [-6.62703444e-01 7.45413323e-01 7.19939098e-02 3.51639334e+00] [ 1.18650827e-01 9.58971013e-03 9.92889731e-01 1.54495748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.439115932999997 meters Centerline goodness [0,1] 0.9957956695396258 Centerline is valid? [True, True] Translation: X:-15.59, Y:3.52, Z:0.16 [[ 7.29495710e-01 6.75655320e-01 -1.06423201e-01 -1.55935476e+01] [-6.70873620e-01 7.37116892e-01 8.11620186e-02 3.52406299e+00] [ 1.33283889e-01 1.21891738e-02 9.91002941e-01 1.62605029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.469115932999998 meters Centerline goodness [0,1] 0.9975520195838433 Centerline is valid? [True, True] Translation: X:-15.62, Y:3.53, Z:0.15 [[ 7.27797334e-01 6.77262504e-01 -1.07826440e-01 -1.56167431e+01] [-6.72323092e-01 7.35637104e-01 8.25815413e-02 3.52907091e+00] [ 1.35250512e-01 1.23915800e-02 9.90733944e-01 1.48045936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.499115933 meters Centerline goodness [0,1] 0.9983967935871744 Centerline is valid? [True, True] Translation: X:-15.63, Y:3.55, Z:0.15 [[ 7.32630223e-01 6.72813734e-01 -1.02833050e-01 -1.56291119e+01] [-6.68234635e-01 7.39733582e-01 7.90993141e-02 3.54741937e+00] [ 1.29288165e-01 1.07660576e-02 9.91548618e-01 1.49970545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.529115932999996 meters Centerline goodness [0,1] 0.9967815221507005 Centerline is valid? [True, True] Translation: X:-15.64, Y:3.57, Z:0.18 [[ 7.44171279e-01 6.61050418e-01 -9.60283971e-02 -1.56409645e+01] [-6.56923003e-01 7.50300064e-01 7.41753506e-02 3.56742520e+00] [ 1.21083759e-01 7.88409746e-03 9.92610983e-01 1.80090931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.559115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-15.65, Y:3.59, Z:0.18 [[ 7.62307788e-01 6.42297756e-01 -7.96268126e-02 -1.56496178e+01] [-6.39331571e-01 7.66445710e-01 6.17747231e-02 3.59232745e+00] [ 1.00707395e-01 3.81658269e-03 9.94908767e-01 1.84647887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.589115933 meters Centerline goodness [0,1] 0.9982101306604618 Centerline is valid? [True, True] Translation: X:-15.66, Y:3.62, Z:0.25 [[ 7.61452744e-01 6.43585177e-01 -7.73811181e-02 -1.56595392e+01] [-6.40765757e-01 7.65365665e-01 6.02880057e-02 3.61668954e+00] [ 9.80253177e-02 3.67670330e-03 9.95177129e-01 2.50795162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.619115932999996 meters Centerline goodness [0,1] 0.9955861581920904 Centerline is valid? [True, True] Translation: X:-15.69, Y:3.62, Z:0.21 [[ 7.52259363e-01 6.53326763e-01 -8.52642454e-02 -1.56868914e+01] [-6.49933009e-01 7.57057966e-01 6.67107202e-02 3.61849027e+00] [ 1.08133875e-01 5.23228370e-03 9.94122572e-01 2.14737230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.649115932999997 meters Centerline goodness [0,1] 0.9987755815987406 Centerline is valid? [True, True] Translation: X:-15.70, Y:3.64, Z:0.26 [[ 7.57050699e-01 6.48716206e-01 -7.77272313e-02 -1.56965158e+01] [-6.45849221e-01 7.61019999e-01 6.10519873e-02 3.64373002e+00] [ 9.87573911e-02 3.98062212e-03 9.95103579e-01 2.58005826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.679115933 meters Centerline goodness [0,1] 0.9982614742698191 Centerline is valid? [True, True] Translation: X:-15.71, Y:3.66, Z:0.27 [[ 7.59060175e-01 6.46644853e-01 -7.53530661e-02 -1.57136115e+01] [-6.43917013e-01 7.62783594e-01 5.94312151e-02 3.65884583e+00] [ 9.59089719e-02 3.40925273e-03 9.95384271e-01 2.72712102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.709115932999996 meters Centerline goodness [0,1] 0.9983914209115281 Centerline is valid? [True, True] Translation: X:-15.73, Y:3.67, Z:0.25 [[ 7.64195545e-01 6.41037349e-01 -7.12480599e-02 -1.57347977e+01] [-6.38552876e-01 7.67506028e-01 5.64333455e-02 3.66770441e+00] [ 9.08591976e-02 2.36954234e-03 9.95860930e-01 2.54323593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.739115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-15.77, Y:3.65, Z:0.17 [[ 7.55602078e-01 6.50570824e-01 -7.63092631e-02 -1.57737306e+01] [-6.47742405e-01 7.59437239e-01 6.07030266e-02 3.65380715e+00] [ 9.74437141e-02 3.56141256e-03 9.95234665e-01 1.67547377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.769115933 meters Centerline goodness [0,1] 0.9989051094890511 Centerline is valid? [True, True] Translation: X:-15.79, Y:3.67, Z:0.18 [[ 7.49899660e-01 6.56729301e-01 -7.97315867e-02 -1.57922814e+01] [-6.53646261e-01 7.54113904e-01 6.37086042e-02 3.66566641e+00] [ 1.01966005e-01 4.34119290e-03 9.94778411e-01 1.79624681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.799115932999996 meters Centerline goodness [0,1] 0.9987828203790645 Centerline is valid? [True, True] Translation: X:-15.82, Y:3.67, Z:0.18 [[ 7.44137942e-01 6.61971271e-01 -8.97371714e-02 -1.58159692e+01] [-6.58063491e-01 7.49509371e-01 7.20287812e-02 3.67031945e+00] [ 1.14939835e-01 5.45340728e-03 9.93357486e-01 1.77739102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.829115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-15.84, Y:3.68, Z:0.18 [[ 7.50410770e-01 6.55017323e-01 -8.85210872e-02 -1.58354973e+01] [-6.51130503e-01 7.55602828e-01 7.13683006e-02 3.68022700e+00] [ 1.13634257e-01 4.08323872e-03 9.93514259e-01 1.79394743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.859115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-15.86, Y:3.69, Z:0.15 [[ 7.58270156e-01 6.47030573e-01 -7.98611828e-02 -1.58558653e+01] [-6.43794188e-01 7.62460370e-01 6.46778729e-02 3.68912977e+00] [ 1.02739548e-01 2.37086457e-03 9.94705466e-01 1.51165520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.889115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-15.86, Y:3.72, Z:0.21 [[ 7.74045992e-01 6.29639926e-01 -6.63804660e-02 -1.58626488e+01] [-6.27319505e-01 7.76887082e-01 5.40064869e-02 3.71719680e+00] [ 8.55747669e-02 -1.61743655e-04 9.96331738e-01 2.14643689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.919115932999997 meters Centerline goodness [0,1] 0.9998251442559888 Centerline is valid? [True, True] Translation: X:-15.89, Y:3.71, Z:0.16 [[ 7.70474073e-01 6.33684192e-01 -6.93833397e-02 -1.58945086e+01] [-6.31141129e-01 7.73591841e-01 5.67145393e-02 3.71198589e+00] [ 8.96134925e-02 9.35973409e-05 9.95976613e-01 1.63225350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.949115932999998 meters Centerline goodness [0,1] 0.9975442904753552 Centerline is valid? [True, True] Translation: X:-15.90, Y:3.74, Z:0.23 [[ 7.77865208e-01 6.25234578e-01 -6.33043452e-02 -1.58960107e+01] [-6.23063119e-01 7.80436153e-01 5.20745736e-02 3.74135568e+00] [ 8.19638237e-02 -1.06439628e-03 9.96634737e-01 2.25002610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.979115933 meters Centerline goodness [0,1] 0.9979726305119108 Centerline is valid? [True, True] Translation: X:-15.94, Y:3.73, Z:0.14 [[ 7.67838791e-01 6.36538424e-01 -7.24045975e-02 -1.59353596e+01] [-6.33718514e-01 7.71244987e-01 5.98499411e-02 3.72672207e+00] [ 9.39384701e-02 -7.09724904e-05 9.95578002e-01 1.41148514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.009115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-15.96, Y:3.73, Z:0.11 [[ 7.74854675e-01 6.29102294e-01 -6.18913208e-02 -1.59575678e+01] [-6.27000460e-01 7.77321859e-01 5.13921361e-02 3.73327311e+00] [ 8.04403872e-02 -1.01555035e-03 9.96758904e-01 1.11819796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.039115932999998 meters Centerline goodness [0,1] 0.9982614742698191 Centerline is valid? [True, True] Translation: X:-15.97, Y:3.75, Z:0.14 [[ 7.71315114e-01 6.33560067e-01 -6.06187752e-02 -1.59722988e+01] [-6.31539500e-01 7.73693173e-01 5.05641608e-02 3.75162922e+00] [ 7.89357656e-02 -7.17750478e-04 9.96879446e-01 1.43783451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.069115933 meters Centerline goodness [0,1] 0.9991044241447251 Centerline is valid? [True, True] Translation: X:-16.00, Y:3.75, Z:0.09 [[ 7.65583466e-01 6.40339323e-01 -6.20282825e-02 -1.60038662e+01] [-6.38226191e-01 7.68092123e-01 5.19790369e-02 3.74705964e+00] [ 8.09276565e-02 -2.06216793e-04 9.96719957e-01 8.98300264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.099115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.03, Y:3.75, Z:0.06 [[ 7.59417622e-01 6.47148467e-01 -6.69607158e-02 -1.60304000e+01] [-6.44688606e-01 7.62363911e-01 5.63725775e-02 3.74920502e+00] [ 8.75298603e-02 3.58481811e-04 9.96161832e-01 5.98060522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.129115932999998 meters Centerline goodness [0,1] 0.9998215560314061 Centerline is valid? [True, True] Translation: X:-16.05, Y:3.76, Z:0.05 [[ 7.54017058e-01 6.53278588e-01 -6.84497088e-02 -1.60512008e+01] [-6.50709002e-01 7.57117095e-01 5.78921269e-02 3.75831359e+00] [ 8.96441316e-02 8.89190430e-04 9.95973463e-01 5.26696455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.159115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.07, Y:3.77, Z:0.05 [[ 7.49725925e-01 6.58326029e-01 -6.72151627e-02 -1.60706293e+01] [-6.55842937e-01 7.52731885e-01 5.71380018e-02 3.76741903e+00] [ 8.82104299e-02 1.24474853e-03 9.96101085e-01 5.48356137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.189115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.09, Y:3.78, Z:0.05 [[ 7.52893547e-01 6.54963815e-01 -6.46042466e-02 -1.60882683e+01] [-6.52634475e-01 7.55659997e-01 5.51925001e-02 3.77919782e+00] [ 8.49679352e-02 6.08881376e-04 9.96383500e-01 5.10326508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.219115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.11, Y:3.78, Z:0.02 [[ 7.47367681e-01 6.61179324e-01 -6.54480792e-02 -1.61146706e+01] [-6.58788311e-01 7.50227061e-01 5.61900194e-02 3.78054216e+00] [ 8.62525991e-02 1.12182509e-03 9.96272669e-01 1.97513398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.249115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.13, Y:3.79, Z:0.01 [[ 7.43355707e-01 6.65733578e-01 -6.49699596e-02 -1.61332336e+01] [-6.63371466e-01 7.46188143e-01 5.60495605e-02 3.79056180e+00] [ 8.57938880e-02 1.43445662e-03 9.96311874e-01 9.40452964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.279115932999996 meters Centerline goodness [0,1] 0.9984350547730829 Centerline is valid? [True, True] Translation: X:-16.15, Y:3.80, Z:0.01 [[ 7.37857242e-01 6.71595200e-01 -6.72798407e-02 -1.61533903e+01] [-6.69060005e-01 7.40915646e-01 5.83328005e-02 3.79908145e+00] [ 8.90247155e-02 1.97297125e-03 9.96027463e-01 5.70048649e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.309115932999998 meters Centerline goodness [0,1] 0.9986579754601227 Centerline is valid? [True, True] Translation: X:-16.17, Y:3.81, Z:-0.00 [[ 7.37448215e-01 6.72122067e-01 -6.64985516e-02 -1.61716227e+01] [-6.69622603e-01 7.40438167e-01 5.79386759e-02 3.80915976e+00] [ 8.81799283e-02 1.80216014e-03 9.96102933e-01 -4.16806488e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.339115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.19, Y:3.82, Z:-0.02 [[ 7.36563974e-01 6.73456108e-01 -6.26927649e-02 -1.61912460e+01] [-6.71216714e-01 7.39225385e-01 5.48994734e-02 3.81751386e+00] [ 8.33164689e-02 1.64345737e-03 9.96521784e-01 -1.76929826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.369115932999996 meters Centerline goodness [0,1] 0.9997929606625259 Centerline is valid? [True, True] Translation: X:-16.21, Y:3.83, Z:-0.02 [[ 7.35498430e-01 6.74905326e-01 -5.95387236e-02 -1.62102613e+01] [-6.72868984e-01 7.37902777e-01 5.24101383e-02 3.82705742e+00] [ 7.93056709e-02 1.51418602e-03 9.96849195e-01 -1.55468224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.399115932999997 meters Centerline goodness [0,1] 0.9995720094157928 Centerline is valid? [True, True] Translation: X:-16.23, Y:3.83, Z:-0.04 [[ 7.29956573e-01 6.81412335e-01 -5.32975791e-02 -1.62311944e+01] [-6.79781369e-01 7.31897498e-01 4.71523230e-02 3.83414821e+00] [ 7.11385393e-02 1.81155322e-03 9.97464800e-01 -3.63921711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.429115933 meters Centerline goodness [0,1] 0.9995541685242978 Centerline is valid? [True, True] Translation: X:-16.25, Y:3.85, Z:-0.04 [[ 7.19820788e-01 6.92203417e-01 -5.20813105e-02 -1.62469188e+01] [-6.90657277e-01 7.21697652e-01 4.63144183e-02 3.84647346e+00] [ 6.96459581e-02 2.63225501e-03 9.97568299e-01 -4.44050946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.459115932999996 meters Centerline goodness [0,1] 0.9968581687612208 Centerline is valid? [True, True] Translation: X:-16.26, Y:3.87, Z:-0.02 [[ 7.12092964e-01 6.99781418e-01 -5.68293804e-02 -1.62555905e+01] [-6.97944602e-01 7.14348472e-01 5.07896953e-02 3.86885830e+00] [ 7.61376661e-02 3.49677457e-03 9.97091184e-01 -1.79710615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.489115932999997 meters Centerline goodness [0,1] 0.9974472035275006 Centerline is valid? [True, True] Translation: X:-16.26, Y:3.90, Z:0.02 [[ 7.11531771e-01 7.00965834e-01 -4.86768726e-02 -1.62574293e+01] [-6.99607814e-01 7.13188743e-01 4.37118159e-02 3.89785598e+00] [ 6.53562871e-02 2.95237471e-03 9.97857625e-01 1.82532892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.519115933 meters Centerline goodness [0,1] 0.9976771196283392 Centerline is valid? [True, True] Translation: X:-16.28, Y:3.91, Z:0.02 [[ 7.06100157e-01 7.06732424e-01 -4.41797330e-02 -1.62752759e+01] [-7.05613146e-01 7.07474499e-01 3.98738200e-02 3.90891668e+00] [ 5.94361560e-02 3.01888985e-03 9.98227544e-01 2.23660664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.549115932999996 meters Centerline goodness [0,1] 0.9988268418582825 Centerline is valid? [True, True] Translation: X:-16.31, Y:3.90, Z:-0.04 [[ 7.13628435e-01 6.99543129e-01 -3.70657167e-02 -1.63084332e+01] [-6.98736916e-01 7.14587852e-01 3.36292109e-02 3.90179843e+00] [ 5.00117943e-02 1.90042340e-03 9.98746819e-01 -3.79464152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.579115932999997 meters Centerline goodness [0,1] 0.9988542621448213 Centerline is valid? [True, True] Translation: X:-16.33, Y:3.91, Z:-0.05 [[ 7.13163793e-01 7.00038222e-01 -3.66591251e-02 -1.63296667e+01] [-6.99240161e-01 7.14103186e-01 3.34639511e-02 3.90637092e+00] [ 4.96044429e-02 1.76825426e-03 9.98767377e-01 -5.22088248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.609115932999998 meters Centerline goodness [0,1] 0.993634917026597 Centerline is valid? [True, True] Translation: X:-16.33, Y:3.94, Z:0.02 [[ 7.21772052e-01 6.91316463e-01 -3.35656524e-02 -1.63274399e+01] [-6.90629523e-01 7.22551505e-01 3.08250490e-02 3.93803536e+00] [ 4.55627765e-02 9.32771661e-04 9.98961042e-01 2.26526133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.639115933 meters Centerline goodness [0,1] 0.9955419990614734 Centerline is valid? [True, True] Translation: X:-16.30, Y:4.01, Z:0.20 [[ 7.23904673e-01 6.89089251e-01 -3.34369211e-02 -1.62963550e+01] [-6.88398110e-01 7.24676167e-01 3.08625255e-02 4.00543489e+00] [ 4.54979744e-02 6.76386848e-04 9.98964202e-01 2.02563958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.669115932999997 meters Centerline goodness [0,1] 0.9987760097919217 Centerline is valid? [True, True] Translation: X:-16.35, Y:3.98, Z:0.09 [[ 7.29142685e-01 6.83803918e-01 -2.76251182e-02 -1.63459207e+01] [-6.83324087e-01 7.29665787e-01 2.56131030e-02 3.98090833e+00] [ 3.76714438e-02 2.01301975e-04 9.99290159e-01 9.28539907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.699115932999998 meters Centerline goodness [0,1] 0.9945932661587613 Centerline is valid? [True, True] Translation: X:-16.33, Y:4.03, Z:0.20 [[ 7.28012502e-01 6.85045326e-01 -2.66589144e-02 -1.63305433e+01] [-6.84595145e-01 7.28500426e-01 2.48317748e-02 4.03135835e+00] [ 3.64319218e-02 1.72720857e-04 9.99336122e-01 2.00681775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.729115933 meters Centerline goodness [0,1] 0.9959979989994997 Centerline is valid? [True, True] Translation: X:-16.33, Y:4.07, Z:0.27 [[ 7.27361370e-01 6.85717811e-01 -2.71389412e-02 -1.63269977e+01] [-6.85247355e-01 7.27867480e-01 2.53967357e-02 4.06782297e+00] [ 3.71685468e-02 1.24283173e-04 9.99309003e-01 2.70732072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.759115932999997 meters Centerline goodness [0,1] 0.9962434259954921 Centerline is valid? [True, True] Translation: X:-16.35, Y:4.08, Z:0.25 [[ 7.31574569e-01 6.81346599e-01 -2.37794660e-02 -1.63487312e+01] [-6.80979991e-01 7.31960920e-01 2.23486947e-02 4.07785717e+00] [ 3.26328469e-02 -1.56396155e-04 9.99467395e-01 2.48953963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.789115932999998 meters Centerline goodness [0,1] 0.9967262654243264 Centerline is valid? [True, True] Translation: X:-16.35, Y:4.11, Z:0.28 [[ 7.28813319e-01 6.84545381e-01 -1.51250956e-02 -1.63492849e+01] [-6.84396560e-01 7.28970246e-01 1.42733992e-02 4.10659790e+00] [ 2.07965341e-02 -5.10800213e-05 9.99783727e-01 2.84835405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.819115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.46, Y:4.01, Z:-0.01 [[ 7.04771628e-01 7.08614944e-01 -3.40853813e-02 -1.64606522e+01] [-7.07874734e-01 7.05594217e-01 3.24062148e-02 4.01397552e+00] [ 4.70139760e-02 1.28919949e-03 9.98893400e-01 -5.26219703e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.849115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.47, Y:4.03, Z:0.01 [[ 7.00946461e-01 7.12363330e-01 -3.48216167e-02 -1.64729189e+01] [-7.11587292e-01 7.01809353e-01 3.32739839e-02 4.03116224e+00] [ 4.81413023e-02 1.45533869e-03 9.98839475e-01 7.33634493e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.879115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.49, Y:4.04, Z:0.00 [[ 6.99216432e-01 7.14182252e-01 -3.22504560e-02 -1.64889288e+01] [-7.13510535e-01 6.99958514e-01 3.09966870e-02 4.04258979e+00] [ 4.47112650e-02 1.33764721e-03 9.98999056e-01 7.19448234e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.909115933 meters Centerline goodness [0,1] 0.9982664685487865 Centerline is valid? [True, True] Translation: X:-16.51, Y:4.05, Z:0.01 [[ 6.94033938e-01 7.19117094e-01 -3.44600794e-02 -1.65072294e+01] [-7.18346037e-01 6.94887025e-01 3.33315746e-02 4.05090232e+00] [ 4.79151671e-02 1.62101746e-03 9.98850093e-01 1.34232683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.939115932999997 meters Centerline goodness [0,1] 0.9951431492842536 Centerline is valid? [True, True] Translation: X:-16.43, Y:4.17, Z:0.29 [[ 7.17002598e-01 6.96950380e-01 -1.29399838e-02 -1.64257349e+01] [-6.96837279e-01 7.17119354e-01 1.25553997e-02 4.16924422e+00] [ 1.80300034e-02 1.48088992e-05 9.99837446e-01 2.87597413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.969115932999998 meters Centerline goodness [0,1] 0.9979274611398964 Centerline is valid? [True, True] Translation: X:-16.44, Y:4.18, Z:0.27 [[ 7.24418478e-01 6.89307167e-01 -8.57313837e-03 -1.64443203e+01] [-6.89256660e-01 7.24469193e-01 8.34537611e-03 4.18146790e+00] [ 1.19635022e-02 -1.36451941e-04 9.99928425e-01 2.69526003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.999115933 meters Centerline goodness [0,1] 0.9997419354838709 Centerline is valid? [True, True] Translation: X:-16.45, Y:4.21, Z:0.33 [[ 7.21738229e-01 6.91998614e-01 -1.52265044e-02 -1.64494500e+01] [-6.91837755e-01 7.21898790e-01 1.49217308e-02 4.20883335e+00] [ 2.13178121e-02 -2.35312910e-04 9.99772722e-01 3.26319888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.029115932999996 meters Centerline goodness [0,1] 0.9997419354838709 Centerline is valid? [True, True] Translation: X:-16.47, Y:4.22, Z:0.33 [[ 7.20326820e-01 6.93468380e-01 -1.51946723e-02 -1.64651124e+01] [-6.93307166e-01 7.20487022e-01 1.49541026e-02 4.22422995e+00] [ 2.13177616e-02 -2.37265999e-04 9.99772723e-01 3.26056820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.059115932999998 meters Centerline goodness [0,1] 0.997901914503016 Centerline is valid? [True, True] Translation: X:-16.47, Y:4.25, Z:0.35 [[ 7.22739891e-01 6.90986919e-01 -1.35693800e-02 -1.64724601e+01] [-6.90856922e-01 7.22867193e-01 1.34064980e-02 4.24925126e+00] [ 1.90725744e-02 -3.14910805e-04 9.99818052e-01 3.50884052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.089115933 meters Centerline goodness [0,1] 0.9928425357873211 Centerline is valid? [True, True] Translation: X:-16.50, Y:4.25, Z:0.34 [[ 7.13245589e-01 7.00586209e-01 -2.14404801e-02 -1.65006783e+01] [-7.00262407e-01 7.13567749e-01 2.12985556e-02 4.25099795e+00] [ 3.02207095e-02 -1.77138622e-04 9.99543234e-01 3.35977172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.119115932999996 meters Centerline goodness [0,1] 0.9979231568016614 Centerline is valid? [True, True] Translation: X:-16.51, Y:4.27, Z:0.36 [[ 7.24554800e-01 6.89091963e-01 -1.31380334e-02 -1.65084497e+01] [-6.88967685e-01 7.24673772e-01 1.30940085e-02 4.27395033e+00] [ 1.85437643e-02 -4.35646316e-04 9.99827955e-01 3.56253291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.149115932999997 meters Centerline goodness [0,1] 0.996001066382298 Centerline is valid? [True, True] Translation: X:-16.51, Y:4.30, Z:0.37 [[ 7.24712730e-01 6.88886859e-01 -1.50451096e-02 -1.65144167e+01] [-6.88722207e-01 7.24868665e-01 1.50711388e-02 4.29741318e+00] [ 2.12880380e-02 -5.60345035e-04 9.99773227e-01 3.69977574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.179115933 meters Centerline goodness [0,1] 0.9991926803013994 Centerline is valid? [True, True] Translation: X:-15.65, Y:5.07, Z:-1.85 [[ 7.51132248e-01 -6.60141145e-01 -3.74356546e-03 -1.56544459e+01] [-6.60139468e-01 -7.51140790e-01 1.84270108e-03 5.06893811e+00] [-4.02838752e-03 1.08716311e-03 -9.99991295e-01 -1.85114492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.209115932999996 meters Centerline goodness [0,1] 0.9972943722943723 Centerline is valid? [True, True] Translation: X:-16.46, Y:4.21, Z:0.36 [[ 7.77010103e-01 6.29283837e-01 -1.60359921e-02 -1.64608749e+01] [-6.29134919e-01 7.77175362e-01 1.37007630e-02 4.21253198e+00] [ 2.10844466e-02 -5.56828642e-04 9.99777543e-01 3.62748007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.239115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.48, Y:4.23, Z:0.37 [[ 7.69994499e-01 6.37746599e-01 -1.96912998e-02 -1.64794447e+01] [-6.37523542e-01 7.70246119e-01 1.68715417e-02 4.22823359e+00] [ 2.59269156e-02 -4.37327070e-04 9.99663745e-01 3.70333649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.269115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.49, Y:4.25, Z:0.37 [[ 7.77148072e-01 6.29203740e-01 -1.19802770e-02 -1.64869829e+01] [-6.29119709e-01 7.77240271e-01 1.02933250e-02 4.25450828e+00] [ 1.57881524e-02 -4.62409314e-04 9.99875252e-01 3.71888322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.299115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.50, Y:4.28, Z:0.40 [[ 7.90895083e-01 6.11950157e-01 1.40484958e-03 -1.64955246e+01] [-6.11948903e-01 7.90896321e-01 -1.24506288e-03 4.28165451e+00] [-1.87300679e-03 1.25017950e-04 9.99998238e-01 4.02605524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.329115932999997 meters Centerline goodness [0,1] 0.9997316876844647 Centerline is valid? [True, True] Translation: X:-16.52, Y:4.29, Z:0.40 [[ 7.76020336e-01 6.30671471e-01 -6.77746155e-03 -1.65213495e+01] [-6.30644317e-01 7.76049883e-01 5.85863070e-03 4.28809644e+00] [ 8.95451949e-03 -2.72248951e-04 9.99959870e-01 4.03387984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.359115932999998 meters Centerline goodness [0,1] 0.9938192119495236 Centerline is valid? [True, True] Translation: X:-16.55, Y:4.30, Z:0.40 [[ 7.69670847e-01 6.38320497e-01 -1.23988539e-02 -1.65450248e+01] [-6.38229791e-01 7.69770618e-01 1.07670758e-02 4.29674892e+00] [ 1.64171186e-02 -3.73786404e-04 9.99865160e-01 4.01410240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.389115933 meters Centerline goodness [0,1] 0.9992266047950503 Centerline is valid? [True, True] Translation: X:-16.55, Y:4.32, Z:0.43 [[ 7.74636411e-01 6.32361739e-01 -7.55387754e-03 -1.65537508e+01] [-6.32327667e-01 7.74673177e-01 6.57188958e-03 4.32249123e+00] [ 1.00075978e-02 -3.14299193e-04 9.99949873e-01 4.31286162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.419115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.58, Y:4.33, Z:0.42 [[ 7.73082325e-01 6.34303629e-01 -1.62032854e-03 -1.65752886e+01] [-6.34302107e-01 7.73084021e-01 1.39055240e-03 4.33418528e+00] [ 2.13468253e-03 -4.72336732e-05 9.99997720e-01 4.16791129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.449115932999998 meters Centerline goodness [0,1] 0.9954314720812183 Centerline is valid? [True, True] Translation: X:-16.60, Y:4.34, Z:0.42 [[ 7.62905404e-01 6.46473227e-01 -6.90743266e-03 -1.66019028e+01] [-6.46444893e-01 7.62936658e-01 6.05443240e-03 4.33833054e+00] [ 9.18396204e-03 -1.53684626e-04 9.99957815e-01 4.19901136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.479115933 meters Centerline goodness [0,1] 0.9981574098446959 Centerline is valid? [True, True] Translation: X:-16.61, Y:4.37, Z:0.43 [[ 7.70702002e-01 6.37195666e-01 3.26491918e-04 -1.66094493e+01] [-6.37195587e-01 7.70702070e-01 -3.19639439e-04 4.36541076e+00] [-4.55300863e-04 3.83075467e-05 9.99999896e-01 4.29952563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.509115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.63, Y:4.38, Z:0.43 [[ 7.70424852e-01 6.37525107e-01 2.69903053e-03 -1.66292546e+01] [-6.37520544e-01 7.70429567e-01 -2.41624818e-03 4.37959254e+00] [-3.61983181e-03 1.40850236e-04 9.99993438e-01 4.34821888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.539115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.65, Y:4.39, Z:0.43 [[ 7.74432911e-01 6.32643533e-01 3.97827479e-03 -1.66509712e+01] [-6.32633517e-01 7.74443090e-01 -3.56850021e-03 4.39186264e+00] [-5.33853600e-03 2.46774028e-04 9.99985719e-01 4.33094943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.569115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.66, Y:4.41, Z:0.43 [[ 7.69399530e-01 6.38763916e-01 2.24135182e-03 -1.66621940e+01] [-6.38760617e-01 7.69402779e-01 -2.05858859e-03 4.40817373e+00] [-3.03945442e-03 1.52189824e-04 9.99995369e-01 4.34224351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.599115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.68, Y:4.42, Z:0.42 [[ 7.75898824e-01 6.30826726e-01 6.21739108e-03 -1.66814078e+01] [-6.30801856e-01 7.75923611e-01 -5.61855343e-03 4.42259062e+00] [-8.36855420e-03 4.37487166e-04 9.99964887e-01 4.22363476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.629115932999998 meters Centerline goodness [0,1] 0.9973425458410843 Centerline is valid? [True, True] Translation: X:-16.72, Y:4.42, Z:0.43 [[ 7.64024463e-01 6.45157396e-01 -6.20922874e-03 -1.67162808e+01] [-6.45133399e-01 7.64049653e-01 5.57009770e-03 4.42060767e+00] [ 8.33774879e-03 -2.49910067e-04 9.99965209e-01 4.28848864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.659115933 meters Centerline goodness [0,1] 0.9989168697535878 Centerline is valid? [True, True] Translation: X:-16.73, Y:4.44, Z:0.43 [[ 7.72048803e-01 6.35562842e-01 -7.20396086e-04 -1.67267905e+01] [-6.35562542e-01 7.72049139e-01 6.18285648e-04 4.44434285e+00] [ 9.49140561e-04 -1.94899267e-05 9.99999549e-01 4.28545899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.689115932999997 meters Centerline goodness [0,1] 0.9997304582210242 Centerline is valid? [True, True] Translation: X:-16.75, Y:4.46, Z:0.43 [[ 7.71104437e-01 6.36696448e-01 -3.94732777e-03 -1.67485636e+01] [-6.36686542e-01 7.71114505e-01 3.55915426e-03 4.45743234e+00] [ 5.30994257e-03 -2.31269177e-04 9.99985875e-01 4.26008170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.719115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.77, Y:4.47, Z:0.42 [[ 7.76861742e-01 6.29671196e-01 1.36421830e-04 -1.67718498e+01] [-6.29671178e-01 7.76861753e-01 -1.57680541e-04 4.46699176e+00] [-2.05267797e-04 3.65950855e-05 9.99999978e-01 4.19462853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.749115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.79, Y:4.48, Z:0.42 [[ 7.73331362e-01 6.34000720e-01 -1.30024091e-03 -1.67929797e+01] [-6.33999668e-01 7.73332452e-01 1.15716464e-03 4.47975869e+00] [ 1.73916171e-03 -7.05194055e-05 9.99998485e-01 4.23223732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.779115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.81, Y:4.49, Z:0.42 [[ 7.74879308e-01 6.32109003e-01 -5.15676971e-04 -1.68125823e+01] [-6.32108851e-01 7.74879480e-01 4.39352814e-04 4.49364341e+00] [ 6.77306372e-04 -1.44814275e-05 9.99999771e-01 4.23854824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.809115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.83, Y:4.51, Z:0.43 [[ 7.79692935e-01 6.26137615e-01 5.53299013e-03 -1.68290561e+01] [-6.26116773e-01 7.79712379e-01 -5.13735859e-03 4.51097914e+00] [-7.53083436e-03 5.41264271e-04 9.99971496e-01 4.31822937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.839115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.85, Y:4.53, Z:0.43 [[ 7.84201362e-01 6.20373732e-01 1.28318360e-02 -1.68455899e+01] [-6.20261275e-01 7.84305150e-01 -1.18904297e-02 4.52860927e+00] [-1.74405853e-02 1.36540020e-03 9.99846969e-01 4.34618989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.869115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.87, Y:4.54, Z:0.45 [[ 7.81757759e-01 6.23509362e-01 9.53314944e-03 -1.68652604e+01] [-6.23447158e-01 7.81815263e-01 -8.86201204e-03 4.54463619e+00] [-1.29787092e-02 9.84531755e-04 9.99915288e-01 4.52371473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.899115932999997 meters Centerline goodness [0,1] 0.9987002859370938 Centerline is valid? [True, True] Translation: X:-16.90, Y:4.55, Z:0.46 [[ 7.69120011e-01 6.39104380e-01 -1.20235334e-05 -1.68962259e+01] [-6.39104380e-01 7.69120011e-01 -1.46502225e-05 4.54702989e+00] [-1.15481462e-07 1.89520721e-05 1.00000000e+00 4.61810468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.929115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.92, Y:4.56, Z:0.43 [[ 7.75031844e-01 6.31876906e-01 7.56418498e-03 -1.69154415e+01] [-6.31837296e-01 7.75068408e-01 -7.11294182e-03 4.55649739e+00] [-1.03572645e-02 7.33422231e-04 9.99946093e-01 4.31880563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.959115932999996 meters Centerline goodness [0,1] 0.9997368421052631 Centerline is valid? [True, True] Translation: X:-16.95, Y:4.55, Z:0.41 [[ 7.63832537e-01 6.45406689e-01 3.17198248e-03 -1.69523071e+01] [-6.45399721e-01 7.63839082e-01 -3.00945786e-03 4.55086840e+00] [-4.36520841e-03 2.51525224e-04 9.99990441e-01 4.08177254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.989115932999997 meters Centerline goodness [0,1] 0.9976762199845082 Centerline is valid? [True, True] Translation: X:-16.96, Y:4.57, Z:0.45 [[ 7.50361405e-01 6.61009697e-01 -4.89319696e-03 -1.69648971e+01] [-6.60993902e-01 7.50377333e-01 4.57388146e-03 4.57140369e+00] [ 6.69512408e-03 -1.97690762e-04 9.99977568e-01 4.47974540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.019115933 meters Centerline goodness [0,1] 0.9971859810693272 Centerline is valid? [True, True] Translation: X:-16.99, Y:4.58, Z:0.44 [[ 7.46625846e-01 6.65211426e-01 -6.60338471e-03 -1.69879343e+01] [-6.65182476e-01 7.46655007e-01 6.21083214e-03 4.57955958e+00] [ 9.06196676e-03 -2.44712005e-04 9.99958910e-01 4.43702097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.049115932999996 meters Centerline goodness [0,1] 0.9934026896726719 Centerline is valid? [True, True] Translation: X:-17.04, Y:4.56, Z:0.36 [[ 7.39986323e-01 6.72543524e-01 -1.02689346e-02 -1.70359263e+01] [-6.72473326e-01 7.40057515e-01 9.72106744e-03 4.55929355e+00] [ 1.41374432e-02 -2.87872312e-04 9.99900020e-01 3.58529015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.079115932999997 meters Centerline goodness [0,1] 0.9997488068324542 Centerline is valid? [True, True] Translation: X:-17.04, Y:4.58, Z:0.38 [[ 7.52732645e-01 6.58323666e-01 -1.87517745e-03 -1.70420674e+01] [-6.58321347e-01 7.52734976e-01 1.74914711e-03 4.58452264e+00] [ 2.56301659e-03 -8.21707845e-05 9.99996712e-01 3.84486222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.109115932999998 meters Centerline goodness [0,1] 0.9972081218274111 Centerline is valid? [True, True] Translation: X:-17.06, Y:4.60, Z:0.39 [[ 7.60544099e-01 6.49280015e-01 2.85222732e-03 -1.70604224e+01] [-6.49274131e-01 7.60549403e-01 -2.77633205e-03 4.59709946e+00] [-3.97187670e-03 2.59645547e-04 9.99992078e-01 3.88003937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.139115932999996 meters Centerline goodness [0,1] 0.998234106962664 Centerline is valid? [True, True] Translation: X:-17.13, Y:4.55, Z:0.23 [[ 7.29936465e-01 6.83291843e-01 -1.74646647e-02 -1.71344827e+01] [-6.83085553e-01 7.30145294e-01 1.67921849e-02 4.54698191e+00] [ 2.42257057e-02 -3.27367964e-04 9.99706461e-01 2.27646770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.169115932999997 meters Centerline goodness [0,1] 0.9992494370778083 Centerline is valid? [True, True] Translation: X:-17.09, Y:4.63, Z:0.44 [[ 7.66575899e-01 6.42152463e-01 1.26745315e-03 -1.70879857e+01] [-6.42151221e-01 7.66576929e-01 -1.27296416e-03 4.62980656e+00] [-1.78903741e-03 1.61927056e-04 9.99998387e-01 4.39258474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.199115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.10, Y:4.65, Z:0.47 [[ 7.63922994e-01 6.45304584e-01 -1.91143077e-03 -1.71020768e+01] [-6.45302020e-01 7.63925368e-01 1.82619717e-03 4.64854236e+00] [ 2.63864386e-03 -1.61623876e-04 9.99996506e-01 4.72966138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.229115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.12, Y:4.66, Z:0.48 [[ 7.61275074e-01 6.48428692e-01 -7.02666086e-04 -1.71183386e+01] [-6.48428369e-01 7.61275397e-01 6.48555009e-04 4.66383688e+00] [ 9.55464079e-04 -3.81001383e-05 9.99999543e-01 4.75518370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.259115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.13, Y:4.68, Z:0.49 [[ 7.55520476e-01 6.55120341e-01 -2.47969656e-03 -1.71334539e+01] [-6.55115987e-01 7.55524522e-01 2.39589616e-03 4.68062248e+00] [ 3.44307187e-03 -1.85659750e-04 9.99994055e-01 4.90806188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.289115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.14, Y:4.70, Z:0.51 [[ 7.55544010e-01 6.55097073e-01 -1.03647615e-03 -1.71437996e+01] [-6.55096341e-01 7.55544718e-01 9.81463957e-04 4.70192076e+00] [ 1.42605825e-03 -6.25474793e-05 9.99998981e-01 5.05563568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.319115933 meters Centerline goodness [0,1] 0.997344662772172 Centerline is valid? [True, True] Translation: X:-17.18, Y:4.69, Z:0.43 [[ 7.35706260e-01 6.77202786e-01 -1.15188983e-02 -1.71794901e+01] [-6.77107847e-01 7.35796222e-01 1.13526603e-02 4.69346312e+00] [ 1.61636151e-02 -5.52686829e-04 9.99869207e-01 4.26406287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.349115932999997 meters Centerline goodness [0,1] 0.9994645247657296 Centerline is valid? [True, True] Translation: X:-17.20, Y:4.71, Z:0.43 [[ 7.25141963e-01 6.88422102e-01 -1.56251179e-02 -1.71980456e+01] [-6.88248029e-01 7.25310129e-01 1.54876655e-02 4.70555462e+00] [ 2.19951075e-02 -4.76799515e-04 9.99757965e-01 4.34964845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.379115932999998 meters Centerline goodness [0,1] 0.9997338301836571 Centerline is valid? [True, True] Translation: X:-17.20, Y:4.73, Z:0.46 [[ 7.31530796e-01 6.81740619e-01 -9.61364365e-03 -1.72004860e+01] [-6.81673758e-01 7.31593833e-01 9.55783861e-03 4.73367137e+00] [ 1.35492492e-02 -4.38484698e-04 9.99908109e-01 4.55891303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.409115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.22, Y:4.74, Z:0.45 [[ 7.29340110e-01 6.84111465e-01 -7.38291265e-03 -1.72219998e+01] [-6.84071885e-01 7.29377406e-01 7.36585866e-03 4.74267471e+00] [ 1.04239980e-02 -3.21773190e-04 9.99945617e-01 4.52180468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.439115932999997 meters Centerline goodness [0,1] 0.9992073976221929 Centerline is valid? [True, True] Translation: X:-16.15, Y:5.65, Z:-1.99 [[ 7.32753829e-01 -6.80376177e-01 1.26524336e-02 -1.61526529e+01] [-6.80268021e-01 -7.32863000e-01 -1.21343831e-02 5.65154711e+00] [ 1.75284456e-02 2.84469733e-04 -9.99846325e-01 -1.99120237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.469115932999998 meters Centerline goodness [0,1] 0.9997425997425997 Centerline is valid? [True, True] Translation: X:-17.10, Y:4.63, Z:0.52 [[ 7.86284580e-01 6.17809199e-01 -8.26757421e-03 -1.71033759e+01] [-6.17769224e-01 7.86327928e-01 7.04094528e-03 4.62978157e+00] [ 1.08509853e-02 -4.28733797e-04 9.99941034e-01 5.15987563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.499115933 meters Centerline goodness [0,1] 0.9997410668047644 Centerline is valid? [True, True] Translation: X:-17.12, Y:4.65, Z:0.55 [[ 7.87102178e-01 6.16694604e-01 -1.25668965e-02 -1.71204108e+01] [-6.16601643e-01 7.87202185e-01 1.07300526e-02 4.64523326e+00] [ 1.65098539e-02 -6.96878775e-04 9.99863460e-01 5.49778997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.529115932999996 meters Centerline goodness [0,1] 0.9984496124031008 Centerline is valid? [True, True] Translation: X:-17.14, Y:4.66, Z:0.54 [[ 7.89065520e-01 6.14181604e-01 -1.25124659e-02 -1.71379774e+01] [-6.14088379e-01 7.89164333e-01 1.07292716e-02 4.65905188e+00] [ 1.64641131e-02 -7.82338353e-04 9.99864151e-01 5.35256035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.559115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.16, Y:4.67, Z:0.53 [[ 7.89498942e-01 6.13630999e-01 -1.21826966e-02 -1.71593963e+01] [-6.13541822e-01 7.89592517e-01 1.04923747e-02 4.66873000e+00] [ 1.60578125e-02 -8.09124863e-04 9.99870738e-01 5.32682042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.589115933 meters Centerline goodness [0,1] 0.9997452229299363 Centerline is valid? [True, True] Translation: X:-17.18, Y:4.68, Z:0.54 [[ 7.75996683e-01 6.30503265e-01 -1.71692197e-02 -1.71804284e+01] [-6.30328383e-01 7.76186269e-01 1.48662774e-02 4.67737618e+00] [ 2.26997490e-02 -7.13935475e-04 9.99742073e-01 5.35846597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.619115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.20, Y:4.69, Z:0.54 [[ 7.68411579e-01 6.39726815e-01 -1.71244897e-02 -1.71985467e+01] [-6.39553640e-01 7.68602212e-01 1.48923217e-02 4.68998435e+00] [ 2.26889382e-02 -4.91402674e-04 9.99742452e-01 5.43572609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.649115932999997 meters Centerline goodness [0,1] 0.9992614475627769 Centerline is valid? [True, True] Translation: X:-17.21, Y:4.71, Z:0.55 [[ 7.65057922e-01 6.43754585e-01 -1.63220942e-02 -1.72141931e+01] [-6.43596811e-01 7.65231907e-01 1.42573843e-02 4.70567700e+00] [ 2.16684438e-02 -4.02877016e-04 9.99765131e-01 5.48344740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.679115933 meters Centerline goodness [0,1] 0.9997593261131167 Centerline is valid? [True, True] Translation: X:-17.25, Y:4.70, Z:0.52 [[ 7.33039304e-01 6.79501464e-01 -3.05145877e-02 -1.72480150e+01] [-6.78972968e-01 7.33673384e-01 2.68155690e-02 4.69836711e+00] [ 4.06089592e-02 1.06171412e-03 9.99174552e-01 5.20728092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.709115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.26, Y:4.71, Z:0.52 [[ 7.33813833e-01 6.78737297e-01 -2.88606924e-02 -1.72632495e+01] [-6.78259213e-01 7.34380636e-01 2.54857091e-02 4.71187436e+00] [ 3.84928350e-02 8.73264642e-04 9.99258495e-01 5.16174150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.739115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.29, Y:4.71, Z:0.45 [[ 7.20840541e-01 6.92515674e-01 -2.84772827e-02 -1.72905507e+01] [-6.92056074e-01 7.21401286e-01 2.52700363e-02 4.70994036e+00] [ 3.80434446e-02 1.49220977e-03 9.99274972e-01 4.54885553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.769115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.30, Y:4.72, Z:0.48 [[ 7.10584906e-01 7.02875256e-01 -3.21786421e-02 -1.73038271e+01] [-7.02291708e-01 7.11309758e-01 2.87190787e-02 4.72460066e+00] [ 4.30749119e-02 2.19144966e-03 9.99069442e-01 4.75910808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.799115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.31, Y:4.74, Z:0.50 [[ 7.10112208e-01 7.03311836e-01 -3.30622624e-02 -1.73148678e+01] [-7.02689588e-01 7.10878150e-01 2.96580267e-02 4.74277055e+00] [ 4.43620811e-02 2.17198071e-03 9.99013157e-01 4.98355750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.829115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.32, Y:4.76, Z:0.54 [[ 7.18439075e-01 6.94849403e-01 -3.20874132e-02 -1.73227636e+01] [-6.94248788e-01 7.19153715e-01 2.89232632e-02 4.76408254e+00] [ 4.31730946e-02 1.49704526e-03 9.99066486e-01 5.35253286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.859115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.34, Y:4.77, Z:0.55 [[ 7.15583270e-01 6.97690541e-01 -3.41832058e-02 -1.73419178e+01] [-6.97005048e-01 7.16397325e-01 3.09650781e-02 4.77403069e+00] [ 4.60927992e-02 1.66777514e-03 9.98935770e-01 5.53031260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.889115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.36, Y:4.78, Z:0.55 [[ 7.17008292e-01 6.96125081e-01 -3.61798383e-02 -1.73645590e+01] [-6.95347201e-01 7.17918863e-01 3.29359441e-02 4.78009766e+00] [ 4.89017251e-02 1.54220425e-03 9.98802404e-01 5.49814158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.919115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.38, Y:4.79, Z:0.55 [[ 7.11470897e-01 7.01724380e-01 -3.73102957e-02 -1.73803411e+01] [-7.00895621e-01 7.12446100e-01 3.41450309e-02 4.79238758e+00] [ 5.05419753e-02 1.85742709e-03 9.98720210e-01 5.52770221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.949115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.39, Y:4.81, Z:0.55 [[ 7.09417171e-01 7.03805738e-01 -3.72123709e-02 -1.73947339e+01] [-7.02974255e-01 7.10390048e-01 3.42516497e-02 4.80567371e+00] [ 5.05418056e-02 1.86063029e-03 9.98720213e-01 5.52548013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.979115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.41, Y:4.82, Z:0.56 [[ 7.04169708e-01 7.09092716e-01 -3.65040174e-02 -1.74119863e+01] [-7.08290206e-01 7.05112238e-01 3.37892823e-02 4.81693264e+00] [ 4.96991634e-02 2.06204891e-03 9.98762104e-01 5.60385213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.009115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.42, Y:4.83, Z:0.56 [[ 6.99161174e-01 7.14109766e-01 -3.49413105e-02 -1.74196524e+01] [-7.13370791e-01 7.00030388e-01 3.25510511e-02 4.83355877e+00] [ 4.77050026e-02 2.16767919e-03 9.98859116e-01 5.61528597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.039115932999998 meters Centerline goodness [0,1] 0.999507874015748 Centerline is valid? [True, True] Translation: X:-17.44, Y:4.84, Z:0.52 [[ 6.79866133e-01 7.32346725e-01 -3.80830083e-02 -1.74380639e+01] [-7.31484973e-01 6.80922466e-01 3.56977660e-02 4.84085832e+00] [ 5.20747179e-02 3.58744614e-03 9.98636748e-01 5.18420353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.069115933 meters Centerline goodness [0,1] 0.9997566909975669 Centerline is valid? [True, True] Translation: X:-17.46, Y:4.85, Z:0.49 [[ 6.67940165e-01 7.43296719e-01 -3.69584139e-02 -1.74550488e+01] [-7.42491445e-01 6.68948877e-01 3.48404198e-02 4.85053997e+00] [ 5.06200592e-02 4.16999044e-03 9.98709277e-01 4.87221113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.099115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.48, Y:4.85, Z:0.44 [[ 6.60761522e-01 7.49953836e-01 -3.10395770e-02 -1.74782806e+01] [-7.49386233e-01 6.61479139e-01 2.94214614e-02 4.85229870e+00] [ 4.25967705e-02 3.82006204e-03 9.99085043e-01 4.39731205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.129115932999998 meters Centerline goodness [0,1] 0.9985879030360084 Centerline is valid? [True, True] Translation: X:-17.50, Y:4.86, Z:0.43 [[ 6.58186199e-01 7.52438681e-01 -2.50391659e-02 -1.74968397e+01] [-7.52066561e-01 6.58654903e-01 2.38664311e-02 4.85758992e+00] [ 3.44501953e-02 3.12256379e-03 9.99401538e-01 4.25054992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.159115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.51, Y:4.87, Z:0.47 [[ 6.40333568e-01 7.67628865e-01 -2.68113202e-02 -1.75060246e+01] [-7.67209070e-01 6.40881483e-01 2.57131716e-02 4.87470361e+00] [ 3.69210514e-02 4.10488106e-03 9.99309755e-01 4.65483331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.189115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.52, Y:4.89, Z:0.48 [[ 6.42824546e-01 7.65671702e-01 -2.28789711e-02 -1.75173180e+01] [-7.65361088e-01 6.43222945e-01 2.20601149e-02 4.89014525e+00] [ 3.16070849e-02 3.32989081e-03 9.99494824e-01 4.81048928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.219115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.53, Y:4.90, Z:0.47 [[ 6.30760440e-01 7.75478051e-01 -2.78398825e-02 -1.75322540e+01] [-7.75021073e-01 6.31358176e-01 2.70035216e-02 4.90144390e+00] [ 3.85175758e-02 4.54374242e-03 9.99247592e-01 4.71207369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.249115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.56, Y:4.90, Z:0.44 [[ 6.21825615e-01 7.82513769e-01 -3.17034060e-02 -1.75603805e+01] [-7.81921929e-01 6.22608495e-01 3.09315294e-02 4.89793357e+00] [ 4.39431575e-02 5.55557110e-03 9.99018586e-01 4.37483444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.279115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.56, Y:4.92, Z:0.47 [[ 6.09075400e-01 7.92313881e-01 -3.55790795e-02 -1.75641218e+01] [-7.91574279e-01 6.10074695e-01 3.49145837e-02 4.92060587e+00] [ 4.93692054e-02 6.89787017e-03 9.98756778e-01 4.73484143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.309115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.58, Y:4.93, Z:0.47 [[ 6.02232213e-01 7.97418712e-01 -3.79441564e-02 -1.75803520e+01] [-7.96575850e-01 6.03377599e-01 3.74484646e-02 4.92892034e+00] [ 5.27567604e-02 7.67272695e-03 9.98577916e-01 4.65252388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.339115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.59, Y:4.94, Z:0.52 [[ 6.08115630e-01 7.93027296e-01 -3.60983109e-02 -1.75894214e+01] [-7.92246412e-01 6.09148080e-01 3.58362780e-02 4.94454518e+00] [ 5.04083634e-02 6.80615651e-03 9.98705499e-01 5.15468784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.369115932999996 meters Centerline goodness [0,1] 0.9987977879297908 Centerline is valid? [True, True] Translation: X:-17.60, Y:4.96, Z:0.54 [[ 6.17980330e-01 7.85494638e-01 -3.31434150e-02 -1.76018403e+01] [-7.84817208e-01 6.18843446e-01 3.30868579e-02 4.95703188e+00] [ 4.65001346e-02 5.56449501e-03 9.98902785e-01 5.37155785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.399115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.62, Y:4.97, Z:0.56 [[ 6.24654993e-01 7.80263748e-01 -3.15376324e-02 -1.76166791e+01] [-7.79635950e-01 6.25432125e-01 3.16613807e-02 4.96754353e+00] [ 4.44288760e-02 4.81043242e-03 9.99000968e-01 5.56197920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.429115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.39, Y:6.00, Z:-2.08 [[ 8.20229387e-01 -5.71883726e-01 -1.31436922e-02 -1.63941477e+01] [-5.71798805e-01 -8.20334484e-01 9.87227552e-03 5.99648514e+00] [-1.64280177e-02 -5.81982986e-04 -9.99864882e-01 -2.08219044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.459115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.49, Y:4.81, Z:0.59 [[ 6.92865777e-01 7.20312806e-01 -3.29617617e-02 -1.74856855e+01] [-7.19773027e-01 6.93636722e-01 2.81937487e-02 4.80815905e+00] [ 4.31718066e-02 4.19050340e-03 9.99058875e-01 5.89202236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.489115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.50, Y:4.81, Z:0.59 [[ 6.91613078e-01 7.21542593e-01 -3.23672177e-02 -1.75047222e+01] [-7.21017917e-01 6.92357911e-01 2.78152317e-02 4.81390731e+00] [ 4.24795737e-02 4.09996586e-03 9.99088923e-01 5.85176763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.519115933 meters Centerline goodness [0,1] 0.9990568262202311 Centerline is valid? [True, True] Translation: X:-17.52, Y:4.83, Z:0.60 [[ 6.97572189e-01 7.15907272e-01 -2.94926936e-02 -1.75169586e+01] [-7.15461109e-01 6.98187474e-01 2.54882583e-02 4.82821951e+00] [ 3.88386587e-02 3.32097510e-03 9.99239976e-01 5.97338082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.549115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.54, Y:4.83, Z:0.59 [[ 6.86017296e-01 7.26723377e-01 -3.54034309e-02 -1.75395466e+01] [-7.26085737e-01 6.86914889e-01 3.07804709e-02 4.82992083e+00] [ 4.66880316e-02 4.58999084e-03 9.98898974e-01 5.91487314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.579115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.55, Y:4.84, Z:0.59 [[ 6.86857064e-01 7.26046970e-01 -3.29115479e-02 -1.75542327e+01] [-7.25488189e-01 6.87632811e-01 2.87750643e-02 4.84075558e+00] [ 4.35231085e-02 4.11258304e-03 9.99043956e-01 5.90582559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.609115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.57, Y:4.85, Z:0.58 [[ 6.78819681e-01 7.33427397e-01 -3.58900288e-02 -1.75717617e+01] [-7.32764086e-01 6.79750329e-01 3.15639633e-02 4.84832356e+00] [ 4.75461343e-02 4.87268468e-03 9.98857158e-01 5.82376841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.639115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.58, Y:4.86, Z:0.59 [[ 6.85595843e-01 7.27324421e-01 -3.09439393e-02 -1.75821780e+01] [-7.26818733e-01 6.86283698e-01 2.73718038e-02 4.86197394e+00] [ 4.11445025e-02 3.72463984e-03 9.99146264e-01 5.93235980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.669115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.60, Y:4.87, Z:0.58 [[ 6.74582862e-01 7.37502878e-01 -3.20541375e-02 -1.76028241e+01] [-7.36964161e-01 6.75329773e-01 2.85223234e-02 4.86554267e+00] [ 4.26824090e-02 4.38207999e-03 9.99079081e-01 5.82644006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.699115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.62, Y:4.88, Z:0.57 [[ 6.82514342e-01 7.30410227e-01 -2.59821688e-02 -1.76158947e+01] [-7.30046844e-01 6.83001663e-01 2.32450905e-02 4.87819305e+00] [ 3.47243163e-02 3.10309268e-03 9.99392112e-01 5.68507704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.729115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.63, Y:4.89, Z:0.57 [[ 6.73406669e-01 7.38730627e-01 -2.82934259e-02 -1.76336161e+01] [-7.38301049e-01 6.73990408e-01 2.54654902e-02 4.88593402e+00] [ 3.78816352e-02 3.74043511e-03 9.99275233e-01 5.68857849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.759115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.65, Y:4.89, Z:0.56 [[ 6.72413856e-01 7.39736797e-01 -2.54770086e-02 -1.76476306e+01] [-7.39383677e-01 6.72888191e-01 2.30924482e-02 4.89122340e+00] [ 3.42255118e-02 3.30960216e-03 9.99408656e-01 5.61116924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.789115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.66, Y:4.91, Z:0.57 [[ 6.67420426e-01 7.44263491e-01 -2.49365418e-02 -1.76587476e+01] [-7.43923203e-01 6.67877635e-01 2.27537230e-02 4.90533729e+00] [ 3.35893239e-02 3.36457256e-03 9.99430056e-01 5.74610904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.819115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.67, Y:4.92, Z:0.59 [[ 6.70798382e-01 7.41384363e-01 -1.94616669e-02 -1.76716320e+01] [-7.41173453e-01 6.71076170e-01 1.78517894e-02 4.91813984e+00] [ 2.62952984e-02 2.44951943e-03 9.99651218e-01 5.86862759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.849115932999997 meters Centerline goodness [0,1] 0.9995412844036697 Centerline is valid? [True, True] Translation: X:-17.68, Y:4.93, Z:0.62 [[ 6.69775457e-01 7.42311717e-01 -1.93430018e-02 -1.76820428e+01] [-7.42101036e-01 6.70050408e-01 1.78466595e-02 4.93350055e+00] [ 2.62085707e-02 2.40120715e-03 9.99653613e-01 6.23654351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.879115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.68, Y:4.96, Z:0.66 [[ 6.91088748e-01 7.22728413e-01 -7.74488640e-03 -1.76841672e+01] [-7.22693265e-01 6.91131838e-01 7.15734554e-03 4.95913388e+00] [ 1.05255546e-02 6.50816263e-04 9.99944393e-01 6.61766263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.909115933 meters Centerline goodness [0,1] 0.9997653683716565 Centerline is valid? [True, True] Translation: X:-17.70, Y:4.96, Z:0.64 [[ 6.79555279e-01 7.33531624e-01 -1.16610042e-02 -1.77036803e+01] [-7.33452018e-01 6.79654321e-01 1.08693018e-02 4.96297186e+00] [ 1.58984285e-02 1.16649565e-03 9.99872932e-01 6.43095547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.939115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.72, Y:4.97, Z:0.64 [[ 6.71179271e-01 7.41217841e-01 -1.07003312e-02 -1.77202660e+01] [-7.41150878e-01 6.71263497e-01 1.00346078e-02 4.97323575e+00] [ 1.46205720e-02 1.19553909e-03 9.99892399e-01 6.44161536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.969115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.74, Y:4.98, Z:0.65 [[ 6.66209955e-01 7.45685959e-01 -1.08049496e-02 -1.77414212e+01] [-7.45617408e-01 6.66296363e-01 1.01900472e-02 4.97790441e+00] [ 1.47978737e-02 1.26764765e-03 9.99889702e-01 6.45431566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.999115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.75, Y:4.99, Z:0.64 [[ 6.65884989e-01 7.45985278e-01 -1.01561179e-02 -1.77548124e+01] [-7.45924014e-01 6.65961420e-01 9.63077501e-03 4.98908943e+00] [ 1.39479991e-02 1.16270374e-03 9.99902046e-01 6.43986430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.029115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.76, Y:5.01, Z:0.64 [[ 6.73557723e-01 7.39113323e-01 -5.61153696e-03 -1.77649711e+01] [-7.39094312e-01 6.73580867e-01 5.33035896e-03 5.00522569e+00] [ 7.71956326e-03 5.57150606e-04 9.99970049e-01 6.40230645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.059115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.79, Y:5.01, Z:0.64 [[ 6.67196274e-01 7.44822363e-01 -9.42229820e-03 -1.77853136e+01] [-7.44768171e-01 6.67262073e-01 9.03864753e-03 5.01172274e+00] [ 1.30193290e-02 9.86875845e-04 9.99914758e-01 6.43444979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.089115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.80, Y:5.02, Z:0.62 [[ 6.65781835e-01 7.46093087e-01 -8.92490333e-03 -1.78041912e+01] [-7.46043994e-01 6.65841008e-01 8.60884068e-03 5.01857982e+00] [ 1.23655631e-02 9.26760777e-04 9.99923114e-01 6.24475607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.119115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.82, Y:5.03, Z:0.62 [[ 6.74632380e-01 7.38130595e-01 -5.86311084e-03 -1.78160447e+01] [-7.38108985e-01 6.74657671e-01 5.67040653e-03 5.03288331e+00] [ 8.14109325e-03 5.02174936e-04 9.99966735e-01 6.24923852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.149115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.83, Y:5.04, Z:0.63 [[ 6.68979530e-01 7.43244310e-01 -7.36769310e-03 -1.78312158e+01] [-7.43209909e-01 6.69019764e-01 7.18233979e-03 5.04368648e+00] [ 1.02673655e-02 6.70904214e-04 9.99947064e-01 6.27851625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.179115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.84, Y:5.06, Z:0.64 [[ 6.74137709e-01 7.38583936e-01 -5.66728765e-03 -1.78436876e+01] [-7.38563257e-01 6.74161382e-01 5.54499965e-03 5.05710214e+00] [ 7.91611414e-03 4.47557061e-04 9.99968567e-01 6.35007343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.209115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.86, Y:5.07, Z:0.63 [[ 6.80727844e-01 7.32530666e-01 -2.90267442e-03 -1.78585367e+01] [-7.32525226e-01 6.80734003e-01 2.83010487e-03 5.06813519e+00] [ 4.04908778e-03 1.99751052e-04 9.99991782e-01 6.29870405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.239115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.88, Y:5.08, Z:0.64 [[ 6.79251194e-01 7.33901872e-01 -2.42026897e-03 -1.78756511e+01] [-7.33898076e-01 6.79255485e-01 2.36645360e-03 5.07758647e+00] [ 3.38072570e-03 1.68814308e-04 9.99994271e-01 6.40670528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.269115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.88, Y:5.10, Z:0.66 [[ 6.94690213e-01 7.19303081e-01 2.93029230e-03 -1.78818806e+01] [-7.19296805e-01 6.94696393e-01 -3.00466829e-03 5.09840056e+00] [-4.19693064e-03 -2.04362377e-05 9.99991193e-01 6.56671307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.299115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-16.59, Y:6.25, Z:-2.16 [[ 7.61955670e-01 -6.47168506e-01 2.44229945e-02 -1.65867593e+01] [-6.46788327e-01 -7.62346154e-01 -2.22081187e-02 6.24772488e+00] [ 3.29911709e-02 1.12509415e-03 -9.99455010e-01 -2.15750620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.329115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.78, Y:4.95, Z:0.61 [[ 7.51010493e-01 6.60289717e-01 8.53688624e-04 -1.77782638e+01] [-6.60289299e-01 7.51010978e-01 -7.42542183e-04 4.95046552e+00] [-1.13142250e-03 -6.02449237e-06 9.99999360e-01 6.12581920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.359115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.80, Y:4.95, Z:0.57 [[ 7.50511510e-01 6.60853401e-01 2.29253572e-03 -1.78017002e+01] [-6.60850309e-01 7.50515011e-01 -2.02155179e-03 4.95348943e+00] [-3.05653185e-03 2.17494476e-06 9.99995329e-01 5.74529298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.389115932999996 meters Centerline goodness [0,1] 0.9987608426270136 Centerline is valid? [True, True] Translation: X:-17.82, Y:4.96, Z:0.56 [[ 7.50545787e-01 6.60809348e-01 3.46793512e-03 -1.78205905e+01] [-6.60802291e-01 7.50553799e-01 -3.05392404e-03 4.96204506e+00] [-4.62093344e-03 4.90350813e-07 9.99989323e-01 5.62612970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.419115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.83, Y:4.97, Z:0.56 [[ 7.56989172e-01 6.53376006e-01 8.19683611e-03 -1.78346181e+01] [-6.53336320e-01 7.57033543e-01 -7.20184934e-03 4.97392206e+00] [-1.09107954e-02 9.64312277e-05 9.99940471e-01 5.56079441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.449115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.85, Y:4.98, Z:0.56 [[ 7.52347679e-01 6.58737125e-01 6.19428247e-03 -1.78539509e+01] [-6.58714315e-01 7.52373177e-01 -5.48204494e-03 4.98387281e+00] [-8.27163851e-03 4.41412565e-05 9.99965788e-01 5.63485688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.479115933 meters Centerline goodness [0,1] 0.9997528423133959 Centerline is valid? [True, True] Translation: X:-17.87, Y:4.99, Z:0.53 [[ 7.57307243e-01 6.53002588e-01 8.56508322e-03 -1.78730145e+01] [-6.52958326e-01 7.57355658e-01 -7.60470898e-03 4.99329795e+00] [-1.14527089e-02 1.66458790e-04 9.99934402e-01 5.34728314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.509115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.87, Y:5.03, Z:0.62 [[ 7.67615414e-01 6.40736632e-01 1.49380312e-02 -1.78715745e+01] [-6.40598708e-01 7.67760476e-01 -1.33096291e-02 5.02781875e+00] [-1.99967969e-02 6.47392931e-04 9.99799834e-01 6.17055140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.539115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.90, Y:5.03, Z:0.58 [[ 7.59421532e-01 6.50505550e-01 1.10211728e-02 -1.78983816e+01] [-6.50430648e-01 7.59501428e-01 -9.87693525e-03 5.02789304e+00] [-1.47955977e-02 3.32248754e-04 9.99890484e-01 5.76540428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.569115933 meters Centerline goodness [0,1] 0.9995058067704472 Centerline is valid? [True, True] Translation: X:-17.92, Y:5.03, Z:0.55 [[ 7.51040993e-01 6.60209174e-01 7.82774432e-03 -1.79201647e+01] [-6.60171443e-01 7.51081772e-01 -7.05960609e-03 5.03351597e+00] [-1.05400928e-02 1.34400307e-04 9.99944443e-01 5.53501980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.599115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.94, Y:5.04, Z:0.54 [[ 7.46201237e-01 6.65689908e-01 6.37656393e-03 -1.79400575e+01] [-6.65664635e-01 7.46228477e-01 -5.80127759e-03 5.04226583e+00] [-8.62022553e-03 8.42674093e-05 9.99962842e-01 5.41386897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.629115932999998 meters Centerline goodness [0,1] 0.9994994994994995 Centerline is valid? [True, True] Translation: X:-17.94, Y:5.07, Z:0.61 [[ 7.52200890e-01 6.58853473e-01 1.02918480e-02 -1.79398827e+01] [-6.58786729e-01 7.52271244e-01 -9.38191163e-03 5.07379757e+00] [-1.39235664e-02 2.76949387e-04 9.99903024e-01 6.14086681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.659115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.95, Y:5.10, Z:0.66 [[ 7.56509455e-01 6.53841009e-01 1.36154128e-02 -1.79462633e+01] [-6.53722087e-01 7.56631774e-01 -1.24816695e-02 5.09710876e+00] [-1.84628813e-02 5.41804939e-04 9.99829400e-01 6.57057636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.689115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.96, Y:5.12, Z:0.68 [[ 7.53118647e-01 6.57777903e-01 1.18546502e-02 -1.79584703e+01] [-6.57687448e-01 7.53211822e-01 -1.09165760e-02 5.11550763e+00] [-1.61097452e-02 4.24822340e-04 9.99870139e-01 6.76517593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.719115932999998 meters Centerline goodness [0,1] 0.99875 Centerline is valid? [True, True] Translation: X:-17.99, Y:5.11, Z:0.64 [[ 7.38433350e-01 6.74300060e-01 5.96802664e-03 -1.79855983e+01] [-6.74277161e-01 7.38457462e-01 -5.55764479e-03 5.11369291e+00] [-8.15465402e-03 7.98462001e-05 9.99966747e-01 6.35214990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.749115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.99, Y:5.13, Z:0.65 [[ 7.42138025e-01 6.70172916e-01 9.97068438e-03 -1.79935482e+01] [-6.70108325e-01 7.42204966e-01 -9.30703237e-03 5.13490878e+00] [-1.36376125e-02 2.25664017e-04 9.99906978e-01 6.47972682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.779115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.01, Y:5.14, Z:0.62 [[ 7.40994870e-01 6.71430882e-01 1.03524920e-02 -1.80146824e+01] [-6.71360315e-01 7.41067136e-01 -9.73793930e-03 5.13780284e+00] [-1.42102448e-02 2.65510779e-04 9.99898994e-01 6.18606680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.809115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.03, Y:5.16, Z:0.64 [[ 7.37822240e-01 6.74911967e-01 1.05914522e-02 -1.80256285e+01] [-6.74837749e-01 7.37898218e-01 -1.00116648e-02 5.15711579e+00] [-1.45724061e-02 2.39317153e-04 9.99893788e-01 6.39618527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.839115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.04, Y:5.17, Z:0.64 [[ 7.35805836e-01 6.77110202e-01 1.05614828e-02 -1.80402134e+01] [-6.77035756e-01 7.35881591e-01 -1.00433566e-02 5.17086308e+00] [-1.45724600e-02 2.39458899e-04 9.99893787e-01 6.39400334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.869115932999996 meters Centerline goodness [0,1] 0.9987639060568603 Centerline is valid? [True, True] Translation: X:-18.06, Y:5.18, Z:0.62 [[ 7.24719646e-01 6.89010845e-01 6.74465613e-03 -1.80608236e+01] [-6.88980526e-01 7.24751029e-01 -6.46369884e-03 5.17792719e+00] [-9.34175507e-03 3.74328050e-05 9.99956364e-01 6.22199698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.899115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.05, Y:5.22, Z:0.74 [[ 7.35293083e-01 6.77661027e-01 1.09368016e-02 -1.80479601e+01] [-6.77579227e-01 7.35374340e-01 -1.05342910e-02 5.21972919e+00] [-1.51813217e-02 3.35241744e-04 9.99884701e-01 7.36459741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.929115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.06, Y:5.23, Z:0.71 [[ 7.34695520e-01 6.78256076e-01 1.38271231e-02 -1.80621886e+01] [-6.78124462e-01 7.34825488e-01 -1.33685066e-02 5.23351648e+00] [-1.92277933e-02 4.45271562e-04 9.99815030e-01 7.13047154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.959115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.09, Y:5.24, Z:0.67 [[ 7.28678869e-01 6.84731492e-01 1.30341783e-02 -1.80864064e+01] [-6.84614104e-01 7.28795364e-01 -1.26824935e-02 5.23683241e+00] [-1.81833515e-02 3.18082734e-04 9.99834619e-01 6.67406196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.989115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.11, Y:5.24, Z:0.64 [[ 7.09451914e-01 7.04692630e-01 9.28860390e-03 -1.81104236e+01] [-7.04633773e-01 7.09512713e-01 -9.10805809e-03 5.23962879e+00] [-1.30087640e-02 -8.33347631e-05 9.99915379e-01 6.43494109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.019115933 meters Centerline goodness [0,1] 0.9995096837460162 Centerline is valid? [True, True] Translation: X:-18.11, Y:5.27, Z:0.71 [[ 7.22369353e-01 6.91337139e-01 1.53452569e-02 -1.81085691e+01] [-6.91172060e-01 7.22532258e-01 -1.51102453e-02 5.27180496e+00] [-2.15337169e-02 3.08965319e-04 9.99768075e-01 7.14177468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.049115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.11, Y:5.30, Z:0.76 [[ 7.31337277e-01 6.81739201e-01 1.94280340e-02 -1.81092924e+01] [-6.81468429e-01 7.31594821e-01 -1.92301410e-02 5.30182088e+00] [-2.73233901e-02 8.24127126e-04 9.99626307e-01 7.64883934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.079115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.12, Y:5.32, Z:0.80 [[ 7.34510416e-01 6.78328421e-01 1.91050125e-02 -1.81165985e+01] [-6.78063125e-01 7.34758162e-01 -1.89958577e-02 5.32479313e+00] [-2.69229941e-02 9.98250893e-04 9.99637012e-01 8.02924098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.109115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.11, Y:5.36, Z:0.87 [[ 7.57602557e-01 6.51976243e-01 3.10700070e-02 -1.81115588e+01] [-6.51245646e-01 7.58232326e-01 -3.10297952e-02 5.36190703e+00] [-4.37889730e-02 3.27404533e-03 9.99035438e-01 8.68913213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.139115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.13, Y:5.37, Z:0.87 [[ 7.54304992e-01 6.55822083e-01 3.03541689e-02 -1.81321821e+01] [-6.55122375e-01 7.54909217e-01 -3.04425214e-02 5.37299562e+00] [-4.28795197e-02 3.07725063e-03 9.99075511e-01 8.71838611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.169115932999997 meters Centerline goodness [0,1] 0.9990444338270426 Centerline is valid? [True, True] Translation: X:-16.94, Y:6.47, Z:-2.45 [[ 7.06389196e-01 -7.05753623e-01 5.40937015e-02 -1.69432022e+01] [-7.04179285e-01 -7.08442099e-01 -4.73426553e-02 6.47284377e+00] [ 7.17345060e-02 -4.64932383e-03 -9.97412926e-01 -2.45357970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.199115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.04, Y:5.29, Z:0.94 [[ 8.21667568e-01 5.68630868e-01 3.90044165e-02 -1.80426018e+01] [-5.67685130e-01 8.22576878e-01 -3.31794179e-02 5.29224645e+00] [-5.09509723e-02 5.12022433e-03 9.98688030e-01 9.37525436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.229115933 meters Centerline goodness [0,1] 0.9997571046878795 Centerline is valid? [True, True] Translation: X:-18.05, Y:5.32, Z:0.95 [[ 8.31300016e-01 5.53744540e-01 4.80340345e-02 -1.80520814e+01] [-5.52275493e-01 8.32652234e-01 -4.10126391e-02 5.31861465e+00] [-6.27061712e-02 7.56578745e-03 9.98003354e-01 9.45214094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.259115932999997 meters Centerline goodness [0,1] 0.9997569866342649 Centerline is valid? [True, True] Translation: X:-18.08, Y:5.32, Z:0.94 [[ 8.24337306e-01 5.64607694e-01 4.10628428e-02 -1.80812693e+01] [-5.63542774e-01 8.25338792e-01 -3.51485513e-02 5.32336959e+00] [-5.37358996e-02 5.83359375e-03 9.98538143e-01 9.44250781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.289115932999998 meters Centerline goodness [0,1] 0.9992772825825103 Centerline is valid? [True, True] Translation: X:-18.11, Y:5.32, Z:0.92 [[ 8.05736217e-01 5.91585018e-01 2.85712513e-02 -1.81129392e+01] [-5.91082416e-01 8.06237428e-01 -2.45517329e-02 5.32098864e+00] [-3.75596496e-02 2.89425616e-03 9.99290196e-01 9.21419176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.319115933 meters Centerline goodness [0,1] 0.9997571636716853 Centerline is valid? [True, True] Translation: X:-18.13, Y:5.34, Z:0.97 [[ 8.00329400e-01 5.99048996e-01 2.47619008e-02 -1.81279233e+01] [-5.98671912e-01 8.00709119e-01 -2.13740165e-02 5.34041837e+00] [-3.26311629e-02 2.28199924e-03 9.99464857e-01 9.71391617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.349115932999997 meters Centerline goodness [0,1] 0.9990608123972764 Centerline is valid? [True, True] Translation: X:-18.15, Y:5.35, Z:0.97 [[ 7.98498280e-01 6.01516260e-01 2.40558811e-02 -1.81482283e+01] [-6.01158547e-01 7.98857546e-01 -2.08571834e-02 5.35233095e+00] [-3.17631571e-02 2.19302654e-03 9.99493018e-01 9.73923542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.379115932999998 meters Centerline goodness [0,1] 0.9997582205029013 Centerline is valid? [True, True] Translation: X:-18.16, Y:5.38, Z:1.00 [[ 8.02345781e-01 5.96321982e-01 2.53247189e-02 -1.81574996e+01] [-5.95919860e-01 8.02741138e-01 -2.20496289e-02 5.37752024e+00] [-3.34778721e-02 2.59992372e-03 9.99436077e-01 1.00471736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.409115933 meters Centerline goodness [0,1] 0.9997519841269841 Centerline is valid? [True, True] Translation: X:-18.18, Y:5.38, Z:0.98 [[ 7.94787695e-01 6.06568016e-01 1.96916913e-02 -1.81841900e+01] [-6.06325961e-01 7.95029674e-01 -1.72234453e-02 5.38149515e+00] [-2.61026699e-02 1.74939873e-03 9.99657737e-01 9.76695527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.439115932999997 meters Centerline goodness [0,1] 0.9995087202161631 Centerline is valid? [True, True] Translation: X:-18.20, Y:5.40, Z:1.04 [[ 7.92468333e-01 6.09630603e-01 1.85598573e-02 -1.81974764e+01] [-6.09414590e-01 7.92684002e-01 -1.63073707e-02 5.40198118e+00] [-2.46535742e-02 1.61242703e-03 9.99694754e-01 1.03508446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.469115932999998 meters Centerline goodness [0,1] 0.9982318767365497 Centerline is valid? [True, True] Translation: X:-18.22, Y:5.41, Z:0.99 [[ 7.83788679e-01 6.20885738e-01 1.32742511e-02 -1.82217994e+01] [-6.20775742e-01 7.83900502e-01 -1.17251845e-02 5.40731977e+00] [-1.76856920e-02 9.49733807e-04 9.99843145e-01 9.92271380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.499115933 meters Centerline goodness [0,1] 0.9979828542612204 Centerline is valid? [True, True] Translation: X:-18.22, Y:5.45, Z:1.11 [[ 8.00062814e-01 5.99568581e-01 2.04208218e-02 -1.82188699e+01] [-5.99299172e-01 8.00320212e-01 -1.81124437e-02 5.44547803e+00] [-2.72028486e-02 2.25291103e-03 9.99627395e-01 1.10856572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.529115932999996 meters Centerline goodness [0,1] 0.9977192093258996 Centerline is valid? [True, True] Translation: X:-18.24, Y:5.45, Z:1.08 [[ 7.86569336e-01 6.17388997e-01 1.18112287e-02 -1.82436609e+01] [-6.17300123e-01 7.86657394e-01 -1.05214770e-02 5.45050073e+00] [-1.57872345e-02 9.84798269e-04 9.99874889e-01 1.08091209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.559115932999998 meters Centerline goodness [0,1] 0.9977157360406091 Centerline is valid? [True, True] Translation: X:-18.26, Y:5.47, Z:1.08 [[ 7.82669110e-01 6.22365219e-01 9.51835439e-03 -1.82594715e+01] [-6.22307242e-01 7.82726625e-01 -8.52799273e-03 5.46609571e+00] [-1.27577955e-02 7.51255610e-04 9.99918334e-01 1.07978734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.589115933 meters Centerline goodness [0,1] 0.9972472472472472 Centerline is valid? [True, True] Translation: X:-18.27, Y:5.48, Z:1.08 [[ 7.65193689e-01 6.43798528e-01 1.43974870e-03 -1.82738063e+01] [-6.43797164e-01 7.65195039e-01 -1.32825426e-03 5.48148139e+00] [-1.95681670e-03 8.94656433e-05 9.99998081e-01 1.08479860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.619115932999996 meters Centerline goodness [0,1] 0.9979934788061199 Centerline is valid? [True, True] Translation: X:-18.29, Y:5.50, Z:1.09 [[ 7.62851968e-01 6.46573179e-01 -1.22556401e-05 -1.82865572e+01] [-6.46573179e-01 7.62851967e-01 -4.09716569e-05 5.49769035e+00] [-1.71419355e-05 3.91794772e-05 9.99999999e-01 1.08727577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.649115932999997 meters Centerline goodness [0,1] 0.9980143956316704 Centerline is valid? [True, True] Translation: X:-18.29, Y:5.52, Z:1.14 [[ 7.59108946e-01 6.50963557e-01 2.36105552e-04 -1.82892919e+01] [-6.50963502e-01 7.59108981e-01 -2.74007234e-04 5.52128279e+00] [-3.57598569e-04 5.43052455e-05 9.99999935e-01 1.13669516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.679115933 meters Centerline goodness [0,1] 0.9971278123504069 Centerline is valid? [True, True] Translation: X:-18.30, Y:5.54, Z:1.15 [[ 7.52839963e-01 6.58191848e-01 -3.93451744e-03 -1.83047480e+01] [-6.58182278e-01 7.52850240e-01 3.55025638e-03 5.53586899e+00] [ 5.29885221e-03 -8.31452319e-05 9.99985958e-01 1.15344440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.709115932999996 meters Centerline goodness [0,1] 0.997765085671716 Centerline is valid? [True, True] Translation: X:-18.32, Y:5.55, Z:1.16 [[ 7.53878611e-01 6.56999627e-01 -4.30460380e-03 -1.83216633e+01] [-6.56988065e-01 7.53890893e-01 3.89931579e-03 5.54729933e+00] [ 5.80705062e-03 -1.11537458e-04 9.99983133e-01 1.15611311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.739115932999997 meters Centerline goodness [0,1] 0.9984631147540983 Centerline is valid? [True, True] Translation: X:-18.34, Y:5.56, Z:1.13 [[ 7.64840882e-01 6.44217330e-01 -1.56728346e-03 -1.83395532e+01] [-6.44215804e-01 7.64842485e-01 1.40396919e-03 5.55837530e+00] [ 2.10318626e-03 -6.41442536e-05 9.99997786e-01 1.12532114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.769115933 meters Centerline goodness [0,1] 0.999500873471425 Centerline is valid? [True, True] Translation: X:-18.36, Y:5.57, Z:1.13 [[ 7.55376420e-01 6.55245166e-01 -7.76124065e-03 -1.83552910e+01] [-6.55206171e-01 7.55416223e-01 7.15571009e-03 5.57344764e+00] [ 1.05517115e-02 -3.20041902e-04 9.99944278e-01 1.13497008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.799115932999996 meters Centerline goodness [0,1] 0.9975716367168529 Centerline is valid? [True, True] Translation: X:-18.37, Y:5.59, Z:1.14 [[ 7.46110237e-01 6.65749314e-01 -9.86739835e-03 -1.83731034e+01] [-6.65686419e-01 7.46175437e-01 9.15471112e-03 5.58528850e+00] [ 1.34575529e-02 -2.61830608e-04 9.99909409e-01 1.14110367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.829115932999997 meters Centerline goodness [0,1] 0.99974173553719 Centerline is valid? [True, True] Translation: X:-18.39, Y:5.59, Z:1.12 [[ 7.39456812e-01 6.73032610e-01 -1.51898029e-02 -1.83921882e+01] [-6.72882996e-01 7.39612758e-01 1.41930592e-02 5.59493282e+00] [ 2.07869637e-02 -2.74194177e-04 9.99783890e-01 1.12260584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.859115932999998 meters Centerline goodness [0,1] 0.9969293756397134 Centerline is valid? [True, True] Translation: X:-18.41, Y:5.61, Z:1.14 [[ 7.25633331e-01 6.87756135e-01 -2.11605403e-02 -1.84088849e+01] [-6.87468589e-01 7.25941792e-01 1.98860085e-02 5.60828683e+00] [ 2.90380449e-02 1.17256224e-04 9.99578300e-01 1.13523326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.889115932999996 meters Centerline goodness [0,1] 0.9997506856145599 Centerline is valid? [True, True] Translation: X:-18.42, Y:5.62, Z:1.14 [[ 7.29030093e-01 6.84179856e-01 -2.03235793e-02 -1.84226642e+01] [-6.83910226e-01 7.29313316e-01 1.92064906e-02 5.62305627e+00] [ 2.79629509e-02 -1.02605922e-04 9.99608955e-01 1.13993666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.919115932999997 meters Centerline goodness [0,1] 0.9997409997409997 Centerline is valid? [True, True] Translation: X:-18.43, Y:5.64, Z:1.17 [[ 7.21733011e-01 6.91746480e-01 -2.42542560e-02 -1.84332414e+01] [-6.91361552e-01 7.22140426e-01 2.30739904e-02 5.64232834e+00] [ 3.34763304e-02 1.15199487e-04 9.99439504e-01 1.16889295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.949115932999998 meters Centerline goodness [0,1] 0.9997407311381903 Centerline is valid? [True, True] Translation: X:-18.45, Y:5.65, Z:1.13 [[ 7.15381864e-01 6.98108883e-01 -2.95427910e-02 -1.84535344e+01] [-6.97535858e-01 7.15991513e-01 2.82821467e-02 5.64936532e+00] [ 4.08964055e-02 3.74621251e-04 9.99163322e-01 1.12827800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.979115933 meters Centerline goodness [0,1] 0.998719262295082 Centerline is valid? [True, True] Translation: X:-18.48, Y:5.65, Z:1.14 [[ 6.90543465e-01 7.22326249e-01 -3.73431849e-02 -1.84761373e+01] [-7.21433013e-01 6.91549261e-01 3.59726026e-02 5.65397282e+00] [ 5.18086070e-02 2.09996073e-03 9.98654824e-01 1.13887475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.009115932999997 meters Centerline goodness [0,1] 0.9994662396583934 Centerline is valid? [True, True] Translation: X:-18.49, Y:5.67, Z:1.10 [[ 6.88453202e-01 7.24109672e-01 -4.11991840e-02 -1.84892427e+01] [-7.23010856e-01 6.89681044e-01 3.99419462e-02 5.66641417e+00] [ 5.73366458e-02 2.28929658e-03 9.98352277e-01 1.10421957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.039115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.50, Y:5.68, Z:1.11 [[ 6.66939372e-01 7.43465892e-01 -4.95009216e-02 -1.85043234e+01] [-7.41908763e-01 6.68758650e-01 4.83037727e-02 5.67793216e+00] [ 6.90163770e-02 4.50947964e-03 9.97605335e-01 1.10892807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.069115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.52, Y:5.69, Z:1.09 [[ 6.65378101e-01 7.44563043e-01 -5.38317635e-02 -1.85180056e+01] [-7.42698801e-01 6.67534897e-01 5.28739221e-02 5.68824181e+00] [ 7.53025490e-02 4.79963637e-03 9.97149181e-01 1.09161434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.099115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.53, Y:5.70, Z:1.09 [[ 6.44013226e-01 7.62583609e-01 -6.09360597e-02 -1.85317600e+01] [-7.60236556e-01 6.46845947e-01 6.02552807e-02 5.69851735e+00] [ 8.53659327e-02 7.52062246e-03 9.96321282e-01 1.08667853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.129115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.54, Y:5.71, Z:1.09 [[ 6.53770703e-01 7.54430415e-01 -5.84689480e-02 -1.85417881e+01] [-7.52203421e-01 6.56353389e-01 5.82257893e-02 5.71063084e+00] [ 8.23035985e-02 5.91422746e-03 9.96589755e-01 1.08923935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.159115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.55, Y:5.73, Z:1.11 [[ 6.53824942e-01 7.54552874e-01 -5.62397213e-02 -1.85483655e+01] [-7.52463635e-01 6.56216558e-01 5.63764710e-02 5.73003134e+00] [ 7.94444645e-02 5.45800224e-03 9.96824351e-01 1.10893597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.189115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.33, Y:6.79, Z:-2.66 [[ 7.94267780e-01 -6.06331651e-01 -3.87378766e-02 -1.73258680e+01] [-6.05508446e-01 -7.95210133e-01 3.16285738e-02 6.78730477e+00] [-4.99821574e-02 -1.66544561e-03 -9.98748722e-01 -2.66180322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.219115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.43, Y:5.60, Z:1.11 [[ 7.26414849e-01 6.84968543e-01 -5.60317977e-02 -1.84250530e+01] [-6.83305063e-01 7.28564063e-01 4.78392799e-02 5.60423068e+00] [ 7.35911561e-02 3.53564785e-03 9.97282227e-01 1.11072445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.249115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.44, Y:5.62, Z:1.11 [[ 7.20436738e-01 6.91214331e-01 -5.65124316e-02 -1.84395798e+01] [-6.89520085e-01 7.22638726e-01 4.85316751e-02 5.61620065e+00] [ 7.43838609e-02 4.00245497e-03 9.97221651e-01 1.11102563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.279115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.45, Y:5.63, Z:1.13 [[ 7.26197790e-01 6.85414677e-01 -5.33243897e-02 -1.84503913e+01] [-6.83870213e-01 7.28146770e-01 4.60848421e-02 5.63233967e+00] [ 7.04152093e-02 3.00025127e-03 9.97513256e-01 1.12872620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.309115932999998 meters Centerline goodness [0,1] 0.9997514910536779 Centerline is valid? [True, True] Translation: X:-18.46, Y:5.65, Z:1.14 [[ 7.26409244e-01 6.85424821e-01 -5.02237523e-02 -1.84575962e+01] [-6.84036607e-01 7.28138671e-01 4.36806106e-02 5.65300276e+00] [ 6.65096309e-02 2.62488578e-03 9.97782330e-01 1.13623678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.339115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.47, Y:5.67, Z:1.16 [[ 7.26503771e-01 6.85231959e-01 -5.14726426e-02 -1.84698571e+01] [-6.83753879e-01 7.28320729e-01 4.50505129e-02 5.66949476e+00] [ 6.83586438e-02 2.46525152e-03 9.97657766e-01 1.15619790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.369115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.48, Y:5.68, Z:1.13 [[ 7.31915203e-01 6.79648761e-01 -4.87616336e-02 -1.84825132e+01] [-6.78292399e-01 7.33535869e-01 4.29482180e-02 5.68430795e+00] [ 6.49581104e-02 1.64019177e-03 9.97886644e-01 1.13231178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.399115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.49, Y:5.70, Z:1.14 [[ 7.35703156e-01 6.75732037e-01 -4.61202799e-02 -1.84931073e+01] [-6.74495717e-01 7.37146617e-01 4.08704430e-02 5.70201965e+00] [ 6.16148759e-02 1.03941739e-03 9.98099457e-01 1.13765403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.429115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.51, Y:5.71, Z:1.15 [[ 7.26742141e-01 6.85279818e-01 -4.73014820e-02 -1.85088617e+01] [-6.83982469e-01 7.28277891e-01 4.21816945e-02 5.71362810e+00] [ 6.33548876e-02 1.69816946e-03 9.97989616e-01 1.15121863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.459115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.52, Y:5.73, Z:1.14 [[ 7.10162395e-01 7.02138871e-01 -5.16756938e-02 -1.85206760e+01] [-7.00613580e-01 7.12032506e-01 4.63715547e-02 5.72892551e+00] [ 6.93540449e-02 3.27335854e-03 9.97586739e-01 1.14088991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.489115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.53, Y:5.75, Z:1.11 [[ 7.12663366e-01 6.99725553e-01 -4.99507569e-02 -1.85304280e+01] [-6.98275435e-01 7.14406526e-01 4.51080188e-02 5.74563425e+00] [ 6.72483801e-02 2.73255396e-03 9.97732524e-01 1.11008411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.519115933 meters Centerline goodness [0,1] 0.9997406639004149 Centerline is valid? [True, True] Translation: X:-18.55, Y:5.75, Z:1.11 [[ 6.99019173e-01 7.12829023e-01 -5.69822782e-02 -1.85476719e+01] [-7.10958909e-01 7.01324572e-01 5.17810239e-02 5.75497557e+00] [ 7.68740885e-02 4.31612989e-03 9.97031467e-01 1.10514385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.549115932999996 meters Centerline goodness [0,1] 0.999742334449884 Centerline is valid? [True, True] Translation: X:-18.56, Y:5.76, Z:1.08 [[ 6.94275623e-01 7.17321253e-01 -5.85796750e-02 -1.85639976e+01] [-7.15332290e-01 6.96726727e-01 5.35871430e-02 5.76232945e+00] [ 7.92532218e-02 4.69968597e-03 9.96843438e-01 1.07631398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.579115932999997 meters Centerline goodness [0,1] 0.9994878361075544 Centerline is valid? [True, True] Translation: X:-18.57, Y:5.78, Z:1.11 [[ 6.95183878e-01 7.16518503e-01 -5.76247420e-02 -1.85696626e+01] [-7.14565013e-01 6.97554842e-01 5.30479400e-02 5.78461059e+00] [ 7.82062483e-02 4.29855188e-03 9.96927934e-01 1.10694490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.609115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.59, Y:5.79, Z:1.08 [[ 6.89496730e-01 7.21850901e-01 -5.93762192e-02 -1.85882381e+01] [-7.19766745e-01 6.92031972e-01 5.50234746e-02 5.79036278e+00] [ 8.08089869e-02 4.79852218e-03 9.96718055e-01 1.08308185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.639115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.60, Y:5.81, Z:1.08 [[ 6.89689863e-01 7.21721248e-01 -5.87054735e-02 -1.85957187e+01] [-7.19655459e-01 6.92169280e-01 5.47513239e-02 5.80962816e+00] [ 8.01493192e-02 4.48628144e-03 9.96772772e-01 1.07926241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.669115932999997 meters Centerline goodness [0,1] 0.9992358634742741 Centerline is valid? [True, True] Translation: X:-18.61, Y:5.82, Z:1.09 [[ 6.91320139e-01 7.20254093e-01 -5.75370060e-02 -1.86076030e+01] [-7.18237657e-01 6.93698867e-01 5.40050940e-02 5.82339559e+00] [ 7.88107459e-02 3.99043537e-03 9.96881609e-01 1.08776522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.699115932999998 meters Centerline goodness [0,1] 0.9989730423620026 Centerline is valid? [True, True] Translation: X:-18.62, Y:5.83, Z:1.06 [[ 6.90690586e-01 7.20861727e-01 -5.74881293e-02 -1.86223765e+01] [-7.18823224e-01 6.93068413e-01 5.43078937e-02 5.83382086e+00] [ 7.89916886e-02 3.81385148e-03 9.96867979e-01 1.05991868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.729115932999996 meters Centerline goodness [0,1] 0.9994867847061842 Centerline is valid? [True, True] Translation: X:-18.63, Y:5.85, Z:1.06 [[ 6.83303481e-01 7.27706964e-01 -5.94888849e-02 -1.86329344e+01] [-7.25518669e-01 6.85873373e-01 5.65718817e-02 5.84802383e+00] [ 8.19695944e-02 4.50453290e-03 9.96624651e-01 1.06109481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.759115932999997 meters Centerline goodness [0,1] 0.9994867847061842 Centerline is valid? [True, True] Translation: X:-18.64, Y:5.86, Z:1.06 [[ 6.80874938e-01 7.29995109e-01 -5.92997495e-02 -1.86448925e+01] [-7.27798269e-01 6.83437522e-01 5.67700058e-02 5.85950306e+00] [ 8.19695004e-02 4.50498085e-03 9.96624657e-01 1.06091960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.789115932999998 meters Centerline goodness [0,1] 0.9994593133279265 Centerline is valid? [True, True] Translation: X:-18.66, Y:5.87, Z:1.04 [[ 6.80330585e-01 7.30604611e-01 -5.80275626e-02 -1.86567985e+01] [-7.28474578e-01 6.82787644e-01 5.59090475e-02 5.87376101e+00] [ 8.04679107e-02 4.23496919e-03 9.96748203e-01 1.03518417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.819115933 meters Centerline goodness [0,1] 0.999738082765846 Centerline is valid? [True, True] Translation: X:-18.67, Y:5.89, Z:1.05 [[ 6.82276230e-01 7.28886471e-01 -5.67772660e-02 -1.86654087e+01] [-7.26814264e-01 6.84624538e-01 5.50478592e-02 5.89193325e+00] [ 7.89947493e-02 3.70868100e-03 9.96868133e-01 1.04562964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.849115932999997 meters Centerline goodness [0,1] 0.9997313272434175 Centerline is valid? [True, True] Translation: X:-18.68, Y:5.90, Z:1.00 [[ 6.74195711e-01 7.36153448e-01 -5.94831441e-02 -1.86847915e+01] [-7.33876547e-01 6.76799520e-01 5.80312277e-02 5.89828970e+00] [ 8.29780517e-02 4.52887955e-03 9.96541084e-01 9.99877549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.879115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.69, Y:5.92, Z:1.02 [[ 6.73674537e-01 7.36504803e-01 -6.10188002e-02 -1.86881908e+01] [-7.34078138e-01 6.76417756e-01 5.99024669e-02 5.92180870e+00] [ 8.53926545e-02 4.43780062e-03 9.96337493e-01 1.02069341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.909115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.70, Y:5.94, Z:1.02 [[ 6.67116364e-01 7.42429256e-01 -6.12744326e-02 -1.86970414e+01] [-7.39972165e-01 6.69906226e-01 6.05544677e-02 5.93746458e+00] [ 8.60055323e-02 4.94449819e-03 9.96282390e-01 1.02475437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.939115932999997 meters Centerline goodness [0,1] 0.9992044550517104 Centerline is valid? [True, True] Translation: X:-18.72, Y:5.94, Z:0.99 [[ 6.48962557e-01 7.57994639e-01 -6.55112723e-02 -1.87154632e+01] [-7.55223912e-01 6.52221087e-01 6.51498015e-02 5.94460128e+00] [ 9.21110335e-02 7.19589754e-03 9.95722741e-01 9.89682244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.969115932999998 meters Centerline goodness [0,1] 0.9997301672962763 Centerline is valid? [True, True] Translation: X:-18.73, Y:5.96, Z:0.98 [[ 6.57465619e-01 7.50811088e-01 -6.34166455e-02 -1.87253217e+01] [-7.48146857e-01 6.60492179e-01 6.34536125e-02 5.95958713e+00] [ 8.95278742e-02 5.72639542e-03 9.95967855e-01 9.77109449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.999115933 meters Centerline goodness [0,1] 0.9994510019214933 Centerline is valid? [True, True] Translation: X:-17.60, Y:6.95, Z:-2.50 [[ 8.11649231e-01 -5.81660161e-01 -5.38236261e-02 -1.76024268e+01] [-5.79982302e-01 -8.13417561e-01 4.44117197e-02 6.94535831e+00] [-6.96136106e-02 -4.82998755e-03 -9.97562337e-01 -2.50302878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.029115932999996 meters Centerline goodness [0,1] 0.999739921976593 Centerline is valid? [True, True] Translation: X:-18.62, Y:5.85, Z:0.98 [[ 7.10816663e-01 7.00119519e-01 -6.76190113e-02 -1.86163525e+01] [-6.97768906e-01 7.13998762e-01 5.76569260e-02 5.85434286e+00] [ 8.86466297e-02 6.19893983e-03 9.96043849e-01 9.81283835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.059115932999998 meters Centerline goodness [0,1] 0.999738356881214 Centerline is valid? [True, True] Translation: X:-18.64, Y:5.86, Z:0.95 [[ 6.99504151e-01 7.11009816e-01 -7.18260677e-02 -1.86356367e+01] [-7.08379237e-01 7.03138922e-01 6.15996153e-02 5.85951764e+00] [ 9.43016350e-02 7.79090842e-03 9.95513186e-01 9.47023353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.089115933 meters Centerline goodness [0,1] 0.9992250064582795 Centerline is valid? [True, True] Translation: X:-18.65, Y:5.87, Z:0.94 [[ 6.83511243e-01 7.25964141e-01 -7.60818450e-02 -1.86496510e+01] [-7.23057015e-01 6.87658184e-01 6.56869486e-02 5.86969110e+00] [ 1.00004673e-01 1.01137438e-02 9.94935565e-01 9.40965287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.119115932999996 meters Centerline goodness [0,1] 0.9986807387862797 Centerline is valid? [True, True] Translation: X:-18.67, Y:5.88, Z:0.91 [[ 6.78234650e-01 7.30983273e-01 -7.52410350e-02 -1.86650838e+01] [-7.28131178e-01 6.82315193e-01 6.53526119e-02 5.87967171e+00] [ 9.91097675e-02 1.04609376e-02 9.95021519e-01 9.12417171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.149115932999997 meters Centerline goodness [0,1] 0.9997380141472361 Centerline is valid? [True, True] Translation: X:-18.69, Y:5.88, Z:0.85 [[ 6.73064484e-01 7.35674650e-01 -7.59408294e-02 -1.86888999e+01] [-7.32757539e-01 6.77246089e-01 6.63635734e-02 5.87857636e+00] [ 1.00252628e-01 1.09792509e-02 9.94901436e-01 8.49194260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.179115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.70, Y:5.90, Z:0.84 [[ 6.74756717e-01 7.34206249e-01 -7.51302643e-02 -1.86951005e+01] [-7.31302531e-01 6.78847245e-01 6.60532031e-02 5.89834487e+00] [ 9.94986474e-02 1.03731099e-02 9.94983627e-01 8.35221844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.209115932999996 meters Centerline goodness [0,1] 0.9994603345925526 Centerline is valid? [True, True] Translation: X:-18.77, Y:5.83, Z:0.45 [[ 6.71682755e-01 7.36837542e-01 -7.68941615e-02 -1.87746738e+01] [-7.33767741e-01 6.75984830e-01 6.80397864e-02 5.82700603e+00] [ 1.02113556e-01 1.07213040e-02 9.94714972e-01 4.52220494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.239115932999997 meters Centerline goodness [0,1] 0.9994805194805195 Centerline is valid? [True, True] Translation: X:-18.72, Y:5.93, Z:0.84 [[ 6.59340248e-01 7.48335563e-01 -7.25556500e-02 -1.87158178e+01] [-7.45629406e-01 6.63220714e-01 6.46148054e-02 5.92839494e+00] [ 9.64739668e-02 1.14964845e-02 9.95269112e-01 8.42338015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.269115933 meters Centerline goodness [0,1] 0.9991909385113269 Centerline is valid? [True, True] Translation: X:-18.78, Y:5.88, Z:0.56 [[ 6.51162344e-01 7.55037077e-01 -7.68544981e-02 -1.87777695e+01] [-7.52001869e-01 6.55554115e-01 6.88621165e-02 5.88027432e+00] [ 1.02375734e-01 1.29543091e-02 9.94661447e-01 5.56419747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.299115932999996 meters Centerline goodness [0,1] 0.9997343251859724 Centerline is valid? [True, True] Translation: X:-18.77, Y:5.91, Z:0.63 [[ 6.38107082e-01 7.65994280e-01 -7.79237764e-02 -1.87732540e+01] [-7.62906576e-01 6.42681038e-01 7.02469833e-02 5.91297069e+00] [ 1.03888921e-01 1.46234640e-02 9.94481396e-01 6.27591989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.329115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.83, Y:5.87, Z:0.39 [[ 6.27083090e-01 7.74547848e-01 -8.27189792e-02 -1.88287203e+01] [-7.71085855e-01 6.32294082e-01 7.50386487e-02 5.87109306e+00] [ 1.10423745e-01 1.67279671e-02 9.93743816e-01 3.89536877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.359115932999998 meters Centerline goodness [0,1] 0.9992057188244639 Centerline is valid? [True, True] Translation: X:-18.85, Y:5.88, Z:0.35 [[ 6.40208760e-01 7.64377717e-01 -7.65470369e-02 -1.88469003e+01] [-7.61294116e-01 6.44626994e-01 6.99092802e-02 5.87616812e+00] [ 1.02781382e-01 1.35182752e-02 9.94612107e-01 3.48466191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.389115932999996 meters Centerline goodness [0,1] 0.9997351694915254 Centerline is valid? [True, True] Translation: X:-18.86, Y:5.89, Z:0.37 [[ 6.36876093e-01 7.67252252e-01 -7.55832203e-02 -1.88566638e+01] [-7.64220362e-01 6.41202951e-01 6.94695117e-02 5.89285153e+00] [ 1.01764823e-01 1.35187647e-02 9.94716625e-01 3.71659898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.419115932999997 meters Centerline goodness [0,1] 0.9997365648050579 Centerline is valid? [True, True] Translation: X:-18.81, Y:5.98, Z:0.66 [[ 6.39471619e-01 7.65639850e-01 -6.97973375e-02 -1.88090649e+01] [-7.63007375e-01 6.43158023e-01 6.45562003e-02 5.97625244e+00] [ 9.43175171e-02 1.19740253e-02 9.95470155e-01 6.59476655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.449115932999998 meters Centerline goodness [0,1] 0.9994665244065084 Centerline is valid? [True, True] Translation: X:-18.88, Y:5.92, Z:0.39 [[ 6.42137697e-01 7.63180876e-01 -7.22089220e-02 -1.88763034e+01] [-7.60304734e-01 6.46078407e-01 6.72265165e-02 5.92256279e+00] [ 9.79586171e-02 1.17321047e-02 9.95121333e-01 3.87100873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.479115932999996 meters Centerline goodness [0,1] 0.9989392734022806 Centerline is valid? [True, True] Translation: X:-18.81, Y:6.03, Z:0.78 [[ 6.54914579e-01 7.53226519e-01 -6.11285922e-02 -1.88067279e+01] [-7.51093251e-01 6.57707487e-01 5.72694459e-02 6.03028042e+00] [ 8.33415982e-02 8.40667799e-03 9.96485577e-01 7.79193322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.509115932999997 meters Centerline goodness [0,1] 0.9962943356273161 Centerline is valid? [True, True] Translation: X:-18.90, Y:5.95, Z:0.40 [[ 6.40372541e-01 7.64777878e-01 -7.09775047e-02 -1.88972353e+01] [-7.61927459e-01 6.44196186e-01 6.69165274e-02 5.95136813e+00] [ 9.68997176e-02 1.12282031e-02 9.95230814e-01 3.96372458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.539115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.83, Y:6.06, Z:0.83 [[ 6.53149734e-01 7.54837786e-01 -6.01277160e-02 -1.88259775e+01] [-7.52723221e-01 6.55862573e-01 5.70266441e-02 6.06134428e+00] [ 8.24813843e-02 8.01259064e-03 9.96560394e-01 8.34018140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.569115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.92, Y:5.98, Z:0.44 [[ 6.44770959e-01 7.61333031e-01 -6.81353562e-02 -1.89171175e+01] [-7.58610667e-01 6.48287861e-01 6.50592413e-02 5.98143159e+00] [ 9.37030737e-02 9.73989866e-03 9.95552544e-01 4.37501998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.599115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.85, Y:6.09, Z:0.83 [[ 6.59706058e-01 7.49178842e-01 -5.93209891e-02 -1.88471457e+01] [-7.47038221e-01 6.62333703e-01 5.69909035e-02 6.08780181e+00] [ 8.19866694e-02 6.71780187e-03 9.96610785e-01 8.32034020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.629115932999998 meters Centerline goodness [0,1] 0.9997336884154461 Centerline is valid? [True, True] Translation: X:-18.94, Y:6.01, Z:0.44 [[ 6.63169714e-01 7.45794966e-01 -6.32123326e-02 -1.89421570e+01] [-7.43315218e-01 6.66144224e-01 6.11094062e-02 6.00752065e+00] [ 8.76836178e-02 6.46078136e-03 9.96127422e-01 4.35402973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.659115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.87, Y:6.12, Z:0.88 [[ 6.61648512e-01 7.47386730e-01 -6.02853386e-02 -1.88674819e+01] [-7.45108139e-01 6.64361042e-01 5.86367364e-02 6.11990311e+00] [ 8.38755491e-02 6.12218704e-03 9.96457431e-01 8.81209281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.689115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.89, Y:6.13, Z:0.85 [[ 6.68002409e-01 7.41869777e-01 -5.83267936e-02 -1.88856850e+01] [-7.39688308e-01 6.70525195e-01 5.70716259e-02 6.12797550e+00] [ 8.14492990e-02 5.01966368e-03 9.96664846e-01 8.54649017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.719115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.89, Y:6.15, Z:0.90 [[ 6.75224356e-01 7.35510515e-01 -5.56448644e-02 -1.88896764e+01] [-7.33479602e-01 6.77502413e-01 5.47553982e-02 6.15196092e+00] [ 7.79727011e-02 3.84219448e-03 9.96948091e-01 8.95611088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.749115933 meters Centerline goodness [0,1] 0.9997385620915032 Centerline is valid? [True, True] Translation: X:-18.91, Y:6.16, Z:0.90 [[ 6.69633454e-01 7.40478203e-01 -5.72980684e-02 -1.89063668e+01] [-7.38315446e-01 6.72066468e-01 5.67182857e-02 6.16252479e+00] [ 8.05067647e-02 4.32358739e-03 9.96744685e-01 8.95912940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.779115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.93, Y:6.17, Z:0.86 [[ 6.70421911e-01 7.39832935e-01 -5.64064775e-02 -1.89264786e+01] [-7.37709233e-01 6.72778956e-01 5.61566010e-02 6.16893530e+00] [ 7.94955940e-02 3.96296350e-03 9.96827340e-01 8.58074649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.809115932999998 meters Centerline goodness [0,1] 0.9989711934156379 Centerline is valid? [True, True] Translation: X:-18.94, Y:6.19, Z:0.89 [[ 6.78717308e-01 7.32386447e-01 -5.43406663e-02 -1.89368640e+01] [-7.30366464e-01 6.80883647e-01 5.44269101e-02 6.18642073e+00] [ 7.68612023e-02 2.74811433e-03 9.97038015e-01 8.86109639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.839115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-17.86, Y:7.15, Z:-2.37 [[ 7.90393600e-01 -6.11032957e-01 -4.37799379e-02 -1.78633793e+01] [-6.09979275e-01 -7.91603382e-01 3.59077912e-02 7.15186435e+00] [-5.65971908e-02 -1.67643355e-03 -9.98395687e-01 -2.36830780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.869115932999996 meters Centerline goodness [0,1] 0.9984603541185527 Centerline is valid? [True, True] Translation: X:-18.87, Y:6.06, Z:0.80 [[ 7.24741622e-01 6.86107832e-01 -6.32900036e-02 -1.88726696e+01] [-6.83992108e-01 7.27487999e-01 5.40000608e-02 6.06410904e+00] [ 8.30925827e-02 4.15377135e-03 9.96533175e-01 7.99466853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.899115932999997 meters Centerline goodness [0,1] 0.9994837377387713 Centerline is valid? [True, True] Translation: X:-18.91, Y:6.05, Z:0.67 [[ 7.12728003e-01 6.98271125e-01 -6.66050268e-02 -1.89103549e+01] [-6.95951365e-01 7.15811300e-01 5.71478768e-02 6.04687877e+00] [ 8.75813430e-02 5.62296722e-03 9.96141501e-01 6.65329272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.929115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.90, Y:6.10, Z:0.82 [[ 7.26456706e-01 6.84777089e-01 -5.78013215e-02 -1.88950050e+01] [-6.82965371e-01 7.28745399e-01 4.98843258e-02 6.09658285e+00] [ 7.62820906e-02 3.23749797e-03 9.97081020e-01 8.17134942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.959115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.91, Y:6.12, Z:0.86 [[ 7.22318058e-01 6.89161431e-01 -5.75599271e-02 -1.89051419e+01] [-6.87356390e-01 7.24599522e-01 4.99672367e-02 6.11665278e+00] [ 7.61433880e-02 3.47194636e-03 9.97090833e-01 8.55800914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.989115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.00, Y:6.03, Z:0.41 [[ 7.02790199e-01 7.08096084e-01 -6.84534330e-02 -1.90015423e+01] [-7.05593903e-01 7.06088254e-01 5.98048588e-02 6.02602037e+00] [ 9.06817513e-02 6.27005635e-03 9.95860184e-01 4.13003431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.019115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.93, Y:6.14, Z:0.88 [[ 7.15240760e-01 6.96599541e-01 -5.63891343e-02 -1.89316421e+01] [-6.94843838e-01 7.17450466e-01 4.95668177e-02 6.14313603e+00] [ 7.49846331e-02 3.72943415e-03 9.97177715e-01 8.75786175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.049115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.95, Y:6.15, Z:0.81 [[ 7.08335717e-01 7.03512540e-01 -5.77115053e-02 -1.89547405e+01] [-7.01673442e-01 7.10669507e-01 5.10218879e-02 6.14574006e+00] [ 7.69083450e-02 4.35400498e-03 9.97028660e-01 8.09859805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.079115932999997 meters Centerline goodness [0,1] 0.998393144081414 Centerline is valid? [True, True] Translation: X:-18.99, Y:6.13, Z:0.68 [[ 7.08882859e-01 7.03027279e-01 -5.69011219e-02 -1.89922962e+01] [-7.01214737e-01 7.11151504e-01 5.06105756e-02 6.13029752e+00] [ 7.60459336e-02 4.02293572e-03 9.97096200e-01 6.78251897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.109115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.98, Y:6.17, Z:0.80 [[ 7.12980591e-01 6.99113891e-01 -5.38371983e-02 -1.89840407e+01] [-6.97459459e-01 7.15003158e-01 4.81745425e-02 6.17056123e+00] [ 7.21732587e-02 3.20174940e-03 9.97386971e-01 8.02684564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.139115932999996 meters Centerline goodness [0,1] 0.9994625100779361 Centerline is valid? [True, True] Translation: X:-19.08, Y:6.08, Z:0.39 [[ 6.95234683e-01 7.16067448e-01 -6.24191126e-02 -1.90816156e+01] [-7.13878516e-01 6.98009604e-01 5.62143817e-02 6.07999191e+00] [ 8.38224289e-02 5.47747565e-03 9.96465653e-01 3.85815896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.169115932999997 meters Centerline goodness [0,1] 0.9976377952755906 Centerline is valid? [True, True] Translation: X:-19.01, Y:6.19, Z:0.77 [[ 7.04403710e-01 7.07641941e-01 -5.53018725e-02 -1.90134152e+01] [-7.05875051e-01 7.06561343e-01 5.01146785e-02 6.19070134e+00] [ 7.45374137e-02 3.73524658e-03 9.97211222e-01 7.68883041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.199115932999998 meters Centerline goodness [0,1] 0.9997446373850868 Centerline is valid? [True, True] Translation: X:-19.01, Y:6.22, Z:0.84 [[ 7.01762146e-01 7.10272842e-01 -5.51577813e-02 -1.90104100e+01] [-7.08500775e-01 7.03916270e-01 5.02845658e-02 6.22417067e+00] [ 7.45422211e-02 3.79152596e-03 9.97210651e-01 8.42631043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.229115932999996 meters Centerline goodness [0,1] 0.998953427524856 Centerline is valid? [True, True] Translation: X:-19.10, Y:6.15, Z:0.48 [[ 6.76777615e-01 7.33215279e-01 -6.60864176e-02 -1.90962635e+01] [-7.30734753e-01 6.79958285e-01 6.06914465e-02 6.14607548e+00] [ 8.94359031e-02 7.21702962e-03 9.95966432e-01 4.78145420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.259115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.05, Y:6.23, Z:0.77 [[ 6.99090958e-01 7.12919407e-01 -5.49340643e-02 -1.90490942e+01] [-7.11118365e-01 7.01236877e-01 5.07692218e-02 6.23021486e+00] [ 7.47161552e-02 3.57231806e-03 9.97198443e-01 7.65386984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.289115932999998 meters Centerline goodness [0,1] 0.9997413347128815 Centerline is valid? [True, True] Translation: X:-19.13, Y:6.16, Z:0.44 [[ 6.77820179e-01 7.32288281e-01 -6.56785924e-02 -1.91318890e+01] [-7.29764450e-01 6.80963563e-01 6.10939811e-02 6.16209581e+00] [ 8.94631347e-02 6.51916863e-03 9.95968799e-01 4.39038887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.319115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.12, Y:6.21, Z:0.59 [[ 6.76523848e-01 7.33696209e-01 -6.32878909e-02 -1.91179602e+01] [-7.31326597e-01 6.79449331e-01 5.92453736e-02 6.20670887e+00] [ 8.64690211e-02 6.20320975e-03 9.96235228e-01 5.91955216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.349115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.10, Y:6.26, Z:0.74 [[ 6.93234192e-01 7.18729876e-01 -5.34202255e-02 -1.90953228e+01] [-7.16970177e-01 6.95281206e-01 5.03766811e-02 6.25759323e+00] [ 7.33493045e-02 3.37787072e-03 9.97300591e-01 7.35357045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.379115932999998 meters Centerline goodness [0,1] 0.9981223175965666 Centerline is valid? [True, True] Translation: X:-19.16, Y:6.22, Z:0.51 [[ 6.77930185e-01 7.32597275e-01 -6.09253394e-02 -1.91561506e+01] [-7.30329162e-01 6.80641861e-01 5.78443866e-02 6.21570692e+00] [ 8.38449764e-02 5.28109632e-03 9.96464816e-01 5.12808759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.409115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.22, Y:6.16, Z:0.28 [[ 6.63574353e-01 7.44929284e-01 -6.89161830e-02 -1.92246260e+01] [-7.42050006e-01 6.67101947e-01 6.58542361e-02 6.16498675e+00] [ 9.50308688e-02 7.44007192e-03 9.95446523e-01 2.81045933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.439115932999997 meters Centerline goodness [0,1] 0.9981208053691275 Centerline is valid? [True, True] Translation: X:-19.18, Y:6.24, Z:0.53 [[ 6.71615447e-01 7.38419652e-01 -6.05731710e-02 -1.91820745e+01] [-7.36138681e-01 6.74319306e-01 5.82521640e-02 6.24013860e+00] [ 8.38602013e-02 5.46720102e-03 9.96462531e-01 5.32159484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.469115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.16, Y:6.29, Z:0.70 [[ 6.80170658e-01 7.30859836e-01 -5.66725375e-02 -1.91582632e+01] [-7.28808627e-01 6.82515937e-01 5.48632976e-02 6.29395092e+00] [ 7.87772907e-02 3.98702903e-03 9.96884267e-01 7.01241539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.499115933 meters Centerline goodness [0,1] 0.9955085865257596 Centerline is valid? [True, True] Translation: X:-19.23, Y:6.25, Z:0.44 [[ 6.73213468e-01 7.37113564e-01 -5.87130372e-02 -1.92264063e+01] [-7.34905829e-01 6.75752938e-01 5.71960671e-02 6.24541797e+00] [ 8.18355043e-02 4.64339062e-03 9.96635033e-01 4.37696433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.529115932999996 meters Centerline goodness [0,1] 0.9989727786337956 Centerline is valid? [True, True] Translation: X:-19.18, Y:6.32, Z:0.68 [[ 6.75014146e-01 7.35700792e-01 -5.56798651e-02 -1.91828030e+01] [-7.33684640e-01 6.77294804e-01 5.45765205e-02 6.32097361e+00] [ 7.78636727e-02 4.01153848e-03 9.96955945e-01 6.79380783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.559115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.18, Y:6.34, Z:0.68 [[ 6.79275814e-01 7.31995774e-01 -5.25980519e-02 -1.91848944e+01] [-7.30159900e-01 6.81301905e-01 5.19060179e-02 6.34386555e+00] [ 7.38301387e-02 3.14648575e-03 9.97265867e-01 6.84455534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.589115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.21, Y:6.35, Z:0.67 [[ 6.74760453e-01 7.36074537e-01 -5.37829660e-02 -1.92060302e+01] [-7.34142329e-01 6.76891724e-01 5.34100604e-02 6.35001906e+00] [ 7.57190300e-02 3.44535541e-03 9.97123241e-01 6.66388158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.619115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.22, Y:6.36, Z:0.65 [[ 6.58616487e-01 7.50198388e-01 -5.85380431e-02 -1.92240394e+01] [-7.47933500e-01 6.61191873e-01 5.84874886e-02 6.35837070e+00] [ 8.25820980e-02 5.26173920e-03 9.96570374e-01 6.52722709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.649115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.09, Y:7.38, Z:-2.22 [[ 8.00442574e-01 -5.97723214e-01 -4.49293228e-02 -1.80921790e+01] [-5.96594762e-01 -8.01698132e-01 3.68075285e-02 7.38200843e+00] [-5.80204685e-02 -2.65771423e-03 -9.98311856e-01 -2.21947438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.679115933 meters Centerline goodness [0,1] 0.9989162828501761 Centerline is valid? [True, True] Translation: X:-19.20, Y:6.16, Z:0.33 [[ 7.19883495e-01 6.91136950e-01 -6.40114882e-02 -1.91984404e+01] [-6.89004944e-01 7.22707235e-01 5.44650208e-02 6.16223940e+00] [ 8.39043540e-02 4.89576238e-03 9.96461786e-01 3.25408434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.709115932999996 meters Centerline goodness [0,1] 0.9994700582935877 Centerline is valid? [True, True] Translation: X:-19.14, Y:6.26, Z:0.64 [[ 7.30838771e-01 6.80304425e-01 -5.53225155e-02 -1.91422379e+01] [-6.78662296e-01 7.32923712e-01 4.73320114e-02 6.26428057e+00] [ 7.27473602e-02 2.95323633e-03 9.97346028e-01 6.43874264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.739115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.17, Y:6.26, Z:0.59 [[ 7.21163140e-01 6.90300238e-01 -5.83892720e-02 -1.91725373e+01] [-6.88479387e-01 7.23512234e-01 5.02611288e-02 6.25762376e+00] [ 7.69406218e-02 3.95333672e-03 9.97027839e-01 5.90358957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.769115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.17, Y:6.29, Z:0.63 [[ 7.23481326e-01 6.88118996e-01 -5.53806729e-02 -1.91747025e+01] [-6.86454577e-01 7.25590226e-01 4.79472341e-02 6.28523153e+00] [ 7.31770776e-02 3.32738786e-03 9.97313413e-01 6.34323788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.799115932999996 meters Centerline goodness [0,1] 0.9964798266991606 Centerline is valid? [True, True] Translation: X:-19.21, Y:6.27, Z:0.54 [[ 7.21747615e-01 6.89935573e-01 -5.54011237e-02 -1.92077083e+01] [-6.88253710e-01 7.23863257e-01 4.82578119e-02 6.27426585e+00] [ 7.33976189e-02 3.30006826e-03 9.97297297e-01 5.40477088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.829115932999997 meters Centerline goodness [0,1] 0.9983682349741637 Centerline is valid? [True, True] Translation: X:-19.22, Y:6.28, Z:0.54 [[ 7.19044609e-01 6.92824283e-01 -5.44918604e-02 -1.92239162e+01] [-6.91183855e-01 7.21098809e-01 4.77638557e-02 6.28410399e+00] [ 7.23859748e-02 3.31955122e-03 9.97371170e-01 5.41710051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.859115932999998 meters Centerline goodness [0,1] 0.9986958789775692 Centerline is valid? [True, True] Translation: X:-19.22, Y:6.32, Z:0.62 [[ 7.10896266e-01 7.01100791e-01 -5.55353914e-02 -1.92201743e+01] [-6.99401627e-01 7.13050720e-01 4.89493121e-02 6.31908780e+00] [ 7.39179523e-02 4.04365989e-03 9.97256128e-01 6.24802222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.889115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.24, Y:6.32, Z:0.58 [[ 7.02452448e-01 7.09499923e-01 -5.63064685e-02 -1.92449579e+01] [-7.07757572e-01 7.04689279e-01 4.99223317e-02 6.31921985e+00] [ 7.50984552e-02 4.78326534e-03 9.97164652e-01 5.81491660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.919115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.25, Y:6.34, Z:0.58 [[ 6.98188777e-01 7.13751145e-01 -5.56033803e-02 -1.92538926e+01] [-7.12042247e-01 7.00381860e-01 4.96093639e-02 6.33617933e+00] [ 7.43523392e-02 4.95525474e-03 9.97219723e-01 5.78917974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.949115932999998 meters Centerline goodness [0,1] 0.998421052631579 Centerline is valid? [True, True] Translation: X:-19.27, Y:6.34, Z:0.57 [[ 6.78957318e-01 7.31459491e-01 -6.31187179e-02 -1.92738098e+01] [-7.29300059e-01 6.81843033e-01 5.66701270e-02 6.34057147e+00] [ 8.44889603e-02 7.55588723e-03 9.96395767e-01 5.66788900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.979115932999996 meters Centerline goodness [0,1] 0.9983588621444202 Centerline is valid? [True, True] Translation: X:-19.28, Y:6.35, Z:0.55 [[ 6.88948454e-01 7.22642193e-01 -5.60204309e-02 -1.92837328e+01] [-7.20886955e-01 6.91200421e-01 5.06357132e-02 6.35448627e+00] [ 7.53128482e-02 5.49900160e-03 9.97144792e-01 5.46270821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.009115932999997 meters Centerline goodness [0,1] 0.99786438868126 Centerline is valid? [True, True] Translation: X:-19.30, Y:6.36, Z:0.54 [[ 6.79853310e-01 7.31151883e-01 -5.67133181e-02 -1.92992836e+01] [-7.29357813e-01 6.82185621e-01 5.15747930e-02 6.36450558e+00] [ 7.63980171e-02 6.30100788e-03 9.97057491e-01 5.43401539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.039115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.32, Y:6.37, Z:0.53 [[ 6.83470566e-01 7.27936328e-01 -5.45590279e-02 -1.93186514e+01] [-7.26244221e-01 6.85622585e-01 4.99099425e-02 6.37032385e+00] [ 7.37381621e-02 5.51120209e-03 9.97262408e-01 5.25429101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.069115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.34, Y:6.37, Z:0.48 [[ 6.78340665e-01 7.32664447e-01 -5.52878827e-02 -1.93430354e+01] [-7.30919476e-01 6.80564491e-01 5.08792034e-02 6.37004556e+00] [ 7.49043532e-02 5.89755753e-03 9.97173283e-01 4.82205358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.099115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.35, Y:6.38, Z:0.48 [[ 6.81656597e-01 7.29732594e-01 -5.32412085e-02 -1.93546693e+01] [-7.28083431e-01 6.83713209e-01 4.93027916e-02 6.38357625e+00] [ 7.23795715e-02 5.15646862e-03 9.97363830e-01 4.78640523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.129115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.35, Y:6.41, Z:0.53 [[ 6.79003446e-01 7.32446308e-01 -4.97667159e-02 -1.93513554e+01] [-7.30992413e-01 6.80807282e-01 4.63846571e-02 6.41245614e+00] [ 6.78558134e-02 4.88374975e-03 9.97683185e-01 5.30958820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.159115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.36, Y:6.43, Z:0.56 [[ 6.78740376e-01 7.32743357e-01 -4.89762697e-02 -1.93587250e+01] [-7.31317697e-01 6.80489214e-01 4.59222826e-02 6.43338661e+00] [ 6.69770708e-02 4.64790543e-03 9.97743689e-01 5.63354458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.189115932999997 meters Centerline goodness [0,1] 0.9984350547730829 Centerline is valid? [True, True] Translation: X:-19.40, Y:6.42, Z:0.47 [[ 6.72672210e-01 7.38281838e-01 -4.95179246e-02 -1.93955194e+01] [-7.36820607e-01 6.74473293e-01 4.67030065e-02 6.41973915e+00] [ 6.78784991e-02 5.07001259e-03 9.97680713e-01 4.73552391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.219115932999998 meters Centerline goodness [0,1] 0.9984017048481619 Centerline is valid? [True, True] Translation: X:-19.41, Y:6.44, Z:0.50 [[ 6.62061938e-01 7.47699716e-01 -5.11773766e-02 -1.94058663e+01] [-7.46146328e-01 6.64009499e-01 4.85493822e-02 6.43579389e+00] [ 7.02826235e-02 6.04311351e-03 9.97508814e-01 4.97531376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.249115933 meters Centerline goodness [0,1] 0.999466097170315 Centerline is valid? [True, True] Translation: X:-19.40, Y:6.47, Z:0.54 [[ 6.64964508e-01 7.45435957e-01 -4.63404368e-02 -1.94033436e+01] [-7.44140694e-01 6.66557890e-01 4.42177168e-02 6.46573714e+00] [ 6.38500598e-02 5.08059251e-03 9.97946570e-01 5.41470691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.279115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.42, Y:6.47, Z:0.52 [[ 6.54520022e-01 7.54501358e-01 -4.82829358e-02 -1.94246715e+01] [-7.53100461e-01 6.56270827e-01 4.63497184e-02 6.46965885e+00] [ 6.66576077e-02 6.02508255e-03 9.97757717e-01 5.16143602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.309115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.45, Y:6.47, Z:0.49 [[ 6.49146966e-01 7.59109371e-01 -4.85919674e-02 -1.94465115e+01] [-7.57684302e-01 6.50932070e-01 4.69248135e-02 6.47257526e+00] [ 6.72511357e-02 6.35627058e-03 9.97715833e-01 4.87368347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.339115933 meters Centerline goodness [0,1] 0.9970358393963891 Centerline is valid? [True, True] Translation: X:-19.47, Y:6.47, Z:0.41 [[ 6.44403202e-01 7.63016514e-01 -5.05006292e-02 -1.94746678e+01] [-7.61467869e-01 6.46342848e-01 4.90673840e-02 6.46780910e+00] [ 7.00799448e-02 6.83542709e-03 9.97517959e-01 4.10319848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.369115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.47, Y:6.50, Z:0.46 [[ 6.25755575e-01 7.78158462e-01 -5.38457846e-02 -1.94728566e+01] [-7.76426580e-01 6.28005396e-01 5.26401776e-02 6.49601223e+00] [ 7.47778429e-02 8.86741381e-03 9.97160791e-01 4.63432196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.399115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.49, Y:6.50, Z:0.44 [[ 6.30831761e-01 7.74336166e-01 -4.95458510e-02 -1.94924457e+01] [-7.72838604e-01 6.32729355e-01 4.87242710e-02 6.49931278e+00] [ 6.90780796e-02 7.55412870e-03 9.97582655e-01 4.41421407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.429115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.49, Y:6.53, Z:0.48 [[ 6.16880572e-01 7.85179011e-01 -5.43348850e-02 -1.94877494e+01] [-7.83392886e-01 6.19197476e-01 5.37593929e-02 6.52891614e+00] [ 7.58547706e-02 9.40243732e-03 9.97074545e-01 4.77656615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.459115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.50, Y:6.55, Z:0.49 [[ 6.15226353e-01 7.86723085e-01 -5.06292687e-02 -1.94952960e+01] [-7.85155970e-01 6.17244105e-01 5.03966042e-02 6.54557852e+00] [ 7.08987895e-02 8.74655357e-03 9.97445166e-01 4.92839114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.489115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.52, Y:6.54, Z:0.46 [[ 6.16046973e-01 7.86109296e-01 -5.01826820e-02 -1.95222974e+01] [-7.84547035e-01 6.18030200e-01 5.02456071e-02 6.54225396e+00] [ 7.05129518e-02 8.41702021e-03 9.97475352e-01 4.56196186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.519115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.32, Y:7.63, Z:-2.05 [[ 8.37369405e-01 -5.45364766e-01 -3.72793790e-02 -1.83215831e+01] [-5.44539994e-01 -8.38182835e-01 3.04258037e-02 7.63278559e+00] [-4.78400969e-02 -5.17752433e-03 -9.98841588e-01 -2.05014527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.549115932999996 meters Centerline goodness [0,1] 0.9997289238275956 Centerline is valid? [True, True] Translation: X:-19.42, Y:6.43, Z:0.48 [[ 6.69657110e-01 7.40649370e-01 -5.47527666e-02 -1.94172514e+01] [-7.39230163e-01 6.71829075e-01 4.67382192e-02 6.43178903e+00] [ 7.14011331e-02 9.17631573e-03 9.97405471e-01 4.84278643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.579115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.45, Y:6.42, Z:0.42 [[ 6.67014419e-01 7.42880150e-01 -5.67525148e-02 -1.94469212e+01] [-7.41343541e-01 6.69355834e-01 4.87085271e-02 6.42208159e+00] [ 7.41722248e-02 9.58382038e-03 9.97199394e-01 4.19372210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.609115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.46, Y:6.44, Z:0.45 [[ 6.59563205e-01 7.49397801e-01 -5.81318627e-02 -1.94559985e+01] [-7.47787989e-01 6.62038744e-01 5.01779341e-02 6.43851422e+00] [ 7.60887789e-02 1.03747896e-02 9.97047071e-01 4.52123291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.639115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.48, Y:6.44, Z:0.42 [[ 6.62224677e-01 7.47244496e-01 -5.55350324e-02 -1.94791631e+01] [-7.45747000e-01 6.64481603e-01 4.82245969e-02 6.43624197e+00] [ 7.29375720e-02 9.47956566e-03 9.97291456e-01 4.20863744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.669115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.48, Y:6.46, Z:0.48 [[ 6.68575119e-01 7.41970443e-01 -4.98715562e-02 -1.94840655e+01] [-7.40732191e-01 6.70386973e-01 4.35560339e-02 6.45795334e+00] [ 6.57505314e-02 7.82098657e-03 9.97805442e-01 4.76512511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.699115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.51, Y:6.45, Z:0.43 [[ 6.62116552e-01 7.47555747e-01 -5.25554715e-02 -1.95091888e+01] [-7.46178931e-01 6.64142770e-01 4.61669183e-02 6.45431311e+00] [ 6.94166815e-02 8.64790481e-03 9.97550268e-01 4.34138670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.729115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.53, Y:6.46, Z:0.44 [[ 6.55365487e-01 7.53394805e-01 -5.37805343e-02 -1.95283768e+01] [-7.51952321e-01 6.57502696e-01 4.75174949e-02 6.45797734e+00] [ 7.11602801e-02 9.29907144e-03 9.97421547e-01 4.37480303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.759115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.53, Y:6.47, Z:0.48 [[ 6.61887347e-01 7.47946287e-01 -4.98145766e-02 -1.95345200e+01] [-7.46672941e-01 6.63712769e-01 4.43269601e-02 6.47381828e+00] [ 6.62167558e-02 7.85574241e-03 9.97774337e-01 4.77584466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.789115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.55, Y:6.49, Z:0.51 [[ 6.61602507e-01 7.48288351e-01 -4.84424127e-02 -1.95460684e+01] [-7.47067780e-01 6.63331287e-01 4.33743649e-02 6.48684964e+00] [ 6.45898999e-02 7.49317722e-03 9.97883759e-01 5.14704042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.819115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.57, Y:6.48, Z:0.46 [[ 6.59719542e-01 7.49963313e-01 -4.82198626e-02 -1.95740212e+01] [-7.48741881e-01 6.61437436e-01 4.34294117e-02 6.47935295e+00] [ 6.44648878e-02 7.45299906e-03 9.97892144e-01 4.60561554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.849115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.59, Y:6.49, Z:0.46 [[ 6.60541380e-01 7.49184506e-01 -4.90679286e-02 -1.95858092e+01] [-7.47900151e-01 6.62320789e-01 4.44582563e-02 6.49112735e+00] [ 6.58061459e-02 7.33139328e-03 9.97805493e-01 4.61779648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.879115932999998 meters Centerline goodness [0,1] 0.9994779430957974 Centerline is valid? [True, True] Translation: X:-19.60, Y:6.50, Z:0.48 [[ 6.57679653e-01 7.51581662e-01 -5.08181022e-02 -1.96007398e+01] [-7.50191740e-01 6.59595620e-01 4.63246266e-02 6.50023530e+00] [ 6.83361375e-02 7.65655619e-03 9.97632973e-01 4.83033536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.909115933 meters Centerline goodness [0,1] 0.9997373259784608 Centerline is valid? [True, True] Translation: X:-19.62, Y:6.51, Z:0.48 [[ 6.61034117e-01 7.48877492e-01 -4.70786391e-02 -1.96153056e+01] [-7.47661648e-01 6.62674993e-01 4.31730769e-02 6.50956402e+00] [ 6.35291824e-02 6.66001614e-03 9.97957758e-01 4.81580448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.939115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.64, Y:6.50, Z:0.43 [[ 6.67373074e-01 7.43287043e-01 -4.62336629e-02 -1.96443230e+01] [-7.42084598e-01 6.68947159e-01 4.26632011e-02 6.50145409e+00] [ 6.26388820e-02 5.83701744e-03 9.98019188e-01 4.30286870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.969115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.65, Y:6.52, Z:0.47 [[ 6.60210274e-01 7.49399911e-01 -5.02211924e-02 -1.96496413e+01] [-7.47977521e-01 6.62083038e-01 4.66441666e-02 6.52208269e+00] [ 6.82057339e-02 6.76936501e-03 9.97648312e-01 4.69785006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.999115933 meters Centerline goodness [0,1] 0.9991980753809142 Centerline is valid? [True, True] Translation: X:-19.68, Y:6.51, Z:0.40 [[ 6.64537904e-01 7.45532378e-01 -5.07035254e-02 -1.96802056e+01] [-7.44050690e-01 6.66440266e-01 4.73913842e-02 6.51299025e+00] [ 6.91226823e-02 6.23262193e-03 9.97588697e-01 3.99182962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.029115932999996 meters Centerline goodness [0,1] 0.9994607710973308 Centerline is valid? [True, True] Translation: X:-19.69, Y:6.53, Z:0.43 [[ 6.61944983e-01 7.47747121e-01 -5.19911854e-02 -1.96868000e+01] [-7.46174320e-01 6.63952510e-01 4.88973327e-02 6.53184487e+00] [ 7.10825178e-02 6.42714335e-03 9.97449732e-01 4.33535091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.059115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.70, Y:6.55, Z:0.48 [[ 6.73172189e-01 7.37977310e-01 -4.72090428e-02 -1.96977980e+01] [-7.36638219e-01 6.74809188e-01 4.46843842e-02 6.54612554e+00] [ 6.48331575e-02 4.69570052e-03 9.97885070e-01 4.75409806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.089115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.71, Y:6.56, Z:0.48 [[ 6.75059944e-01 7.36373813e-01 -4.52512934e-02 -1.97121914e+01] [-7.35120397e-01 6.76562246e-01 4.31454356e-02 6.55537444e+00] [ 6.23864857e-02 4.13939340e-03 9.98043482e-01 4.78624080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.119115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.74, Y:6.55, Z:0.45 [[ 6.74274428e-01 7.37085557e-01 -4.53748482e-02 -1.97363924e+01] [-7.35808715e-01 6.75787477e-01 4.35525086e-02 6.55481559e+00] [ 6.27656792e-02 4.02086594e-03 9.98020191e-01 4.52945367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.149115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.75, Y:6.56, Z:0.45 [[ 6.68386189e-01 7.42327100e-01 -4.70146627e-02 -1.97513770e+01] [-7.40949658e-01 6.70022717e-01 4.54220570e-02 6.56423142e+00] [ 6.52189159e-02 4.47602262e-03 9.97860941e-01 4.45203002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.179115933 meters Centerline goodness [0,1] 0.9989479221462388 Centerline is valid? [True, True] Translation: X:-19.77, Y:6.57, Z:0.44 [[ 6.73740858e-01 7.37454987e-01 -4.72588479e-02 -1.97703937e+01] [-7.36031695e-01 6.75385468e-01 4.59544786e-02 6.56943559e+00] [ 6.58072985e-02 3.82260008e-03 9.97825028e-01 4.39655944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.209115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.77, Y:6.59, Z:0.46 [[ 6.73809243e-01 7.37551338e-01 -4.47116188e-02 -1.97734304e+01] [-7.36260319e-01 6.75282322e-01 4.37553298e-02 6.59201478e+00] [ 6.24647678e-02 3.43664513e-03 9.98041253e-01 4.62146275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.239115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.79, Y:6.60, Z:0.45 [[ 6.64750356e-01 7.45510978e-01 -4.81699720e-02 -1.97902009e+01] [-7.44011626e-01 6.66479510e-01 4.74527560e-02 6.59886107e+00] [ 6.74808499e-02 4.29478271e-03 9.97711326e-01 4.51975058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.269115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.80, Y:6.61, Z:0.45 [[ 6.66274277e-01 7.44360492e-01 -4.47889029e-02 -1.98010720e+01] [-7.43043949e-01 6.67767785e-01 4.44058013e-02 6.61312625e+00] [ 6.29625106e-02 3.69368013e-03 9.98009058e-01 4.46344730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.299115932999996 meters Centerline goodness [0,1] 0.9994794377928162 Centerline is valid? [True, True] Translation: X:-19.83, Y:6.61, Z:0.38 [[ 6.58589219e-01 7.51058996e-01 -4.65899670e-02 -1.98329443e+01] [-7.49629986e-01 6.60221122e-01 4.65075657e-02 6.60511688e+00] [ 6.56896058e-02 4.29585495e-03 9.97830858e-01 3.77177389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.329115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.84, Y:6.62, Z:0.41 [[ 6.49455220e-01 7.58942418e-01 -4.70565937e-02 -1.98378033e+01] [-7.57484471e-01 6.51139010e-01 4.72786121e-02 6.62457769e+00] [ 6.65221280e-02 4.93929757e-03 9.97772725e-01 4.09274847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.359115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.43, Y:7.90, Z:-2.03 [[ 8.01704240e-01 -5.96854072e-01 -3.21796277e-02 -1.84267035e+01] [-5.96283562e-01 -8.02347842e-01 2.61506091e-02 7.89663046e+00] [-4.14273523e-02 -1.77687120e-03 -9.99139939e-01 -2.03209439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.389115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.70, Y:6.49, Z:0.42 [[ 7.09137352e-01 7.03222049e-01 -5.10192655e-02 -1.97013085e+01] [-7.01880179e-01 7.10953897e-01 4.36894725e-02 6.48553046e+00] [ 6.69957460e-02 4.82757439e-03 9.97741582e-01 4.21657288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.419115932999997 meters Centerline goodness [0,1] 0.9987254652052001 Centerline is valid? [True, True] Translation: X:-19.71, Y:6.49, Z:0.40 [[ 7.04073608e-01 7.08298584e-01 -5.09261294e-02 -1.97080430e+01] [-7.06943843e-01 7.05895439e-01 4.40684955e-02 6.49165691e+00] [ 6.71621754e-02 4.97444900e-03 9.97729671e-01 4.03465386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.449115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.72, Y:6.51, Z:0.43 [[ 6.93142217e-01 7.18706266e-01 -5.49105663e-02 -1.97175740e+01] [-7.17133765e-01 6.95286476e-01 4.79153385e-02 6.50524904e+00] [ 7.26156281e-02 6.16607725e-03 9.97340940e-01 4.29699413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.479115932999996 meters Centerline goodness [0,1] 0.9997443762781186 Centerline is valid? [True, True] Translation: X:-19.73, Y:6.52, Z:0.42 [[ 6.87930387e-01 7.23656272e-01 -5.54380930e-02 -1.97261198e+01] [-7.22045629e-01 6.90129664e-01 4.86945119e-02 6.52028977e+00] [ 7.34975614e-02 6.53039827e-03 9.97274016e-01 4.17083236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.509115932999997 meters Centerline goodness [0,1] 0.9971465629053178 Centerline is valid? [True, True] Translation: X:-19.76, Y:6.50, Z:0.29 [[ 6.89747448e-01 7.22087719e-01 -5.32708489e-02 -1.97618155e+01] [-7.20567147e-01 6.91776937e-01 4.71980409e-02 6.49867371e+00] [ 7.09326704e-02 5.83049541e-03 9.97464065e-01 2.92927447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.539115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.75, Y:6.54, Z:0.39 [[ 6.80217816e-01 7.30984192e-01 -5.44594774e-02 -1.97501689e+01] [-7.29399150e-01 6.82361681e-01 4.85738230e-02 6.53999441e+00] [ 7.26677573e-02 6.68191673e-03 9.97333820e-01 3.93803090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.569115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.76, Y:6.55, Z:0.39 [[ 6.77937849e-01 7.33110418e-01 -5.43082677e-02 -1.97626367e+01] [-7.31518758e-01 6.80076799e-01 4.87427369e-02 6.55155795e+00] [ 7.26676011e-02 6.68297031e-03 9.97333825e-01 3.93629815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.599115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.77, Y:6.57, Z:0.38 [[ 6.78529949e-01 7.32591036e-01 -5.39210652e-02 -1.97719291e+01] [-7.30998099e-01 6.80639258e-01 4.87029812e-02 6.56674988e+00] [ 7.23801613e-02 6.36976482e-03 9.97356776e-01 3.80659050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.629115932999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.78, Y:6.59, Z:0.41 [[ 6.83801484e-01 7.28095462e-01 -4.78803598e-02 -1.97792506e+01] [-7.26811589e-01 6.85457174e-01 4.35129503e-02 6.58515376e+00] [ 6.45015178e-02 5.04578036e-03 9.97904852e-01 4.12271162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.659115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.80, Y:6.59, Z:0.39 [[ 6.75585799e-01 7.35586774e-01 -4.99592544e-02 -1.97952160e+01] [-7.34186590e-01 6.77405822e-01 4.57318558e-02 6.59105595e+00] [ 6.74824381e-02 5.78362228e-03 9.97703699e-01 3.89568913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.689115932999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.81, Y:6.60, Z:0.36 [[ 6.76205118e-01 7.35132713e-01 -4.82341470e-02 -1.98147120e+01] [-7.33807926e-01 6.77902140e-01 4.44366504e-02 6.59502333e+00] [ 6.53648668e-02 5.34630891e-03 9.97847108e-01 3.62325681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.719115932999998 meters Centerline goodness [0,1] 0.997643362136685 Centerline is valid? [True, True] Translation: X:-19.86, Y:6.57, Z:0.24 [[ 6.68064349e-01 7.42187058e-01 -5.33703680e-02 -1.98552929e+01] [-7.40558027e-01 6.70162111e-01 4.95636247e-02 6.57106040e+00] [ 7.25522793e-02 6.41216376e-03 9.97343998e-01 2.41113724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.749115933 meters Centerline goodness [0,1] 0.9997403271877434 Centerline is valid? [True, True] Translation: X:-19.91, Y:6.54, Z:0.08 [[ 6.75629837e-01 7.35492498e-01 -5.07455249e-02 -1.99071959e+01] [-7.33976054e-01 6.77513199e-01 4.74870175e-02 6.53783347e+00] [ 6.93071080e-02 5.16235422e-03 9.97582014e-01 8.18647694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.779115932999996 meters Centerline goodness [0,1] 0.9979762205919555 Centerline is valid? [True, True] Translation: X:-19.91, Y:6.56, Z:0.12 [[ 6.65610862e-01 7.44236843e-01 -5.54409760e-02 -1.99099203e+01] [-7.42425819e-01 6.67885479e-01 5.22770549e-02 6.55964998e+00] [ 7.59347331e-02 6.36463641e-03 9.97092477e-01 1.19277207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.809115932999998 meters Centerline goodness [0,1] 0.9960855949895616 Centerline is valid? [True, True] Translation: X:-19.88, Y:6.61, Z:0.27 [[ 6.66718582e-01 7.43625702e-01 -5.00714350e-02 -1.98843626e+01] [-7.42121772e-01 6.68574058e-01 4.75815591e-02 6.61156203e+00] [ 6.88593327e-02 5.43559247e-03 9.97611571e-01 2.74525095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.839115933 meters Centerline goodness [0,1] 0.9954034729315628 Centerline is valid? [True, True] Translation: X:-19.92, Y:6.60, Z:0.18 [[ 6.62245246e-01 7.47449577e-01 -5.24439122e-02 -1.99152985e+01] [-7.45778189e-01 6.64293184e-01 5.02937177e-02 6.59872171e+00] [ 7.24301514e-02 5.80475040e-03 9.97356595e-01 1.84638141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.869115932999996 meters Centerline goodness [0,1] 0.9984383133784487 Centerline is valid? [True, True] Translation: X:-19.90, Y:6.65, Z:0.31 [[ 6.57498285e-01 7.51701910e-01 -5.13832965e-02 -1.98965168e+01] [-7.50083692e-01 6.59476652e-01 4.96487689e-02 6.64592152e+00] [ 7.12071587e-02 5.89779236e-03 9.97444112e-01 3.13645061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.899115932999997 meters Centerline goodness [0,1] 0.9963702359346642 Centerline is valid? [True, True] Translation: X:-19.91, Y:6.66, Z:0.29 [[ 6.59474961e-01 7.50026317e-01 -5.05301874e-02 -1.99106341e+01] [-7.48433965e-01 6.61385876e-01 4.91459405e-02 6.65574239e+00] [ 7.02807010e-02 5.40799130e-03 9.97512595e-01 2.86891820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.929115933 meters Centerline goodness [0,1] 0.9920571882446386 Centerline is valid? [True, True] Translation: X:-19.93, Y:6.66, Z:0.25 [[ 6.64779897e-01 7.45523720e-01 -4.75612376e-02 -1.99317301e+01] [-7.44081762e-01 6.66464314e-01 4.65580213e-02 6.65789073e+00] [ 6.64079768e-02 4.43861288e-03 9.97782681e-01 2.46828298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.959115932999996 meters Centerline goodness [0,1] 0.9851700332395806 Centerline is valid? [True, True] Translation: X:-19.95, Y:6.67, Z:0.25 [[ 6.65811834e-01 7.44827206e-01 -4.38979976e-02 -1.99453171e+01] [-7.43578637e-01 6.67246425e-01 4.32783875e-02 6.66911597e+00] [ 6.15257024e-02 3.82635060e-03 9.98098165e-01 2.49176739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.989115932999997 meters Centerline goodness [0,1] 0.9740837696335078 Centerline is valid? [True, True] Translation: X:-19.96, Y:6.68, Z:0.26 [[ 6.88096325e-01 7.24905790e-01 -3.21720845e-02 -1.99620763e+01] [-7.24203492e-01 6.88846739e-01 3.19291915e-02 6.67699200e+00] [ 4.53072913e-02 1.32877662e-03 9.98972214e-01 2.55576112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.019115933 meters Centerline goodness [0,1] 0.9698608964451314 Centerline is valid? [True, True] Translation: X:-19.97, Y:6.69, Z:0.26 [[ 6.77823470e-01 7.34527258e-01 -3.20164101e-02 -1.99744802e+01] [-7.33831550e-01 6.78576805e-01 3.20121053e-02 6.68991669e+00] [ 4.52393572e-02 1.79609560e-03 9.98974562e-01 2.60930436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.049115932999996 meters Centerline goodness [0,1] 0.9681898510477153 Centerline is valid? [True, True] Translation: X:-18.54, Y:8.05, Z:-1.86 [[ 7.88073898e-01 -6.15282597e-01 -1.91535108e-02 -1.85401210e+01] [-6.15100549e-01 -7.88306619e-01 1.49662491e-02 8.04639155e+00] [-2.43073120e-02 -1.31752446e-05 -9.99704534e-01 -1.86244542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.079115932999997 meters Centerline goodness [0,1] 0.9661625224301461 Centerline is valid? [True, True] Translation: X:-19.89, Y:6.53, Z:0.13 [[ 7.31275470e-01 6.80748602e-01 -4.26324729e-02 -1.98948813e+01] [-6.79782682e-01 7.32513154e-01 3.63315887e-02 6.52774893e+00] [ 5.59615254e-02 2.41241723e-03 9.98430012e-01 1.32815745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.109115932999998 meters Centerline goodness [0,1] 0.9640269151138716 Centerline is valid? [True, True] Translation: X:-19.91, Y:6.54, Z:0.14 [[ 7.27733938e-01 6.84463468e-01 -4.37387399e-02 -1.99051454e+01] [-6.83440589e-01 7.29042505e-01 3.74965076e-02 6.54365044e+00] [ 5.75523901e-02 2.60534899e-03 9.98339088e-01 1.37754653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.139115932999996 meters Centerline goodness [0,1] 0.9653375032577535 Centerline is valid? [True, True] Translation: X:-19.94, Y:6.53, Z:0.05 [[ 7.20475867e-01 6.91797691e-01 -4.82750497e-02 -1.99407751e+01] [-6.90547659e-01 7.22083867e-01 4.16991432e-02 6.52712744e+00] [ 6.37060055e-02 3.29299624e-03 9.97963276e-01 4.94389019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.169115932999997 meters Centerline goodness [0,1] 0.9697375468666309 Centerline is valid? [True, True] Translation: X:-19.95, Y:6.54, Z:0.04 [[ 7.22511061e-01 6.89834443e-01 -4.58934404e-02 -1.99531046e+01] [-6.88684527e-01 7.23961854e-01 3.99106040e-02 6.53985118e+00] [ 6.07568095e-02 2.77024947e-03 9.98148754e-01 4.35109387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.199115932999998 meters Centerline goodness [0,1] 0.9703604806408545 Centerline is valid? [True, True] Translation: X:-19.99, Y:6.53, Z:-0.03 [[ 7.17039474e-01 6.95295123e-01 -4.91841939e-02 -1.99853907e+01] [-6.93966612e-01 7.18717048e-01 4.30830164e-02 6.52892751e+00] [ 6.53049298e-02 3.23996495e-03 9.97860095e-01 -2.54451042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.229115932999996 meters Centerline goodness [0,1] 0.9619404985258644 Centerline is valid? [True, True] Translation: X:-19.98, Y:6.57, Z:0.05 [[ 7.11659386e-01 7.00640058e-01 -5.14239891e-02 -1.99764488e+01] [-6.99178065e-01 7.13505535e-01 4.53859503e-02 6.56753407e+00] [ 6.84905157e-02 3.65518766e-03 9.97645072e-01 5.19362630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.259115932999997 meters Centerline goodness [0,1] 0.9730094466936572 Centerline is valid? [True, True] Translation: X:-20.01, Y:6.56, Z:-0.02 [[ 7.14971188e-01 6.97228798e-01 -5.18478902e-02 -2.00086041e+01] [-6.95711543e-01 7.16841844e-01 4.60784115e-02 6.55617898e+00] [ 6.92939327e-02 3.12643906e-03 9.97591387e-01 -1.76243122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.289115932999998 meters Centerline goodness [0,1] 0.9749727965179543 Centerline is valid? [True, True] Translation: X:-20.01, Y:6.58, Z:0.00 [[ 7.08118173e-01 7.04042018e-01 -5.37911706e-02 -2.00131962e+01] [-7.02404759e-01 7.10148669e-01 4.81292316e-02 6.57711460e+00] [ 7.20847295e-02 3.70199065e-03 9.97391642e-01 1.16398031e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.319115932999996 meters Centerline goodness [0,1] 0.974281805745554 Centerline is valid? [True, True] Translation: X:-20.02, Y:6.59, Z:-0.01 [[ 7.02186436e-01 7.09828894e-01 -5.54720731e-02 -2.00232211e+01] [-7.08070041e-01 7.04362250e-01 5.01062685e-02 6.58571509e+00] [ 7.46393113e-02 4.09417100e-03 9.97202192e-01 -1.01608242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.349115932999997 meters Centerline goodness [0,1] 0.9789764868603043 Centerline is valid? [True, True] Translation: X:-20.02, Y:6.62, Z:0.03 [[ 6.96591906e-01 7.15449160e-01 -5.37793253e-02 -2.00168024e+01] [-7.13785044e-01 6.98651663e-01 4.89567640e-02 6.62041497e+00] [ 7.25990908e-02 4.28399251e-03 9.97352004e-01 3.46204990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.379115932999998 meters Centerline goodness [0,1] 0.9835706462212487 Centerline is valid? [True, True] Translation: X:-20.04, Y:6.62, Z:0.00 [[ 6.89768056e-01 7.22056667e-01 -5.34246967e-02 -2.00364625e+01] [-7.20408716e-01 6.91817942e-01 4.89818002e-02 6.62448605e+00] [ 7.23277991e-02 4.70153602e-03 9.97369834e-01 2.05863542e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.409115933 meters Centerline goodness [0,1] 0.9830183511366749 Centerline is valid? [True, True] Translation: X:-20.04, Y:6.64, Z:0.02 [[ 6.87091012e-01 7.24618414e-01 -5.32362226e-02 -2.00437839e+01] [-7.22966364e-01 6.89134078e-01 4.91310444e-02 6.64280895e+00] [ 7.22881547e-02 4.73049926e-03 9.97372571e-01 1.97284758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.439115932999997 meters Centerline goodness [0,1] 0.9934138309549945 Centerline is valid? [True, True] Translation: X:-20.01, Y:6.70, Z:0.15 [[ 6.91250825e-01 7.21017551e-01 -4.80207003e-02 -2.00124102e+01] [-7.19646326e-01 6.92906779e-01 4.46022572e-02 6.70483820e+00] [ 6.54328790e-02 3.72657345e-03 9.97850014e-01 1.51274578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.469115932999998 meters Centerline goodness [0,1] 0.988477366255144 Centerline is valid? [True, True] Translation: X:-20.04, Y:6.70, Z:0.09 [[ 6.81787448e-01 7.29665537e-01 -5.24793346e-02 -2.00391469e+01] [-7.28029665e-01 6.83787678e-01 4.90634109e-02 6.70101769e+00] [ 7.16846024e-02 4.75569468e-03 9.97416012e-01 9.02536152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.499115933 meters Centerline goodness [0,1] 0.9880108991825614 Centerline is valid? [True, True] Translation: X:-20.04, Y:6.72, Z:0.13 [[ 6.81753179e-01 7.29738103e-01 -5.19124652e-02 -2.00422695e+01] [-7.28115282e-01 6.83711988e-01 4.88472464e-02 6.72409730e+00] [ 7.11388718e-02 4.49649374e-03 9.97456286e-01 1.34462334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.529115932999996 meters Centerline goodness [0,1] 0.9870059556036817 Centerline is valid? [True, True] Translation: X:-20.08, Y:6.71, Z:0.04 [[ 6.71263353e-01 7.39108720e-01 -5.58910605e-02 -2.00801088e+01] [-7.37232325e-01 6.73562285e-01 5.29371966e-02 6.70715748e+00] [ 7.67724541e-02 5.66989635e-03 9.97032518e-01 3.62707307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.559115932999998 meters Centerline goodness [0,1] 0.9980978260869565 Centerline is valid? [True, True] Translation: X:-20.06, Y:6.75, Z:0.13 [[ 6.77829871e-01 7.33559546e-01 -4.93665840e-02 -2.00606942e+01] [-7.32058260e-01 6.79612110e-01 4.70965425e-02 6.75380545e+00] [ 6.80982466e-02 4.21577229e-03 9.97669713e-01 1.27150358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.589115933 meters Centerline goodness [0,1] 0.9918741808650066 Centerline is valid? [True, True] Translation: X:-20.06, Y:6.78, Z:0.18 [[ 6.62398935e-01 7.47187437e-01 -5.42087210e-02 -2.00596490e+01] [-7.45395172e-01 6.64586981e-01 5.20594140e-02 6.78042424e+00] [ 7.49245503e-02 5.92281856e-03 9.97171616e-01 1.77882752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.619115932999996 meters Centerline goodness [0,1] 0.9961769524849808 Centerline is valid? [True, True] Translation: X:-20.07, Y:6.80, Z:0.19 [[ 6.73697518e-01 7.37605747e-01 -4.54908381e-02 -2.00659552e+01] [-7.36303364e-01 6.75220582e-01 4.39832043e-02 6.79775252e+00] [ 6.31586145e-02 3.86368155e-03 9.97996023e-01 1.86018735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.649115932999997 meters Centerline goodness [0,1] 0.9962264150943396 Centerline is valid? [True, True] Translation: X:-20.08, Y:6.81, Z:0.17 [[ 6.63483786e-01 7.46628114e-01 -4.83293398e-02 -2.00772409e+01] [-7.45160499e-01 6.65224302e-01 4.70367843e-02 6.81138726e+00] [ 6.72688369e-02 4.80497129e-03 9.97723316e-01 1.72120038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.679115933 meters Centerline goodness [0,1] 0.9910569105691057 Centerline is valid? [True, True] Translation: X:-20.09, Y:6.82, Z:0.16 [[ 6.45579505e-01 7.61843418e-01 -5.31197637e-02 -2.00930622e+01] [-7.60093301e-01 6.47725825e-01 5.20521735e-02 6.81952786e+00] [ 7.40626485e-02 6.77216015e-03 9.97230596e-01 1.55895899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.709115932999996 meters Centerline goodness [0,1] 0.9940572663425176 Centerline is valid? [True, True] Translation: X:-20.11, Y:6.83, Z:0.14 [[ 6.44063363e-01 7.63296853e-01 -5.05993887e-02 -2.01115137e+01] [-7.61691326e-01 6.46016159e-01 4.98943578e-02 6.82530863e+00] [ 7.07722290e-02 6.40598756e-03 9.97471932e-01 1.42964263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.739115932999997 meters Centerline goodness [0,1] 0.9904862579281184 Centerline is valid? [True, True] Translation: X:-20.12, Y:6.85, Z:0.20 [[ 6.36001322e-01 7.69856185e-01 -5.31391878e-02 -2.01169566e+01] [-7.68082764e-01 6.38175890e-01 5.27295076e-02 6.84512111e+00] [ 7.45062860e-02 7.27925770e-03 9.97193976e-01 1.96558540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.769115933 meters Centerline goodness [0,1] 0.9973311982919669 Centerline is valid? [True, True] Translation: X:-20.12, Y:6.86, Z:0.22 [[ 6.42603307e-01 7.64585163e-01 -4.97043115e-02 -2.01208352e+01] [-7.62996580e-01 6.44494485e-01 4.96294005e-02 6.86499920e+00] [ 6.99800579e-02 6.03220285e-03 9.97530152e-01 2.15981147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.799115932999996 meters Centerline goodness [0,1] 0.9959946595460614 Centerline is valid? [True, True] Translation: X:-20.14, Y:6.87, Z:0.19 [[ 6.27566878e-01 7.76628168e-01 -5.48498114e-02 -2.01364189e+01] [-7.74705901e-01 6.29910137e-01 5.51723351e-02 6.87062968e+00] [ 7.73988418e-02 7.86814241e-03 9.96969163e-01 1.88917252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.829115932999997 meters Centerline goodness [0,1] 0.9897074756229686 Centerline is valid? [True, True] Translation: X:-18.72, Y:8.17, Z:-1.75 [[ 8.15263209e-01 -5.77548902e-01 -4.22275485e-02 -1.87204666e+01] [-5.76514696e-01 -8.16346243e-01 3.47795539e-02 8.16782048e+00] [-5.45591937e-02 -4.00968849e-03 -9.98502487e-01 -1.74687062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.859115932999998 meters Centerline goodness [0,1] 0.9924262915877738 Centerline is valid? [True, True] Translation: X:-20.03, Y:6.70, Z:0.11 [[ 6.94306280e-01 7.17107227e-01 -6.07948531e-02 -2.00315317e+01] [-7.15247672e-01 6.96924685e-01 5.21224693e-02 6.70401127e+00] [ 7.97468333e-02 7.29441936e-03 9.96788460e-01 1.11284804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.889115932999996 meters Centerline goodness [0,1] 0.9952178533475027 Centerline is valid? [True, True] Translation: X:-20.03, Y:6.73, Z:0.18 [[ 6.98199616e-01 7.13553344e-01 -5.79562113e-02 -2.00313802e+01] [-7.11828873e-01 7.00572072e-01 4.99842738e-02 6.73159764e+00] [ 7.62689487e-02 6.35590385e-03 9.97067024e-01 1.78307876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.919115932999997 meters Centerline goodness [0,1] 0.9972994869025115 Centerline is valid? [True, True] Translation: X:-20.05, Y:6.74, Z:0.16 [[ 7.12764716e-01 6.99727026e-01 -4.84618245e-02 -2.00482878e+01] [-6.98471806e-01 7.14399867e-01 4.20709557e-02 6.73829805e+00] [ 6.40593057e-02 3.86252531e-03 9.97938618e-01 1.57215163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.949115932999998 meters Centerline goodness [0,1] 0.9911123081066523 Centerline is valid? [True, True] Translation: X:-20.09, Y:6.72, Z:0.07 [[ 6.93885155e-01 7.17708060e-01 -5.84682242e-02 -2.00901157e+01] [-7.15913752e-01 6.96314829e-01 5.11190549e-02 6.71544940e+00] [ 7.74008493e-02 6.38745243e-03 9.96979593e-01 6.78932161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.979115932999996 meters Centerline goodness [0,1] 0.9912925170068028 Centerline is valid? [True, True] Translation: X:-20.12, Y:6.71, Z:0.01 [[ 6.94628265e-01 7.17037091e-01 -5.78738635e-02 -2.01178797e+01] [-7.15251129e-01 6.97009063e-01 5.09331736e-02 6.70832050e+00] [ 7.68595820e-02 6.01472426e-03 9.97023785e-01 1.43221624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.009115932999997 meters Centerline goodness [0,1] 0.9959360606881604 Centerline is valid? [True, True] Translation: X:-20.10, Y:6.76, Z:0.12 [[ 7.03422895e-01 7.08932274e-01 -5.11005155e-02 -2.00988495e+01] [-7.07495113e-01 7.05263612e-01 4.53200029e-02 6.75592084e+00] [ 6.81681468e-02 4.27423734e-03 9.97664690e-01 1.15917848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.039115932999998 meters Centerline goodness [0,1] 0.9972972972972973 Centerline is valid? [True, True] Translation: X:-20.09, Y:6.79, Z:0.18 [[ 7.22085218e-01 6.90762846e-01 -3.79424462e-02 -2.00898283e+01] [-6.89931516e-01 7.23079426e-01 3.39211811e-02 6.79054932e+00] [ 5.08668938e-02 1.68370600e-03 9.98704022e-01 1.79358415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.069115932999996 meters Centerline goodness [0,1] 0.9994683678894205 Centerline is valid? [True, True] Translation: X:-20.13, Y:6.77, Z:0.08 [[ 7.06523529e-01 7.06018238e-01 -4.86081277e-02 -2.01327481e+01] [-7.04666555e-01 7.08185906e-01 4.37923485e-02 6.76811959e+00] [ 6.53417877e-02 3.31219729e-03 9.97857445e-01 7.96001011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.099115932999997 meters Centerline goodness [0,1] 0.997642744892614 Centerline is valid? [True, True] Translation: X:-20.10, Y:6.83, Z:0.23 [[ 7.21327555e-01 6.91583870e-01 -3.73939625e-02 -2.01042114e+01] [-6.90753577e-01 7.22294861e-01 3.39061873e-02 6.82931998e+00] [ 5.04584392e-02 1.37254616e-03 9.98725218e-01 2.33551645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.129115932999998 meters Centerline goodness [0,1] 0.9976421273251245 Centerline is valid? [True, True] Translation: X:-20.18, Y:6.77, Z:0.02 [[ 7.13110598e-01 6.99654097e-01 -4.42427283e-02 -2.01813985e+01] [-6.98490435e-01 7.14478644e-01 4.03903269e-02 6.76735013e+00] [ 5.98697422e-02 2.10035237e-03 9.98203988e-01 2.23393674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.159115933 meters Centerline goodness [0,1] 0.9955392285489373 Centerline is valid? [True, True] Translation: X:-20.19, Y:6.78, Z:0.03 [[ 7.09132651e-01 7.03750887e-01 -4.31922747e-02 -2.01900514e+01] [-7.02634257e-01 7.10443407e-01 3.96896252e-02 6.78374378e+00] [ 5.86172757e-02 2.20316276e-03 9.98278098e-01 2.74797706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.189115932999997 meters Centerline goodness [0,1] 0.9973593873778717 Centerline is valid? [True, True] Translation: X:-20.19, Y:6.81, Z:0.04 [[ 7.07001920e-01 7.05870700e-01 -4.35297578e-02 -2.01936946e+01] [-7.04725228e-01 7.08337245e-01 4.02579228e-02 6.80794286e+00] [ 5.92506369e-02 2.21408980e-03 9.98240682e-01 4.38999981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.219115932999998 meters Centerline goodness [0,1] 0.9976923076923077 Centerline is valid? [True, True] Translation: X:-20.18, Y:6.85, Z:0.15 [[ 7.10657986e-01 7.02457253e-01 -3.89747883e-02 -2.01805062e+01] [-7.01521642e-01 7.11724223e-01 3.62769342e-02 6.85071632e+00] [ 5.32222965e-02 1.56116445e-03 9.98581469e-01 1.47663373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.249115933 meters Centerline goodness [0,1] 0.9969527679024885 Centerline is valid? [True, True] Translation: X:-20.23, Y:6.82, Z:0.01 [[ 6.99839697e-01 7.12978066e-01 -4.34358870e-02 -2.02343269e+01] [-7.11818597e-01 7.01182149e-01 4.07170594e-02 6.81651674e+00] [ 5.94868388e-02 2.42305759e-03 9.98226149e-01 1.14898396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.279115932999996 meters Centerline goodness [0,1] 0.9977209420106357 Centerline is valid? [True, True] Translation: X:-20.24, Y:6.84, Z:0.03 [[ 6.96204406e-01 7.16459292e-01 -4.45590383e-02 -2.02409426e+01] [-7.15228769e-01 6.97624084e-01 4.20528941e-02 6.83583933e+00] [ 6.12146450e-02 2.59249594e-03 9.98121258e-01 3.14934359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.309115932999998 meters Centerline goodness [0,1] 0.9964664310954063 Centerline is valid? [True, True] Translation: X:-20.21, Y:6.90, Z:0.18 [[ 7.06370514e-01 7.07032332e-01 -3.38522907e-02 -2.02105015e+01] [-7.06302024e-01 7.07180204e-01 3.21498189e-02 6.89713130e+00] [ 4.66706313e-02 1.20025730e-03 9.98909611e-01 1.77582242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.339115933 meters Centerline goodness [0,1] 0.9959819186338523 Centerline is valid? [True, True] Translation: X:-20.22, Y:6.92, Z:0.20 [[ 7.05315619e-01 7.08156815e-01 -3.23079510e-02 -2.02158078e+01] [-7.07483945e-01 7.06054366e-01 3.08820187e-02 6.91880893e+00] [ 4.46804818e-02 1.07578650e-03 9.99000749e-01 1.99812819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.369115932999996 meters Centerline goodness [0,1] 0.9967829745112596 Centerline is valid? [True, True] Translation: X:-20.23, Y:6.93, Z:0.23 [[ 6.87201769e-01 7.25460155e-01 -3.82268492e-02 -2.02268961e+01] [-7.24530961e-01 6.88259921e-01 3.67854203e-02 6.93407282e+00] [ 5.29963649e-02 2.41752992e-03 9.98591779e-01 2.26851528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.399115932999997 meters Centerline goodness [0,1] 0.9962677282906196 Centerline is valid? [True, True] Translation: X:-20.25, Y:6.94, Z:0.18 [[ 6.86337629e-01 7.26342871e-01 -3.69688228e-02 -2.02480691e+01] [-7.25462710e-01 6.87328909e-01 3.58165876e-02 6.93515866e+00] [ 5.14248637e-02 2.23723056e-03 9.98674360e-01 1.80488317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.429115933 meters Centerline goodness [0,1] 0.9970348406226834 Centerline is valid? [True, True] Translation: X:-20.28, Y:6.93, Z:0.12 [[ 6.79342396e-01 7.32891121e-01 -3.69393174e-02 -2.02791907e+01] [-7.32009667e-01 6.80341104e-01 3.60254071e-02 6.92775216e+00] [ 5.15340370e-02 2.56635107e-03 9.98667941e-01 1.19160336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.459115932999996 meters Centerline goodness [0,1] 0.9970348406226834 Centerline is valid? [True, True] Translation: X:-20.29, Y:6.94, Z:0.12 [[ 6.76954608e-01 7.35103131e-01 -3.68217916e-02 -2.02913636e+01] [-7.34218434e-01 6.77950440e-01 3.61454304e-02 6.93997203e+00] [ 5.15339689e-02 2.56642251e-03 9.98667945e-01 1.18989955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.489115932999997 meters Centerline goodness [0,1] 0.9961380642046826 Centerline is valid? [True, True] Translation: X:-20.28, Y:6.98, Z:0.23 [[ 6.72410668e-01 7.39340679e-01 -3.52030472e-02 -2.02752815e+01] [-7.38527006e-01 6.73326461e-01 3.47755536e-02 6.98438158e+00] [ 4.94141246e-02 2.61494783e-03 9.98774953e-01 2.30313908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.519115933 meters Centerline goodness [0,1] 0.9963072378138847 Centerline is valid? [True, True] Translation: X:-20.30, Y:6.98, Z:0.17 [[ 6.69103001e-01 7.42395586e-01 -3.39111870e-02 -2.02992378e+01] [-7.41634225e-01 6.69956772e-01 3.37134999e-02 6.98475786e+00] [ 4.77477829e-02 2.59189292e-03 9.98856061e-01 1.71544412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.549115932999996 meters Centerline goodness [0,1] 0.9951853635050554 Centerline is valid? [True, True] Translation: X:-20.30, Y:7.01, Z:0.22 [[ 6.65110874e-01 7.45935971e-01 -3.47426495e-02 -2.03011805e+01] [-7.45130629e-01 6.66011917e-01 3.47630866e-02 7.00819070e+00] [ 4.90700553e-02 2.76650530e-03 9.98791508e-01 2.22371546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.579115932999997 meters Centerline goodness [0,1] 0.995565927654609 Centerline is valid? [True, True] Translation: X:-18.91, Y:8.31, Z:-1.82 [[ 7.98005659e-01 -6.02304787e-01 -2.03938967e-02 -1.89054542e+01] [-6.02091517e-01 -7.98266043e-01 1.60352299e-02 8.30945515e+00] [-2.59378509e-02 -5.17212039e-04 -9.99663424e-01 -1.81604382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.609115932999998 meters Centerline goodness [0,1] 0.9961061085422244 Centerline is valid? [True, True] Translation: X:-20.20, Y:6.86, Z:0.16 [[ 7.19884826e-01 6.93045555e-01 -3.81273664e-02 -2.01989291e+01] [-6.92289205e-01 7.20887577e-01 3.25078194e-02 6.86148114e+00] [ 5.00149445e-02 2.99327824e-03 9.98743984e-01 1.64117875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.639115932999996 meters Centerline goodness [0,1] 0.9941733430444283 Centerline is valid? [True, True] Translation: X:-20.20, Y:6.88, Z:0.20 [[ 7.19547435e-01 6.93364541e-01 -3.86924103e-02 -2.02043361e+01] [-6.92576420e-01 7.20581061e-01 3.31788560e-02 6.88452654e+00] [ 5.08860603e-02 2.92369027e-03 9.98700186e-01 2.00530235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.669115932999997 meters Centerline goodness [0,1] 0.9971000483325277 Centerline is valid? [True, True] Translation: X:-20.26, Y:6.85, Z:0.05 [[ 7.12901112e-01 7.00037296e-01 -4.14703324e-02 -2.02554426e+01] [-6.99130345e-01 7.14097819e-01 3.57919883e-02 6.85070769e+00] [ 5.46696006e-02 3.47701948e-03 9.98498445e-01 4.77940838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.699115932999998 meters Centerline goodness [0,1] 0.997131931166348 Centerline is valid? [True, True] Translation: X:-20.27, Y:6.87, Z:0.06 [[ 7.03292972e-01 7.09435767e-01 -4.56057911e-02 -2.02651877e+01] [-7.08342458e-01 7.04756115e-01 3.96204702e-02 6.86706180e+00] [ 6.02491389e-02 4.43971993e-03 9.98173497e-01 5.98132797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.729115932999996 meters Centerline goodness [0,1] 0.9954425521707844 Centerline is valid? [True, True] Translation: X:-20.25, Y:6.91, Z:0.16 [[ 7.01025019e-01 7.11816656e-01 -4.33701596e-02 -2.02528402e+01] [-7.10818556e-01 7.02352494e-01 3.79203620e-02 6.90951350e+00] [ 5.74534851e-02 4.24519183e-03 9.98339159e-01 1.57189113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.759115932999997 meters Centerline goodness [0,1] 0.9961931953366643 Centerline is valid? [True, True] Translation: X:-20.25, Y:6.94, Z:0.21 [[ 7.02109179e-01 7.10884208e-01 -4.10651163e-02 -2.02525833e+01] [-7.09975527e-01 7.03298869e-01 3.61310371e-02 6.93801403e+00] [ 5.45660336e-02 3.78729480e-03 9.98502982e-01 2.12298694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.789115932999998 meters Centerline goodness [0,1] 0.9954480114997605 Centerline is valid? [True, True] Translation: X:-20.27, Y:6.95, Z:0.19 [[ 6.95211272e-01 7.17491628e-01 -4.34402022e-02 -2.02696833e+01] [-7.16473171e-01 6.96553346e-01 3.84659729e-02 6.94605674e+00] [ 5.78574317e-02 4.38176151e-03 9.98315240e-01 1.93241456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.819115932999996 meters Centerline goodness [0,1] 0.9953128661823295 Centerline is valid? [True, True] Translation: X:-20.29, Y:6.95, Z:0.18 [[ 7.04189721e-01 7.08938572e-01 -3.90248412e-02 -2.02878608e+01] [-7.08092206e-01 7.05263217e-01 3.47738692e-02 6.95147993e+00] [ 5.21753222e-02 3.14578470e-03 9.98632986e-01 1.83216432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.849115932999997 meters Centerline goodness [0,1] 0.9941779226828132 Centerline is valid? [True, True] Translation: X:-20.29, Y:6.97, Z:0.21 [[ 7.06801638e-01 7.06462539e-01 -3.66350401e-02 -2.02949884e+01] [-7.05703197e-01 7.07745537e-01 3.28519773e-02 6.97135633e+00] [ 4.91369774e-02 2.63363352e-03 9.98788577e-01 2.12352384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.879115932999998 meters Centerline goodness [0,1] 0.9950295857988166 Centerline is valid? [True, True] Translation: X:-20.32, Y:6.97, Z:0.18 [[ 6.95363723e-01 7.17442713e-01 -4.17761524e-02 -2.03166719e+01] [-7.16460274e-01 6.96607656e-01 3.77153768e-02 6.97291743e+00] [ 5.61602098e-02 3.70504871e-03 9.98414895e-01 1.80819432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.909115933 meters Centerline goodness [0,1] 0.9950669485553206 Centerline is valid? [True, True] Translation: X:-20.32, Y:6.99, Z:0.20 [[ 6.91701572e-01 7.20923210e-01 -4.26457600e-02 -2.03225390e+01] [-7.19891678e-01 6.93003991e-01 3.87484295e-02 6.99329085e+00] [ 5.74883241e-02 3.89797818e-03 9.98338569e-01 2.02004774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.939115932999997 meters Centerline goodness [0,1] 0.9950980392156863 Centerline is valid? [True, True] Translation: X:-20.34, Y:7.00, Z:0.18 [[ 6.99711557e-01 7.13499369e-01 -3.63646297e-02 -2.03401987e+01] [-7.12728645e-01 7.00650876e-01 3.32600039e-02 6.99866962e+00] [ 4.92099014e-02 2.64570409e-03 9.98784955e-01 1.83113507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.969115932999998 meters Centerline goodness [0,1] 0.9969483568075117 Centerline is valid? [True, True] Translation: X:-20.40, Y:6.95, Z:-0.00 [[ 6.85517416e-01 7.26691748e-01 -4.45530699e-02 -2.04038699e+01] [-7.25542746e-01 6.86950987e-01 4.10617222e-02 6.95146219e+00] [ 6.04449900e-02 4.17663094e-03 9.98162792e-01 -2.71919561e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.999115933 meters Centerline goodness [0,1] 0.996939736346516 Centerline is valid? [True, True] Translation: X:-20.35, Y:7.04, Z:0.23 [[ 6.82395389e-01 7.29839020e-01 -4.08844380e-02 -2.03508893e+01] [-7.28863700e-01 6.83607802e-01 3.79220270e-02 7.03916464e+00] [ 5.56258958e-02 3.92136630e-03 9.98443981e-01 2.30442988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.029115933 meters Centerline goodness [0,1] 0.9966650786088613 Centerline is valid? [True, True] Translation: X:-20.40, Y:7.01, Z:0.12 [[ 6.83331893e-01 7.28987443e-01 -4.04330574e-02 -2.03955759e+01] [-7.28018372e-01 6.84517396e-01 3.77516197e-02 7.01452494e+00] [ 5.51975878e-02 3.63912286e-03 9.98468819e-01 1.17727048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.059115933 meters Centerline goodness [0,1] 0.9955710955710956 Centerline is valid? [True, True] Translation: X:-20.40, Y:7.04, Z:0.16 [[ 6.81645380e-01 7.30599182e-01 -3.98046671e-02 -2.03985181e+01] [-7.29649535e-01 6.82797384e-01 3.74070614e-02 7.03776381e+00] [ 5.45080910e-02 3.54510628e-03 9.98507036e-01 1.63440804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.089115933 meters Centerline goodness [0,1] 0.9964961457603364 Centerline is valid? [True, True] Translation: X:-20.42, Y:7.04, Z:0.13 [[ 6.75132543e-01 7.36538628e-01 -4.13146454e-02 -2.04165860e+01] [-7.35510184e-01 6.76383766e-01 3.91122758e-02 7.04210106e+00] [ 5.67522574e-02 3.98137219e-03 9.98380353e-01 1.34598761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.119115933 meters Centerline goodness [0,1] 0.9949529708648772 Centerline is valid? [True, True] Translation: X:-20.41, Y:7.07, Z:0.20 [[ 6.72501213e-01 7.38947893e-01 -4.12083724e-02 -2.04123427e+01] [-7.37914464e-01 6.73750714e-01 3.92711037e-02 7.07346743e+00] [ 5.67834697e-02 3.99838920e-03 9.98378511e-01 2.00919014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.149115933 meters Centerline goodness [0,1] 0.9952584163110479 Centerline is valid? [True, True] Translation: X:-20.43, Y:7.08, Z:0.17 [[ 6.64436407e-01 7.46087926e-01 -4.33251420e-02 -2.04309494e+01] [-7.44941995e-01 6.65831285e-01 4.15947616e-02 7.07764382e+00] [ 5.98805844e-02 4.63764372e-03 9.98194775e-01 1.71726217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.179115933 meters Centerline goodness [0,1] 0.9952414941708304 Centerline is valid? [True, True] Translation: X:-20.44, Y:7.09, Z:0.18 [[ 6.66829165e-01 7.44148295e-01 -3.97766381e-02 -2.04426915e+01] [-7.43165286e-01 6.68002903e-01 3.84379995e-02 7.09054318e+00] [ 5.51744815e-02 3.92903758e-03 9.98468998e-01 1.75313085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.209115933 meters Centerline goodness [0,1] 0.9950389794472005 Centerline is valid? [True, True] Translation: X:-20.46, Y:7.10, Z:0.18 [[ 6.63754371e-01 7.46901121e-01 -3.96087138e-02 -2.04560871e+01] [-7.45917741e-01 6.64923229e-01 3.85204129e-02 7.10228056e+00] [ 5.51076934e-02 3.97674992e-03 9.98472497e-01 1.75161408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.239115933 meters Centerline goodness [0,1] 0.9955082742316785 Centerline is valid? [True, True] Translation: X:-20.46, Y:7.12, Z:0.19 [[ 6.57682593e-01 7.52203063e-01 -4.05482245e-02 -2.04647617e+01] [-7.51166855e-01 6.58917054e-01 3.97073336e-02 7.11859676e+00] [ 5.65858946e-02 4.34366013e-03 9.98388286e-01 1.90940615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.269115933 meters Centerline goodness [0,1] 0.9947916666666666 Centerline is valid? [True, True] Translation: X:-20.48, Y:7.13, Z:0.20 [[ 6.60004409e-01 7.50322332e-01 -3.75576498e-02 -2.04765607e+01] [-7.49417989e-01 6.61061711e-01 3.70147504e-02 7.13141822e+00] [ 5.26009180e-02 3.71647994e-03 9.98608698e-01 1.97245550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.299115933 meters Centerline goodness [0,1] 0.9940787975404236 Centerline is valid? [True, True] Translation: X:-20.48, Y:7.15, Z:0.23 [[ 6.60851366e-01 7.49568257e-01 -3.77213365e-02 -2.04838837e+01] [-7.48642029e-01 6.61917735e-01 3.74169017e-02 7.14914464e+00] [ 5.30149434e-02 3.51276732e-03 9.98587541e-01 2.33567352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.329115933000004 meters Centerline goodness [0,1] 0.9976459510357816 Centerline is valid? [True, True] Translation: X:-20.53, Y:7.12, Z:0.08 [[ 6.67861516e-01 7.43363218e-01 -3.70421645e-02 -2.05341495e+01] [-7.42447910e-01 6.68882110e-01 3.69841011e-02 7.12030122e+00] [ 5.22694615e-02 2.80161981e-03 9.98629087e-01 8.44669939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.359115933 meters Centerline goodness [0,1] 0.9962174940898345 Centerline is valid? [True, True] Translation: X:-20.54, Y:7.14, Z:0.12 [[ 6.66846698e-01 7.44288026e-01 -3.67534419e-02 -2.05398322e+01] [-7.43375790e-01 6.67853350e-01 3.69369541e-02 7.14038452e+00] [ 5.20376419e-02 2.69033306e-03 9.98641500e-01 1.16068889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.389115933 meters Centerline goodness [0,1] 0.9964200477326969 Centerline is valid? [True, True] Translation: X:-19.07, Y:8.53, Z:-1.69 [[ 7.94691717e-01 -6.06496464e-01 -2.50422462e-02 -1.90727840e+01] [-6.06164517e-01 -7.95085804e-01 2.00784028e-02 8.53478966e+00] [-3.20882147e-02 -7.76419334e-04 -9.99484739e-01 -1.69398484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.419115933 meters Centerline goodness [0,1] 0.9978813559322034 Centerline is valid? [True, True] Translation: X:-20.46, Y:6.98, Z:0.02 [[ 7.26996511e-01 6.85453641e-01 -4.03655732e-02 -2.04586414e+01] [-6.84585843e-01 7.28111979e-01 3.45712295e-02 6.97947178e+00] [ 5.30876326e-02 2.50053674e-03 9.98586727e-01 1.84445804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.449115933 meters Centerline goodness [0,1] 0.9946648109487358 Centerline is valid? [True, True] Translation: X:-20.43, Y:7.04, Z:0.21 [[ 7.16625423e-01 6.96267431e-01 -4.07390232e-02 -2.04296473e+01] [-6.95388934e-01 7.17775464e-01 3.51085819e-02 7.04361871e+00] [ 5.36864334e-02 3.16976361e-03 9.98552813e-01 2.07052404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.479115933 meters Centerline goodness [0,1] 0.9974050483604624 Centerline is valid? [True, True] Translation: X:-20.49, Y:7.00, Z:0.02 [[ 7.26792352e-01 6.85912025e-01 -3.60218156e-02 -2.04884225e+01] [-6.85201658e-01 7.27681847e-01 3.12700676e-02 6.99947870e+00] [ 4.76609367e-02 1.95536177e-03 9.98861658e-01 2.49222420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.509115933000004 meters Centerline goodness [0,1] 0.9950854200795693 Centerline is valid? [True, True] Translation: X:-20.47, Y:7.06, Z:0.18 [[ 7.15987630e-01 6.96990576e-01 -3.95708267e-02 -2.04661001e+01] [-6.96137500e-01 7.17074883e-01 3.45860297e-02 7.05632196e+00] [ 5.24813827e-02 2.78356691e-03 9.98618023e-01 1.82186757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.539115933 meters Centerline goodness [0,1] 0.9950448324681453 Centerline is valid? [True, True] Translation: X:-20.48, Y:7.06, Z:0.17 [[ 7.14210073e-01 6.98582135e-01 -4.34392938e-02 -2.04827548e+01] [-6.97542283e-01 7.15523570e-01 3.82202137e-02 7.06438107e+00] [ 5.77817971e-02 3.00348259e-03 9.98324718e-01 1.67461578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.569115933 meters Centerline goodness [0,1] 0.995996231747527 Centerline is valid? [True, True] Translation: X:-20.50, Y:7.06, Z:0.13 [[ 7.12492984e-01 7.00277126e-01 -4.43361497e-02 -2.05034485e+01] [-6.99176599e-01 7.13864971e-01 3.93559000e-02 7.06215140e+00] [ 5.92100607e-02 2.95799572e-03 9.98241163e-01 1.28939567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.599115933 meters Centerline goodness [0,1] 0.9971543751482096 Centerline is valid? [True, True] Translation: X:-20.53, Y:7.06, Z:0.08 [[ 7.13968221e-01 6.98885150e-01 -4.25314905e-02 -2.05270726e+01] [-6.97854526e-01 7.15229430e-01 3.80253076e-02 7.06142999e+00] [ 5.69950965e-02 2.53193196e-03 9.98371248e-01 8.21791334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.629115933 meters Centerline goodness [0,1] 0.9947693770803614 Centerline is valid? [True, True] Translation: X:-20.51, Y:7.11, Z:0.20 [[ 6.95490971e-01 7.16940128e-01 -4.78451922e-02 -2.05093890e+01] [-7.15657887e-01 6.97121583e-01 4.30730584e-02 7.10971302e+00] [ 6.42347202e-02 4.28386596e-03 9.97925623e-01 1.98545004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.659115933 meters Centerline goodness [0,1] 0.9975961538461539 Centerline is valid? [True, True] Translation: X:-20.57, Y:7.07, Z:0.04 [[ 7.04539612e-01 7.08397397e-01 -4.23917859e-02 -2.05651854e+01] [-7.07361175e-01 7.05807755e-01 3.84132944e-02 7.07099376e+00] [ 5.71323290e-02 2.92261595e-03 9.98362337e-01 3.85621310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.689115933000004 meters Centerline goodness [0,1] 0.9950201565093668 Centerline is valid? [True, True] Translation: X:-20.53, Y:7.14, Z:0.23 [[ 6.86744234e-01 7.25377884e-01 -4.70030107e-02 -2.05310297e+01] [-7.24123901e-01 6.88335581e-01 4.28801073e-02 7.13687818e+00] [ 6.34581262e-02 4.58833706e-03 9.97973954e-01 2.25394425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.719115933 meters Centerline goodness [0,1] 0.9937439846005774 Centerline is valid? [True, True] Translation: X:-20.55, Y:7.15, Z:0.22 [[ 6.91085717e-01 7.21548300e-01 -4.20545267e-02 -2.05458683e+01] [-7.20523147e-01 6.92354679e-01 3.86185742e-02 7.14621342e+00] [ 5.69818148e-02 3.61251482e-03 9.98368681e-01 2.16138635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.749115933 meters Centerline goodness [0,1] 0.9945549242424242 Centerline is valid? [True, True] Translation: X:-20.57, Y:7.15, Z:0.17 [[ 6.77423367e-01 7.34145617e-01 -4.61280332e-02 -2.05693462e+01] [-7.32922064e-01 6.78974269e-01 4.26519696e-02 7.14601957e+00] [ 6.26325042e-02 4.91481245e-03 9.98024556e-01 1.74239222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.779115933 meters Centerline goodness [0,1] 0.9952414941708304 Centerline is valid? [True, True] Translation: X:-20.57, Y:7.17, Z:0.21 [[ 6.92596911e-01 7.20451433e-01 -3.54859225e-02 -2.05747767e+01] [-7.19698208e-01 6.93500316e-01 3.30424098e-02 7.16649734e+00] [ 4.84149500e-02 2.65408384e-03 9.98823782e-01 2.10832952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.809115933 meters Centerline goodness [0,1] 0.9956636954950614 Centerline is valid? [True, True] Translation: X:-20.58, Y:7.19, Z:0.24 [[ 6.77464188e-01 7.34496566e-01 -3.94597102e-02 -2.05765940e+01] [-7.33574673e-01 6.78601283e-01 3.69932183e-02 7.19043370e+00] [ 5.39488018e-02 3.88506339e-03 9.98536145e-01 2.40917710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.839115933 meters Centerline goodness [0,1] 0.9964028776978417 Centerline is valid? [True, True] Translation: X:-20.62, Y:7.17, Z:0.14 [[ 6.84712396e-01 7.27831622e-01 -3.78161840e-02 -2.06199778e+01] [-7.26962850e-01 6.85749060e-01 3.56824914e-02 7.16764774e+00] [ 5.19032582e-02 3.05871669e-03 9.98647433e-01 1.36596782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.869115933 meters Centerline goodness [0,1] 0.9971597633136094 Centerline is valid? [True, True] Translation: X:-20.65, Y:7.16, Z:0.08 [[ 6.87107356e-01 7.25689136e-01 -3.54789881e-02 -2.06468468e+01] [-7.24908970e-01 6.88018048e-01 3.37365076e-02 7.16167712e+00] [ 4.88924011e-02 2.53843418e-03 9.98800826e-01 8.26310022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.899115933 meters Centerline goodness [0,1] 0.9956363636363637 Centerline is valid? [True, True] Translation: X:-20.61, Y:7.22, Z:0.25 [[ 6.81133523e-01 7.31173499e-01 -3.79794500e-02 -2.06149782e+01] [-7.30274486e-01 6.82185114e-01 3.63681913e-02 7.22366400e+00] [ 5.25004731e-02 2.96382910e-03 9.98616501e-01 2.45460106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.929115933 meters Centerline goodness [0,1] 0.9954304954304954 Centerline is valid? [True, True] Translation: X:-20.63, Y:7.23, Z:0.24 [[ 6.82892510e-01 7.29567882e-01 -3.72629168e-02 -2.06319555e+01] [-7.28688095e-01 6.83903358e-01 3.59145750e-02 7.23130086e+00] [ 5.16863544e-02 2.62724961e-03 9.98659911e-01 2.42194065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.959115933 meters Centerline goodness [0,1] 0.9973493975903615 Centerline is valid? [True, True] Translation: X:-20.67, Y:7.21, Z:0.15 [[ 6.85716205e-01 7.26993298e-01 -3.56935572e-02 -2.06705477e+01] [-7.26171325e-01 6.86641114e-01 3.46292960e-02 7.21480836e+00] [ 4.96839300e-02 2.17376830e-03 9.98762625e-01 1.48043155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.989115933 meters Centerline goodness [0,1] 0.9973740749582239 Centerline is valid? [True, True] Translation: X:-20.70, Y:7.21, Z:0.11 [[ 6.84497755e-01 7.28260416e-01 -3.31600502e-02 -2.07005073e+01] [-7.27542822e-01 6.85297688e-01 3.23808697e-02 7.20811699e+00] [ 4.63062114e-02 1.96072395e-03 9.98925368e-01 1.06077978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.019115933 meters Centerline goodness [0,1] 0.9964063248682319 Centerline is valid? [True, True] Translation: X:-20.67, Y:7.27, Z:0.26 [[ 6.78767324e-01 7.33608068e-01 -3.30775216e-02 -2.06711019e+01] [-7.32889385e-01 6.79569384e-01 3.25361552e-02 7.26595028e+00] [ 4.63472569e-02 2.15768547e-03 9.98923058e-01 2.58767000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.049115933 meters Centerline goodness [0,1] 0.9975833736104398 Centerline is valid? [True, True] Translation: X:-20.70, Y:7.26, Z:0.19 [[ 6.82681538e-01 7.30071161e-01 -3.06923062e-02 -2.07024963e+01] [-7.29440053e-01 6.83369164e-01 3.03940007e-02 7.25782826e+00] [ 4.31639590e-02 1.63877428e-03 9.99066658e-01 1.89646388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.079115933000004 meters Centerline goodness [0,1] 0.9948755490483162 Centerline is valid? [True, True] Translation: X:-20.71, Y:7.28, Z:0.21 [[ 6.70118932e-01 7.41492882e-01 -3.35994462e-02 -2.07077167e+01] [-7.40739574e-01 6.70956308e-01 3.35039754e-02 7.27908968e+00] [ 4.73867197e-02 2.43679121e-03 9.98873646e-01 2.12789865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.109115933 meters Centerline goodness [0,1] 0.9963627546071775 Centerline is valid? [True, True] Translation: X:-20.74, Y:7.27, Z:0.12 [[ 6.71495558e-01 7.40353241e-01 -3.11575671e-02 -2.07443209e+01] [-7.39694250e-01 6.72214959e-01 3.12964213e-02 7.26547571e+00] [ 4.41149896e-02 2.03166535e-03 9.99024394e-01 1.19541756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.139115933 meters Centerline goodness [0,1] 0.9960716916277927 Centerline is valid? [True, True] Translation: X:-19.24, Y:8.67, Z:-1.80 [[ 7.85627400e-01 -6.18530553e-01 -1.44756315e-02 -1.92398359e+01] [-6.18431704e-01 -7.85760706e-01 1.10607631e-02 8.67478017e+00] [-1.82158023e-02 2.62550944e-04 -9.99834044e-01 -1.79687297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.169115933 meters Centerline goodness [0,1] 0.9926578560939795 Centerline is valid? [True, True] Translation: X:-20.63, Y:7.12, Z:0.10 [[ 7.16779923e-01 6.96131541e-01 -4.03412894e-02 -2.06298852e+01] [-6.95281755e-01 7.17906722e-01 3.45430178e-02 7.11872582e+00] [ 5.30077670e-02 3.28882086e-03 9.98588684e-01 1.01529453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.199115933 meters Centerline goodness [0,1] 0.9970544918998527 Centerline is valid? [True, True] Translation: X:-20.63, Y:7.14, Z:0.13 [[ 7.25150593e-01 6.87684874e-01 -3.53005781e-02 -2.06346440e+01] [-6.87015605e-01 7.26005977e-01 3.04118436e-02 7.14052659e+00] [ 4.65421955e-02 2.19888159e-03 9.98913905e-01 1.29246000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.229115933 meters Centerline goodness [0,1] 0.9961575408261287 Centerline is valid? [True, True] Translation: X:-20.69, Y:7.10, Z:-0.04 [[ 7.24658962e-01 6.88277622e-01 -3.38127760e-02 -2.06932013e+01] [-6.87654323e-01 7.25444684e-01 2.93520471e-02 7.09595363e+00] [ 4.47316558e-02 1.98127758e-03 9.98997074e-01 -4.18819511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.259115933000004 meters Centerline goodness [0,1] 0.9954912197437115 Centerline is valid? [True, True] Translation: X:-20.68, Y:7.14, Z:0.05 [[ 7.11404949e-01 7.01647839e-01 -3.99162606e-02 -2.06803079e+01] [-7.00785112e-01 7.12517037e-01 3.49241812e-02 7.13849889e+00] [ 5.29454920e-02 3.12748575e-03 9.98592506e-01 4.89159300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.289115933 meters Centerline goodness [0,1] 0.9951171875 Centerline is valid? [True, True] Translation: X:-20.69, Y:7.15, Z:0.06 [[ 7.11474951e-01 7.01683372e-01 -3.79979012e-02 -2.06922321e+01] [-7.00890398e-01 7.12483328e-01 3.34687516e-02 7.15162222e+00] [ 5.05573376e-02 2.82018568e-03 9.98717178e-01 5.67893410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.319115933 meters Centerline goodness [0,1] 0.9951028403525954 Centerline is valid? [True, True] Translation: X:-20.71, Y:7.16, Z:0.05 [[ 7.12569663e-01 7.00689916e-01 -3.57507810e-02 -2.07076920e+01] [-6.99977065e-01 7.13461759e-01 3.16927062e-02 7.16043687e+00] [ 4.77135747e-02 2.44146583e-03 9.98858075e-01 5.18199167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.349115933 meters Centerline goodness [0,1] 0.9955632240571851 Centerline is valid? [True, True] Translation: X:-20.75, Y:7.14, Z:-0.05 [[ 7.19088372e-01 6.94102009e-01 -3.36795805e-02 -2.07483361e+01] [-6.93453251e-01 7.19874544e-01 3.00537566e-02 7.14010060e+00] [ 4.51054455e-02 1.74390774e-03 9.98980709e-01 -4.67834190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.379115933 meters Centerline goodness [0,1] 0.9955632240571851 Centerline is valid? [True, True] Translation: X:-20.76, Y:7.15, Z:-0.05 [[ 7.16805953e-01 6.96463640e-01 -3.35801182e-02 -2.07613761e+01] [-6.95812279e-01 7.17589966e-01 3.01647503e-02 7.15201709e+00] [ 4.51054077e-02 1.74318600e-03 9.98980712e-01 -4.69509566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.409115933 meters Centerline goodness [0,1] 0.9948326771653543 Centerline is valid? [True, True] Translation: X:-20.77, Y:7.17, Z:-0.01 [[ 7.10839014e-01 7.02483653e-01 -3.49944718e-02 -2.07680950e+01] [-7.01772170e-01 7.11696947e-01 3.16745487e-02 7.17028309e+00] [ 4.71563115e-02 2.04264140e-03 9.98885434e-01 -1.28831536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.439115933000004 meters Centerline goodness [0,1] 0.9952795031055901 Centerline is valid? [True, True] Translation: X:-20.79, Y:7.17, Z:-0.04 [[ 7.10385414e-01 7.02898341e-01 -3.58676076e-02 -2.07875692e+01] [-7.02138991e-01 7.11287678e-01 3.27212057e-02 7.17483104e+00] [ 4.85118686e-02 1.93937851e-03 9.98820723e-01 -4.15199374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.469115933 meters Centerline goodness [0,1] 0.9975118188604131 Centerline is valid? [True, True] Translation: X:-20.75, Y:7.24, Z:0.14 [[ 6.97343025e-01 7.15576751e-01 -4.07752211e-02 -2.07521154e+01] [-7.14601919e-01 6.98527609e-01 3.74603217e-02 7.24272499e+00] [ 5.52883530e-02 3.01535724e-03 9.98465876e-01 1.37271398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.499115933 meters Centerline goodness [0,1] 0.9960199004975124 Centerline is valid? [True, True] Translation: X:-20.81, Y:7.21, Z:-0.01 [[ 7.00121138e-01 7.12827931e-01 -4.13126274e-02 -2.08052314e+01] [-7.11806530e-01 7.01334009e-01 3.82370414e-02 7.20893402e+00] [ 5.62303817e-02 2.63603703e-03 9.98414341e-01 -1.05508652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.529115933 meters Centerline goodness [0,1] 0.9959949937421777 Centerline is valid? [True, True] Translation: X:-20.82, Y:7.22, Z:-0.00 [[ 7.04688213e-01 7.08662950e-01 -3.48043905e-02 -2.08194626e+01] [-7.07922340e-01 7.05544937e-01 3.24392171e-02 7.22015530e+00] [ 4.75445328e-02 1.77927160e-03 9.98867535e-01 -1.76952267e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.559115933 meters Centerline goodness [0,1] 0.9959989997499374 Centerline is valid? [True, True] Translation: X:-20.84, Y:7.22, Z:-0.05 [[ 7.03388274e-01 7.10022199e-01 -3.33678336e-02 -2.08422278e+01] [-7.09332210e-01 7.04177413e-01 3.13366675e-02 7.22087316e+00] [ 4.57466044e-02 1.62703469e-03 9.98951751e-01 -4.61995533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.589115933 meters Centerline goodness [0,1] 0.9972465581977472 Centerline is valid? [True, True] Translation: X:-20.78, Y:7.31, Z:0.21 [[ 6.81733532e-01 7.30388977e-01 -4.20872120e-02 -2.07831696e+01] [-7.29311067e-01 6.83022237e-01 3.98245178e-02 7.31399996e+00] [ 5.78338905e-02 3.54496029e-03 9.98319926e-01 2.05156713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.619115933 meters Centerline goodness [0,1] 0.9979864082557262 Centerline is valid? [True, True] Translation: X:-20.82, Y:7.30, Z:0.13 [[ 6.81744717e-01 7.30407971e-01 -4.15732617e-02 -2.08161264e+01] [-7.29338392e-01 6.83003202e-01 3.96501749e-02 7.30005893e+00] [ 5.73554747e-02 3.28967851e-03 9.98348400e-01 1.33253928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.649115933 meters Centerline goodness [0,1] 0.99375 Centerline is valid? [True, True] Translation: X:-20.88, Y:7.25, Z:-0.04 [[ 6.97358308e-01 7.15944028e-01 -3.33996800e-02 -2.08811995e+01] [-7.15226526e-01 6.98156034e-01 3.20806609e-02 7.25446639e+00] [ 4.62861457e-02 1.51662169e-03 9.98927071e-01 -4.30145059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.679115933 meters Centerline goodness [0,1] 0.9961919268849961 Centerline is valid? [True, True] Translation: X:-20.90, Y:7.26, Z:-0.08 [[ 7.00677939e-01 7.12829079e-01 -3.04159646e-02 -2.09042590e+01] [-7.12221614e-01 7.01337033e-01 2.94404108e-02 7.25530186e+00] [ 4.23178232e-02 1.03466105e-03 9.99103664e-01 -7.76904471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.709115933 meters Centerline goodness [0,1] 0.9989850291804111 Centerline is valid? [True, True] Translation: X:-20.92, Y:7.27, Z:-0.08 [[ 7.03681830e-01 7.09981963e-01 -2.75226032e-02 -2.09198482e+01] [-7.09474543e-01 7.04219573e-01 2.68452213e-02 7.26628802e+00] [ 3.84415788e-02 6.36091875e-04 9.99260647e-01 -8.39080372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.739115933 meters Centerline goodness [0,1] 0.9969543147208122 Centerline is valid? [True, True] Translation: X:-20.93, Y:7.28, Z:-0.07 [[ 6.94808263e-01 7.18581115e-01 -2.97095860e-02 -2.09288248e+01] [-7.17987753e-01 6.95442388e-01 2.92142295e-02 7.28205049e+00] [ 4.16540990e-02 1.03283081e-03 9.99131558e-01 -7.47977259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.769115933 meters Centerline goodness [0,1] 0.9946455889852116 Centerline is valid? [True, True] Translation: X:-20.94, Y:7.30, Z:-0.06 [[ 6.91449067e-01 7.21820976e-01 -2.95409168e-02 -2.09367982e+01] [-7.21228742e-01 6.92078981e-01 2.92538151e-02 7.30020077e+00] [ 4.15606650e-02 1.07823508e-03 9.99135401e-01 -6.10844567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.799115933 meters Centerline goodness [0,1] 0.9946236559139785 Centerline is valid? [True, True] Translation: X:-20.95, Y:7.32, Z:-0.05 [[ 6.88558000e-01 7.24497101e-01 -3.14933668e-02 -2.09472807e+01] [-7.23816138e-01 6.89276877e-01 3.14258739e-02 7.31597765e+00] [ 4.44756040e-02 1.15687023e-03 9.99009801e-01 -5.49358085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.829115933000004 meters Centerline goodness [0,1] 0.9965200099428287 Centerline is valid? [True, True] Translation: X:-20.91, Y:7.38, Z:0.09 [[ 6.45950763e-01 7.61735515e-01 -5.00661307e-02 -2.09086231e+01] [-7.60089216e-01 6.47864545e-01 5.03578676e-02 7.38189828e+00] [ 7.07954472e-02 5.52602308e-03 9.97475547e-01 8.55548836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.859115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.40, Y:8.77, Z:-1.85 [[ 8.05376517e-01 -5.91804758e-01 -3.37015374e-02 -1.94007421e+01] [-5.91169137e-01 -8.06078244e-01 2.75121003e-02 8.76722896e+00] [-4.34478680e-02 -2.23429071e-03 -9.99053197e-01 -1.84768437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.889115933 meters Centerline goodness [0,1] 0.9943920469028804 Centerline is valid? [True, True] Translation: X:-20.78, Y:7.22, Z:0.05 [[ 7.22454831e-01 6.90050915e-01 -4.34597820e-02 -2.07835891e+01] [-6.89050844e-01 7.23754498e-01 3.72607098e-02 7.21875832e+00] [ 5.71659996e-02 3.02681968e-03 9.98360099e-01 5.41853954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.919115933 meters Centerline goodness [0,1] 0.9954279908559817 Centerline is valid? [True, True] Translation: X:-20.77, Y:7.27, Z:0.16 [[ 6.96455337e-01 7.15438229e-01 -5.56606072e-02 -2.07673447e+01] [-7.13852133e-01 6.98647718e-01 4.80260310e-02 7.26503315e+00] [ 7.32468148e-02 6.28545746e-03 9.97294037e-01 1.56527138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.949115933 meters Centerline goodness [0,1] 0.9977093407991855 Centerline is valid? [True, True] Translation: X:-20.76, Y:7.30, Z:0.21 [[ 6.99803935e-01 7.12349655e-01 -5.32204997e-02 -2.07629680e+01] [-7.10869559e-01 7.01803304e-01 4.62232930e-02 7.29769520e+00] [ 7.02774693e-02 5.48559077e-03 9.97512399e-01 2.10047459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.979115933 meters Centerline goodness [0,1] 0.9944006108424536 Centerline is valid? [True, True] Translation: X:-20.85, Y:7.22, Z:-0.04 [[ 7.20219821e-01 6.92496976e-01 -4.16094656e-02 -2.08495014e+01] [-6.91544627e-01 7.21416229e-01 3.63957913e-02 7.22008718e+00] [ 5.52217192e-02 2.56183209e-03 9.98470830e-01 -3.96176817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.009115933000004 meters Centerline goodness [0,1] 0.9982019008476753 Centerline is valid? [True, True] Translation: X:-20.79, Y:7.32, Z:0.20 [[ 6.94556127e-01 7.17506766e-01 -5.26861122e-02 -2.07858306e+01] [-7.16024247e-01 6.96529979e-01 4.64248390e-02 7.32352291e+00] [ 7.00075927e-02 5.47987742e-03 9.97531407e-01 2.02096424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.039115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.79, Y:7.35, Z:0.24 [[ 6.82814489e-01 7.28482499e-01 -5.54763221e-02 -2.07886339e+01] [-7.26850401e-01 6.85031361e-01 4.91988681e-02 7.34643523e+00] [ 7.38435348e-02 6.72928705e-03 9.97247135e-01 2.40505632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.069115933 meters Centerline goodness [0,1] 0.9997437868306431 Centerline is valid? [True, True] Translation: X:-20.81, Y:7.35, Z:0.22 [[ 6.85497025e-01 7.26068232e-01 -5.40254645e-02 -2.08067672e+01] [-7.24491237e-01 6.87595689e-01 4.82142789e-02 7.35078517e+00] [ 7.21545327e-02 6.09023083e-03 9.97374871e-01 2.21828140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.099115933 meters Centerline goodness [0,1] 0.9969834087481146 Centerline is valid? [True, True] Translation: X:-20.84, Y:7.34, Z:0.14 [[ 6.73845042e-01 7.36663907e-01 -5.70889475e-02 -2.08397908e+01] [-7.34913935e-01 6.76218566e-01 5.12831247e-02 7.33765170e+00] [ 7.63830332e-02 7.39858370e-03 9.97051099e-01 1.37752883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.129115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.83, Y:7.38, Z:0.21 [[ 6.77295743e-01 7.33708731e-01 -5.42399698e-02 -2.08297174e+01] [-7.32095994e-01 6.79433162e-01 4.90513330e-02 7.37528775e+00] [ 7.28418255e-02 6.48660560e-03 9.97322411e-01 2.05993446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.159115933 meters Centerline goodness [0,1] 0.9984642948553878 Centerline is valid? [True, True] Translation: X:-20.83, Y:7.41, Z:0.24 [[ 6.61956387e-01 7.47153193e-01 -5.97983938e-02 -2.08263873e+01] [-7.45216138e-01 6.64597168e-01 5.44381469e-02 7.40532707e+00] [ 8.04154785e-02 8.52704911e-03 9.96724957e-01 2.40393983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.189115933000004 meters Centerline goodness [0,1] 0.9958762886597938 Centerline is valid? [True, True] Translation: X:-20.90, Y:7.35, Z:0.05 [[ 6.81616694e-01 7.29971781e-01 -5.03972307e-02 -2.08991227e+01] [-7.28527959e-01 6.83457243e-01 4.61866972e-02 7.34664217e+00] [ 6.81593379e-02 5.23416771e-03 9.97660718e-01 5.16169917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.219115933 meters Centerline goodness [0,1] 0.9957721959711514 Centerline is valid? [True, True] Translation: X:-20.86, Y:7.42, Z:0.23 [[ 6.59535535e-01 7.49454411e-01 -5.77145109e-02 -2.08573093e+01] [-7.47602560e-01 6.62007370e-01 5.32602532e-02 7.42039810e+00] [ 7.81235633e-02 8.02048647e-03 9.96911421e-01 2.28489323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.249115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.86, Y:7.43, Z:0.23 [[ 6.66394029e-01 7.43759684e-01 -5.23500897e-02 -2.08564434e+01] [-7.42177147e-01 6.68417710e-01 4.88962997e-02 7.43079625e+00] [ 7.13588234e-02 6.26883811e-03 9.97431010e-01 2.25102612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.279115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.87, Y:7.45, Z:0.23 [[ 6.55265482e-01 7.53273003e-01 -5.66297717e-02 -2.08652150e+01] [-7.51423517e-01 6.57663763e-01 5.33017197e-02 7.44559225e+00] [ 7.73940952e-02 7.62616512e-03 9.96971412e-01 2.34176069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.309115933 meters Centerline goodness [0,1] 0.9994897959183674 Centerline is valid? [True, True] Translation: X:-20.87, Y:7.46, Z:0.25 [[ 6.59667851e-01 7.49829018e-01 -5.09388769e-02 -2.08724769e+01] [-7.48301474e-01 6.61601762e-01 4.82494796e-02 7.46331120e+00] [ 6.98801107e-02 6.28900614e-03 9.97535573e-01 2.45538847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.339115933 meters Centerline goodness [0,1] 0.9966717869943676 Centerline is valid? [True, True] Translation: X:-20.88, Y:7.48, Z:0.25 [[ 6.58192647e-01 7.51311924e-01 -4.80919133e-02 -2.08805367e+01] [-7.49932336e-01 6.59921211e-01 4.58855876e-02 7.47774360e+00] [ 6.62112627e-02 5.86412451e-03 9.97788395e-01 2.47377616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.369115933 meters Centerline goodness [0,1] 0.9994894051570079 Centerline is valid? [True, True] Translation: X:-20.89, Y:7.49, Z:0.24 [[ 6.47132584e-01 7.60687690e-01 -5.07312317e-02 -2.08904216e+01] [-7.59156890e-01 6.49080580e-01 4.87361934e-02 7.49127206e+00] [ 7.00016796e-02 6.97418533e-03 9.97522494e-01 2.41471911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.399115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.90, Y:7.51, Z:0.23 [[ 6.34729501e-01 7.70964590e-01 -5.22691236e-02 -2.09002454e+01] [-7.69347702e-01 6.36826241e-01 5.05613693e-02 7.50552593e+00] [ 7.22673749e-02 8.12033742e-03 9.97352238e-01 2.30642256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.429115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.90, Y:7.53, Z:0.26 [[ 6.18716330e-01 7.83693898e-01 -5.48997056e-02 -2.08954319e+01] [-7.81930840e-01 6.21069049e-01 5.34546379e-02 7.53422020e+00] [ 7.59885815e-02 9.85451555e-03 9.97059990e-01 2.58547268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.459115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.93, Y:7.52, Z:0.20 [[ 6.21282880e-01 7.82006269e-01 -4.97370854e-02 -2.09315398e+01] [-7.80532810e-01 6.23212027e-01 4.87370709e-02 7.51863591e+00] [ 6.91094448e-02 8.54191929e-03 9.97572514e-01 2.00880995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.489115933 meters Centerline goodness [0,1] 0.9994891443167305 Centerline is valid? [True, True] Translation: X:-20.92, Y:7.56, Z:0.26 [[ 6.09056082e-01 7.91321867e-01 -5.34826352e-02 -2.09187101e+01] [-7.89624691e-01 6.11316531e-01 5.27725899e-02 7.55612259e+00] [ 7.44549234e-02 1.00897425e-02 9.97173336e-01 2.57023561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.519115933 meters Centerline goodness [0,1] 0.9989764585465711 Centerline is valid? [True, True] Translation: X:-20.92, Y:7.57, Z:0.25 [[ 6.06600136e-01 7.93181906e-01 -5.38399381e-02 -2.09248161e+01] [-7.91440206e-01 6.08900131e-01 5.35073049e-02 7.56950131e+00] [ 7.52241714e-02 1.01535533e-02 9.97114953e-01 2.47594761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.549115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.96, Y:7.56, Z:0.21 [[ 6.13393886e-01 7.88151670e-01 -5.06447041e-02 -2.09562517e+01] [-7.86570283e-01 6.15418754e-01 5.06650518e-02 7.55964729e+00] [ 7.10994459e-02 8.75798618e-03 9.97430783e-01 2.13707930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.579115933000004 meters Centerline goodness [0,1] 0.9989957318604067 Centerline is valid? [True, True] Translation: X:-19.52, Y:8.78, Z:-1.87 [[ 8.35637713e-01 -5.47903328e-01 -3.88787299e-02 -1.95171326e+01] [-5.47007174e-01 -8.36525008e-01 3.17657604e-02 8.77648850e+00] [-4.99275956e-02 -5.27772319e-03 -9.98738895e-01 -1.86540607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.609115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.77, Y:7.38, Z:0.25 [[ 6.78528005e-01 7.32567860e-01 -5.42593482e-02 -2.07686663e+01] [-7.31152559e-01 6.80643626e-01 4.62621915e-02 7.37758051e+00] [ 7.08214741e-02 8.28166879e-03 9.97454627e-01 2.52214303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.639115933 meters Centerline goodness [0,1] 0.9969411164924803 Centerline is valid? [True, True] Translation: X:-20.86, Y:7.29, Z:-0.01 [[ 6.86998187e-01 7.24948582e-01 -4.98301624e-02 -2.08564283e+01] [-7.23713121e-01 6.88770954e-01 4.28239487e-02 7.29012739e+00] [ 6.53667294e-02 6.64276727e-03 9.97839198e-01 -5.82384656e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.669115933 meters Centerline goodness [0,1] 0.9978064830611747 Centerline is valid? [True, True] Translation: X:-20.80, Y:7.38, Z:0.21 [[ 6.64323719e-01 7.45031672e-01 -6.00150228e-02 -2.08022730e+01] [-7.43285316e-01 6.66952865e-01 5.19693658e-02 7.38353123e+00] [ 7.87460149e-02 1.00838028e-02 9.96843710e-01 2.07476732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.699115933 meters Centerline goodness [0,1] 0.9967917077986179 Centerline is valid? [True, True] Translation: X:-20.82, Y:7.38, Z:0.18 [[ 6.67953446e-01 7.41919460e-01 -5.82555526e-02 -2.08226879e+01] [-7.40235649e-01 6.70425977e-01 5.07956129e-02 7.38422472e+00] [ 7.67422894e-02 9.19373214e-03 9.97008574e-01 1.82680424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.729115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.83, Y:7.39, Z:0.18 [[ 6.64672634e-01 7.44921270e-01 -5.74681677e-02 -2.08348310e+01] [-7.43265511e-01 6.67089459e-01 5.04780555e-02 7.39238183e+00] [ 7.59385861e-02 9.16272486e-03 9.97070397e-01 1.78909344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.759115933000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.85, Y:7.40, Z:0.17 [[ 6.59721976e-01 7.49170096e-01 -5.92543825e-02 -2.08486367e+01] [-7.47399767e-01 6.62306223e-01 5.23837286e-02 7.40158012e+00] [ 7.84888693e-02 9.72801478e-03 9.96867525e-01 1.69301148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.789115933 meters Centerline goodness [0,1] 0.999271137026239 Centerline is valid? [True, True] Translation: X:-20.86, Y:7.41, Z:0.14 [[ 6.56351533e-01 7.52310436e-01 -5.68478001e-02 -2.08646320e+01] [-7.50668520e-01 6.58740567e-01 5.05731023e-02 7.40779507e+00] [ 7.54946247e-02 9.48012071e-03 9.97101143e-01 1.40197529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.819115933 meters Centerline goodness [0,1] 0.996337890625 Centerline is valid? [True, True] Translation: X:-20.86, Y:7.44, Z:0.18 [[ 6.50994811e-01 7.56977032e-01 -5.64936208e-02 -2.08603050e+01] [-7.55345122e-01 6.53369209e-01 5.06203923e-02 7.43607148e+00] [ 7.52296666e-02 9.71856820e-03 9.97118873e-01 1.79151738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.849115933 meters Centerline goodness [0,1] 0.9987966305655837 Centerline is valid? [True, True] Translation: X:-20.87, Y:7.45, Z:0.17 [[ 6.34414285e-01 7.70369904e-01 -6.36296054e-02 -2.08732463e+01] [-7.68330692e-01 6.37475063e-01 5.73889518e-02 7.44620090e+00] [ 8.47730080e-02 1.24802079e-02 9.96322127e-01 1.68434167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.879115933 meters Centerline goodness [0,1] 0.9997604790419161 Centerline is valid? [True, True] Translation: X:-20.88, Y:7.46, Z:0.17 [[ 6.28801131e-01 7.74876182e-01 -6.46222898e-02 -2.08816272e+01] [-7.72761653e-01 6.31978461e-01 5.86741163e-02 7.46084878e+00] [ 8.63050704e-02 1.30432768e-02 9.96183371e-01 1.68565174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.909115933 meters Centerline goodness [0,1] 0.9962502929458636 Centerline is valid? [True, True] Translation: X:-20.92, Y:7.44, Z:0.09 [[ 6.44002111e-01 7.62870804e-01 -5.73534505e-02 -2.09200913e+01] [-7.61131883e-01 6.46475247e-01 5.24214788e-02 7.43985256e+00] [ 7.70684018e-02 9.89399674e-03 9.96976715e-01 9.00091696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.939115933000004 meters Centerline goodness [0,1] 0.9974196575181797 Centerline is valid? [True, True] Translation: X:-20.91, Y:7.47, Z:0.13 [[ 6.35020753e-01 7.70125969e-01 -6.04535762e-02 -2.09143615e+01] [-7.68189073e-01 6.37795751e-01 5.56967474e-02 7.46727678e+00] [ 8.14505457e-02 1.10711863e-02 9.96615893e-01 1.33974941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.969115933 meters Centerline goodness [0,1] 0.9958256029684601 Centerline is valid? [True, True] Translation: X:-20.94, Y:7.46, Z:0.09 [[ 6.36039350e-01 7.69181897e-01 -6.17507422e-02 -2.09403762e+01] [-7.67123020e-01 6.38936422e-01 5.72932883e-02 7.46034158e+00] [ 8.35237584e-02 1.09296300e-02 9.96445846e-01 8.67794735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.999115933 meters Centerline goodness [0,1] 0.9974178403755869 Centerline is valid? [True, True] Translation: X:-20.97, Y:7.46, Z:0.03 [[ 6.39915813e-01 7.66039874e-01 -6.07508288e-02 -2.09657735e+01] [-7.63998985e-01 6.42714049e-01 5.67820564e-02 7.45591439e+00] [ 8.25427305e-02 1.00778358e-02 9.96536570e-01 2.64061742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.029115933 meters Centerline goodness [0,1] 0.9959174415967339 Centerline is valid? [True, True] Translation: X:-20.96, Y:7.49, Z:0.09 [[ 6.18501046e-01 7.82765565e-01 -6.88078928e-02 -2.09599686e+01] [-7.80200890e-01 6.22167458e-01 6.47628467e-02 7.48645208e+00] [ 9.35041580e-02 1.36280907e-02 9.95525614e-01 8.74150019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.059115933 meters Centerline goodness [0,1] 0.9970581579542883 Centerline is valid? [True, True] Translation: X:-20.99, Y:7.48, Z:0.03 [[ 6.47750548e-01 7.59901010e-01 -5.44947969e-02 -2.09897054e+01] [-7.58184760e-01 6.49991243e-01 5.16454558e-02 7.47519891e+00] [ 7.46665749e-02 7.86375224e-03 9.97177549e-01 2.71495689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.089115933 meters Centerline goodness [0,1] 0.9968246767974598 Centerline is valid? [True, True] Translation: X:-21.01, Y:7.47, Z:-0.02 [[ 6.50353993e-01 7.57731335e-01 -5.36927120e-02 -2.10136453e+01] [-7.56030152e-01 6.52526316e-01 5.12622337e-02 7.47360338e+00] [ 7.38789083e-02 7.25471081e-03 9.97240832e-01 -2.36167969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.119115933 meters Centerline goodness [0,1] 0.9970628106642566 Centerline is valid? [True, True] Translation: X:-21.03, Y:7.48, Z:-0.04 [[ 6.49213786e-01 7.58820591e-01 -5.20842718e-02 -2.10268258e+01] [-7.57195729e-01 6.51263095e-01 5.01099662e-02 7.48185046e+00] [ 7.19450383e-02 6.90590726e-03 9.97384690e-01 -4.24692212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.149115933 meters Centerline goodness [0,1] 0.9964436541453656 Centerline is valid? [True, True] Translation: X:-21.00, Y:7.53, Z:0.08 [[ 6.27460003e-01 7.76386481e-01 -5.93125372e-02 -2.10005152e+01] [-7.74318804e-01 6.30179950e-01 5.74771323e-02 7.53448386e+00] [ 8.20020402e-02 9.86221122e-03 9.96583364e-01 7.83553661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.179115933 meters Centerline goodness [0,1] 0.9968881973771949 Centerline is valid? [True, True] Translation: X:-21.03, Y:7.53, Z:0.03 [[ 6.30173938e-01 7.74258758e-01 -5.83453883e-02 -2.10258261e+01] [-7.72218232e-01 6.32802502e-01 5.69209584e-02 7.52986249e+00] [ 8.09926583e-02 9.18526813e-03 9.96672374e-01 2.96664897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.209115933 meters Centerline goodness [0,1] 0.9977929816817479 Centerline is valid? [True, True] Translation: X:-21.04, Y:7.54, Z:0.03 [[ 6.29121755e-01 7.75143043e-01 -5.79575741e-02 -2.10385722e+01] [-7.73101437e-01 6.31721843e-01 5.69357613e-02 7.54020902e+00] [ 8.07464248e-02 8.98755774e-03 9.96694155e-01 2.63278840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.239115933 meters Centerline goodness [0,1] 0.9986789960369881 Centerline is valid? [True, True] Translation: X:-21.07, Y:7.53, Z:-0.05 [[ 6.34727294e-01 7.70701056e-01 -5.60459199e-02 -2.10667380e+01] [-7.68743194e-01 6.37148154e-01 5.54628854e-02 7.53492011e+00] [ 7.84548588e-02 7.88111229e-03 9.96886515e-01 -4.82401478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.269115933 meters Centerline goodness [0,1] 0.9986789960369881 Centerline is valid? [True, True] Translation: X:-21.08, Y:7.55, Z:-0.05 [[ 6.31896612e-01 7.73038438e-01 -5.58412403e-02 -2.10784392e+01] [-7.71071665e-01 6.34310230e-01 5.56688416e-02 7.54726408e+00] [ 7.84548244e-02 7.88064569e-03 9.96886521e-01 -4.83973854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.299115933 meters Centerline goodness [0,1] 0.9975951027547005 Centerline is valid? [True, True] Translation: X:-21.08, Y:7.57, Z:0.00 [[ 6.18663906e-01 7.83656877e-01 -5.60077764e-02 -2.10763092e+01] [-7.81687236e-01 6.21128992e-01 5.62480270e-02 7.57349645e+00] [ 7.88672069e-02 8.98193981e-03 9.96844666e-01 2.38572452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.329115933 meters Centerline goodness [0,1] 0.9971522453450165 Centerline is valid? [True, True] Translation: X:-19.61, Y:8.98, Z:-1.61 [[ 8.27791991e-01 -5.59612030e-01 -3.99348763e-02 -1.96145141e+01] [-5.58672347e-01 -8.28740706e-01 3.27727211e-02 8.97570481e+00] [-5.14356666e-02 -4.81848501e-03 -9.98664686e-01 -1.61025379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.359115933 meters Centerline goodness [0,1] 0.9961348507622934 Centerline is valid? [True, True] Translation: X:-20.97, Y:7.45, Z:-0.01 [[ 6.79214210e-01 7.31597281e-01 -5.85958647e-02 -2.09681851e+01] [-7.29928588e-01 6.81681413e-01 5.01468569e-02 7.45047566e+00] [ 7.66310160e-02 8.71033901e-03 9.97021473e-01 -9.53631037e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.389115933 meters Centerline goodness [0,1] 0.9979118813948632 Centerline is valid? [True, True] Translation: X:-20.98, Y:7.46, Z:-0.00 [[ 6.75122731e-01 7.35351783e-01 -5.88816891e-02 -2.09780170e+01] [-7.33652652e-01 6.77626691e-01 5.07528657e-02 7.46433152e+00] [ 7.72210145e-02 8.93429405e-03 9.96973968e-01 -1.13271004e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.419115933 meters Centerline goodness [0,1] 0.9979127530786892 Centerline is valid? [True, True] Translation: X:-21.00, Y:7.46, Z:-0.06 [[ 6.68272760e-01 7.41448646e-01 -6.05427331e-02 -2.10038332e+01] [-7.39645590e-01 6.70940236e-01 5.25699603e-02 7.45958198e+00] [ 7.95984815e-02 9.64909310e-03 9.96780305e-01 -5.88339494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.449115933 meters Centerline goodness [0,1] 0.9975191234236097 Centerline is valid? [True, True] Translation: X:-21.00, Y:7.49, Z:0.00 [[ 6.62778418e-01 7.46440004e-01 -5.95994016e-02 -2.09997717e+01] [-7.44682604e-01 6.65380050e-01 5.21268544e-02 7.49163223e+00] [ 7.85658222e-02 9.83408348e-03 9.96860423e-01 1.80306274e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.479115933 meters Centerline goodness [0,1] 0.9997913624035051 Centerline is valid? [True, True] Translation: X:-21.02, Y:7.49, Z:-0.06 [[ 6.64874596e-01 7.44693029e-01 -5.80866958e-02 -2.10233487e+01] [-7.42991992e-01 6.67344262e-01 5.11325289e-02 7.48771403e+00] [ 7.68418610e-02 9.16123033e-03 9.97001204e-01 -5.57189436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.509115933000004 meters Centerline goodness [0,1] 0.9981949458483754 Centerline is valid? [True, True] Translation: X:-21.02, Y:7.51, Z:-0.02 [[ 6.58775496e-01 7.50097138e-01 -5.80441991e-02 -2.10236498e+01] [-7.48393586e-01 6.61258503e-01 5.14221071e-02 7.51386128e+00] [ 7.69537955e-02 9.56428214e-03 9.96988785e-01 -2.38635397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.539115933 meters Centerline goodness [0,1] 0.9986089030206677 Centerline is valid? [True, True] Translation: X:-21.03, Y:7.53, Z:-0.01 [[ 6.55308729e-01 7.53325021e-01 -5.54245675e-02 -2.10304283e+01] [-7.51758373e-01 6.57583055e-01 4.94355527e-02 7.53247590e+00] [ 7.36872952e-02 9.27033349e-03 9.97238308e-01 -6.64001656e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.569115933 meters Centerline goodness [0,1] 0.9968676585747847 Centerline is valid? [True, True] Translation: X:-21.03, Y:7.55, Z:0.03 [[ 6.50541554e-01 7.57464813e-01 -5.51610665e-02 -2.10324580e+01] [-7.55901296e-01 6.52807462e-01 4.95544942e-02 7.55417232e+00] [ 7.35453415e-02 9.45906399e-03 9.97247015e-01 2.58263199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.599115933 meters Centerline goodness [0,1] 0.9986282578875172 Centerline is valid? [True, True] Translation: X:-21.03, Y:7.58, Z:0.07 [[ 6.42031229e-01 7.64550812e-01 -5.70785156e-02 -2.10329680e+01] [-7.62876018e-01 6.44479670e-01 5.16346324e-02 7.57872833e+00] [ 7.62632431e-02 1.03927842e-02 9.97033554e-01 6.68211805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.629115933 meters Centerline goodness [0,1] 0.9974509803921568 Centerline is valid? [True, True] Translation: X:-21.06, Y:7.57, Z:0.00 [[ 6.45524939e-01 7.61720567e-01 -5.54917153e-02 -2.10605777e+01] [-7.60103624e-01 6.47835038e-01 5.05197428e-02 7.57011894e+00] [ 7.44314046e-02 9.56770001e-03 9.97180237e-01 1.97997918e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.659115933 meters Centerline goodness [0,1] 0.9969076149980672 Centerline is valid? [True, True] Translation: X:-21.07, Y:7.58, Z:0.00 [[ 6.43882167e-01 7.63131395e-01 -5.51926602e-02 -2.10707291e+01] [-7.61513527e-01 6.46173900e-01 5.05612464e-02 7.58388659e+00] [ 7.42489309e-02 9.47447246e-03 9.97194731e-01 3.57987071e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.689115933000004 meters Centerline goodness [0,1] 0.9974747474747475 Centerline is valid? [True, True] Translation: X:-21.09, Y:7.59, Z:-0.03 [[ 6.43102831e-01 7.63695523e-01 -5.64614616e-02 -2.10916929e+01] [-7.61976510e-01 6.45506356e-01 5.20897508e-02 7.58588561e+00] [ 7.62269419e-02 9.52324127e-03 9.97045015e-01 -2.91405088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.719115933 meters Centerline goodness [0,1] 0.9982575024201356 Centerline is valid? [True, True] Translation: X:-21.10, Y:7.61, Z:-0.02 [[ 6.39569064e-01 7.66719871e-01 -5.56062192e-02 -2.10966998e+01] [-7.65036190e-01 6.41911543e-01 5.16642861e-02 7.60638693e+00] [ 7.53063088e-02 9.49789095e-03 9.97115214e-01 -1.70813021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.749115933 meters Centerline goodness [0,1] 0.9980537173997664 Centerline is valid? [True, True] Translation: X:-21.11, Y:7.61, Z:-0.02 [[ 6.42351820e-01 7.64500628e-01 -5.40641219e-02 -2.11137831e+01] [-7.62876356e-01 6.44563475e-01 5.05726452e-02 7.61090721e+00] [ 7.35105773e-02 8.75880963e-03 9.97255974e-01 -2.45498386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.779115933 meters Centerline goodness [0,1] 0.9984538074990337 Centerline is valid? [True, True] Translation: X:-21.13, Y:7.62, Z:-0.03 [[ 6.37450577e-01 7.68583117e-01 -5.41918347e-02 -2.11272006e+01] [-7.66938719e-01 6.39686376e-01 5.10523406e-02 7.62194017e+00] [ 7.39037454e-02 9.01847230e-03 9.97224600e-01 -3.19848562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.809115933 meters Centerline goodness [0,1] 0.9992340099578706 Centerline is valid? [True, True] Translation: X:-21.15, Y:7.63, Z:-0.07 [[ 6.37492877e-01 7.68535066e-01 -5.43754068e-02 -2.11450903e+01] [-7.66854261e-01 6.39746765e-01 5.15617990e-02 7.62647795e+00] [ 7.44135412e-02 8.82773278e-03 9.97188395e-01 -6.51057669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.839115933 meters Centerline goodness [0,1] 0.9967482785003825 Centerline is valid? [True, True] Translation: X:-21.14, Y:7.65, Z:-0.01 [[ 6.31515286e-01 7.73488905e-01 -5.38828014e-02 -2.11440921e+01] [-7.71828831e-01 6.33744633e-01 5.14586708e-02 7.65218531e+00] [ 7.39506471e-02 9.09136239e-03 9.97220462e-01 -8.22647123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.869115933 meters Centerline goodness [0,1] 0.9992323930147764 Centerline is valid? [True, True] Translation: X:-21.17, Y:7.65, Z:-0.07 [[ 6.32769129e-01 7.72493415e-01 -5.34523405e-02 -2.11681140e+01] [-7.70828683e-01 6.34963668e-01 5.14225869e-02 7.65026009e+00] [ 7.36639039e-02 8.66397169e-03 9.97245489e-01 -6.91976627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.899115933 meters Centerline goodness [0,1] 0.9986824769433466 Centerline is valid? [True, True] Translation: X:-21.17, Y:7.67, Z:-0.04 [[ 6.31272774e-01 7.73729910e-01 -5.32607854e-02 -2.11735869e+01] [-7.72056011e-01 6.33457804e-01 5.15822257e-02 7.66840431e+00] [ 7.36491710e-02 8.55785480e-03 9.97247493e-01 -4.09489619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.929115933 meters Centerline goodness [0,1] 0.9998101025446259 Centerline is valid? [True, True] Translation: X:-21.19, Y:7.67, Z:-0.08 [[ 6.29859448e-01 7.74921716e-01 -5.26631681e-02 -2.11922021e+01] [-7.73262594e-01 6.32001828e-01 5.13677914e-02 7.67328662e+00] [ 7.30892355e-02 8.36796926e-03 9.97290299e-01 -7.96550812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.959115933 meters Centerline goodness [0,1] 0.9994420680676958 Centerline is valid? [True, True] Translation: X:-21.20, Y:7.69, Z:-0.08 [[ 6.20943607e-01 7.82016608e-01 -5.36568892e-02 -2.11995719e+01] [-7.80291910e-01 6.23190572e-01 5.27071860e-02 7.68966592e+00] [ 7.46563622e-02 9.13984630e-03 9.97167434e-01 -7.62000884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.989115933 meters Centerline goodness [0,1] 0.9972181008902077 Centerline is valid? [True, True] Translation: X:-21.20, Y:7.71, Z:-0.02 [[ 6.12216264e-01 7.88775940e-01 -5.49887581e-02 -2.11988796e+01] [-7.86958752e-01 6.14600257e-01 5.44283686e-02 7.71340151e+00] [ 7.67278925e-02 9.95195196e-03 9.97002402e-01 -2.32734032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.019115933 meters Centerline goodness [0,1] 0.9986764983928909 Centerline is valid? [True, True] Translation: X:-21.22, Y:7.72, Z:-0.06 [[ 6.13096161e-01 7.88221364e-01 -5.31053621e-02 -2.12170154e+01] [-7.86495965e-01 6.15321469e-01 5.29489102e-02 7.71828554e+00] [ 7.44123316e-02 9.30437944e-03 9.97184152e-01 -5.65906978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.049115933 meters Centerline goodness [0,1] 0.9975863349424434 Centerline is valid? [True, True] Translation: X:-21.22, Y:7.74, Z:-0.04 [[ 6.02696761e-01 7.96033950e-01 -5.55568579e-02 -2.12203502e+01] [-7.94145181e-01 6.05161056e-01 5.57989984e-02 7.73878409e+00] [ 7.80387439e-02 1.04903354e-02 9.96895134e-01 -3.79424412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.079115933 meters Centerline goodness [0,1] 0.998376037531577 Centerline is valid? [True, True] Translation: X:-19.80, Y:9.09, Z:-1.59 [[ 8.38408868e-01 -5.43352320e-01 -4.28815319e-02 -1.97955690e+01] [-5.42242018e-01 -8.39480854e-01 3.52914888e-02 9.09434491e+00] [-5.51739374e-02 -6.33652882e-03 -9.98456652e-01 -1.58530450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.109115933 meters Centerline goodness [0,1] 0.9983308605341247 Centerline is valid? [True, True] Translation: X:-21.11, Y:7.61, Z:-0.05 [[ 6.65943800e-01 7.43686594e-01 -5.87290838e-02 -2.11142856e+01] [-7.42055308e-01 6.68451956e-01 5.02583522e-02 7.60933164e+00] [ 7.66340337e-02 1.01109904e-02 9.97008020e-01 -5.29921598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.139115933 meters Centerline goodness [0,1] 0.9972441668197685 Centerline is valid? [True, True] Translation: X:-21.12, Y:7.63, Z:-0.03 [[ 6.54862293e-01 7.53268114e-01 -6.11761835e-02 -2.11156399e+01] [-7.51508007e-01 6.57613928e-01 5.27222589e-02 7.63144468e+00] [ 7.99443068e-02 1.14485724e-02 9.96733584e-01 -3.11678438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.169115933 meters Centerline goodness [0,1] 0.9964742994989794 Centerline is valid? [True, True] Translation: X:-21.13, Y:7.64, Z:-0.02 [[ 6.54111422e-01 7.53921185e-01 -6.11644899e-02 -2.11276375e+01] [-7.52137518e-01 6.56867605e-01 5.30481316e-02 7.64199390e+00] [ 8.01710822e-02 1.13047188e-02 9.96717011e-01 -2.10886111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.199115933 meters Centerline goodness [0,1] 0.9983299313416218 Centerline is valid? [True, True] Translation: X:-21.14, Y:7.65, Z:-0.05 [[ 6.56465059e-01 7.51996995e-01 -5.96166569e-02 -2.11412841e+01] [-7.50268984e-01 6.59081792e-01 5.20350140e-02 7.65006694e+00] [ 7.84224272e-02 1.05693601e-02 9.96864189e-01 -4.74101067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.229115933 meters Centerline goodness [0,1] 0.9977839335180055 Centerline is valid? [True, True] Translation: X:-21.15, Y:7.66, Z:-0.04 [[ 6.55074284e-01 7.53287198e-01 -5.86180822e-02 -2.11541664e+01] [-7.51596955e-01 6.57610548e-01 5.14818921e-02 7.65962885e+00] [ 7.73285194e-02 1.03327085e-02 9.96952123e-01 -4.17889938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.259115933000004 meters Centerline goodness [0,1] 0.9966165413533835 Centerline is valid? [True, True] Translation: X:-21.16, Y:7.68, Z:-0.03 [[ 6.46836357e-01 7.60027335e-01 -6.29378907e-02 -2.11600342e+01] [-7.58077055e-01 6.49785601e-01 5.56583411e-02 7.67842793e+00] [ 8.31979958e-02 1.17099322e-02 9.96464235e-01 -3.00905308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.289115933 meters Centerline goodness [0,1] 0.9992615839025291 Centerline is valid? [True, True] Translation: X:-21.19, Y:7.67, Z:-0.08 [[ 6.59387672e-01 7.49619852e-01 -5.72536136e-02 -2.11868488e+01] [-7.47941063e-01 6.61804580e-01 5.09790566e-02 7.67065720e+00] [ 7.61056165e-02 9.20736717e-03 9.97057250e-01 -8.41778784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.319115933 meters Centerline goodness [0,1] 0.9984636066833109 Centerline is valid? [True, True] Translation: X:-21.19, Y:7.69, Z:-0.06 [[ 6.53488971e-01 7.54652715e-01 -5.87490013e-02 -2.11931648e+01] [-7.52878018e-01 6.56050872e-01 5.26492523e-02 7.69007913e+00] [ 7.82742347e-02 9.82512599e-03 9.96883449e-01 -6.05156664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.349115933 meters Centerline goodness [0,1] 0.9994409243384271 Centerline is valid? [True, True] Translation: X:-21.21, Y:7.70, Z:-0.09 [[ 6.56139842e-01 7.52531045e-01 -5.63696206e-02 -2.12101501e+01] [-7.50862571e-01 6.58496037e-01 5.08760164e-02 7.69599837e+00] [ 7.54049535e-02 8.94405687e-03 9.97112881e-01 -8.93875506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.379115933 meters Centerline goodness [0,1] 0.9977670264235207 Centerline is valid? [True, True] Translation: X:-21.21, Y:7.72, Z:-0.03 [[ 6.47460156e-01 7.59896983e-01 -5.78957835e-02 -2.12095855e+01] [-7.58137189e-01 6.49969208e-01 5.26120834e-02 7.72297601e+00] [ 7.76102400e-02 9.82871886e-03 9.96935327e-01 -3.47045362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.409115933 meters Centerline goodness [0,1] 0.9998109283418416 Centerline is valid? [True, True] Translation: X:-21.24, Y:7.72, Z:-0.09 [[ 6.53782604e-01 7.54613966e-01 -5.59112617e-02 -2.12350041e+01] [-7.52928645e-01 6.56111852e-01 5.11438528e-02 7.71834072e+00] [ 7.52779071e-02 8.66022923e-03 9.97124986e-01 -9.06732515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.439115933000004 meters Centerline goodness [0,1] 0.9979182437547313 Centerline is valid? [True, True] Translation: X:-21.23, Y:7.75, Z:-0.02 [[ 6.46939224e-01 7.60288765e-01 -5.85716245e-02 -2.12284014e+01] [-7.58433908e-01 6.49515246e-01 5.39254382e-02 7.75214601e+00] [ 7.90420679e-02 9.53622490e-03 9.96825668e-01 -2.18940383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.469115933 meters Centerline goodness [0,1] 0.9996162701458173 Centerline is valid? [True, True] Translation: X:-21.26, Y:7.74, Z:-0.09 [[ 6.52742603e-01 7.55466208e-01 -5.65500052e-02 -2.12600820e+01] [-7.53692660e-01 6.55133658e-01 5.24143463e-02 7.74063357e+00] [ 7.66450792e-02 8.40824703e-03 9.97022985e-01 -8.66059938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.499115933 meters Centerline goodness [0,1] 0.9996129281981808 Centerline is valid? [True, True] Translation: X:-21.27, Y:7.76, Z:-0.07 [[ 6.58034648e-01 7.51172199e-01 -5.22563806e-02 -2.12681842e+01] [-7.49620907e-01 6.60068315e-01 4.87679703e-02 7.75769936e+00] [ 7.11259246e-02 7.08146127e-03 9.97442207e-01 -6.90995591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.529115933 meters Centerline goodness [0,1] 0.9992315081652258 Centerline is valid? [True, True] Translation: X:-21.28, Y:7.77, Z:-0.09 [[ 6.58584099e-01 7.50903037e-01 -4.91081703e-02 -2.12841664e+01] [-7.49512309e-01 6.60381197e-01 4.61299566e-02 7.76537016e+00] [ 6.70692368e-02 6.42672216e-03 9.97727626e-01 -8.52919730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.559115933 meters Centerline goodness [0,1] 0.9988403556242752 Centerline is valid? [True, True] Translation: X:-21.30, Y:7.77, Z:-0.08 [[ 6.58977657e-01 7.50720749e-01 -4.65489445e-02 -2.12972335e+01] [-7.49451568e-01 6.60593573e-01 4.40281525e-02 7.77495668e+00] [ 6.38027812e-02 5.87261071e-03 9.97945248e-01 -8.49024336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.589115933 meters Centerline goodness [0,1] 0.9976640062293167 Centerline is valid? [True, True] Translation: X:-21.29, Y:7.81, Z:-0.01 [[ 6.43360485e-01 7.63859452e-01 -5.10492299e-02 -2.12895402e+01] [-7.62349682e-01 6.45337343e-01 4.86073641e-02 7.80912511e+00] [ 7.00731689e-02 7.64530687e-03 9.97512556e-01 -7.45174707e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.619115933 meters Centerline goodness [0,1] 0.9986368062317429 Centerline is valid? [True, True] Translation: X:-21.32, Y:7.80, Z:-0.08 [[ 6.61551712e-01 7.48672387e-01 -4.28834443e-02 -2.13189320e+01] [-7.47558659e-01 6.62922336e-01 4.11099508e-02 7.80185959e+00] [ 5.92062781e-02 4.86153178e-03 9.98233932e-01 -8.27460247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.649115933 meters Centerline goodness [0,1] 0.9970344009489917 Centerline is valid? [True, True] Translation: X:-21.31, Y:7.84, Z:0.01 [[ 6.35895351e-01 7.70037622e-01 -5.17606326e-02 -2.13060219e+01] [-7.68455798e-01 6.37948366e-01 4.99756908e-02 7.84239781e+00] [ 7.15037731e-02 7.99644883e-03 9.97408275e-01 7.96129708e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.679115933 meters Centerline goodness [0,1] 0.9972794403420132 Centerline is valid? [True, True] Translation: X:-21.31, Y:7.86, Z:0.04 [[ 6.41489695e-01 7.65579121e-01 -4.87809372e-02 -2.13111805e+01] [-7.64140063e-01 6.43305199e-01 4.74171429e-02 7.86267483e+00] [ 6.76826051e-02 6.85785986e-03 9.97683334e-01 3.64090585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.709115933 meters Centerline goodness [0,1] 0.9984245766049625 Centerline is valid? [True, True] Translation: X:-21.31, Y:7.89, Z:0.08 [[ 6.25611241e-01 7.78290757e-01 -5.36103907e-02 -2.13099576e+01] [-7.76570430e-01 6.27842242e-01 5.24641461e-02 7.88912811e+00] [ 7.44912279e-02 8.81008460e-03 9.97182751e-01 7.98111171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.739115933 meters Centerline goodness [0,1] 0.9980241059079233 Centerline is valid? [True, True] Translation: X:-21.34, Y:7.88, Z:0.00 [[ 6.45537951e-01 7.62502323e-01 -4.32545982e-02 -2.13421997e+01] [-7.61330343e-01 6.46962718e-01 4.26069303e-02 7.87823617e+00] [ 6.04719957e-02 5.42664759e-03 9.98155143e-01 3.64026927e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.769115933 meters Centerline goodness [0,1] 0.9978435600862576 Centerline is valid? [True, True] Translation: X:-21.34, Y:7.90, Z:0.04 [[ 6.33574615e-01 7.72345677e-01 -4.54462527e-02 -2.13412765e+01] [-7.71057678e-01 6.35169244e-01 4.50564938e-02 7.90404046e+00] [ 6.36652502e-02 6.49503135e-03 9.97950174e-01 4.17124217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.799115933 meters Centerline goodness [0,1] 0.9980612640558356 Centerline is valid? [True, True] Translation: X:-21.35, Y:7.91, Z:0.01 [[ 6.28891048e-01 7.76190331e-01 -4.49957806e-02 -2.13545402e+01] [-7.74919691e-01 6.30463722e-01 4.48883956e-02 7.91396319e+00] [ 6.32101460e-02 6.63820626e-03 9.97978162e-01 1.06173559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.829115933 meters Centerline goodness [0,1] 0.997511485451761 Centerline is valid? [True, True] Translation: X:-21.32, Y:7.97, Z:0.18 [[ 6.19288946e-01 7.83767448e-01 -4.67951829e-02 -2.13245988e+01] [-7.82392782e-01 6.21009081e-01 4.70027179e-02 7.96980066e+00] [ 6.58994337e-02 7.50394973e-03 9.97798053e-01 1.82483796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.859115933 meters Centerline goodness [0,1] 0.9975256947087933 Centerline is valid? [True, True] Translation: X:-20.00, Y:9.14, Z:-1.78 [[ 8.23691026e-01 -5.66294164e-01 -2.90519201e-02 -2.00029821e+01] [-5.65812478e-01 -8.24197924e-01 2.35376605e-02 9.13674299e+00] [-3.72737721e-02 -2.94982083e-03 -9.99300738e-01 -1.77682386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.889115933 meters Centerline goodness [0,1] 0.9967389219259544 Centerline is valid? [True, True] Translation: X:-21.20, Y:7.81, Z:0.13 [[ 6.84221064e-01 7.27760292e-01 -4.69733265e-02 -2.11991784e+01] [-7.26678007e-01 6.85799694e-01 4.02225524e-02 7.80654396e+00] [ 6.14866694e-02 6.61336564e-03 9.98085995e-01 1.27859890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.919115933 meters Centerline goodness [0,1] 0.9961729812476081 Centerline is valid? [True, True] Translation: X:-21.21, Y:7.82, Z:0.13 [[ 6.81023850e-01 7.30704848e-01 -4.77172957e-02 -2.12100522e+01] [-7.29580585e-01 6.82659338e-01 4.10901150e-02 7.82025665e+00] [ 6.25994038e-02 6.83026419e-03 9.98015362e-01 1.31203063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.949115933 meters Centerline goodness [0,1] 0.9965785972248622 Centerline is valid? [True, True] Translation: X:-21.22, Y:7.83, Z:0.14 [[ 6.84107874e-01 7.28070918e-01 -4.36938898e-02 -2.12219028e+01] [-7.27110319e-01 6.85476607e-01 3.78471176e-02 7.83386948e+00] [ 5.75065250e-02 5.87876707e-03 9.98327822e-01 1.37871228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.979115933 meters Centerline goodness [0,1] 0.997260810017609 Centerline is valid? [True, True] Translation: X:-21.24, Y:7.84, Z:0.13 [[ 6.85901783e-01 7.26483210e-01 -4.19629405e-02 -2.12404305e+01] [-7.25582684e-01 6.87163214e-01 3.65579829e-02 7.83878090e+00] [ 5.53941498e-02 5.37239732e-03 9.98450112e-01 1.26255130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.009115933000004 meters Centerline goodness [0,1] 0.9964089964089964 Centerline is valid? [True, True] Translation: X:-21.24, Y:7.87, Z:0.18 [[ 6.81012157e-01 7.30996335e-01 -4.32064826e-02 -2.12380551e+01] [-7.30037619e-01 6.82357118e-01 3.78660418e-02 7.86974914e+00] [ 5.71621887e-02 5.75512288e-03 9.98348317e-01 1.84190017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.039115933 meters Centerline goodness [0,1] 0.9971767363071711 Centerline is valid? [True, True] Translation: X:-21.26, Y:7.86, Z:0.12 [[ 6.80850020e-01 7.31286476e-01 -4.07840554e-02 -2.12621221e+01] [-7.30414259e-01 6.82050465e-01 3.60856242e-02 7.85779331e+00] [ 5.42057129e-02 5.22035765e-03 9.98516143e-01 1.20271664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.069115933 meters Centerline goodness [0,1] 0.9969868173258004 Centerline is valid? [True, True] Translation: X:-21.27, Y:7.87, Z:0.14 [[ 6.79090466e-01 7.32918662e-01 -4.08212393e-02 -2.12722913e+01] [-7.32034151e-01 6.80296515e-01 3.63683048e-02 7.87418259e+00] [ 5.44255562e-02 5.18517221e-03 9.98504368e-01 1.40930038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.099115933 meters Centerline goodness [0,1] 0.9980787704130644 Centerline is valid? [True, True] Translation: X:-21.29, Y:7.87, Z:0.10 [[ 6.80936851e-01 7.31321568e-01 -3.86493238e-02 -2.12884974e+01] [-7.30509135e-01 6.82017558e-01 3.47628293e-02 7.87191030e+00] [ 5.17823242e-02 4.56239262e-03 9.98647974e-01 1.00419987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.129115933 meters Centerline goodness [0,1] 0.9964265563287568 Centerline is valid? [True, True] Translation: X:-21.28, Y:7.90, Z:0.17 [[ 6.76080146e-01 7.35794787e-01 -3.90085436e-02 -2.12847126e+01] [-7.34960616e-01 6.77187769e-01 3.53499486e-02 7.90293403e+00] [ 5.24264165e-02 4.77034475e-03 9.98613396e-01 1.71057508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.159115933 meters Centerline goodness [0,1] 0.9975157653353717 Centerline is valid? [True, True] Translation: X:-21.31, Y:7.90, Z:0.12 [[ 6.81184860e-01 7.31068974e-01 -3.90556216e-02 -2.13092566e+01] [-7.30211656e-01 6.82290413e-01 3.56473026e-02 7.89941204e+00] [ 5.27079131e-02 4.23646728e-03 9.98600985e-01 1.20574704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.189115933000004 meters Centerline goodness [0,1] 0.9975157653353717 Centerline is valid? [True, True] Translation: X:-21.32, Y:7.91, Z:0.12 [[ 6.79012481e-01 7.33093046e-01 -3.89440030e-02 -2.13220749e+01] [-7.32232110e-01 6.80115215e-01 3.57691241e-02 7.91142051e+00] [ 5.27085051e-02 4.22836780e-03 9.98600989e-01 1.20405878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.219115933 meters Centerline goodness [0,1] 0.9968021068472536 Centerline is valid? [True, True] Translation: X:-21.33, Y:7.94, Z:0.17 [[ 6.69346481e-01 7.41705960e-01 -4.29832280e-02 -2.13259564e+01] [-7.40659954e-01 6.70704665e-01 3.97251153e-02 7.93506359e+00] [ 5.82934063e-02 5.24608958e-03 9.98285709e-01 1.68432192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.249115933 meters Centerline goodness [0,1] 0.99644527595884 Centerline is valid? [True, True] Translation: X:-21.34, Y:7.95, Z:0.16 [[ 6.65879769e-01 7.44727330e-01 -4.45571157e-02 -2.13403969e+01] [-7.43594677e-01 6.67345833e-01 4.14306088e-02 7.94589494e+00] [ 6.05895122e-02 5.54462983e-03 9.98147368e-01 1.63302592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.279115933 meters Centerline goodness [0,1] 0.9964598472144587 Centerline is valid? [True, True] Translation: X:-21.35, Y:7.96, Z:0.17 [[ 6.58713099e-01 7.50914758e-01 -4.71601450e-02 -2.13509364e+01] [-7.49644083e-01 6.60369159e-01 4.41171359e-02 7.96057640e+00] [ 6.42713138e-02 6.29278842e-03 9.97912621e-01 1.65087637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.309115933 meters Centerline goodness [0,1] 0.9971719457013575 Centerline is valid? [True, True] Translation: X:-21.36, Y:7.97, Z:0.18 [[ 6.55694782e-01 7.53547039e-01 -4.72357114e-02 -2.13620264e+01] [-7.52261470e-01 6.57363008e-01 4.44584728e-02 7.97390266e+00] [ 6.45525599e-02 6.38241709e-03 9.97893898e-01 1.77733998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.339115933 meters Centerline goodness [0,1] 0.9974288337924702 Centerline is valid? [True, True] Translation: X:-21.38, Y:7.98, Z:0.15 [[ 6.49325407e-01 7.58813690e-01 -5.07769607e-02 -2.13811451e+01] [-7.57320365e-01 6.51267888e-01 4.81248667e-02 7.97630834e+00] [ 6.95872116e-02 7.20572770e-03 9.97549847e-01 1.45978007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.369115933 meters Centerline goodness [0,1] 0.9974030792060842 Centerline is valid? [True, True] Translation: X:-21.39, Y:7.99, Z:0.14 [[ 6.41619350e-01 7.65156400e-01 -5.34817157e-02 -2.13929594e+01] [-7.63497226e-01 6.43793447e-01 5.10096393e-02 7.98797867e+00] [ 7.34615300e-02 8.10436999e-03 9.97265122e-01 1.44058897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.399115933 meters Centerline goodness [0,1] 0.9985404123335158 Centerline is valid? [True, True] Translation: X:-21.42, Y:7.99, Z:0.09 [[ 6.41830747e-01 7.64932288e-01 -5.41469022e-02 -2.14168058e+01] [-7.63206304e-01 6.44061411e-01 5.19715024e-02 7.98544701e+00] [ 7.46286105e-02 7.96834889e-03 9.97179561e-01 8.96095123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.429115933 meters Centerline goodness [0,1] 0.9969523126568662 Centerline is valid? [True, True] Translation: X:-21.41, Y:8.02, Z:0.19 [[ 6.34898061e-01 7.70644471e-01 -5.48776023e-02 -2.14083854e+01] [-7.68867765e-01 6.37207996e-01 5.29936758e-02 8.02021445e+00] [ 7.58077302e-02 8.54803751e-03 9.97085813e-01 1.85062971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.459115933 meters Centerline goodness [0,1] 0.9978467611699264 Centerline is valid? [True, True] Translation: X:-21.43, Y:8.02, Z:0.12 [[ 6.35843031e-01 7.69868452e-01 -5.48288850e-02 -2.14343648e+01] [-7.68066194e-01 6.38149537e-01 5.32868701e-02 8.01660505e+00] [ 7.60129078e-02 8.23012803e-03 9.97072867e-01 1.20260165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.489115933 meters Centerline goodness [0,1] 0.9976835352815395 Centerline is valid? [True, True] Translation: X:-21.45, Y:8.03, Z:0.12 [[ 6.37274063e-01 7.68681616e-01 -5.48665730e-02 -2.14478168e+01] [-7.66847615e-01 6.39582995e-01 5.36500493e-02 8.02672705e+00] [ 7.63315337e-02 7.88451576e-03 9.97051318e-01 1.16542865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.519115933 meters Centerline goodness [0,1] 0.9975203684024088 Centerline is valid? [True, True] Translation: X:-21.46, Y:8.04, Z:0.12 [[ 6.33184694e-01 7.71962469e-01 -5.61345684e-02 -2.14614181e+01] [-7.70028860e-01 6.35614473e-01 5.52249669e-02 8.03711442e+00] [ 7.83115459e-02 8.25763393e-03 9.96894735e-01 1.16202393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.549115933 meters Centerline goodness [0,1] 0.9973195139385275 Centerline is valid? [True, True] Translation: X:-21.46, Y:8.06, Z:0.17 [[ 6.29737980e-01 7.74612180e-01 -5.83613433e-02 -2.14615682e+01] [-7.72502601e-01 6.32376780e-01 5.77870270e-02 8.06284324e+00] [ 8.16688933e-02 8.69360385e-03 9.96621600e-01 1.74295174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.579115933 meters Centerline goodness [0,1] 0.9973204715969989 Centerline is valid? [True, True] Translation: X:-21.47, Y:8.08, Z:0.18 [[ 6.31620534e-01 7.73003562e-01 -5.93379726e-02 -2.14731747e+01] [-7.70785210e-01 6.34346127e-01 5.91198116e-02 8.07591402e+00] [ 8.33406380e-02 8.39554469e-03 9.96485751e-01 1.79298349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.609115933 meters Centerline goodness [0,1] 0.9982165150704476 Centerline is valid? [True, True] Translation: X:-21.50, Y:8.07, Z:0.12 [[ 6.37426813e-01 7.68389333e-01 -5.71392343e-02 -2.14980491e+01] [-7.66280743e-01 6.39941815e-01 5.73436625e-02 8.07257754e+00] [ 8.06280439e-02 7.23230696e-03 9.96718020e-01 1.20585531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.639115933 meters Centerline goodness [0,1] 0.9962223421478683 Centerline is valid? [True, True] Translation: X:-20.20, Y:9.31, Z:-1.83 [[ 8.20182855e-01 -5.69902678e-01 -5.01100958e-02 -2.02045735e+01] [-5.68419147e-01 -8.21693628e-01 4.14639112e-02 9.30769832e+00] [-6.48055404e-02 -5.52445118e-03 -9.97882620e-01 -1.83446017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.669115933 meters Centerline goodness [0,1] 0.9967695620961953 Centerline is valid? [True, True] Translation: X:-21.40, Y:7.98, Z:0.18 [[ 6.94113984e-01 7.16930467e-01 -6.49344512e-02 -2.13997737e+01] [-7.14818878e-01 6.97100339e-01 5.55435783e-02 7.97851657e+00] [ 8.50867115e-02 7.86279713e-03 9.96342525e-01 1.79404237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.699115933 meters Centerline goodness [0,1] 0.9969451931716082 Centerline is valid? [True, True] Translation: X:-21.41, Y:7.99, Z:0.20 [[ 6.91609972e-01 7.19271361e-01 -6.57598324e-02 -2.14115589e+01] [-7.17088085e-01 6.94682831e-01 5.65724518e-02 7.99197819e+00] [ 8.63731710e-02 8.02952048e-03 9.96230496e-01 1.95847067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.729115933 meters Centerline goodness [0,1] 0.9973065182258933 Centerline is valid? [True, True] Translation: X:-21.43, Y:8.00, Z:0.19 [[ 6.92241787e-01 7.18546595e-01 -6.70231248e-02 -2.14268384e+01] [-7.16243699e-01 6.95434578e-01 5.80147515e-02 8.00089510e+00] [ 8.82965007e-02 7.84465560e-03 9.96063346e-01 1.89013540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.759115933000004 meters Centerline goodness [0,1] 0.9969637435256296 Centerline is valid? [True, True] Translation: X:-21.43, Y:8.02, Z:0.22 [[ 6.80964740e-01 7.29073146e-01 -6.88430830e-02 -2.14336823e+01] [-7.26659794e-01 6.84374198e-01 5.99791794e-02 8.02022124e+00] [ 9.08436387e-02 9.18179415e-03 9.95822840e-01 2.18131362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.789115933 meters Centerline goodness [0,1] 0.9971019742800218 Centerline is valid? [True, True] Translation: X:-21.45, Y:8.02, Z:0.18 [[ 6.85075441e-01 7.25486946e-01 -6.58811885e-02 -2.14540500e+01] [-7.23229905e-01 6.88188453e-01 5.77508242e-02 8.02250088e+00] [ 8.72361423e-02 8.08357430e-03 9.96154863e-01 1.84015392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.819115933 meters Centerline goodness [0,1] 0.9983531564501372 Centerline is valid? [True, True] Translation: X:-21.47, Y:8.03, Z:0.17 [[ 6.78313984e-01 7.31531330e-01 -6.89351314e-02 -2.14694663e+01] [-7.29056543e-01 6.81748164e-01 6.07947214e-02 8.03013631e+00] [ 9.14696426e-02 9.01969887e-03 9.95767016e-01 1.74754490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.849115933 meters Centerline goodness [0,1] 0.9971202303815695 Centerline is valid? [True, True] Translation: X:-21.48, Y:8.05, Z:0.20 [[ 6.77438202e-01 7.32490726e-01 -6.73410587e-02 -2.14766442e+01] [-7.30100695e-01 6.80721629e-01 5.97581643e-02 8.04776275e+00] [ 8.96128164e-02 8.68329038e-03 9.95938825e-01 1.97647427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.879115933 meters Centerline goodness [0,1] 0.997159595242322 Centerline is valid? [True, True] Translation: X:-21.49, Y:8.06, Z:0.21 [[ 6.68030799e-01 7.40844850e-01 -6.98839015e-02 -2.14867736e+01] [-7.38279116e-01 6.71603063e-01 6.23960907e-02 8.06279550e+00] [ 9.31600648e-02 9.91131471e-03 9.95601812e-01 2.06521997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.909115933 meters Centerline goodness [0,1] 0.9964438122332859 Centerline is valid? [True, True] Translation: X:-21.50, Y:8.08, Z:0.23 [[ 6.69691497e-01 7.39457191e-01 -6.86757701e-02 -2.14974771e+01] [-7.36937326e-01 6.73139464e-01 6.16979760e-02 8.07786255e+00] [ 9.18513831e-02 9.29112845e-03 9.95729380e-01 2.29065440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.939115933000004 meters Centerline goodness [0,1] 0.9968090764048928 Centerline is valid? [True, True] Translation: X:-21.51, Y:8.09, Z:0.22 [[ 6.69119008e-01 7.40205348e-01 -6.61497957e-02 -2.15111141e+01] [-7.37838788e-01 6.72323304e-01 5.97937969e-02 8.08870096e+00] [ 8.87337375e-02 8.79871899e-03 9.96016519e-01 2.22302559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.969115933 meters Centerline goodness [0,1] 0.9973399538925342 Centerline is valid? [True, True] Translation: X:-21.53, Y:8.09, Z:0.20 [[ 6.66438918e-01 7.42606621e-01 -6.62915989e-02 -2.15286947e+01] [-7.40203128e-01 6.69669397e-01 6.03508719e-02 8.09211497e+00] [ 8.92104121e-02 8.84907921e-03 9.95973492e-01 2.01854548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.999115933 meters Centerline goodness [0,1] 0.9971661353170386 Centerline is valid? [True, True] Translation: X:-21.54, Y:8.10, Z:0.20 [[ 6.60866080e-01 7.47458082e-01 -6.75458343e-02 -2.15409897e+01] [-7.44951100e-01 6.64242205e-01 6.18882222e-02 8.10343836e+00] [ 9.11256458e-02 9.41851674e-03 9.95794863e-01 2.01862134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.029115933 meters Centerline goodness [0,1] 0.997349355009719 Centerline is valid? [True, True] Translation: X:-21.56, Y:8.11, Z:0.20 [[ 6.65514276e-01 7.43483267e-01 -6.57524191e-02 -2.15584379e+01] [-7.41054572e-01 6.68702060e-01 6.06273539e-02 8.10930924e+00] [ 8.90442013e-02 8.37776127e-03 9.95992441e-01 1.95366843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.059115933 meters Centerline goodness [0,1] 0.9976987077358824 Centerline is valid? [True, True] Translation: X:-21.57, Y:8.12, Z:0.19 [[ 6.66175986e-01 7.42929584e-01 -6.53084092e-02 -2.15725711e+01] [-7.40496503e-01 6.69321933e-01 6.06059343e-02 8.11892102e+00] [ 8.87382923e-02 7.98643054e-03 9.96022958e-01 1.90962429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.089115933 meters Centerline goodness [0,1] 0.9966956521739131 Centerline is valid? [True, True] Translation: X:-21.58, Y:8.14, Z:0.24 [[ 6.61876118e-01 7.46784955e-01 -6.50556347e-02 -2.15770929e+01] [-7.44355024e-01 6.65014858e-01 6.07522562e-02 8.13940667e+00] [ 8.86318346e-02 8.21402104e-03 9.96030586e-01 2.37780381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.119115933 meters Centerline goodness [0,1] 0.9966047176554682 Centerline is valid? [True, True] Translation: X:-21.59, Y:8.15, Z:0.25 [[ 6.58318073e-01 7.49813339e-01 -6.63119258e-02 -2.15854989e+01] [-7.47259756e-01 6.61595223e-01 6.24068746e-02 8.15172032e+00] [ 9.06651603e-02 8.46866006e-03 9.95845425e-01 2.45137984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.149115933 meters Centerline goodness [0,1] 0.996807944671041 Centerline is valid? [True, True] Translation: X:-21.60, Y:8.17, Z:0.27 [[ 6.53571954e-01 7.53885148e-01 -6.70886312e-02 -2.15953277e+01] [-7.51254653e-01 6.56946356e-01 6.35447214e-02 8.16630907e+00] [ 9.19790535e-02 8.86959861e-03 9.95721439e-01 2.68998329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.179115933 meters Centerline goodness [0,1] 0.9968130311614731 Centerline is valid? [True, True] Translation: X:-21.62, Y:8.16, Z:0.22 [[ 6.55778548e-01 7.51919288e-01 -6.76156750e-02 -2.16186786e+01] [-7.49194768e-01 6.59202137e-01 6.44960620e-02 8.16457208e+00] [ 9.30682305e-02 8.36217603e-03 9.95624617e-01 2.18975419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.209115933 meters Centerline goodness [0,1] 0.9968270756213644 Centerline is valid? [True, True] Translation: X:-21.62, Y:8.19, Z:0.27 [[ 6.55888429e-01 7.51899348e-01 -6.67663049e-02 -2.16205555e+01] [-7.49205359e-01 6.59229560e-01 6.40914753e-02 8.18814383e+00] [ 9.22046603e-02 7.98481643e-03 9.95708061e-01 2.73545685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.239115933 meters Centerline goodness [0,1] 0.9971479500891266 Centerline is valid? [True, True] Translation: X:-21.64, Y:8.19, Z:0.22 [[ 6.60432820e-01 7.48087733e-01 -6.47551932e-02 -2.16427792e+01] [-7.45499714e-01 6.63563360e-01 6.25607223e-02 8.18848261e+00] [ 8.97700825e-02 6.95782376e-03 9.95938211e-01 2.22602700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.269115933 meters Centerline goodness [0,1] 0.9969050894085282 Centerline is valid? [True, True] Translation: X:-21.65, Y:8.21, Z:0.28 [[ 6.58720346e-01 7.49537085e-01 -6.54344260e-02 -2.16471606e+01] [-7.46860204e-01 6.61926074e-01 6.36687362e-02 8.20890094e+00] [ 9.10348316e-02 6.93047688e-03 9.95823593e-01 2.81320423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.299115933 meters Centerline goodness [0,1] 0.9967361740707162 Centerline is valid? [True, True] Translation: X:-21.67, Y:8.21, Z:0.24 [[ 6.54975259e-01 7.52787105e-01 -6.57189884e-02 -2.16677032e+01] [-7.50064766e-01 6.58225347e-01 6.43602236e-02 8.21164381e+00] [ 9.17074503e-02 7.13914357e-03 9.95760401e-01 2.35308124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.329115933 meters Centerline goodness [0,1] 0.9971746424156808 Centerline is valid? [True, True] Translation: X:-21.68, Y:8.22, Z:0.24 [[ 6.52192092e-01 7.55173673e-01 -6.60166590e-02 -2.16765719e+01] [-7.52390389e-01 6.55485601e-01 6.51715386e-02 8.22263871e+00] [ 9.24887996e-02 7.16593768e-03 9.95687939e-01 2.44146089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.359115933 meters Centerline goodness [0,1] 0.9971656333038087 Centerline is valid? [True, True] Translation: X:-21.68, Y:8.24, Z:0.27 [[ 6.51188845e-01 7.56236767e-01 -6.37106012e-02 -2.16840203e+01] [-7.53611659e-01 6.54262937e-01 6.33204282e-02 8.24038292e+00] [ 8.95687210e-02 6.77949534e-03 9.95957571e-01 2.73695250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.389115933 meters Centerline goodness [0,1] 0.997338065661047 Centerline is valid? [True, True] Translation: X:-21.70, Y:8.25, Z:0.26 [[ 6.52572203e-01 7.55055697e-01 -6.35642569e-02 -2.16983637e+01] [-7.52400733e-01 6.55630046e-01 6.35797218e-02 8.25001641e+00] [ 8.96808678e-02 6.33543442e-03 9.95950402e-01 2.63334944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.419115933 meters Centerline goodness [0,1] 0.9973021582733813 Centerline is valid? [True, True] Translation: X:-20.36, Y:9.44, Z:-1.93 [[ 8.04918732e-01 -5.91116953e-01 -5.18322622e-02 -2.03624561e+01] [-5.89580716e-01 -8.06576613e-01 4.27638551e-02 9.44250740e+00] [-6.70851302e-02 -3.86212570e-03 -9.97739780e-01 -1.92637029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.449115933 meters Centerline goodness [0,1] 0.997338065661047 Centerline is valid? [True, True] Translation: X:-21.57, Y:8.10, Z:0.25 [[ 7.07815989e-01 7.03075005e-01 -6.84256040e-02 -2.15661821e+01] [-7.00683539e-01 7.11084478e-01 5.83219011e-02 8.09947907e+00] [ 8.96610559e-02 6.66352026e-03 9.95950045e-01 2.52430417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.479115933 meters Centerline goodness [0,1] 0.9975133214920071 Centerline is valid? [True, True] Translation: X:-21.57, Y:8.12, Z:0.29 [[ 7.03159251e-01 7.07615657e-01 -6.96214700e-02 -2.15718878e+01] [-7.05128887e-01 7.06561714e-01 5.96975520e-02 8.12230319e+00] [ 9.14347877e-02 7.11522369e-03 9.95785646e-01 2.90749855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.509115933000004 meters Centerline goodness [0,1] 0.9969761650658129 Centerline is valid? [True, True] Translation: X:-21.59, Y:8.13, Z:0.28 [[ 6.97249679e-01 7.13531062e-01 -6.86753859e-02 -2.15854045e+01] [-7.11106698e-01 7.00583193e-01 5.92490807e-02 8.13301889e+00] [ 9.03888807e-02 7.52412438e-03 9.95878124e-01 2.82243744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.539115933 meters Centerline goodness [0,1] 0.9973821989528796 Centerline is valid? [True, True] Translation: X:-21.60, Y:8.14, Z:0.29 [[ 6.99714314e-01 7.11237452e-01 -6.73881700e-02 -2.15983591e+01] [-7.08860787e-01 7.02918580e-01 5.84966197e-02 8.14458334e+00] [ 8.89733835e-02 6.83790905e-03 9.96010532e-01 2.87841152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.569115933 meters Centerline goodness [0,1] 0.9976643909450233 Centerline is valid? [True, True] Translation: X:-21.62, Y:8.15, Z:0.24 [[ 7.02004629e-01 7.09207685e-01 -6.49150236e-02 -2.16183545e+01] [-7.06962463e-01 7.04973412e-01 5.67147681e-02 8.14733844e+00] [ 8.59859151e-02 6.07845521e-03 9.96277810e-01 2.44336613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.599115933 meters Centerline goodness [0,1] 0.9971616107858791 Centerline is valid? [True, True] Translation: X:-21.63, Y:8.16, Z:0.24 [[ 6.98652567e-01 7.12663643e-01 -6.32069856e-02 -2.16328086e+01] [-7.10519613e-01 7.01479524e-01 5.55729821e-02 8.15756057e+00] [ 8.39432501e-02 6.08359636e-03 9.96451966e-01 2.39795075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.629115933 meters Centerline goodness [0,1] 0.997702368328031 Centerline is valid? [True, True] Translation: X:-21.64, Y:8.18, Z:0.26 [[ 6.91611650e-01 7.19482671e-01 -6.33877881e-02 -2.16409944e+01] [-7.17325366e-01 6.94478192e-01 5.60745888e-02 8.17550766e+00] [ 8.43661314e-02 6.68782949e-03 9.96412379e-01 2.59037404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.659115933 meters Centerline goodness [0,1] 0.9971736442324678 Centerline is valid? [True, True] Translation: X:-21.66, Y:8.18, Z:0.23 [[ 6.93788919e-01 7.17588615e-01 -6.10206140e-02 -2.16593215e+01] [-7.15555233e-01 6.96441525e-01 5.43130809e-02 8.18191674e+00] [ 8.14717379e-02 5.98180592e-03 9.96657701e-01 2.32623872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.689115933000004 meters Centerline goodness [0,1] 0.9975181705371388 Centerline is valid? [True, True] Translation: X:-21.66, Y:8.20, Z:0.27 [[ 6.86544023e-01 7.24471738e-01 -6.16279675e-02 -2.16641017e+01] [-7.22391862e-01 6.89273030e-01 5.52511376e-02 8.20196546e+00] [ 8.25063836e-02 6.58720390e-03 9.96568766e-01 2.73169198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.719115933 meters Centerline goodness [0,1] 0.9971969166082691 Centerline is valid? [True, True] Translation: X:-21.68, Y:8.20, Z:0.24 [[ 6.86468966e-01 7.24677013e-01 -6.00298624e-02 -2.16843140e+01] [-7.22676596e-01 6.89060799e-01 5.41641349e-02 8.20497417e+00] [ 8.06157284e-02 6.20017891e-03 9.96725971e-01 2.40660121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.749115933 meters Centerline goodness [0,1] 0.9971499821873887 Centerline is valid? [True, True] Translation: X:-21.69, Y:8.22, Z:0.25 [[ 6.80743037e-01 7.30196213e-01 -5.83301674e-02 -2.16935009e+01] [-7.28301025e-01 6.83207291e-01 5.29661616e-02 8.22011324e+00] [ 7.85272862e-02 6.42557504e-03 9.96891257e-01 2.54425057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.779115933 meters Centerline goodness [0,1] 0.9976917613636364 Centerline is valid? [True, True] Translation: X:-21.71, Y:8.22, Z:0.21 [[ 6.84457668e-01 7.26923156e-01 -5.56814650e-02 -2.17147254e+01] [-7.25161986e-01 6.86696331e-01 5.08747771e-02 8.22245116e+00] [ 7.52183113e-02 5.55645043e-03 9.97151609e-01 2.14216326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.809115933 meters Centerline goodness [0,1] 0.9975391105642468 Centerline is valid? [True, True] Translation: X:-21.72, Y:8.24, Z:0.23 [[ 6.76850882e-01 7.33817887e-01 -5.81738050e-02 -2.17231039e+01] [-7.31894161e-01 6.79316297e-01 5.34818279e-02 8.23960160e+00] [ 7.87643358e-02 6.37784581e-03 9.96872862e-01 2.30057835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.839115933 meters Centerline goodness [0,1] 0.9975761772853186 Centerline is valid? [True, True] Translation: X:-21.74, Y:8.25, Z:0.23 [[ 6.71962235e-01 7.38127995e-01 -6.02811626e-02 -2.17376814e+01] [-7.36050925e-01 6.74625427e-01 5.57635142e-02 8.24924639e+00] [ 8.18278160e-02 6.89902981e-03 9.96622603e-01 2.28701073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.869115933 meters Centerline goodness [0,1] 0.9970820460006866 Centerline is valid? [True, True] Translation: X:-21.74, Y:8.27, Z:0.29 [[ 6.70217259e-01 7.39844342e-01 -5.86444815e-02 -2.17392948e+01] [-7.37857912e-01 6.72744877e-01 5.45896779e-02 8.27342138e+00] [ 7.98406388e-02 6.68435034e-03 9.96785229e-01 2.88422744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.899115933 meters Centerline goodness [0,1] 0.9972598047610892 Centerline is valid? [True, True] Translation: X:-21.76, Y:8.28, Z:0.24 [[ 6.71898619e-01 7.38408674e-01 -5.74880477e-02 -2.17601309e+01] [-7.36467798e-01 6.74325421e-01 5.38554431e-02 8.27500400e+00] [ 7.85329783e-02 6.15269805e-03 9.96892530e-01 2.42881012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.929115933 meters Centerline goodness [0,1] 0.9977508650519031 Centerline is valid? [True, True] Translation: X:-21.78, Y:8.28, Z:0.23 [[ 6.75575351e-01 7.35177917e-01 -5.57797065e-02 -2.17783670e+01] [-7.33314719e-01 6.77852851e-01 5.25836044e-02 8.28114260e+00] [ 7.64687379e-02 5.37989278e-03 9.97057465e-01 2.31358137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.959115933 meters Centerline goodness [0,1] 0.997421351211965 Centerline is valid? [True, True] Translation: X:-21.79, Y:8.29, Z:0.24 [[ 6.68624513e-01 7.41416305e-01 -5.69484321e-02 -2.17911398e+01] [-7.39467317e-01 6.71018798e-01 5.40542311e-02 8.29272851e+00] [ 7.82901568e-02 5.96952033e-03 9.96912743e-01 2.35473588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.989115933 meters Centerline goodness [0,1] 0.9962585034013606 Centerline is valid? [True, True] Translation: X:-21.80, Y:8.31, Z:0.29 [[ 6.66963716e-01 7.43002366e-01 -5.57394506e-02 -2.17966165e+01] [-7.41114828e-01 6.69263681e-01 5.32441334e-02 8.31365443e+00] [ 7.68649070e-02 5.79742831e-03 9.97024662e-01 2.94578457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.019115933 meters Centerline goodness [0,1] 0.9972844534962662 Centerline is valid? [True, True] Translation: X:-21.81, Y:8.33, Z:0.31 [[ 6.64437417e-01 7.45199811e-01 -5.65699646e-02 -2.18091319e+01] [-7.43236499e-01 6.66815029e-01 5.43803491e-02 8.32555365e+00] [ 7.82459285e-02 5.91252379e-03 9.96916555e-01 3.06982285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.049115933 meters Centerline goodness [0,1] 0.9982526646863533 Centerline is valid? [True, True] Translation: X:-21.84, Y:8.32, Z:0.24 [[ 6.67287764e-01 7.42622704e-01 -5.69083487e-02 -2.18353423e+01] [-7.40598030e-01 6.69688242e-01 5.50655660e-02 8.32095809e+00] [ 7.90037916e-02 5.40163251e-03 9.96859681e-01 2.43016455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.079115933 meters Centerline goodness [0,1] 0.9982526646863533 Centerline is valid? [True, True] Translation: X:-21.85, Y:8.33, Z:0.24 [[ 6.64933729e-01 7.44744646e-01 -5.67322610e-02 -2.18474034e+01] [-7.42712281e-01 6.67327693e-01 5.52468806e-02 8.33290277e+00] [ 7.90038274e-02 5.40023261e-03 9.96859686e-01 2.42852777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.109115933 meters Centerline goodness [0,1] 0.9974120082815735 Centerline is valid? [True, True] Translation: X:-21.85, Y:8.36, Z:0.29 [[ 6.56799071e-01 7.51692375e-01 -5.97792061e-02 -2.18484201e+01] [-7.49433023e-01 6.59483557e-01 5.85797026e-02 8.35729123e+00] [ 8.34573192e-02 6.32541687e-03 9.96491277e-01 2.93269240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.139115933 meters Centerline goodness [0,1] 0.9962877850450769 Centerline is valid? [True, True] Translation: X:-21.85, Y:8.36, Z:0.30 [[ 6.46126082e-01 7.60587721e-01 -6.34618291e-02 -2.18491579e+01] [-7.58006893e-01 6.49193291e-01 6.30366653e-02 8.36291068e+00] [ 8.91439073e-02 7.37487026e-03 9.95991453e-01 3.01046795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.169115933 meters Centerline goodness [0,1] 0.997558423439135 Centerline is valid? [True, True] Translation: X:-21.86, Y:8.37, Z:0.29 [[ 6.42916314e-01 7.63319749e-01 -6.32579951e-02 -2.18615815e+01] [-7.60721840e-01 6.45978605e-01 6.33555414e-02 8.37348078e+00] [ 8.92238473e-02 7.38942732e-03 9.95984187e-01 2.92843260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.199115933 meters Centerline goodness [0,1] 0.9978910369068541 Centerline is valid? [True, True] Translation: X:-20.55, Y:9.61, Z:-1.94 [[ 8.15741445e-01 -5.75935371e-01 -5.35195677e-02 -2.05498392e+01] [-5.74256925e-01 -8.17477557e-01 4.42654214e-02 9.61329140e+00] [-6.92450673e-02 -5.37515642e-03 -9.97585199e-01 -1.94336273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.229115933 meters Centerline goodness [0,1] 0.9966818023052741 Centerline is valid? [True, True] Translation: X:-21.77, Y:8.26, Z:0.30 [[ 6.98305563e-01 7.12583335e-01 -6.77814949e-02 -2.17664253e+01] [-7.10273764e-01 7.01544686e-01 5.78466428e-02 8.25775534e+00] [ 8.87723013e-02 7.74878502e-03 9.96021804e-01 2.95765646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.259115933000004 meters Centerline goodness [0,1] 0.9975837072833966 Centerline is valid? [True, True] Translation: X:-21.79, Y:8.26, Z:0.27 [[ 6.94375771e-01 7.16523218e-01 -6.66090668e-02 -2.17859064e+01] [-7.14281154e-01 6.97518835e-01 5.71831046e-02 8.26152411e+00] [ 8.74341007e-02 7.87103878e-03 9.96139210e-01 2.68012455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.289115933 meters Centerline goodness [0,1] 0.9982797178737313 Centerline is valid? [True, True] Translation: X:-21.80, Y:8.27, Z:0.25 [[ 6.94828136e-01 7.16104319e-01 -6.63962746e-02 -2.18011594e+01] [-7.13843932e-01 6.97952466e-01 5.73515163e-02 8.27022620e+00] [ 8.74111121e-02 7.54713048e-03 9.96143734e-01 2.54953304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.319115933 meters Centerline goodness [0,1] 0.9991398589368656 Centerline is valid? [True, True] Translation: X:-21.80, Y:8.30, Z:0.33 [[ 6.86410400e-01 7.24104368e-01 -6.71835303e-02 -2.18002614e+01] [-7.21789835e-01 6.89639617e-01 5.84519692e-02 8.29730122e+00] [ 8.86577503e-02 8.37034969e-03 9.96026978e-01 3.32400540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.349115933 meters Centerline goodness [0,1] 0.9981034482758621 Centerline is valid? [True, True] Translation: X:-21.82, Y:8.30, Z:0.30 [[ 6.83792367e-01 7.26659979e-01 -6.62817797e-02 -2.18201471e+01] [-7.24387179e-01 6.86946740e-01 5.80292267e-02 8.29984630e+00] [ 8.76995692e-02 8.33372913e-03 9.96112109e-01 3.01687022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.379115933 meters Centerline goodness [0,1] 0.9977570738440303 Centerline is valid? [True, True] Translation: X:-21.83, Y:8.31, Z:0.32 [[ 6.79943027e-01 7.30138734e-01 -6.76380770e-02 -2.18305907e+01] [-7.27756185e-01 6.83243354e-01 5.95773007e-02 8.31394483e+00] [ 8.97129615e-02 8.71485874e-03 9.95929534e-01 3.16771745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.409115933 meters Centerline goodness [0,1] 0.9978965819456617 Centerline is valid? [True, True] Translation: X:-21.84, Y:8.33, Z:0.30 [[ 6.76345435e-01 7.33486317e-01 -6.74883362e-02 -2.18428108e+01] [-7.31097730e-01 6.79646102e-01 5.98104005e-02 8.32524637e+00] [ 8.97382950e-02 8.88807806e-03 9.95925720e-01 3.01707866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.439115933000004 meters Centerline goodness [0,1] 0.9981929887965305 Centerline is valid? [True, True] Translation: X:-21.86, Y:8.34, Z:0.30 [[ 6.71235114e-01 7.37975504e-01 -6.95383179e-02 -2.18563134e+01] [-7.35426795e-01 6.74760430e-01 6.20144369e-02 8.33613588e+00] [ 9.26868406e-02 9.51407462e-03 9.95649854e-01 2.98566370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.469115933 meters Centerline goodness [0,1] 0.9980350125044659 Centerline is valid? [True, True] Translation: X:-21.87, Y:8.34, Z:0.27 [[ 6.71713738e-01 7.37800902e-01 -6.67119446e-02 -2.18710333e+01] [-7.35409255e-01 6.74961584e-01 6.00007303e-02 8.33971348e+00] [ 8.92965927e-02 8.75726664e-03 9.95966580e-01 2.72531323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.499115933 meters Centerline goodness [0,1] 0.9978440531800216 Centerline is valid? [True, True] Translation: X:-21.88, Y:8.35, Z:0.28 [[ 6.65401543e-01 7.43267837e-01 -6.92366194e-02 -2.18830339e+01] [-7.40682701e-01 6.68925377e-01 6.26735719e-02 8.35162453e+00] [ 9.28973820e-02 9.57927489e-03 9.95629607e-01 2.83352995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.529115933 meters Centerline goodness [0,1] 0.9976656491291076 Centerline is valid? [True, True] Translation: X:-21.89, Y:8.37, Z:0.28 [[ 6.60865924e-01 7.47326902e-01 -6.89835654e-02 -2.18935101e+01] [-7.44746592e-01 6.64383451e-01 6.28262941e-02 8.36515880e+00] [ 9.27833190e-02 9.85551832e-03 9.95637547e-01 2.83333381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.559115933 meters Centerline goodness [0,1] 0.9985805535841022 Centerline is valid? [True, True] Translation: X:-21.90, Y:8.38, Z:0.29 [[ 6.56531287e-01 7.51032379e-01 -7.01215704e-02 -2.19034272e+01] [-7.48342965e-01 6.60185885e-01 6.43226594e-02 8.37695195e+00] [ 9.46016709e-02 1.02451456e-02 9.95462486e-01 2.94594867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.589115933 meters Centerline goodness [0,1] 0.9980155150640447 Centerline is valid? [True, True] Translation: X:-21.92, Y:8.38, Z:0.27 [[ 6.53342485e-01 7.53827750e-01 -6.99093768e-02 -2.19211779e+01] [-7.51132497e-01 6.56990495e-01 6.45248887e-02 8.38245214e+00] [ 9.45704477e-02 1.03543537e-02 9.95464323e-01 2.68736653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.619115933 meters Centerline goodness [0,1] 0.9966150008907892 Centerline is valid? [True, True] Translation: X:-21.93, Y:8.40, Z:0.29 [[ 6.53386282e-01 7.54013619e-01 -6.74524164e-02 -2.19312996e+01] [-7.51470967e-01 6.56786223e-01 6.26357942e-02 8.39614741e+00] [ 9.15300597e-02 9.76316387e-03 9.95754452e-01 2.90137344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.649115933 meters Centerline goodness [0,1] 0.9980392156862745 Centerline is valid? [True, True] Translation: X:-21.94, Y:8.41, Z:0.30 [[ 6.48219426e-01 7.58519922e-01 -6.67765223e-02 -2.19403881e+01] [-7.56009951e-01 6.51573187e-01 6.24606738e-02 8.40838831e+00] [ 9.08874568e-02 9.99549323e-03 9.95811006e-01 2.96122197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.679115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-21.95, Y:8.42, Z:0.32 [[ 6.44349975e-01 7.61867358e-01 -6.61153429e-02 -2.19494671e+01] [-7.59389442e-01 6.47654113e-01 6.22239927e-02 8.42395862e+00] [ 9.02263027e-02 1.01132652e-02 9.95869939e-01 3.18379196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.709115933 meters Centerline goodness [0,1] 0.9987341772151899 Centerline is valid? [True, True] Translation: X:-21.97, Y:8.42, Z:0.26 [[ 6.46964197e-01 7.59816566e-01 -6.41569498e-02 -2.19734862e+01] [-7.57437271e-01 6.50071509e-01 6.07931960e-02 8.42207730e+00] [ 8.78982826e-02 9.26384378e-03 9.96086378e-01 2.58763889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.739115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-21.97, Y:8.45, Z:0.32 [[ 6.34545780e-01 7.69936438e-01 -6.74502401e-02 -2.19711942e+01] [-7.67322331e-01 6.38026858e-01 6.43285960e-02 8.44964594e+00] [ 9.25639948e-02 1.09366364e-02 9.95646673e-01 3.22076836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.769115933 meters Centerline goodness [0,1] 0.9987473156764496 Centerline is valid? [True, True] Translation: X:-21.99, Y:8.45, Z:0.30 [[ 6.38888863e-01 7.66679829e-01 -6.34276080e-02 -2.19866337e+01] [-7.64312109e-01 6.41958844e-01 6.09577191e-02 8.45306919e+00] [ 8.74529676e-02 9.53328101e-03 9.96123032e-01 2.97305186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.799115933 meters Centerline goodness [0,1] 0.9981671554252199 Centerline is valid? [True, True] Translation: X:-22.00, Y:8.46, Z:0.29 [[ 6.36010227e-01 7.69256209e-01 -6.11218082e-02 -2.20003918e+01] [-7.67038060e-01 6.38872926e-01 5.91100611e-02 8.46261039e+00] [ 8.45198499e-02 9.28814978e-03 9.96378505e-01 2.91247421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.829115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.01, Y:8.48, Z:0.31 [[ 6.22447797e-01 7.80130363e-01 -6.28916252e-02 -2.20072028e+01] [-7.77798447e-01 6.25523729e-01 6.12342954e-02 8.47830872e+00] [ 8.71109371e-02 1.08018562e-02 9.96140053e-01 3.05148386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.859115933 meters Centerline goodness [0,1] 0.9998201115308508 Centerline is valid? [True, True] Translation: X:-22.01, Y:8.50, Z:0.33 [[ 6.18574747e-01 7.83258068e-01 -6.22260402e-02 -2.20109758e+01] [-7.80958501e-01 6.21601321e-01 6.09558678e-02 8.49826516e+00] [ 8.64239640e-02 1.08901946e-02 9.96198927e-01 3.26077667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.889115933 meters Centerline goodness [0,1] 0.9985272459499264 Centerline is valid? [True, True] Translation: X:-22.04, Y:8.49, Z:0.28 [[ 6.18029745e-01 7.83763400e-01 -6.12712655e-02 -2.20365652e+01] [-7.81505491e-01 6.20969631e-01 6.03811681e-02 8.49383355e+00] [ 8.53721447e-02 1.05664725e-02 9.96293103e-01 2.75302893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.919115933 meters Centerline goodness [0,1] 0.9993102259010174 Centerline is valid? [True, True] Translation: X:-22.04, Y:8.52, Z:0.32 [[ 6.11450051e-01 7.88798757e-01 -6.26526665e-02 -2.20379998e+01] [-7.86427158e-01 6.14548229e-01 6.21514293e-02 8.51617803e+00] [ 8.75280554e-02 1.12692638e-02 9.96098310e-01 3.20708565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.949115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.05, Y:8.52, Z:0.29 [[ 6.07515253e-01 7.91916915e-01 -6.15858533e-02 -2.20530672e+01] [-7.89609375e-01 6.10524426e-01 6.14569819e-02 8.52430755e+00] [ 8.62684912e-02 1.12927132e-02 9.96207921e-01 2.94153216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.979115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.06, Y:8.54, Z:0.30 [[ 5.95463529e-01 8.00867993e-01 -6.35109749e-02 -2.20636400e+01] [-7.98426181e-01 5.98705547e-01 6.37754005e-02 8.53675772e+00] [ 8.91000500e-02 1.27329001e-02 9.95941291e-01 2.95165714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.009115933000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.71, Y:9.76, Z:-1.96 [[ 8.40191002e-01 -5.40180260e-01 -4.77950467e-02 -2.07148128e+01] [-5.38783508e-01 -8.41516247e-01 3.95314808e-02 9.75751145e+00] [-6.15744339e-02 -7.46281149e-03 -9.98074594e-01 -1.95559616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.039115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-21.94, Y:8.39, Z:0.30 [[ 6.58495138e-01 7.49822285e-01 -6.44258786e-02 -2.19424867e+01] [-7.47885974e-01 6.61532787e-01 5.51447343e-02 8.39307240e+00] [ 8.39685817e-02 1.18706716e-02 9.96397694e-01 2.95203663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.069115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-21.96, Y:8.40, Z:0.29 [[ 6.56917314e-01 7.51214775e-01 -6.43117730e-02 -2.19580332e+01] [-7.49266660e-01 6.59951832e-01 5.53448506e-02 8.40044073e+00] [ 8.40185419e-02 1.18296768e-02 9.96393970e-01 2.91941895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.099115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-21.97, Y:8.42, Z:0.31 [[ 6.55642459e-01 7.52492429e-01 -6.23547185e-02 -2.19650321e+01] [-7.50638011e-01 6.58502340e-01 5.40115244e-02 8.41807205e+00] [ 8.17039912e-02 1.13935732e-02 9.96591513e-01 3.14843704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.129115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-21.98, Y:8.42, Z:0.29 [[ 6.51820705e-01 7.55839963e-01 -6.19331840e-02 -2.19801283e+01] [-7.53993857e-01 6.54655754e-01 5.40287658e-02 8.42213952e+00] [ 8.13820156e-02 1.14801720e-02 9.96616864e-01 2.89908795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.159115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-21.99, Y:8.44, Z:0.30 [[ 6.43804427e-01 7.62665935e-01 -6.21009768e-02 -2.19885713e+01] [-7.60808586e-01 6.46678994e-01 5.45579828e-02 8.43526226e+00] [ 8.17689121e-02 1.21222855e-02 9.96577591e-01 3.04148309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.189115933000004 meters Centerline goodness [0,1] 0.9996438746438746 Centerline is valid? [True, True] Translation: X:-22.01, Y:8.44, Z:0.27 [[ 6.43923169e-01 7.62725892e-01 -6.01012907e-02 -2.20058136e+01] [-7.60956735e-01 6.46619768e-01 5.31763462e-02 8.43727263e+00] [ 7.94216588e-02 1.14930006e-02 9.96774855e-01 2.71400919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.219115933 meters Centerline goodness [0,1] 0.9994636152333274 Centerline is valid? [True, True] Translation: X:-22.02, Y:8.45, Z:0.27 [[ 6.40126826e-01 7.65909802e-01 -6.01649626e-02 -2.20191652e+01] [-7.64124821e-01 6.42841690e-01 5.35520220e-02 8.44613184e+00] [ 7.96925648e-02 1.16934554e-02 9.96750901e-01 2.70172019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.249115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.03, Y:8.46, Z:0.28 [[ 6.30780012e-01 7.73562687e-01 -6.09700327e-02 -2.20262426e+01] [-7.71733881e-01 6.33594671e-01 5.46315854e-02 8.46107439e+00] [ 8.08912439e-02 1.25921279e-02 9.96643389e-01 2.79238796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.279115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.03, Y:8.48, Z:0.31 [[ 6.29155491e-01 7.74916825e-01 -6.05580962e-02 -2.20338752e+01] [-7.73092724e-01 6.31940089e-01 5.45835506e-02 8.47695325e+00] [ 8.05668005e-02 1.24754830e-02 9.96671136e-01 3.12002858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.309115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.05, Y:8.48, Z:0.31 [[ 6.30812587e-01 7.73620677e-01 -5.98876270e-02 -2.20485109e+01] [-7.71802333e-01 6.33536424e-01 5.43392811e-02 8.48282604e+00] [ 7.99789845e-02 1.19435077e-02 9.96724995e-01 3.08946615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.339115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.06, Y:8.49, Z:0.30 [[ 6.23363173e-01 7.79482406e-01 -6.18508999e-02 -2.20592893e+01] [-7.77538730e-01 6.26291846e-01 5.64982052e-02 8.49408661e+00] [ 8.27760711e-02 1.28725697e-02 9.96485032e-01 3.03424382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.369115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.07, Y:8.50, Z:0.31 [[ 6.27757361e-01 7.76059855e-01 -6.04301011e-02 -2.20736459e+01] [-7.74162469e-01 6.30546533e-01 5.55296443e-02 8.50163561e+00] [ 8.11983184e-02 1.19235733e-02 9.96626641e-01 3.05751313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.399115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.08, Y:8.51, Z:0.31 [[ 6.24076524e-01 7.78918360e-01 -6.17631098e-02 -2.20848357e+01] [-7.76916896e-01 6.27004295e-01 5.71467471e-02 8.51067992e+00] [ 8.32383857e-02 1.23208603e-02 9.96453495e-01 3.13180673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.429115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.10, Y:8.52, Z:0.31 [[ 6.19098948e-01 7.82806535e-01 -6.26930783e-02 -2.20963966e+01] [-7.80729879e-01 6.22133681e-01 5.83998258e-02 8.52155159e+00] [ 8.47192408e-02 1.27910887e-02 9.96322758e-01 3.09292100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.459115933 meters Centerline goodness [0,1] 0.9992949056936365 Centerline is valid? [True, True] Translation: X:-22.11, Y:8.52, Z:0.29 [[ 6.16544991e-01 7.84727390e-01 -6.38372755e-02 -2.21129335e+01] [-7.82547783e-01 6.19703967e-01 5.98828952e-02 8.52385348e+00] [ 8.65519609e-02 1.30352193e-02 9.96162056e-01 2.93735305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.489115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.12, Y:8.53, Z:0.30 [[ 6.15943380e-01 7.85190372e-01 -6.39517912e-02 -2.21245395e+01] [-7.82973307e-01 6.19120165e-01 6.03574541e-02 8.53442230e+00] [ 8.69859354e-02 1.28957712e-02 9.96126069e-01 2.98332092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.519115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.14, Y:8.54, Z:0.30 [[ 6.16729905e-01 7.84637731e-01 -6.31494711e-02 -2.21380372e+01] [-7.82442176e-01 6.19829880e-01 5.99596682e-02 8.54132169e+00] [ 8.61885470e-02 1.24318891e-02 9.96201276e-01 2.97852139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.549115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.15, Y:8.55, Z:0.31 [[ 6.17884575e-01 7.83822600e-01 -6.19740665e-02 -2.21484498e+01] [-7.81670183e-01 6.20871963e-01 5.92429708e-02 8.55326007e+00] [ 8.49139397e-02 1.18379621e-02 9.96317964e-01 3.08580124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.579115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.16, Y:8.56, Z:0.29 [[ 6.11516989e-01 7.88788796e-01 -6.21225178e-02 -2.21645705e+01] [-7.86616758e-01 6.14541021e-01 5.97780073e-02 8.55811754e+00] [ 8.53290579e-02 1.23113465e-02 9.96276760e-01 2.92830039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.609115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.18, Y:8.57, Z:0.28 [[ 6.12096649e-01 7.88430667e-01 -6.09489517e-02 -2.21778170e+01] [-7.86305464e-01 6.15010689e-01 5.90387155e-02 8.56695600e+00] [ 8.40321906e-02 1.17870938e-02 9.96393324e-01 2.82894711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.639115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.19, Y:8.58, Z:0.29 [[ 6.07353444e-01 7.92088293e-01 -6.09748314e-02 -2.21875995e+01] [-7.89943884e-01 6.10287722e-01 5.94773599e-02 8.57996931e+00] [ 8.43235115e-02 1.20429158e-02 9.96365653e-01 2.89858051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.669115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.20, Y:8.59, Z:0.28 [[ 6.07337848e-01 7.92118667e-01 -6.07351208e-02 -2.22030095e+01] [-7.89959721e-01 6.10253609e-01 5.96168831e-02 8.58540977e+00] [ 8.42874726e-02 1.17707095e-02 9.96371955e-01 2.80985732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.699115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.22, Y:8.59, Z:0.27 [[ 6.10523272e-01 7.89831053e-01 -5.85511843e-02 -2.22178239e+01] [-7.87781968e-01 6.13229492e-01 5.78719352e-02 8.59319385e+00] [ 8.16143645e-02 1.07934039e-02 9.96605538e-01 2.73510694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.729115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.23, Y:8.60, Z:0.27 [[ 6.03530785e-01 7.95096411e-01 -5.97686239e-02 -2.22328916e+01] [-7.92949787e-01 6.06374378e-01 5.95041934e-02 8.59987066e+00] [ 8.35537327e-02 1.14809050e-02 9.96437134e-01 2.67707218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.759115933000004 meters Centerline goodness [0,1] 0.9989492119089317 Centerline is valid? [True, True] Translation: X:-22.25, Y:8.60, Z:0.24 [[ 6.03895010e-01 7.94792427e-01 -6.01316496e-02 -2.22501206e+01] [-7.92582024e-01 6.06777116e-01 6.02931641e-02 8.60483267e+00] [ 8.44070592e-02 1.12485237e-02 9.96367863e-01 2.40523542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.789115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.85, Y:9.96, Z:-1.92 [[ 8.33101481e-01 -5.51305804e-01 -4.47641866e-02 -2.08528952e+01] [-5.50105951e-01 -8.34281084e-01 3.68580585e-02 9.96418195e+00] [-5.76659757e-02 -6.08145768e-03 -9.98317410e-01 -1.91772705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.819115933 meters Centerline goodness [0,1] 0.9998233839632639 Centerline is valid? [True, True] Translation: X:-22.16, Y:8.50, Z:0.25 [[ 6.67678950e-01 7.41676222e-01 -6.41965887e-02 -2.21622278e+01] [-7.39725590e-01 6.70669983e-01 5.48436429e-02 8.49846313e+00] [ 8.37309510e-02 1.08699135e-02 9.96429111e-01 2.51017607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.849115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.18, Y:8.51, Z:0.23 [[ 6.66659108e-01 7.42590956e-01 -6.42207635e-02 -2.21771912e+01] [-7.40612150e-01 6.69659064e-01 5.52302552e-02 8.50642880e+00] [ 8.40195043e-02 1.07429251e-02 9.96406199e-01 2.33256695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.879115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.19, Y:8.51, Z:0.22 [[ 6.65841686e-01 7.43406376e-01 -6.32598515e-02 -2.21907977e+01] [-7.41456921e-01 6.68758906e-01 5.48010883e-02 8.51457841e+00] [ 8.30450676e-02 1.04156057e-02 9.96491361e-01 2.21525048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.909115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.20, Y:8.53, Z:0.21 [[ 6.64887330e-01 7.44179404e-01 -6.42016585e-02 -2.22020010e+01] [-7.42140691e-01 6.67898848e-01 5.60207306e-02 8.52694816e+00] [ 8.45696877e-02 1.03991892e-02 9.96363300e-01 2.12441728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.939115933000004 meters Centerline goodness [0,1] 0.9992835393157801 Centerline is valid? [True, True] Translation: X:-22.21, Y:8.54, Z:0.19 [[ 6.56868936e-01 7.51251833e-01 -6.43730143e-02 -2.22147793e+01] [-7.49203816e-01 6.59922434e-01 5.65333902e-02 8.53687115e+00] [ 8.49520093e-02 1.10934801e-02 9.96323286e-01 1.94727615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.969115933 meters Centerline goodness [0,1] 0.9998228206945429 Centerline is valid? [True, True] Translation: X:-22.22, Y:8.55, Z:0.22 [[ 6.53316559e-01 7.54401893e-01 -6.36809057e-02 -2.22205628e+01] [-7.52377280e-01 6.56318864e-01 5.63380519e-02 8.55357353e+00] [ 8.42965127e-02 1.11054844e-02 9.96378827e-01 2.21835248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.999115933 meters Centerline goodness [0,1] 0.9998228206945429 Centerline is valid? [True, True] Translation: X:-22.23, Y:8.57, Z:0.22 [[ 6.50689343e-01 7.56685798e-01 -6.34821479e-02 -2.22325882e+01] [-7.54650533e-01 6.53684430e-01 5.65618115e-02 8.56514146e+00] [ 8.42968111e-02 1.11026688e-02 9.96378833e-01 2.21683887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.029115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.24, Y:8.58, Z:0.22 [[ 6.47644482e-01 7.59189842e-01 -6.47101832e-02 -2.22438698e+01] [-7.57051998e-01 6.50769657e-01 5.80613992e-02 8.57865986e+00] [ 8.61910482e-02 1.13858287e-02 9.96213565e-01 2.23732516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.059115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.25, Y:8.60, Z:0.22 [[ 6.37495662e-01 7.67646125e-01 -6.57168811e-02 -2.22500025e+01] [-7.65448131e-01 6.40752927e-01 5.93704090e-02 8.59586956e+00] [ 8.76837483e-02 1.24544856e-02 9.96070503e-01 2.24911310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.089115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.27, Y:8.60, Z:0.20 [[ 6.38469776e-01 7.66828616e-01 -6.58044033e-02 -2.22657830e+01] [-7.64583378e-01 6.41738085e-01 5.98706053e-02 8.60271638e+00] [ 8.81396851e-02 1.20873810e-02 9.96034784e-01 1.96650649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.119115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.28, Y:8.61, Z:0.19 [[ 6.31744388e-01 7.72317258e-01 -6.65212834e-02 -2.22779571e+01] [-7.70013240e-01 6.35109726e-01 6.09528187e-02 8.61304048e+00] [ 8.93232279e-02 1.27156678e-02 9.95921519e-01 1.93183607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.149115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.28, Y:8.63, Z:0.20 [[ 6.26351781e-01 7.76715463e-01 -6.63063789e-02 -2.22849662e+01] [-7.74410988e-01 6.29717004e-01 6.11891859e-02 8.62705357e+00] [ 8.92808412e-02 1.30224328e-02 9.95921356e-01 1.97512049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.179115933 meters Centerline goodness [0,1] 0.9996519923438316 Centerline is valid? [True, True] Translation: X:-22.29, Y:8.64, Z:0.18 [[ 6.23081572e-01 7.79341410e-01 -6.63047595e-02 -2.22947291e+01] [-7.77011913e-01 6.26462117e-01 6.16255144e-02 8.64009873e+00] [ 8.95647353e-02 1.31218656e-02 9.95894560e-01 1.84239783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.209115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.31, Y:8.65, Z:0.19 [[ 6.22130861e-01 7.80167431e-01 -6.55131389e-02 -2.23074308e+01] [-7.77859752e-01 6.25439517e-01 6.13157102e-02 8.65029870e+00] [ 8.88110260e-02 1.28136384e-02 9.95966070e-01 1.86372449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.239115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.32, Y:8.66, Z:0.16 [[ 6.18541045e-01 7.82954434e-01 -6.62520123e-02 -2.23211809e+01] [-7.80568230e-01 6.21941594e-01 6.24651202e-02 8.65688775e+00] [ 9.01122250e-02 1.30769752e-02 9.95845761e-01 1.63832813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.269115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.33, Y:8.67, Z:0.17 [[ 6.11836754e-01 7.88029992e-01 -6.82972808e-02 -2.23266772e+01] [-7.85480735e-01 6.15478443e-01 6.48560082e-02 8.67476212e+00] [ 9.31439837e-02 1.39649088e-02 9.95554710e-01 1.69691408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.299115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.33, Y:8.69, Z:0.19 [[ 6.03890537e-01 7.94209688e-01 -6.74328586e-02 -2.23305749e+01] [-7.91719191e-01 6.07472056e-01 6.44858450e-02 8.69384115e+00] [ 9.21788601e-02 1.44454967e-02 9.95637678e-01 1.91411999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.329115933 meters Centerline goodness [0,1] 0.9998300475866757 Centerline is valid? [True, True] Translation: X:-22.34, Y:8.70, Z:0.16 [[ 6.02134281e-01 7.95654029e-01 -6.60982123e-02 -2.23418152e+01] [-7.93228968e-01 6.05587154e-01 6.36553512e-02 8.70397606e+00] [ 9.06758649e-02 1.41019476e-02 9.95780610e-01 1.64581172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.359115933 meters Centerline goodness [0,1] 0.9998314796090327 Centerline is valid? [True, True] Translation: X:-22.35, Y:8.72, Z:0.16 [[ 5.92059765e-01 8.03110309e-01 -6.69258220e-02 -2.23482378e+01] [-8.00626282e-01 5.95637682e-01 6.49099964e-02 8.71857473e+00] [ 9.19934288e-02 1.51519749e-02 9.95644327e-01 1.58850091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.389115933 meters Centerline goodness [0,1] 0.9994836488812392 Centerline is valid? [True, True] Translation: X:-22.35, Y:8.73, Z:0.16 [[ 5.90591293e-01 8.04276026e-01 -6.58938437e-02 -2.23546821e+01] [-8.01834571e-01 5.94070819e-01 6.43520253e-02 8.73403744e+00] [ 9.09024008e-02 1.48302160e-02 9.95749375e-01 1.63304870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.419115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.36, Y:8.75, Z:0.17 [[ 5.82982196e-01 8.09699948e-01 -6.72142280e-02 -2.23574137e+01] [-8.07151483e-01 5.86633416e-01 6.60887199e-02 8.75315401e+00] [ 9.29421453e-02 1.57235168e-02 9.95547351e-01 1.68271094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.449115933 meters Centerline goodness [0,1] 0.9993228373116642 Centerline is valid? [True, True] Translation: X:-22.37, Y:8.76, Z:0.16 [[ 5.80524877e-01 8.11533656e-01 -6.63625860e-02 -2.23662972e+01] [-8.09018991e-01 5.84098819e-01 6.57026778e-02 8.76426792e+00] [ 9.20822424e-02 1.55465535e-02 9.95630034e-01 1.57557368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.479115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.37, Y:8.78, Z:0.14 [[ 5.75928622e-01 8.14843044e-01 -6.58561735e-02 -2.23740544e+01] [-8.12350378e-01 5.79468501e-01 6.55981645e-02 8.77799752e+00] [ 9.16137862e-02 1.57184269e-02 9.95670551e-01 1.43181841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.509115933000004 meters Centerline goodness [0,1] 0.9993335554815062 Centerline is valid? [True, True] Translation: X:-22.39, Y:8.78, Z:0.11 [[ 5.72976037e-01 8.16825972e-01 -6.70357573e-02 -2.23907044e+01] [-8.14214351e-01 5.76660320e-01 6.72150755e-02 8.78223365e+00] [ 9.35598806e-02 1.60688480e-02 9.95483973e-01 1.11164169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.539115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.99, Y:10.03, Z:-1.77 [[ 8.61693485e-01 -5.03949844e-01 -5.93202509e-02 -2.09927016e+01] [-5.01695829e-01 -8.63639559e-01 4.92748132e-02 1.00292233e+01] [-7.60633498e-02 -1.26990631e-02 -9.97022116e-01 -1.76595775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.569115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.24, Y:8.63, Z:0.13 [[ 6.31347667e-01 7.71885332e-01 -7.47874138e-02 -2.22394052e+01] [-7.69426241e-01 6.35529386e-01 6.39191606e-02 8.63038620e+00] [ 9.68678617e-02 1.71881858e-02 9.95148825e-01 1.28537436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.599115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.25, Y:8.64, Z:0.12 [[ 6.28917811e-01 7.73794710e-01 -7.55257152e-02 -2.22502321e+01] [-7.71259416e-01 6.33197553e-01 6.49597717e-02 8.64100086e+00] [ 9.80882258e-02 1.73955617e-02 9.95025675e-01 1.23631806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.629115933 meters Centerline goodness [0,1] 0.9998314227916386 Centerline is valid? [True, True] Translation: X:-22.26, Y:8.65, Z:0.11 [[ 6.25178581e-01 7.76757219e-01 -7.61575000e-02 -2.22596944e+01] [-7.74147350e-01 6.29552050e-01 6.60310338e-02 8.64929850e+00] [ 9.92351925e-02 1.76759388e-02 9.94907000e-01 1.05165954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.659115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.27, Y:8.66, Z:0.12 [[ 6.19827815e-01 7.81008534e-01 -7.64143314e-02 -2.22676118e+01] [-7.78365819e-01 6.24257084e-01 6.67064070e-02 8.66394914e+00] [ 9.98004608e-02 1.81318172e-02 9.94842251e-01 1.15645825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.689115933000004 meters Centerline goodness [0,1] 0.9998314227916386 Centerline is valid? [True, True] Translation: X:-22.28, Y:8.67, Z:0.10 [[ 6.20240686e-01 7.80633062e-01 -7.68993745e-02 -2.22818701e+01] [-7.77908369e-01 6.24733103e-01 6.75804628e-02 8.67015382e+00] [ 1.00797129e-01 1.79045144e-02 9.94745881e-01 9.67590501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.719115933 meters Centerline goodness [0,1] 0.9995127497157706 Centerline is valid? [True, True] Translation: X:-22.29, Y:8.68, Z:0.12 [[ 6.18396333e-01 7.82175576e-01 -7.60745946e-02 -2.22887287e+01] [-7.79474467e-01 6.22807345e-01 6.73094869e-02 8.68461166e+00] [ 1.00027653e-01 1.76742642e-02 9.94827668e-01 1.15148276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.749115933 meters Centerline goodness [0,1] 0.9983449189010262 Centerline is valid? [True, True] Translation: X:-22.31, Y:8.69, Z:0.07 [[ 6.16409425e-01 7.83544046e-01 -7.80906488e-02 -2.23071605e+01] [-7.80660672e-01 6.21072846e-01 6.95516711e-02 8.68698928e+00] [ 1.02996779e-01 1.80899928e-02 9.94517177e-01 7.45736297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.779115933 meters Centerline goodness [0,1] 0.9979719452425215 Centerline is valid? [True, True] Translation: X:-22.32, Y:8.70, Z:0.07 [[ 6.22577955e-01 7.78794113e-01 -7.66578093e-02 -2.23196507e+01] [-7.75936270e-01 6.27057292e-01 6.87172247e-02 8.69679405e+00] [ 1.01585408e-01 1.66997454e-02 9.94686646e-01 6.59457284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.809115933 meters Centerline goodness [0,1] 0.998327479511624 Centerline is valid? [True, True] Translation: X:-22.33, Y:8.71, Z:0.08 [[ 6.24351829e-01 7.77525093e-01 -7.50967664e-02 -2.23297934e+01] [-7.74729258e-01 6.28651581e-01 6.77625726e-02 8.70958646e+00] [ 9.98968015e-02 1.58719760e-02 9.94871202e-01 7.74484684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.839115933 meters Centerline goodness [0,1] 0.997950119576358 Centerline is valid? [True, True] Translation: X:-22.34, Y:8.72, Z:0.09 [[ 6.21843169e-01 7.79463042e-01 -7.58184619e-02 -2.23401535e+01] [-7.76578714e-01 6.26242784e-01 6.88874158e-02 8.72073419e+00] [ 1.01175959e-01 1.60418347e-02 9.94739204e-01 8.54608997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.869115933 meters Centerline goodness [0,1] 0.9986693280106453 Centerline is valid? [True, True] Translation: X:-22.35, Y:8.74, Z:0.09 [[ 6.20104093e-01 7.80932115e-01 -7.49396117e-02 -2.23469599e+01] [-7.78077066e-01 6.24416184e-01 6.85602512e-02 8.73556036e+00] [ 1.00334408e-01 1.57943008e-02 9.94828401e-01 8.90567358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.899115933 meters Centerline goodness [0,1] 0.998836242726517 Centerline is valid? [True, True] Translation: X:-22.36, Y:8.75, Z:0.09 [[ 6.17027886e-01 7.83237869e-01 -7.62563354e-02 -2.23592515e+01] [-7.80255187e-01 6.21511206e-01 7.01830763e-02 8.74544506e+00] [ 1.02364210e-01 1.61944861e-02 9.94615155e-01 8.68456567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.929115933 meters Centerline goodness [0,1] 0.9988233316523786 Centerline is valid? [True, True] Translation: X:-22.37, Y:8.76, Z:0.08 [[ 6.17632354e-01 7.82870530e-01 -7.51266150e-02 -2.23688380e+01] [-7.79923436e-01 6.21989397e-01 6.96320573e-02 8.75553283e+00] [ 1.01240844e-01 1.55859963e-02 9.94739850e-01 8.41659441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.959115933 meters Centerline goodness [0,1] 0.9986664444074013 Centerline is valid? [True, True] Translation: X:-22.39, Y:8.76, Z:0.06 [[ 6.17214491e-01 7.83336865e-01 -7.36860084e-02 -2.23864658e+01] [-7.80459406e-01 6.21414630e-01 6.87529863e-02 8.75913139e+00] [ 9.96463124e-02 1.50735989e-02 9.94908739e-01 6.05683650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.989115933 meters Centerline goodness [0,1] 0.999321343739396 Centerline is valid? [True, True] Translation: X:-22.40, Y:8.77, Z:0.04 [[ 6.13638335e-01 7.86166391e-01 -7.34193387e-02 -2.24016549e+01] [-7.83281631e-01 6.17828418e-01 6.89777658e-02 8.76509279e+00] [ 9.95885551e-02 1.51806180e-02 9.94912895e-01 3.50970374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.019115933 meters Centerline goodness [0,1] 0.9986748384959417 Centerline is valid? [True, True] Translation: X:-22.41, Y:8.78, Z:0.05 [[ 6.04203979e-01 7.93432343e-01 -7.35028514e-02 -2.24051180e+01] [-7.90544351e-01 6.08445485e-01 6.95249672e-02 8.78474896e+00] [ 9.98858357e-02 1.61000021e-02 9.94868639e-01 4.54102268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.049115933 meters Centerline goodness [0,1] 0.9984979973297731 Centerline is valid? [True, True] Translation: X:-22.42, Y:8.80, Z:0.04 [[ 5.98552416e-01 7.97564903e-01 -7.50015372e-02 -2.24166821e+01] [-7.94541313e-01 6.02997620e-01 7.14000779e-02 8.79589717e+00] [ 1.02171945e-01 1.68551307e-02 9.94623948e-01 4.41962413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.079115933 meters Centerline goodness [0,1] 0.9998324115971174 Centerline is valid? [True, True] Translation: X:-22.43, Y:8.80, Z:0.02 [[ 5.99956161e-01 7.96724577e-01 -7.26811712e-02 -2.24317788e+01] [-7.93832897e-01 6.04133259e-01 6.96587252e-02 8.80240769e+00] [ 9.94079312e-02 1.59045233e-02 9.94919650e-01 2.25346537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.109115933 meters Centerline goodness [0,1] 0.998176694845019 Centerline is valid? [True, True] Translation: X:-22.44, Y:8.82, Z:0.04 [[ 6.04910698e-01 7.93165567e-01 -7.05083670e-02 -2.24392724e+01] [-7.90377874e-01 6.08831489e-01 6.80223080e-02 8.81782954e+00] [ 9.68806667e-02 1.45808314e-02 9.95189196e-01 4.37173004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.139115933 meters Centerline goodness [0,1] 0.9993263725159987 Centerline is valid? [True, True] Translation: X:-22.45, Y:8.83, Z:0.03 [[ 5.96878834e-01 7.99071605e-01 -7.22511460e-02 -2.24501570e+01] [-7.96128202e-01 6.01034023e-01 7.02708288e-02 8.82594301e+00] [ 9.95768208e-02 1.55780046e-02 9.94907927e-01 2.83657498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.169115933 meters Centerline goodness [0,1] 0.9990105540897097 Centerline is valid? [True, True] Translation: X:-22.47, Y:8.83, Z:0.02 [[ 6.01612382e-01 7.95430587e-01 -7.31623075e-02 -2.24679784e+01] [-7.92337267e-01 6.05862283e-01 7.16418124e-02 8.82913914e+00] [ 1.01312372e-01 1.48686214e-02 9.94743549e-01 2.04205364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.199115933 meters Centerline goodness [0,1] 0.9988469774337012 Centerline is valid? [True, True] Translation: X:-22.48, Y:8.84, Z:0.02 [[ 5.99499156e-01 7.97179427e-01 -7.14543454e-02 -2.24762575e+01] [-7.94197403e-01 6.03567335e-01 7.04056534e-02 8.84325458e+00] [ 9.92534473e-02 1.45407258e-02 9.94955939e-01 2.46518426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.229115933 meters Centerline goodness [0,1] 0.9998329993319973 Centerline is valid? [True, True] Translation: X:-22.49, Y:8.85, Z:0.00 [[ 6.00441335e-01 7.96417452e-01 -7.20378081e-02 -2.24918391e+01] [-7.93331473e-01 6.04579720e-01 7.14740218e-02 8.85010668e+00] [ 1.00475756e-01 1.42339033e-02 9.94837684e-01 2.89059428e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.259115933 meters Centerline goodness [0,1] 0.9986646636621599 Centerline is valid? [True, True] Translation: X:-22.51, Y:8.86, Z:-0.02 [[ 6.00642396e-01 7.96416166e-01 -7.03562620e-02 -2.25072838e+01] [-7.93425750e-01 6.04595816e-01 7.02814202e-02 8.85693116e+00] [ 9.85103609e-02 1.36084693e-02 9.95042973e-01 -1.92407039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.289115933 meters Centerline goodness [0,1] 0.998158379373849 Centerline is valid? [True, True] Translation: X:-22.52, Y:8.87, Z:-0.01 [[ 6.01289597e-01 7.95890271e-01 -7.07778017e-02 -2.25157347e+01] [-7.92810217e-01 6.05294824e-01 7.12048865e-02 8.87169897e+00] [ 9.95127134e-02 1.32986068e-02 9.94947419e-01 -6.19465155e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.319115933 meters Centerline goodness [0,1] 0.9991730069467416 Centerline is valid? [True, True] Translation: X:-21.12, Y:10.16, Z:-1.66 [[ 8.35176578e-01 -5.46946797e-01 -5.76999456e-02 -2.11155473e+01] [-5.44901641e-01 -8.37122301e-01 4.80463832e-02 1.01632853e+01] [-7.45807267e-02 -8.68641885e-03 -9.97177146e-01 -1.65609421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.349115933 meters Centerline goodness [0,1] 0.9983283182881979 Centerline is valid? [True, True] Translation: X:-22.40, Y:8.73, Z:-0.02 [[ 6.68972398e-01 7.39360017e-01 -7.63065950e-02 -2.23967351e+01] [-7.36565625e-01 6.73195304e-01 6.54153102e-02 8.72591871e+00] [ 9.97347063e-02 1.24437779e-02 9.94936250e-01 -2.29547880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.379115933 meters Centerline goodness [0,1] 0.9998349290194783 Centerline is valid? [True, True] Translation: X:-22.41, Y:8.73, Z:-0.05 [[ 6.74165056e-01 7.34937089e-01 -7.32731374e-02 -2.24135679e+01] [-7.32294030e-01 6.78045708e-01 6.32413728e-02 8.73071102e+00] [ 9.61609669e-02 1.10223574e-02 9.95304765e-01 -4.70063828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.409115933 meters Centerline goodness [0,1] 0.9998289136013687 Centerline is valid? [True, True] Translation: X:-22.43, Y:8.74, Z:-0.06 [[ 6.68984097e-01 7.39355309e-01 -7.62496240e-02 -2.24287177e+01] [-7.36478706e-01 6.73211150e-01 6.62258467e-02 8.73871780e+00] [ 1.00296528e-01 1.18521862e-02 9.94886995e-01 -5.82492281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.439115933000004 meters Centerline goodness [0,1] 0.9998332499583125 Centerline is valid? [True, True] Translation: X:-22.44, Y:8.75, Z:-0.06 [[ 6.73988627e-01 7.35047499e-01 -7.37868888e-02 -2.24432272e+01] [-7.32289341e-01 6.77933243e-01 6.44890597e-02 8.74722534e+00] [ 9.74251069e-02 1.05684594e-02 9.95186744e-01 -6.02361886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.469115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.45, Y:8.76, Z:-0.06 [[ 6.71042994e-01 7.37685228e-01 -7.43088442e-02 -2.24531792e+01] [-7.34861860e-01 6.75059338e-01 6.53677092e-02 8.76086552e+00] [ 9.83836726e-02 1.07421921e-02 9.95090578e-01 -5.57162743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.499115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.47, Y:8.77, Z:-0.06 [[ 6.74499899e-01 7.34859352e-01 -7.09339085e-02 -2.24678177e+01] [-7.32233034e-01 6.78151916e-01 6.28073437e-02 8.76898176e+00] [ 9.42585298e-02 9.57660405e-03 9.95501692e-01 -5.60098613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.529115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.48, Y:8.78, Z:-0.07 [[ 6.71594589e-01 7.37624242e-01 -6.97938832e-02 -2.24817599e+01] [-7.35054155e-01 6.75144662e-01 6.22501021e-02 8.77887820e+00] [ 9.30381520e-02 9.49545214e-03 9.95617265e-01 -6.55178866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.559115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.49, Y:8.79, Z:-0.07 [[ 6.70873536e-01 7.38320616e-01 -6.93640154e-02 -2.24921014e+01] [-7.35747918e-01 6.74386375e-01 6.22737411e-02 8.79260305e+00] [ 9.27561338e-02 9.25662502e-03 9.95645828e-01 -6.52082154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.589115933 meters Centerline goodness [0,1] 0.9982212160413971 Centerline is valid? [True, True] Translation: X:-22.51, Y:8.80, Z:-0.06 [[ 6.72224898e-01 7.37239681e-01 -6.77594177e-02 -2.25052365e+01] [-7.34739340e-01 6.75576608e-01 6.12727418e-02 8.80242563e+00] [ 9.09493742e-02 8.59644726e-03 9.95818413e-01 -6.31733703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.619115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.52, Y:8.81, Z:-0.06 [[ 6.79260119e-01 7.31096856e-01 -6.40552692e-02 -2.25177038e+01] [-7.28802898e-01 6.82236937e-01 5.83017775e-02 8.81367577e+00] [ 8.63251169e-02 7.08159347e-03 9.96241851e-01 -6.12364116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.649115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.53, Y:8.82, Z:-0.06 [[ 6.75681095e-01 7.34229652e-01 -6.60444979e-02 -2.25304081e+01] [-7.31771229e-01 6.78860259e-01 6.04947616e-02 8.82490273e+00] [ 8.92520327e-02 7.45429666e-03 9.95981179e-01 -6.22679962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.679115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.54, Y:8.84, Z:-0.06 [[ 6.78357239e-01 7.31900528e-01 -6.44443477e-02 -2.25417451e+01] [-7.29514754e-01 6.81378542e-01 5.94264707e-02 8.83844345e+00] [ 8.74052609e-02 6.70072595e-03 9.96150300e-01 -6.17304640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.709115933 meters Centerline goodness [0,1] 0.9988450750701204 Centerline is valid? [True, True] Translation: X:-22.55, Y:8.85, Z:-0.04 [[ 6.76846637e-01 7.33506338e-01 -6.20248463e-02 -2.25512471e+01] [-7.31271897e-01 6.79652538e-01 5.75659620e-02 8.85258660e+00] [ 8.43803422e-02 6.39369924e-03 9.96413106e-01 -4.34123377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.739115933 meters Centerline goodness [0,1] 0.9990089197224975 Centerline is valid? [True, True] Translation: X:-22.56, Y:8.86, Z:-0.06 [[ 6.72348663e-01 7.37572349e-01 -6.27240509e-02 -2.25640384e+01] [-7.35259891e-01 6.75235588e-01 5.87349465e-02 8.86016337e+00] [ 8.56747838e-02 6.62811611e-03 9.96301109e-01 -5.87696613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.769115933 meters Centerline goodness [0,1] 0.9986938775510205 Centerline is valid? [True, True] Translation: X:-22.57, Y:8.88, Z:-0.03 [[ 6.67604646e-01 7.41766242e-01 -6.39286924e-02 -2.25697250e+01] [-7.39341527e-01 6.70622122e-01 6.03330461e-02 8.87957705e+00] [ 8.76250123e-02 6.98651514e-03 9.96129031e-01 -3.41722252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.799115933 meters Centerline goodness [0,1] 0.9990184851954851 Centerline is valid? [True, True] Translation: X:-22.58, Y:8.89, Z:-0.04 [[ 6.66968806e-01 7.42484799e-01 -6.22007611e-02 -2.25804579e+01] [-7.40152427e-01 6.69830669e-01 5.91714486e-02 8.89022308e+00] [ 8.55978786e-02 6.57253382e-03 9.96308087e-01 -4.18181613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.829115933 meters Centerline goodness [0,1] 0.9998317631224765 Centerline is valid? [True, True] Translation: X:-22.60, Y:8.90, Z:-0.08 [[ 6.68771662e-01 7.41010646e-01 -6.03960800e-02 -2.25984253e+01] [-7.38770982e-01 6.71467221e-01 5.78723349e-02 8.89645379e+00] [ 8.34380043e-02 5.91549372e-03 9.96495412e-01 -7.79029561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.859115933 meters Centerline goodness [0,1] 0.9978344161252707 Centerline is valid? [True, True] Translation: X:-22.59, Y:8.93, Z:0.00 [[ 6.56646868e-01 7.51523109e-01 -6.34657884e-02 -2.25903653e+01] [-7.49062340e-01 6.59665853e-01 6.12092580e-02 8.93203631e+00] [ 8.78663853e-02 7.34696436e-03 9.96105175e-01 4.82918727e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.889115933 meters Centerline goodness [0,1] 0.9978344161252707 Centerline is valid? [True, True] Translation: X:-22.60, Y:8.94, Z:0.00 [[ 6.53262610e-01 7.54489049e-01 -6.31999698e-02 -2.26001138e+01] [-7.52015763e-01 6.56271337e-01 6.14835271e-02 8.94212434e+00] [ 8.78649767e-02 7.36248411e-03 9.96105185e-01 4.70181714e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.919115933 meters Centerline goodness [0,1] 0.9985077101641519 Centerline is valid? [True, True] Translation: X:-22.62, Y:8.94, Z:-0.03 [[ 6.53115630e-01 7.54796355e-01 -6.10117632e-02 -2.26206480e+01] [-7.52458789e-01 6.55923091e-01 5.97550749e-02 8.94396780e+00] [ 8.51219371e-02 6.88186406e-03 9.96346775e-01 -3.12089442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.949115933 meters Centerline goodness [0,1] 0.9984901862103673 Centerline is valid? [True, True] Translation: X:-22.63, Y:8.96, Z:-0.04 [[ 6.53822490e-01 7.54230546e-01 -6.04353851e-02 -2.26340582e+01] [-7.51901731e-01 6.56577637e-01 5.95784690e-02 8.95548601e+00] [ 8.46164236e-02 6.48772773e-03 9.96392478e-01 -4.20396310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.979115933 meters Centerline goodness [0,1] 0.9986371379897785 Centerline is valid? [True, True] Translation: X:-22.63, Y:8.99, Z:0.04 [[ 6.37365559e-01 7.67620505e-01 -6.72599771e-02 -2.26264218e+01] [-7.64766079e-01 6.40842782e-01 6.67335987e-02 8.98769658e+00] [ 9.43291496e-02 8.90445145e-03 9.95501242e-01 3.76889957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.009115933 meters Centerline goodness [0,1] 0.9986684420772304 Centerline is valid? [True, True] Translation: X:-22.66, Y:8.98, Z:-0.05 [[ 6.54129384e-01 7.54045999e-01 -5.94085874e-02 -2.26585816e+01] [-7.51728065e-01 6.56795769e-01 5.93652622e-02 8.97858739e+00] [ 8.37834473e-02 5.82654008e-03 9.96466951e-01 -4.51520160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.039115933 meters Centerline goodness [0,1] 0.9976056097143834 Centerline is valid? [True, True] Translation: X:-21.29, Y:10.29, Z:-1.68 [[ 8.13038763e-01 -5.79763280e-01 -5.33151794e-02 -2.12929949e+01] [-5.78110178e-01 -8.14769757e-01 4.40325481e-02 1.02929647e+01] [-6.89680503e-02 -4.97812056e-03 -9.97606449e-01 -1.67848606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.069115933 meters Centerline goodness [0,1] 0.9978143913920645 Centerline is valid? [True, True] Translation: X:-22.55, Y:8.88, Z:0.01 [[ 7.00499405e-01 7.10342718e-01 -6.86571656e-02 -2.25468161e+01] [-7.07971936e-01 7.03814539e-01 5.84878828e-02 8.88197658e+00] [ 8.98683530e-02 7.63661937e-03 9.95924375e-01 1.47277310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.099115933 meters Centerline goodness [0,1] 0.9977674738107505 Centerline is valid? [True, True] Translation: X:-22.56, Y:8.89, Z:0.01 [[ 7.05906506e-01 7.05319057e-01 -6.49694770e-02 -2.25630287e+01] [-7.03146368e-01 7.08861333e-01 5.56847945e-02 8.89037344e+00] [ 8.53298968e-02 6.37479306e-03 9.96332360e-01 5.89019900e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.129115933 meters Centerline goodness [0,1] 0.9991235758106923 Centerline is valid? [True, True] Translation: X:-22.59, Y:8.89, Z:-0.05 [[ 7.13850089e-01 6.97649763e-01 -6.08511263e-02 -2.25880077e+01] [-6.95685518e-01 7.16422700e-01 5.25373619e-02 8.88718772e+00] [ 8.02478062e-02 4.82944689e-03 9.96763245e-01 -4.56668290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.159115933 meters Centerline goodness [0,1] 0.9986180687510796 Centerline is valid? [True, True] Translation: X:-22.59, Y:8.91, Z:-0.01 [[ 7.10182619e-01 7.01319787e-01 -6.15727487e-02 -2.25938476e+01] [-6.99293781e-01 7.12828865e-01 5.35090429e-02 8.90852516e+00] [ 8.14177831e-02 5.05624798e-03 9.96667236e-01 -1.38974345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.189115933000004 meters Centerline goodness [0,1] 0.9978958442924777 Centerline is valid? [True, True] Translation: X:-22.60, Y:8.92, Z:0.00 [[ 7.05778485e-01 7.05677281e-01 -6.24203839e-02 -2.26037992e+01] [-7.03583616e-01 7.08512876e-01 5.45857105e-02 8.92408121e+00] [ 8.27455415e-02 5.39253938e-03 9.96556118e-01 3.87207995e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.219115933 meters Centerline goodness [0,1] 0.9966395472232048 Centerline is valid? [True, True] Translation: X:-22.62, Y:8.93, Z:-0.00 [[ 7.04210410e-01 7.07272942e-01 -6.20699873e-02 -2.26187034e+01] [-7.05179641e-01 7.06920732e-01 5.46328789e-02 8.93313484e+00] [ 8.25189179e-02 5.29744932e-03 9.96575419e-01 -1.43735696e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.249115933 meters Centerline goodness [0,1] 0.9973190348525469 Centerline is valid? [True, True] Translation: X:-22.63, Y:8.95, Z:0.02 [[ 7.07831491e-01 7.03892631e-01 -5.92430999e-02 -2.26258374e+01] [-7.01947455e-01 7.10292526e-01 5.24814030e-02 8.95300287e+00] [ 7.90212039e-02 4.43755351e-03 9.96863059e-01 2.35962470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.279115933 meters Centerline goodness [0,1] 0.9996497986342147 Centerline is valid? [True, True] Translation: X:-22.66, Y:8.94, Z:-0.07 [[ 7.18519048e-01 6.93350109e-01 -5.47357586e-02 -2.26610319e+01] [-6.91633312e-01 7.20595576e-01 4.88403314e-02 8.93718582e+00] [ 7.33057946e-02 2.76436554e-03 9.97305680e-01 -7.00983580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.309115933 meters Centerline goodness [0,1] 0.9990872581234027 Centerline is valid? [True, True] Translation: X:-22.67, Y:8.95, Z:-0.07 [[ 7.17098655e-01 6.94955673e-01 -5.29729393e-02 -2.26726734e+01] [-6.93329188e-01 7.19047876e-01 4.75898135e-02 8.95108119e+00] [ 7.11628903e-02 2.60109371e-03 9.97461316e-01 -6.79518786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.339115933 meters Centerline goodness [0,1] 0.9987385114435033 Centerline is valid? [True, True] Translation: X:-22.69, Y:8.96, Z:-0.07 [[ 7.20643278e-01 6.91476288e-01 -5.03369530e-02 -2.26880555e+01] [-6.89978785e-01 7.22396593e-01 4.55240477e-02 8.96011515e+00] [ 6.78420429e-02 1.92483069e-03 9.97694218e-01 -6.87261349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.369115933 meters Centerline goodness [0,1] 0.9965685389199928 Centerline is valid? [True, True] Translation: X:-22.68, Y:8.99, Z:-0.01 [[ 7.09360823e-01 7.02744761e-01 -5.43785273e-02 -2.26846152e+01] [-7.01005738e-01 7.11435704e-01 4.94994411e-02 8.99254142e+00] [ 7.34722988e-02 3.00669541e-03 9.97292726e-01 -6.44811203e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.399115933 meters Centerline goodness [0,1] 0.9979614529280949 Centerline is valid? [True, True] Translation: X:-22.70, Y:9.00, Z:-0.01 [[ 7.14315120e-01 6.97943787e-01 -5.12677247e-02 -2.27017655e+01] [-6.96364978e-01 7.16149316e-01 4.69678055e-02 9.00071933e+00] [ 6.94962340e-02 2.15123439e-03 9.97579894e-01 -1.38944522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.429115933 meters Centerline goodness [0,1] 0.9992669965182335 Centerline is valid? [True, True] Translation: X:-22.72, Y:9.00, Z:-0.05 [[ 7.22685113e-01 6.89549933e-01 -4.74037752e-02 -2.27223430e+01] [-6.88163799e-01 7.24237410e-01 4.37122421e-02 9.00474438e+00] [ 6.44733610e-02 1.03137537e-03 9.97918895e-01 -5.20033433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.459115933 meters Centerline goodness [0,1] 0.9972253052164262 Centerline is valid? [True, True] Translation: X:-22.72, Y:9.03, Z:-0.00 [[ 7.16491296e-01 6.95927824e-01 -4.82150043e-02 -2.27216602e+01] [-6.94485928e-01 7.18110393e-01 4.47968678e-02 9.03293798e+00] [ 6.57990824e-02 1.38807613e-03 9.97831927e-01 -5.84420919e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.489115933 meters Centerline goodness [0,1] 0.9986967045242972 Centerline is valid? [True, True] Translation: X:-22.75, Y:9.03, Z:-0.05 [[ 7.25773938e-01 6.86607769e-01 -4.26844540e-02 -2.27495811e+01] [-6.85446173e-01 7.27027985e-01 3.99230791e-02 9.02954699e+00] [ 5.84442889e-02 2.82765361e-04 9.98290632e-01 -5.25586750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.519115933 meters Centerline goodness [0,1] 0.9979241366295527 Centerline is valid? [True, True] Translation: X:-22.74, Y:9.07, Z:0.03 [[ 7.12275367e-01 7.00305806e-01 -4.72819157e-02 -2.27365366e+01] [-6.98886349e-01 7.13841802e-01 4.45842208e-02 9.06832582e+00] [ 6.49743966e-02 1.28844315e-03 9.97886100e-01 3.40473171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.549115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.77, Y:9.06, Z:-0.05 [[ 7.25984870e-01 6.86400446e-01 -4.24310811e-02 -2.27688943e+01] [-6.85217530e-01 7.27223762e-01 4.02807302e-02 9.05979271e+00] [ 5.85056016e-02 -1.68680051e-04 9.98287066e-01 -4.70831191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.579115933 meters Centerline goodness [0,1] 0.9979023646071701 Centerline is valid? [True, True] Translation: X:-22.76, Y:9.10, Z:0.03 [[ 7.21760873e-01 6.90953741e-01 -4.05483717e-02 -2.27623320e+01] [-6.89866900e-01 7.22898975e-01 3.87392927e-02 9.09576149e+00] [ 5.60794355e-02 1.24737092e-05 9.98426310e-01 3.06261167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.609115933 meters Centerline goodness [0,1] 0.9984750285932139 Centerline is valid? [True, True] Translation: X:-22.79, Y:9.10, Z:-0.01 [[ 7.22281236e-01 6.90480933e-01 -3.93179148e-02 -2.27867644e+01] [-6.89445207e-01 7.23350567e-01 3.78056049e-02 9.09694844e+00] [ 5.45446853e-02 -1.98731083e-04 9.98511311e-01 -8.70550173e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.639115933 meters Centerline goodness [0,1] 0.9972826086956522 Centerline is valid? [True, True] Translation: X:-22.79, Y:9.12, Z:0.01 [[ 7.23688052e-01 6.89080451e-01 -3.79965181e-02 -2.27925361e+01] [-6.88098756e-01 7.24684700e-01 3.67721158e-02 9.11878828e+00] [ 5.28744415e-02 -4.66183986e-04 9.98601060e-01 1.15515736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.669115933 meters Centerline goodness [0,1] 0.9976465973720338 Centerline is valid? [True, True] Translation: X:-22.81, Y:9.13, Z:0.00 [[ 7.23700600e-01 6.89222679e-01 -3.50648028e-02 -2.28097503e+01] [-6.88376232e-01 7.24549353e-01 3.41525791e-02 9.12821903e+00] [ 4.89449122e-02 -5.78465131e-04 9.98801312e-01 1.76836234e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.699115933 meters Centerline goodness [0,1] 0.9980268350434096 Centerline is valid? [True, True] Translation: X:-22.81, Y:9.15, Z:0.02 [[ 7.17127331e-01 6.96039704e-01 -3.54559180e-02 -2.28115654e+01] [-6.95166725e-01 7.18003211e-01 3.48513047e-02 9.14766465e+00] [ 4.97153548e-02 -3.45048719e-04 9.98763368e-01 1.67292209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.729115933 meters Centerline goodness [0,1] 0.9972271736977619 Centerline is valid? [True, True] Translation: X:-22.81, Y:9.18, Z:0.08 [[ 7.07551347e-01 7.05678537e-01 -3.72678555e-02 -2.28072406e+01] [-7.04713418e-01 7.08532129e-01 3.68947318e-02 9.18051348e+00] [ 5.24412933e-02 1.58240666e-04 9.98623996e-01 8.21332156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.759115933 meters Centerline goodness [0,1] 0.9979744784281953 Centerline is valid? [True, True] Translation: X:-22.82, Y:9.19, Z:0.06 [[ 7.12154670e-01 7.01233390e-01 -3.32784980e-02 -2.28230487e+01] [-7.00449333e-01 7.12931723e-01 3.31525215e-02 9.19102036e+00] [ 4.69729520e-02 -2.99821235e-04 9.98896117e-01 5.76392398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.789115933 meters Centerline goodness [0,1] 0.9978 Centerline is valid? [True, True] Translation: X:-22.82, Y:9.22, Z:0.10 [[ 7.02474770e-01 7.10845220e-01 -3.50466906e-02 -2.28192007e+01] [-7.09976373e-01 7.03348443e-01 3.51357032e-02 9.22294325e+00] [ 4.96260819e-02 2.00377233e-04 9.98767847e-01 1.04772559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.819115933 meters Centerline goodness [0,1] 0.9967260077757315 Centerline is valid? [True, True] Translation: X:-21.54, Y:10.38, Z:-1.82 [[ 7.60135384e-01 -6.49506001e-01 -1.83344575e-02 -2.15411034e+01] [-6.49347344e-01 -7.60355848e-01 1.43878492e-02 1.03794801e+01] [-2.32857064e-02 9.68717986e-04 -9.99728382e-01 -1.82053508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.849115933 meters Centerline goodness [0,1] 0.9966798090890227 Centerline is valid? [True, True] Translation: X:-22.69, Y:9.11, Z:0.12 [[ 7.57686003e-01 6.51703885e-01 -3.45538304e-02 -2.26913600e+01] [-6.51036629e-01 7.58473481e-01 2.94836613e-02 9.10577735e+00] [ 4.54227807e-02 1.56451712e-04 9.98967841e-01 1.16904325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.879115933 meters Centerline goodness [0,1] 0.9987450324199958 Centerline is valid? [True, True] Translation: X:-22.70, Y:9.13, Z:0.15 [[ 7.59854113e-01 6.49258609e-01 -3.29391204e-02 -2.26956781e+01] [-6.48643969e-01 7.60567715e-01 2.82444986e-02 9.13226353e+00] [ 4.33904155e-02 -9.59366258e-05 9.99058188e-01 1.46837698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.909115933 meters Centerline goodness [0,1] 0.9971163748712667 Centerline is valid? [True, True] Translation: X:-22.71, Y:9.14, Z:0.13 [[ 7.50795880e-01 6.59544064e-01 -3.61548649e-02 -2.27135983e+01] [-6.58805727e-01 7.51665799e-01 3.12016100e-02 9.14013659e+00] [ 4.77552120e-02 3.92991806e-04 9.98858992e-01 1.31354556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.939115933000004 meters Centerline goodness [0,1] 0.9987513007284079 Centerline is valid? [True, True] Translation: X:-22.72, Y:9.17, Z:0.16 [[ 7.42364386e-01 6.68847847e-01 -3.92132044e-02 -2.27172361e+01] [-6.67980943e-01 7.43398766e-01 3.40548826e-02 9.16631897e+00] [ 5.19285827e-02 9.12541164e-04 9.98650384e-01 1.56344375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.969115933 meters Centerline goodness [0,1] 0.9983221476510067 Centerline is valid? [True, True] Translation: X:-22.73, Y:9.18, Z:0.16 [[ 7.38271909e-01 6.73316662e-01 -3.99907661e-02 -2.27314139e+01] [-6.72410613e-01 7.39353411e-01 3.49356705e-02 9.18019402e+00] [ 5.30900784e-02 1.09819138e-03 9.98589123e-01 1.55001753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.999115933 meters Centerline goodness [0,1] 0.9987152034261242 Centerline is valid? [True, True] Translation: X:-22.74, Y:9.20, Z:0.15 [[ 7.37104815e-01 6.74571735e-01 -4.03666494e-02 -2.27416297e+01] [-6.73638511e-01 7.38208576e-01 3.54859768e-02 9.19709666e+00] [ 5.37368437e-02 1.03564519e-03 9.98554595e-01 1.54723539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.029115933 meters Centerline goodness [0,1] 0.9993634627625716 Centerline is valid? [True, True] Translation: X:-22.75, Y:9.22, Z:0.17 [[ 7.29354626e-01 6.82761552e-01 -4.33415900e-02 -2.27522106e+01] [-6.81686200e-01 7.30639552e-01 3.83375596e-02 9.21516117e+00] [ 5.78424916e-02 1.58368733e-03 9.98324465e-01 1.68050098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.059115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.76, Y:9.23, Z:0.17 [[ 7.28661914e-01 6.83603964e-01 -4.16825532e-02 -2.27635431e+01] [-6.82598743e-01 7.29851751e-01 3.70860848e-02 9.23227110e+00] [ 5.57742790e-02 1.42924086e-03 9.98442380e-01 1.65070478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.089115933 meters Centerline goodness [0,1] 0.9987118935165307 Centerline is valid? [True, True] Translation: X:-22.78, Y:9.24, Z:0.14 [[ 7.31518804e-01 6.80807041e-01 -3.71754225e-02 -2.27832383e+01] [-6.79994434e-01 7.32462205e-01 3.32669184e-02 9.23906577e+00] [ 4.98779443e-02 9.43704014e-04 9.98754875e-01 1.36559033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.119115933 meters Centerline goodness [0,1] 0.9993544222078761 Centerline is valid? [True, True] Translation: X:-22.78, Y:9.28, Z:0.19 [[ 7.34958059e-01 6.77313604e-01 -3.29079483e-02 -2.27767251e+01] [-6.76666425e-01 7.35694246e-01 2.96061868e-02 9.27737104e+00] [ 4.42628613e-02 5.08398097e-04 9.99019790e-01 1.86795877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.149115933 meters Centerline goodness [0,1] 0.998929794520548 Centerline is valid? [True, True] Translation: X:-22.80, Y:9.29, Z:0.18 [[ 7.31663833e-01 6.80877306e-01 -3.27739150e-02 -2.27960356e+01] [-6.80231449e-01 7.32397255e-01 2.96553107e-02 9.28595225e+00] [ 4.41951534e-02 5.96129359e-04 9.99022739e-01 1.80790519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.179115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.80, Y:9.31, Z:0.18 [[ 7.30441434e-01 6.82302263e-01 -3.03138982e-02 -2.28025124e+01] [-6.81745349e-01 7.31069997e-01 2.75669975e-02 9.30919393e+00] [ 4.09706062e-02 5.30281965e-04 9.99160211e-01 1.84064351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.209115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.81, Y:9.33, Z:0.20 [[ 7.31889831e-01 6.80830180e-01 -2.84172649e-02 -2.28125784e+01] [-6.80334132e-01 7.32441238e-01 2.59865754e-02 9.32840473e+00] [ 3.85064215e-02 3.13924961e-04 9.99258303e-01 1.98172823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.239115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.82, Y:9.35, Z:0.20 [[ 7.36973942e-01 6.75497539e-01 -2.39266438e-02 -2.28240912e+01] [-6.75139041e-01 7.37362239e-01 2.20046455e-02 9.34550652e+00] [ 3.25066876e-02 -6.30389852e-05 9.99471516e-01 1.99079597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.269115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.84, Y:9.36, Z:0.19 [[ 7.32154723e-01 6.80651978e-01 -2.57360730e-02 -2.28432785e+01] [-6.80235885e-01 7.32606905e-01 2.37962964e-02 9.35531140e+00] [ 3.50514210e-02 8.40295970e-05 9.99385507e-01 1.92098867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.299115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.86, Y:9.37, Z:0.20 [[ 7.23363193e-01 6.89832070e-01 -2.96210221e-02 -2.28569345e+01] [-6.89282418e-01 7.23969244e-01 2.75369056e-02 9.36973590e+00] [ 4.04405496e-02 4.98065811e-04 9.99181822e-01 2.00035963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.329115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.87, Y:9.38, Z:0.19 [[ 7.25225801e-01 6.87908379e-01 -2.88027654e-02 -2.28734187e+01] [-6.87381094e-01 7.25797486e-01 2.69303086e-02 9.38133129e+00] [ 3.94305596e-02 2.67921788e-04 9.99222277e-01 1.94373400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.359115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.89, Y:9.40, Z:0.20 [[ 7.22137545e-01 6.91142989e-01 -2.89609175e-02 -2.28877400e+01] [-6.90606925e-01 7.22717960e-01 2.72181251e-02 9.39616627e+00] [ 3.97421915e-02 3.45380113e-04 9.99209907e-01 2.01286513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.389115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.90, Y:9.41, Z:0.20 [[ 7.22058790e-01 6.91222137e-01 -2.90355302e-02 -2.29020341e+01] [-6.90678029e-01 7.22642300e-01 2.74220203e-02 9.41162968e+00] [ 3.99370098e-02 2.53892016e-04 9.99202167e-01 1.95252067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.419115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.93, Y:9.41, Z:0.15 [[ 7.26988171e-01 6.86150922e-01 -2.61746193e-02 -2.29312981e+01] [-6.85700552e-01 7.27459206e-01 2.48567214e-02 9.40918847e+00] [ 3.60964301e-02 -1.22591477e-04 9.99348304e-01 1.49727888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.449115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.93, Y:9.44, Z:0.20 [[ 7.20610899e-01 6.92756851e-01 -2.84231800e-02 -2.29285009e+01] [-6.92225168e-01 7.21171222e-01 2.71364323e-02 9.44323550e+00] [ 3.92969288e-02 1.20431633e-04 9.99227570e-01 1.99912323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.479115933 meters Centerline goodness [0,1] 0.9976226496650097 Centerline is valid? [True, True] Translation: X:-22.95, Y:9.45, Z:0.18 [[ 7.12768776e-01 7.00663375e-01 -3.21170712e-02 -2.29500553e+01] [-6.99984947e-01 7.13491821e-01 3.08301055e-02 9.44988512e+00] [ 4.45167934e-02 5.06729861e-04 9.99008508e-01 1.80803041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.509115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.95, Y:9.47, Z:0.20 [[ 7.16532271e-01 6.96997025e-01 -2.78684751e-02 -2.29545247e+01] [-6.96478424e-01 7.17074003e-01 2.68827009e-02 9.47481433e+00] [ 3.87209215e-02 1.47468913e-04 9.99250053e-01 2.00823884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.539115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.97, Y:9.49, Z:0.20 [[ 7.18797529e-01 6.94832544e-01 -2.31915711e-02 -2.29664501e+01] [-6.94468449e-01 7.19171560e-01 2.24908982e-02 9.49171530e+00] [ 3.23061264e-02 -6.05876207e-05 9.99478019e-01 2.01443192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.569115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.98, Y:9.51, Z:0.20 [[ 7.14688074e-01 6.99022722e-01 -2.42526625e-02 -2.29806551e+01] [-6.98622683e-01 7.15099456e-01 2.36456131e-02 9.50711136e+00] [ 3.38718866e-02 4.42224580e-05 9.99426182e-01 2.02475740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.599115933 meters Centerline goodness [0,1] 0.9989504617968094 Centerline is valid? [True, True] Translation: X:-23.01, Y:9.50, Z:0.17 [[ 7.07251015e-01 7.06400329e-01 -2.81882482e-02 -2.30141227e+01] [-7.05859704e-01 7.07812440e-01 2.76338147e-02 9.50085125e+00] [ 3.94725285e-02 3.52905020e-04 9.99220594e-01 1.65468501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.629115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.03, Y:9.52, Z:0.16 [[ 7.05591318e-01 7.08067272e-01 -2.79576520e-02 -2.30252017e+01] [-7.07530307e-01 7.06144908e-01 2.75723360e-02 9.51658587e+00] [ 3.92652224e-02 3.26085260e-04 9.99228771e-01 1.59366929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.659115933 meters Centerline goodness [0,1] 0.9989240370131267 Centerline is valid? [True, True] Translation: X:-23.09, Y:9.48, Z:0.03 [[ 7.08051352e-01 7.05680628e-01 -2.60410097e-02 -2.30868896e+01] [-7.05207373e-01 7.08530061e-01 2.58401702e-02 9.48050548e+00] [ 3.66857457e-02 6.81445552e-05 9.99326849e-01 2.87175100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.689115933000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.05, Y:9.55, Z:0.17 [[ 7.03612475e-01 7.10028352e-01 -2.80931415e-02 -2.30469958e+01] [-7.09474113e-01 7.04173062e-01 2.80496371e-02 9.55113427e+00] [ 3.96984711e-02 1.95282101e-04 9.99211686e-01 1.72553493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.719115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-21.92, Y:10.58, Z:-1.88 [[ 7.62423351e-01 -6.46956648e-01 -1.25590447e-02 -2.19191252e+01] [-6.46888489e-01 -7.62526217e-01 9.43672553e-03 1.05842405e+01] [-1.56817531e-02 9.29521531e-04 -9.99876602e-01 -1.88409735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.749115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.95, Y:9.45, Z:0.18 [[ 7.62513467e-01 6.46309804e-01 -2.92719943e-02 -2.29524612e+01] [-6.45830759e-01 7.63075116e-01 2.48796678e-02 9.44759766e+00] [ 3.84167037e-02 -6.63274520e-05 9.99261804e-01 1.75897799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.779115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.97, Y:9.45, Z:0.16 [[ 7.55937695e-01 6.53882634e-01 -3.15547501e-02 -2.29731505e+01] [-6.53326879e-01 7.56595958e-01 2.69545119e-02 9.45271258e+00] [ 4.14992836e-02 2.39634751e-04 9.99138505e-01 1.64048861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.809115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.99, Y:9.47, Z:0.16 [[ 7.54349390e-01 6.55717731e-01 -3.14842229e-02 -2.29884491e+01] [-6.55160139e-01 7.55006095e-01 2.70367971e-02 9.46577070e+00] [ 4.14992874e-02 2.32016492e-04 9.99138507e-01 1.63846485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.839115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.00, Y:9.48, Z:0.17 [[ 7.59251891e-01 6.50144373e-01 -2.91352027e-02 -2.30025745e+01] [-6.49658115e-01 7.59810680e-01 2.51408921e-02 9.48087554e+00] [ 3.84824477e-02 -1.60348981e-04 9.99259263e-01 1.69374414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.869115933 meters Centerline goodness [0,1] 0.9991570073761855 Centerline is valid? [True, True] Translation: X:-23.06, Y:9.44, Z:0.03 [[ 7.57629063e-01 6.51910767e-01 -3.17892284e-02 -2.30642465e+01] [-6.51326545e-01 7.58295663e-01 2.75938323e-02 9.43805956e+00] [ 4.20943504e-02 -2.00720982e-04 9.99113620e-01 2.91455111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.899115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.03, Y:9.52, Z:0.19 [[ 7.59608801e-01 6.49729475e-01 -2.90874410e-02 -2.30263184e+01] [-6.49233856e-01 7.60165414e-01 2.53760351e-02 9.51602787e+00] [ 3.85988246e-02 -3.91308152e-04 9.99254711e-01 1.85590736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.929115933 meters Centerline goodness [0,1] 0.9995760915642221 Centerline is valid? [True, True] Translation: X:-23.10, Y:9.46, Z:0.02 [[ 7.58969129e-01 6.50522655e-01 -2.80381288e-02 -2.30956147e+01] [-6.50057555e-01 7.59486721e-01 2.45987060e-02 9.46472229e+00] [ 3.72966021e-02 -4.43261035e-04 9.99304141e-01 2.04035137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.959115933 meters Centerline goodness [0,1] 0.9991649269311065 Centerline is valid? [True, True] Translation: X:-23.12, Y:9.47, Z:-0.01 [[ 7.60308179e-01 6.49062244e-01 -2.54887453e-02 -2.31193262e+01] [-6.48672547e-01 7.60735091e-01 2.24955161e-02 9.46768054e+00] [ 3.39911732e-02 -5.69675562e-04 9.99421971e-01 -7.72593519e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.989115933 meters Centerline goodness [0,1] 0.9981242184243435 Centerline is valid? [True, True] Translation: X:-23.10, Y:9.53, Z:0.10 [[ 7.45728279e-01 6.65494697e-01 -3.17197526e-02 -2.30964443e+01] [-6.64898657e-01 7.46402573e-01 2.81598260e-02 9.52729145e+00] [ 4.24159198e-02 9.08422837e-05 9.99100036e-01 1.01402819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.019115933 meters Centerline goodness [0,1] 0.9975015615240475 Centerline is valid? [True, True] Translation: X:-23.10, Y:9.55, Z:0.12 [[ 7.41074780e-01 6.70622166e-01 -3.27731588e-02 -2.31045030e+01] [-6.69983410e-01 7.41799054e-01 2.92641993e-02 9.54955893e+00] [ 4.39363189e-02 2.70512612e-04 9.99034297e-01 1.15946889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.049115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.16, Y:9.51, Z:-0.02 [[ 7.42191438e-01 6.69515678e-01 -3.00104469e-02 -2.31648436e+01] [-6.68972638e-01 7.42797922e-01 2.69602770e-02 9.50874689e+00] [ 4.03420257e-02 6.64810856e-05 9.99185927e-01 -2.26964938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.079115933 meters Centerline goodness [0,1] 0.9991744066047472 Centerline is valid? [True, True] Translation: X:-23.18, Y:9.52, Z:-0.04 [[ 7.32616649e-01 6.79765718e-01 -3.45168837e-02 -2.31833781e+01] [-6.79049167e-01 7.33429096e-01 3.12088028e-02 9.51801296e+00] [ 4.65303610e-02 5.74572635e-04 9.98916711e-01 -3.65813369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.109115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.18, Y:9.55, Z:-0.00 [[ 7.20346861e-01 6.92475392e-01 -3.97269483e-02 -2.31836454e+01] [-6.91532619e-01 7.21440075e-01 3.61504614e-02 9.54662041e+00] [ 5.36939175e-02 1.43160916e-03 9.98556415e-01 -1.88739879e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.139115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.19, Y:9.57, Z:0.02 [[ 7.19869828e-01 6.93038003e-01 -3.85455093e-02 -2.31856773e+01] [-6.92140022e-01 7.20899926e-01 3.52914399e-02 9.57392406e+00] [ 5.22457639e-02 1.27364693e-03 9.98633445e-01 2.13188715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.169115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.20, Y:9.58, Z:0.01 [[ 7.12863544e-01 7.00129388e-01 -4.05512912e-02 -2.32019515e+01] [-6.99134143e-01 7.14013922e-01 3.73573199e-02 9.58449918e+00] [ 5.51091440e-02 1.72012075e-03 9.98478855e-01 1.09305906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.199115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.22, Y:9.60, Z:0.00 [[ 7.06466382e-01 7.06507593e-01 -4.18601508e-02 -2.32162765e+01] [-7.05444686e-01 7.07702285e-01 3.87978240e-02 9.59757744e+00] [ 5.70354816e-02 2.12066254e-03 9.98369900e-01 4.10527097e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.229115933 meters Centerline goodness [0,1] 0.999607072691552 Centerline is valid? [True, True] Translation: X:-23.23, Y:9.62, Z:0.02 [[ 7.04140179e-01 7.08756444e-01 -4.30222168e-02 -2.32262949e+01] [-7.07623261e-01 7.05449856e-01 4.01225734e-02 9.61525577e+00] [ 5.87871492e-02 2.19160531e-03 9.98268134e-01 1.83978431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.259115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.25, Y:9.62, Z:-0.02 [[ 6.92581722e-01 7.19915730e-01 -4.52978988e-02 -2.32493222e+01] [-7.18666522e-01 6.94054492e-01 4.25063795e-02 9.61763255e+00] [ 6.20402214e-02 3.11494189e-03 9.98068789e-01 -1.82972774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.289115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.27, Y:9.63, Z:-0.03 [[ 6.91951232e-01 7.20604190e-01 -4.39669612e-02 -2.32653044e+01] [-7.19413256e-01 6.93340583e-01 4.15138987e-02 9.62917936e+00] [ 6.03991679e-02 2.90482132e-03 9.98170077e-01 -2.70033366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.319115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.28, Y:9.64, Z:-0.03 [[ 6.88647692e-01 7.23780559e-01 -4.36584359e-02 -2.32782936e+01] [-7.22596626e-01 6.90023799e-01 4.14882282e-02 9.64198554e+00] [ 6.01537328e-02 2.97666587e-03 9.98184686e-01 -2.70235620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.349115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.29, Y:9.66, Z:-0.03 [[ 6.79882685e-01 7.31836574e-01 -4.66343620e-02 -2.32911521e+01] [-7.30486050e-01 6.81469886e-01 4.45973640e-02 9.65573767e+00] [ 6.44178954e-02 3.74477533e-03 9.97915984e-01 -2.68081984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.379115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.31, Y:9.66, Z:-0.05 [[ 6.81145003e-01 7.30807748e-01 -4.42890559e-02 -2.33125206e+01] [-7.29571474e-01 6.82575456e-01 4.26170320e-02 9.66049760e+00] [ 6.13754797e-02 3.28365341e-03 9.98109347e-01 -4.57877219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.409115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.33, Y:9.67, Z:-0.05 [[ 6.78347100e-01 7.33411196e-01 -4.41953581e-02 -2.33272129e+01] [-7.32169322e-01 6.79777114e-01 4.27920554e-02 9.67290129e+00] [ 6.14271655e-02 3.33061870e-03 9.98106012e-01 -5.09569182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.439115933000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.34, Y:9.69, Z:-0.05 [[ 6.70584274e-01 7.40374452e-01 -4.65016426e-02 -2.33408120e+01] [-7.38997272e-01 6.72182891e-01 4.53121819e-02 9.68508595e+00] [ 6.48055904e-02 3.97895040e-03 9.97889976e-01 -5.23749591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.469115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.35, Y:9.71, Z:-0.03 [[ 6.73626551e-01 7.37687941e-01 -4.52080907e-02 -2.33473080e+01] [-7.36362596e-01 6.75133145e-01 4.43324224e-02 9.70519044e+00] [ 6.32249739e-02 3.42605018e-03 9.97993419e-01 -3.22509148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.499115933 meters Centerline goodness [0,1] 0.9992204248684466 Centerline is valid? [True, True] Translation: X:-23.36, Y:9.72, Z:-0.02 [[ 6.70507317e-01 7.40406078e-01 -4.71038986e-02 -2.33592360e+01] [-7.38954506e-01 6.72149973e-01 4.64828256e-02 9.72002412e+00] [ 6.60770508e-02 3.64056342e-03 9.97807882e-01 -1.81902723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.529115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.38, Y:9.73, Z:-0.03 [[ 6.63183204e-01 7.46930686e-01 -4.77764373e-02 -2.33759724e+01] [-7.45433937e-01 6.64888958e-01 4.74438546e-02 9.72893013e+00] [ 6.72032965e-02 4.15021026e-03 9.97730671e-01 -2.92343143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.559115933 meters Centerline goodness [0,1] 0.9973241590214067 Centerline is valid? [True, True] Translation: X:-23.39, Y:9.74, Z:-0.04 [[ 6.62325149e-01 7.47620486e-01 -4.88774519e-02 -2.33938181e+01] [-7.46034915e-01 6.64113438e-01 4.88389933e-02 9.73726760e+00] [ 6.89732045e-02 4.11699217e-03 9.97610018e-01 -3.91847002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.589115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.14, Y:10.90, Z:-1.66 [[ 8.00030314e-01 -5.98875669e-01 -3.60476036e-02 -2.21427688e+01] [-5.98157967e-01 -8.00839669e-01 2.93746779e-02 1.08972169e+01] [-4.64601308e-02 -1.93847149e-03 -9.98918264e-01 -1.65539035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.619115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.29, Y:9.61, Z:-0.04 [[ 7.20909879e-01 6.91116856e-01 -5.14435422e-02 -2.32908589e+01] [-6.89741701e-01 7.22732293e-01 4.37540609e-02 9.61219967e+00] [ 6.74190782e-02 3.94002152e-03 9.97716966e-01 -4.20352015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.649115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.30, Y:9.63, Z:-0.03 [[ 7.18147905e-01 6.94013302e-01 -5.10795679e-02 -2.33049682e+01] [-6.92649093e-01 7.19950995e-01 4.36783661e-02 9.62585832e+00] [ 6.70881528e-02 4.01268925e-03 9.97738983e-01 -3.43866468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.679115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.32, Y:9.64, Z:-0.04 [[ 7.11168130e-01 7.00949029e-01 -5.39476497e-02 -2.33208370e+01] [-6.99426250e-01 7.13195748e-01 4.64192379e-02 9.63582742e+00] [ 7.10127542e-02 4.72051965e-03 9.97464238e-01 -3.95342580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.709115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.34, Y:9.64, Z:-0.06 [[ 7.10338331e-01 7.01963106e-01 -5.16454663e-02 -2.33429187e+01] [-7.00551358e-01 7.12199613e-01 4.47158271e-02 9.63896382e+00] [ 6.81707420e-02 4.41693564e-03 9.97663892e-01 -5.52834968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.739115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.36, Y:9.65, Z:-0.06 [[ 7.02238760e-01 7.09969701e-01 -5.29504315e-02 -2.33572855e+01] [-7.08487787e-01 7.04213622e-01 4.61327537e-02 9.65044742e+00] [ 7.00412725e-02 5.11852624e-03 9.97530962e-01 -6.20607215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.769115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.38, Y:9.66, Z:-0.07 [[ 7.01045707e-01 7.11130041e-01 -5.31881586e-02 -2.33754932e+01] [-7.09617303e-01 7.03042356e-01 4.66339846e-02 9.65645867e+00] [ 7.05563557e-02 5.05068295e-03 9.97495008e-01 -6.60891925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.799115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.39, Y:9.67, Z:-0.05 [[ 7.00888812e-01 7.11443381e-01 -5.10214555e-02 -2.33852115e+01] [-7.10033456e-01 7.02727847e-01 4.50118257e-02 9.67442224e+00] [ 6.78775630e-02 4.67865532e-03 9.97682688e-01 -5.01185572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.829115933 meters Centerline goodness [0,1] 0.999631608030945 Centerline is valid? [True, True] Translation: X:-23.40, Y:9.68, Z:-0.06 [[ 6.96627178e-01 7.15475356e-01 -5.29678173e-02 -2.34022593e+01] [-7.13946930e-01 6.98619616e-01 4.70150191e-02 9.68304141e+00] [ 7.06424437e-02 5.06427049e-03 9.97488846e-01 -5.80861751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.859115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.42, Y:9.69, Z:-0.06 [[ 6.95491967e-01 7.16620902e-01 -5.23966204e-02 -2.34178604e+01] [-7.15108238e-01 6.97445520e-01 4.67969506e-02 9.69279618e+00] [ 7.00794611e-02 4.92235167e-03 9.97529268e-01 -5.89895338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.889115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.44, Y:9.70, Z:-0.06 [[ 6.93599452e-01 7.18439761e-01 -5.25748035e-02 -2.34354622e+01] [-7.16901451e-01 6.95571776e-01 4.72463225e-02 9.70121776e+00] [ 7.05131860e-02 4.92092948e-03 9.97498709e-01 -6.42006436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.919115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.46, Y:9.71, Z:-0.08 [[ 6.89754756e-01 7.22126665e-01 -5.26446162e-02 -2.34550941e+01] [-7.20574212e-01 6.91742039e-01 4.75999628e-02 9.70683798e+00] [ 7.07896965e-02 5.10205204e-03 9.97478214e-01 -7.66553096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.949115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.47, Y:9.72, Z:-0.07 [[ 6.86490975e-01 7.25190294e-01 -5.31900203e-02 -2.34675848e+01] [-7.23593383e-01 6.88528330e-01 4.83875440e-02 9.72067586e+00] [ 7.17130131e-02 5.27033445e-03 9.97411383e-01 -7.39587846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.979115933 meters Centerline goodness [0,1] 0.9988942130482861 Centerline is valid? [True, True] Translation: X:-23.48, Y:9.73, Z:-0.07 [[ 6.80193817e-01 7.30793419e-01 -5.72481382e-02 -2.34836684e+01] [-7.28936959e-01 6.82571610e-01 5.24109433e-02 9.73015600e+00] [ 7.73775263e-02 6.08068416e-03 9.96983322e-01 -7.16271610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.009115933 meters Centerline goodness [0,1] 0.9998130841121495 Centerline is valid? [True, True] Translation: X:-23.50, Y:9.74, Z:-0.07 [[ 6.84859243e-01 7.26839982e-01 -5.16861507e-02 -2.34986224e+01] [-7.25295171e-01 6.86789514e-01 4.76138372e-02 9.74017656e+00] [ 7.01051469e-02 4.87893903e-03 9.97527676e-01 -7.00560659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.039115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.51, Y:9.75, Z:-0.07 [[ 6.81453769e-01 7.29969776e-01 -5.25821840e-02 -2.35132587e+01] [-7.28357910e-01 6.83460556e-01 4.87485708e-02 9.75079397e+00] [ 7.15228321e-02 5.07875234e-03 9.97426033e-01 -7.19186880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.069115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.53, Y:9.76, Z:-0.07 [[ 6.77664927e-01 7.33423503e-01 -5.34809544e-02 -2.35271759e+01] [-7.31743486e-01 6.79751176e-01 4.98979888e-02 9.76254622e+00] [ 7.29500994e-02 5.32022310e-03 9.97321402e-01 -6.75773427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.099115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.54, Y:9.77, Z:-0.07 [[ 6.74006184e-01 7.36742689e-01 -5.40913517e-02 -2.35422980e+01] [-7.35010104e-01 6.76150680e-01 5.07976798e-02 9.77170000e+00] [ 7.39987235e-02 5.51973975e-03 9.97243060e-01 -6.50113210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.129115933 meters Centerline goodness [0,1] 0.9988882712618121 Centerline is valid? [True, True] Translation: X:-23.56, Y:9.79, Z:-0.06 [[ 6.69650908e-01 7.40571087e-01 -5.58759912e-02 -2.35550982e+01] [-7.38709519e-01 6.71952010e-01 5.28085520e-02 9.78501739e+00] [ 7.66544713e-02 5.91283180e-03 9.97040185e-01 -6.07400849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.159115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.57, Y:9.79, Z:-0.07 [[ 6.64883881e-01 7.44790128e-01 -5.67193976e-02 -2.35733137e+01] [-7.42860492e-01 6.67269341e-01 5.39436329e-02 9.79192448e+00] [ 7.80238003e-02 6.26834757e-03 9.96931790e-01 -6.59852417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.189115933000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.59, Y:9.80, Z:-0.08 [[ 6.65502108e-01 7.44349009e-01 -5.52403592e-02 -2.35894671e+01] [-7.42491696e-01 6.67765362e-01 5.28725088e-02 9.80058350e+00] [ 7.62431980e-02 5.82874196e-03 9.97072214e-01 -7.59457948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.219115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.60, Y:9.82, Z:-0.06 [[ 6.63538436e-01 7.46087014e-01 -5.54158028e-02 -2.36014660e+01] [-7.44198415e-01 6.65822964e-01 5.33713307e-02 9.81509583e+00] [ 7.67167708e-02 5.82642332e-03 9.97035902e-01 -6.23277588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.249115933 meters Centerline goodness [0,1] 0.9972211930344572 Centerline is valid? [True, True] Translation: X:-23.60, Y:9.84, Z:-0.01 [[ 6.52835620e-01 7.55266137e-01 -5.81267222e-02 -2.36024929e+01] [-7.53195066e-01 6.55380792e-01 5.63312562e-02 9.84030653e+00] [ 8.06402275e-02 7.00570981e-03 9.96718653e-01 -1.08833874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.279115933 meters Centerline goodness [0,1] 0.9979373710856928 Centerline is valid? [True, True] Translation: X:-23.61, Y:9.86, Z:0.00 [[ 6.54317950e-01 7.54120096e-01 -5.63107589e-02 -2.36105069e+01] [-7.52145657e-01 6.56705117e-01 5.49117472e-02 9.85706391e+00] [ 7.83896156e-02 6.42415090e-03 9.96902101e-01 3.11344840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.309115933 meters Centerline goodness [0,1] 0.9960864703689899 Centerline is valid? [True, True] Translation: X:-23.61, Y:9.88, Z:0.04 [[ 6.44403842e-01 7.62427996e-01 -5.87131968e-02 -2.36146880e+01] [-7.60285615e-01 6.47029415e-01 5.76083266e-02 9.87784866e+00] [ 8.19113664e-02 7.51577203e-03 9.96611279e-01 3.81310237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.339115933 meters Centerline goodness [0,1] 0.9977732417888291 Centerline is valid? [True, True] Translation: X:-23.64, Y:9.88, Z:-0.00 [[ 6.47444552e-01 7.60004636e-01 -5.66436614e-02 -2.36403420e+01] [-7.57973304e-01 6.49882910e-01 5.59345493e-02 9.87646100e+00] [ 7.93222643e-02 6.71986398e-03 9.96826375e-01 -2.04226483e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.369115933 meters Centerline goodness [0,1] 0.9981167608286252 Centerline is valid? [True, True] Translation: X:-23.66, Y:9.88, Z:-0.02 [[ 6.53722999e-01 7.54759020e-01 -5.46357196e-02 -2.36611697e+01] [-7.52824969e-01 6.55977908e-01 5.42913496e-02 9.87985150e+00] [ 7.68167108e-02 5.63963002e-03 9.97029281e-01 -1.61256504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.399115933 meters Centerline goodness [0,1] 0.9966317365269461 Centerline is valid? [True, True] Translation: X:-23.67, Y:9.90, Z:0.02 [[ 6.41727941e-01 7.64713324e-01 -5.82990791e-02 -2.36651765e+01] [-7.62519516e-01 6.44332238e-01 5.83091286e-02 9.90110064e+00] [ 8.21537436e-02 7.03558852e-03 9.96594834e-01 2.48980224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.429115933 meters Centerline goodness [0,1] 0.999627004848937 Centerline is valid? [True, True] Translation: X:-22.36, Y:11.12, Z:-1.79 [[ 8.17354120e-01 -5.74064652e-01 -4.88059193e-02 -2.23561013e+01] [-5.72673452e-01 -8.18795037e-01 4.02468106e-02 1.11189788e+01] [-6.30663158e-02 -4.94604223e-03 -9.97997082e-01 -1.78789232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.459115933 meters Centerline goodness [0,1] 0.9969953051643192 Centerline is valid? [True, True] Translation: X:-23.55, Y:9.78, Z:0.06 [[ 6.96399603e-01 7.14546788e-01 -6.67119197e-02 -2.35528492e+01] [-7.12325907e-01 6.99542698e-01 5.68490631e-02 9.77891924e+00] [ 8.72891518e-02 7.93096370e-03 9.96151446e-01 5.97999444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.489115933 meters Centerline goodness [0,1] 0.9955064594645198 Centerline is valid? [True, True] Translation: X:-23.57, Y:9.78, Z:0.06 [[ 7.01234457e-01 7.10179355e-01 -6.25741191e-02 -2.35715518e+01] [-7.08182625e-01 7.03988903e-01 5.36376196e-02 9.78267744e+00] [ 8.21438155e-02 6.70135691e-03 9.96597956e-01 5.60683733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.519115933 meters Centerline goodness [0,1] 0.9964252116650988 Centerline is valid? [True, True] Translation: X:-23.59, Y:9.79, Z:0.05 [[ 6.96170188e-01 7.14947168e-01 -6.47890071e-02 -2.35850257e+01] [-7.12796425e-01 6.99140651e-01 5.58892283e-02 9.79487528e+00] [ 8.52544742e-02 7.27295805e-03 9.96332665e-01 4.97266896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.549115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.59, Y:9.81, Z:0.08 [[ 6.89483694e-01 7.21048705e-01 -6.85638377e-02 -2.35932683e+01] [-7.18636077e-01 6.92835361e-01 5.95092596e-02 9.81335881e+00] [ 9.04125258e-02 8.24178317e-03 9.95870297e-01 8.46906747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.579115933 meters Centerline goodness [0,1] 0.9990657698056801 Centerline is valid? [True, True] Translation: X:-23.61, Y:9.82, Z:0.06 [[ 6.86282106e-01 7.24035395e-01 -6.92070653e-02 -2.36123023e+01] [-7.21557772e-01 6.89710972e-01 6.04413419e-02 9.81732781e+00] [ 9.14945431e-02 8.45708443e-03 9.95769665e-01 5.84140367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.609115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.62, Y:9.83, Z:0.09 [[ 6.86292301e-01 7.23974622e-01 -6.97396826e-02 -2.36221526e+01] [-7.21423412e-01 6.89777228e-01 6.12832528e-02 9.83287638e+00] [ 9.24723648e-02 8.25361514e-03 9.95681043e-01 8.59871290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.639115933 meters Centerline goodness [0,1] 0.9962185668368312 Centerline is valid? [True, True] Translation: X:-23.65, Y:9.82, Z:0.03 [[ 6.91890115e-01 7.18830909e-01 -6.76032006e-02 -2.36525482e+01] [-7.16369491e-01 6.95149513e-01 5.98490337e-02 9.82144726e+00] [ 9.00156672e-02 7.01991559e-03 9.95915609e-01 3.06863488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.669115933 meters Centerline goodness [0,1] 0.9988782950084127 Centerline is valid? [True, True] Translation: X:-23.65, Y:9.85, Z:0.08 [[ 6.85515967e-01 7.24813284e-01 -6.86553955e-02 -2.36540323e+01] [-7.22266427e-01 6.88902966e-01 6.11875148e-02 9.84660621e+00] [ 9.16464291e-02 7.64246882e-03 9.95762283e-01 7.52690123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.699115933 meters Centerline goodness [0,1] 0.9988782950084127 Centerline is valid? [True, True] Translation: X:-23.67, Y:9.86, Z:0.08 [[ 6.83281431e-01 7.26938130e-01 -6.84648838e-02 -2.36670641e+01] [-7.24380703e-01 6.86660449e-01 6.14005288e-02 9.85868383e+00] [ 9.16465135e-02 7.64079948e-03 9.95762288e-01 7.51011493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.729115933 meters Centerline goodness [0,1] 0.9970193740685543 Centerline is valid? [True, True] Translation: X:-23.69, Y:9.86, Z:0.05 [[ 6.85867638e-01 7.24699754e-01 -6.63012089e-02 -2.36867755e+01] [-7.22257157e-01 6.89030805e-01 5.98427122e-02 9.86223849e+00] [ 8.90515741e-02 6.84234294e-03 9.96003514e-01 4.98110066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.759115933 meters Centerline goodness [0,1] 0.998501872659176 Centerline is valid? [True, True] Translation: X:-23.70, Y:9.88, Z:0.07 [[ 6.79882171e-01 7.30185331e-01 -6.77467074e-02 -2.36961216e+01] [-7.27625967e-01 6.83208442e-01 6.15359825e-02 9.87869892e+00] [ 9.12177942e-02 7.45704611e-03 9.95803046e-01 7.20786635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.789115933 meters Centerline goodness [0,1] 0.9955621301775148 Centerline is valid? [True, True] Translation: X:-23.72, Y:9.88, Z:0.02 [[ 6.85973491e-01 7.24918561e-01 -6.27172201e-02 -2.37199922e+01] [-7.22672452e-01 6.88808508e-01 5.73355616e-02 9.87727895e+00] [ 8.47637675e-02 5.99333187e-03 9.96383051e-01 2.34864701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.819115933 meters Centerline goodness [0,1] 0.9960703592814372 Centerline is valid? [True, True] Translation: X:-23.73, Y:9.89, Z:0.03 [[ 6.83143963e-01 7.27589587e-01 -6.26715146e-02 -2.37332010e+01] [-7.25326495e-01 6.85985857e-01 5.76617599e-02 9.88924558e+00] [ 8.49458687e-02 6.06602689e-03 9.96367102e-01 3.05659909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.849115933 meters Centerline goodness [0,1] 0.9973464746019712 Centerline is valid? [True, True] Translation: X:-23.76, Y:9.89, Z:-0.01 [[ 6.84490156e-01 7.26437358e-01 -6.13350801e-02 -2.37559007e+01] [-7.24228237e-01 6.87210759e-01 5.68755987e-02 9.88704819e+00] [ 8.34666866e-02 5.48980951e-03 9.96495446e-01 -1.14618718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.879115933 meters Centerline goodness [0,1] 0.9968117029257314 Centerline is valid? [True, True] Translation: X:-23.76, Y:9.91, Z:0.01 [[ 6.85932570e-01 7.25245616e-01 -5.92900146e-02 -2.37631820e+01] [-7.23146674e-01 6.88472752e-01 5.53548335e-02 9.90554353e+00] [ 8.09654098e-02 4.90569370e-03 9.96704839e-01 1.41970852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.909115933 meters Centerline goodness [0,1] 0.9967711301044634 Centerline is valid? [True, True] Translation: X:-23.78, Y:9.92, Z:0.01 [[ 6.85348757e-01 7.25840426e-01 -5.87601714e-02 -2.37768780e+01] [-7.23752157e-01 6.87847176e-01 5.52184532e-02 9.91700184e+00] [ 8.04978035e-02 4.68390255e-03 9.96743781e-01 1.32120288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.939115933000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.81, Y:9.90, Z:-0.08 [[ 6.88699619e-01 7.22876427e-01 -5.60580559e-02 -2.38141103e+01] [-7.20938984e-01 6.90966375e-01 5.30325343e-02 9.90056348e+00] [ 7.70702006e-02 3.89095174e-03 9.97018076e-01 -8.43000837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.969115933 meters Centerline goodness [0,1] 0.9975536319156943 Centerline is valid? [True, True] Translation: X:-23.81, Y:9.93, Z:-0.02 [[ 6.82346448e-01 7.28871469e-01 -5.61222475e-02 -2.38088244e+01] [-7.26922747e-01 6.84636845e-01 5.34388485e-02 9.93333279e+00] [ 7.73734105e-02 4.33272986e-03 9.96992770e-01 -1.69402814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.999115933 meters Centerline goodness [0,1] 0.9966740576496674 Centerline is valid? [True, True] Translation: X:-23.81, Y:9.96, Z:0.01 [[ 6.70021352e-01 7.39905060e-01 -6.00989962e-02 -2.38120577e+01] [-7.37682047e-01 6.72686806e-01 5.75991232e-02 9.95630571e+00] [ 8.30456845e-02 5.74130816e-03 9.96529203e-01 1.35987053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.029115933 meters Centerline goodness [0,1] 0.9966449207828518 Centerline is valid? [True, True] Translation: X:-23.82, Y:9.97, Z:0.01 [[ 6.67183473e-01 7.42561608e-01 -5.88937369e-02 -2.38245931e+01] [-7.40402751e-01 6.69753803e-01 5.68648277e-02 9.96705880e+00] [ 8.16699422e-02 5.66581164e-03 9.96643326e-01 1.15637544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.059115933 meters Centerline goodness [0,1] 0.996844840386043 Centerline is valid? [True, True] Translation: X:-23.84, Y:9.98, Z:0.02 [[ 6.60900192e-01 7.48071212e-01 -6.00033125e-02 -2.38353375e+01] [-7.45816635e-01 6.63589692e-01 5.83632443e-02 9.97961402e+00] [ 8.34774425e-02 6.17918926e-03 9.96490509e-01 2.10618827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.089115933 meters Centerline goodness [0,1] 0.9981353719932874 Centerline is valid? [True, True] Translation: X:-23.86, Y:9.97, Z:-0.04 [[ 6.71059295e-01 7.39381693e-01 -5.47186854e-02 -2.38631641e+01] [-7.37451778e-01 6.73272092e-01 5.35683302e-02 9.97401258e+00] [ 7.64480064e-02 4.40486590e-03 9.97063839e-01 -4.04522036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.119115933 meters Centerline goodness [0,1] 0.9979550102249489 Centerline is valid? [True, True] Translation: X:-23.87, Y:9.99, Z:-0.03 [[ 6.71918879e-01 7.38842902e-01 -5.13437951e-02 -2.38726660e+01] [-7.37114918e-01 6.73866901e-01 5.06458036e-02 9.98860403e+00] [ 7.20181766e-02 3.81640569e-03 9.97396018e-01 -2.82165200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.149115933 meters Centerline goodness [0,1] 0.9994451636767153 Centerline is valid? [True, True] Translation: X:-23.90, Y:9.98, Z:-0.09 [[ 6.73424283e-01 7.37452067e-01 -5.16157410e-02 -2.39012581e+01] [-7.35672020e-01 6.75390859e-01 5.13212079e-02 9.98375870e+00] [ 7.27077305e-02 3.41130883e-03 9.97347456e-01 -9.39694548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.179115933 meters Centerline goodness [0,1] 0.9988870339454646 Centerline is valid? [True, True] Translation: X:-23.91, Y:10.00, Z:-0.07 [[ 6.64602866e-01 7.45243950e-01 -5.39859809e-02 -2.39056494e+01] [-7.43291049e-01 6.66778770e-01 5.40785380e-02 1.00037862e+01] [ 7.62984092e-02 4.18654503e-03 9.97076239e-01 -6.68907699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.209115933 meters Centerline goodness [0,1] 0.9996303825540566 Centerline is valid? [True, True] Translation: X:-22.48, Y:11.36, Z:-1.62 [[ 7.93514352e-01 -6.07161462e-01 -4.11087778e-02 -2.24817940e+01] [-6.06225739e-01 -7.94576308e-01 3.37467781e-02 1.13579121e+01] [-5.31538040e-02 -1.85735360e-03 -9.98584610e-01 -1.62477452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.239115933 meters Centerline goodness [0,1] 0.9994504488001466 Centerline is valid? [True, True] Translation: X:-23.80, Y:9.87, Z:-0.08 [[ 7.26070874e-01 6.85346136e-01 -5.58727015e-02 -2.38007021e+01] [-6.83695412e-01 7.28208636e-01 4.76735433e-02 9.87089220e+00] [ 7.33598625e-02 3.58553840e-03 9.97299090e-01 -8.43265642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.269115933 meters Centerline goodness [0,1] 0.9992675334187877 Centerline is valid? [True, True] Translation: X:-23.81, Y:9.89, Z:-0.07 [[ 7.27037961e-01 6.84453908e-01 -5.42093236e-02 -2.38093916e+01] [-6.82876874e-01 7.29049207e-01 4.65449176e-02 9.88790845e+00] [ 7.13791151e-02 3.17837145e-03 9.97444194e-01 -6.67042444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.299115933 meters Centerline goodness [0,1] 0.9987261146496815 Centerline is valid? [True, True] Translation: X:-23.82, Y:9.90, Z:-0.06 [[ 7.18104423e-01 6.93570619e-01 -5.73221881e-02 -2.38180994e+01] [-6.91800391e-01 7.20377654e-01 4.96815428e-02 9.89920379e+00] [ 7.57512818e-02 3.97897652e-03 9.97118805e-01 -6.12181374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.329115933 meters Centerline goodness [0,1] 0.9983627433145352 Centerline is valid? [True, True] Translation: X:-23.83, Y:9.92, Z:-0.05 [[ 7.19809230e-01 6.92053651e-01 -5.41887110e-02 -2.38276058e+01] [-6.90444059e-01 7.21838189e-01 4.72930154e-02 9.91626958e+00] [ 7.18447850e-02 3.37232457e-03 9.97410123e-01 -5.16576244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.359115933 meters Centerline goodness [0,1] 0.9994458810491319 Centerline is valid? [True, True] Translation: X:-23.85, Y:9.92, Z:-0.09 [[ 7.20466043e-01 6.91357787e-01 -5.43423512e-02 -2.38498070e+01] [-6.89714920e-01 7.22505958e-01 4.77333320e-02 9.91814470e+00] [ 7.22634833e-02 3.09048552e-03 9.97380789e-01 -8.80602950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.389115933 meters Centerline goodness [0,1] 0.9996336996336996 Centerline is valid? [True, True] Translation: X:-23.86, Y:9.93, Z:-0.10 [[ 7.21973292e-01 6.89973766e-01 -5.18726193e-02 -2.38627197e+01] [-6.88451868e-01 7.23829737e-01 4.58752286e-02 9.92915698e+00] [ 6.91996486e-02 2.59111184e-03 9.97599466e-01 -9.60115166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.419115933 meters Centerline goodness [0,1] 0.9996281836772635 Centerline is valid? [True, True] Translation: X:-23.88, Y:9.94, Z:-0.11 [[ 7.14860042e-01 6.97134198e-01 -5.45804933e-02 -2.38800714e+01] [-6.95445842e-01 7.16933435e-01 4.85955850e-02 9.93701774e+00] [ 7.30082247e-02 3.21873512e-03 9.97326145e-01 -1.09143428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.449115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.89, Y:9.95, Z:-0.11 [[ 7.14212384e-01 6.97911054e-01 -5.31115003e-02 -2.38933636e+01] [-6.96292764e-01 7.16178208e-01 4.75937042e-02 9.94997459e+00] [ 7.12534714e-02 2.98914042e-03 9.97453762e-01 -1.06583653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.479115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.90, Y:9.96, Z:-0.11 [[ 7.10907578e-01 7.01220938e-01 -5.38480416e-02 -2.39047952e+01] [-6.99543632e-01 7.12937128e-01 4.85732174e-02 9.96344658e+00] [ 7.24508252e-02 3.13798626e-03 9.97367049e-01 -1.07445615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.509115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.92, Y:9.98, Z:-0.11 [[ 7.05365873e-01 7.06748160e-01 -5.44612138e-02 -2.39174018e+01] [-7.05025450e-01 7.07456454e-01 4.94416947e-02 9.97655642e+00] [ 7.34717639e-02 3.52205759e-03 9.97291078e-01 -1.09698066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.539115933 meters Centerline goodness [0,1] 0.9983868076716257 Centerline is valid? [True, True] Translation: X:-23.92, Y:10.00, Z:-0.08 [[ 7.00905225e-01 7.11083021e-01 -5.56129717e-02 -2.39217555e+01] [-7.09275839e-01 7.03097609e-01 5.08088271e-02 9.99992263e+00] [ 7.52306416e-02 3.83276478e-03 9.97158794e-01 -7.62032475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.569115933 meters Centerline goodness [0,1] 0.9989021043000915 Centerline is valid? [True, True] Translation: X:-23.94, Y:10.01, Z:-0.10 [[ 6.96608478e-01 7.15137375e-01 -5.75774484e-02 -2.39385934e+01] [-7.13187288e-01 6.98971410e-01 5.29420443e-02 1.00085066e+01] [ 7.81058249e-02 4.18362738e-03 9.96936296e-01 -9.60221930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.599115933 meters Centerline goodness [0,1] 0.9998204990127446 Centerline is valid? [True, True] Translation: X:-23.96, Y:10.02, Z:-0.12 [[ 6.95020564e-01 7.16652961e-01 -5.79219189e-02 -2.39557566e+01] [-7.14657180e-01 6.97417682e-01 5.36068288e-02 1.00161612e+01] [ 7.88132630e-02 4.13646685e-03 9.96880815e-01 -1.16711505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.629115933 meters Centerline goodness [0,1] 0.9979835013748855 Centerline is valid? [True, True] Translation: X:-23.96, Y:10.04, Z:-0.07 [[ 6.85882257e-01 7.25263431e-01 -5.96530343e-02 -2.39552335e+01] [-7.23149272e-01 6.88453109e-01 5.55648010e-02 1.00438243e+01] [ 8.13674352e-02 5.02713720e-03 9.96671495e-01 -7.34177782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.659115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.98, Y:10.04, Z:-0.13 [[ 6.92854612e-01 7.18944607e-01 -5.54178575e-02 -2.39835696e+01] [-7.17073277e-01 6.95057369e-01 5.19727766e-02 1.00392546e+01] [ 7.58841377e-02 3.72908669e-03 9.97109669e-01 -1.31486203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.689115933000004 meters Centerline goodness [0,1] 0.9987155963302752 Centerline is valid? [True, True] Translation: X:-23.99, Y:10.06, Z:-0.10 [[ 6.83796756e-01 7.27351677e-01 -5.81509638e-02 -2.39856072e+01] [-7.25291964e-01 6.86249240e-01 5.48957875e-02 1.00639701e+01] [ 7.98345978e-02 4.63886531e-03 9.96797330e-01 -9.53860518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.719115933 meters Centerline goodness [0,1] 0.9985538684020245 Centerline is valid? [True, True] Translation: X:-24.00, Y:10.08, Z:-0.10 [[ 6.81431684e-01 7.29449143e-01 -5.96222110e-02 -2.39971188e+01] [-7.27261460e-01 6.84018511e-01 5.66519659e-02 1.00778933e+01] [ 8.21074239e-02 4.75649168e-03 9.96612135e-01 -9.90198257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.749115933 meters Centerline goodness [0,1] 0.998178838098707 Centerline is valid? [True, True] Translation: X:-24.01, Y:10.09, Z:-0.09 [[ 6.77535521e-01 7.33228950e-01 -5.76274618e-02 -2.40068485e+01] [-7.31170168e-01 6.79964958e-01 5.51166208e-02 1.00932324e+01] [ 7.95977566e-02 4.79201247e-03 9.96815547e-01 -8.94345839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.779115933 meters Centerline goodness [0,1] 0.998205312275664 Centerline is valid? [True, True] Translation: X:-24.02, Y:10.11, Z:-0.10 [[ 6.69809724e-01 7.40018635e-01 -6.10520655e-02 -2.40203942e+01] [-7.37702345e-01 6.72562487e-01 5.87788307e-02 1.01050376e+01] [ 8.45587590e-02 5.66761963e-03 9.96402376e-01 -9.82355747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.809115933 meters Centerline goodness [0,1] 0.9992691394116572 Centerline is valid? [True, True] Translation: X:-24.04, Y:10.11, Z:-0.13 [[ 6.68832492e-01 7.40914009e-01 -6.09058990e-02 -2.40404639e+01] [-7.38579422e-01 6.71577350e-01 5.90279696e-02 1.01083813e+01] [ 8.46376718e-02 5.50401965e-03 9.96396593e-01 -1.34253339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.839115933 meters Centerline goodness [0,1] 0.9983914209115281 Centerline is valid? [True, True] Translation: X:-24.04, Y:10.13, Z:-0.10 [[ 6.63558405e-01 7.45666916e-01 -6.05895495e-02 -2.40402549e+01] [-7.43339316e-01 6.66293759e-01 5.91547869e-02 1.01344836e+01] [ 8.44802062e-02 5.78593827e-03 9.96408359e-01 -1.03423505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.869115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.07, Y:10.13, Z:-0.16 [[ 6.61531175e-01 7.47433498e-01 -6.09891020e-02 -2.40672907e+01] [-7.45049183e-01 6.64311390e-01 5.99340601e-02 1.01313229e+01] [ 8.53124793e-02 5.79163137e-03 9.96337412e-01 -1.61263037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.899115933 meters Centerline goodness [0,1] 0.9964209019327129 Centerline is valid? [True, True] Translation: X:-24.05, Y:10.18, Z:-0.06 [[ 6.55244903e-01 7.52949227e-01 -6.10047427e-02 -2.40493114e+01] [-7.50549771e-01 6.58049213e-01 6.03843973e-02 1.01759111e+01] [ 8.56105082e-02 6.22052708e-03 9.96309262e-01 -5.52873902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.929115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.09, Y:10.16, Z:-0.15 [[ 6.64525689e-01 7.45088656e-01 -5.69956507e-02 -2.40882094e+01] [-7.42934207e-01 6.66949612e-01 5.68065076e-02 1.01599082e+01] [ 8.03391115e-02 4.59463491e-03 9.96757000e-01 -1.53202608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.959115933 meters Centerline goodness [0,1] 0.9962982548915917 Centerline is valid? [True, True] Translation: X:-24.07, Y:10.20, Z:-0.06 [[ 6.46636692e-01 7.60393006e-01 -6.05265664e-02 -2.40721462e+01] [-7.57989202e-01 6.49429876e-01 6.07717503e-02 1.02026170e+01] [ 8.55181744e-02 6.58124019e-03 9.96314874e-01 -5.72133636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.989115933 meters Centerline goodness [0,1] 0.9971372338522096 Centerline is valid? [True, True] Translation: X:-22.68, Y:11.47, Z:-1.62 [[ 8.05280648e-01 -5.90876683e-01 -4.88653553e-02 -2.26844486e+01] [-5.89501189e-01 -8.06753012e-01 4.04712919e-02 1.14740568e+01] [-6.33358153e-02 -3.78456315e-03 -9.97985096e-01 -1.62004072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.019115933 meters Centerline goodness [0,1] 0.9998190372783207 Centerline is valid? [True, True] Translation: X:-23.97, Y:10.03, Z:-0.16 [[ 7.15610628e-01 6.95727131e-01 -6.21706377e-02 -2.39694845e+01] [-6.93707956e-01 7.18288404e-01 5.32075233e-02 1.00288340e+01] [ 8.16743657e-02 5.05239682e-03 9.96646262e-01 -1.61075600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.049115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.98, Y:10.04, Z:-0.16 [[ 7.15553584e-01 6.95832826e-01 -6.16420780e-02 -2.39809181e+01] [-6.93815895e-01 7.18188181e-01 5.31529962e-02 1.00407190e+01] [ 8.12562114e-02 4.73443653e-03 9.96682002e-01 -1.61159427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.079115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.00, Y:10.05, Z:-0.17 [[ 7.05074298e-01 7.06216190e-01 -6.42567230e-02 -2.39962483e+01] [-7.04033588e-01 7.07971661e-01 5.57927813e-02 1.00507902e+01] [ 8.48937044e-02 5.90083514e-03 9.96372540e-01 -1.73107538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.109115933 meters Centerline goodness [0,1] 0.9991150442477876 Centerline is valid? [True, True] Translation: X:-24.00, Y:10.07, Z:-0.15 [[ 7.04178751e-01 7.07357026e-01 -6.14680775e-02 -2.40018317e+01] [-7.05335769e-01 7.06834844e-01 5.37210914e-02 1.00722342e+01] [ 8.14477704e-02 5.52638269e-03 9.96662290e-01 -1.47885362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.139115933 meters Centerline goodness [0,1] 0.9978973190818293 Centerline is valid? [True, True] Translation: X:-24.01, Y:10.09, Z:-0.12 [[ 6.97830645e-01 7.13588428e-01 -6.18380670e-02 -2.40052610e+01] [-7.11537166e-01 7.00539168e-01 5.44034484e-02 1.00945656e+01] [ 8.21416592e-02 6.03568945e-03 9.96602387e-01 -1.15352735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.169115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.03, Y:10.09, Z:-0.19 [[ 6.98791330e-01 7.12721938e-01 -6.09763619e-02 -2.40349158e+01] [-7.10695512e-01 7.01424306e-01 5.39984437e-02 1.00866964e+01] [ 8.12561777e-02 5.60198250e-03 9.96677506e-01 -1.88509738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.199115933 meters Centerline goodness [0,1] 0.9985590778097982 Centerline is valid? [True, True] Translation: X:-24.03, Y:10.12, Z:-0.14 [[ 6.86439951e-01 7.24442250e-01 -6.31159253e-02 -2.40317473e+01] [-7.22288581e-01 6.89300222e-01 5.62530900e-02 1.01173963e+01] [ 8.42579365e-02 6.97354380e-03 9.96419575e-01 -1.37233044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.229115933 meters Centerline goodness [0,1] 0.9990895848506919 Centerline is valid? [True, True] Translation: X:-24.05, Y:10.12, Z:-0.17 [[ 6.82824173e-01 7.27807389e-01 -6.36203864e-02 -2.40529806e+01] [-7.25602738e-01 6.85743807e-01 5.70622198e-02 1.01187415e+01] [ 8.51575912e-02 7.19966357e-03 9.96341482e-01 -1.68116064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.259115933 meters Centerline goodness [0,1] 0.9978428905266943 Centerline is valid? [True, True] Translation: X:-24.05, Y:10.15, Z:-0.13 [[ 6.74680386e-01 7.35427973e-01 -6.28655072e-02 -2.40536821e+01] [-7.33277245e-01 6.77557848e-01 5.67436743e-02 1.01457889e+01] [ 8.43259032e-02 7.81400176e-03 9.96407589e-01 -1.30236556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.289115933 meters Centerline goodness [0,1] 0.9980427046263345 Centerline is valid? [True, True] Translation: X:-24.05, Y:10.17, Z:-0.08 [[ 6.61202597e-01 7.47343551e-01 -6.54884951e-02 -2.40511649e+01] [-7.45030142e-01 6.64370733e-01 5.95114803e-02 1.01747245e+01] [ 8.79841605e-02 9.44175748e-03 9.96077126e-01 -7.53801281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.319115933 meters Centerline goodness [0,1] 0.9987673886247579 Centerline is valid? [True, True] Translation: X:-24.08, Y:10.16, Z:-0.16 [[ 6.72517485e-01 7.37679488e-01 -5.95751974e-02 -2.40834469e+01] [-7.35698836e-01 6.75112895e-01 5.44958882e-02 1.01629556e+01] [ 8.04204829e-02 7.17996574e-03 9.96735167e-01 -1.56597964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.349115933 meters Centerline goodness [0,1] 0.9968056787932564 Centerline is valid? [True, True] Translation: X:-24.08, Y:10.19, Z:-0.11 [[ 6.61722520e-01 7.47250487e-01 -6.11556746e-02 -2.40822217e+01] [-7.45172610e-01 6.64490477e-01 5.63044248e-02 1.01904101e+01] [ 8.27108722e-02 8.31362774e-03 9.96538908e-01 -1.13806407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.379115933 meters Centerline goodness [0,1] 0.9985732120563581 Centerline is valid? [True, True] Translation: X:-24.11, Y:10.19, Z:-0.15 [[ 6.62622581e-01 7.46559752e-01 -5.98318591e-02 -2.41057601e+01] [-7.44539468e-01 6.65272506e-01 5.54389126e-02 1.01892668e+01] [ 8.11929517e-02 7.81210527e-03 9.96667786e-01 -1.53895130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.409115933 meters Centerline goodness [0,1] 0.9973526297211437 Centerline is valid? [True, True] Translation: X:-24.10, Y:10.22, Z:-0.09 [[ 6.53186359e-01 7.54556920e-01 -6.31778024e-02 -2.41003265e+01] [-7.52306487e-01 6.56172380e-01 5.89301104e-02 1.02219737e+01] [ 8.59216516e-02 9.03672635e-03 9.96260913e-01 -8.58421806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.439115933000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.15, Y:10.19, Z:-0.21 [[ 6.68332865e-01 7.41634864e-01 -5.75231248e-02 -2.41471933e+01] [-7.39692603e-01 6.70772848e-01 5.40244223e-02 1.01947798e+01] [ 7.86513454e-02 6.44313306e-03 9.96881363e-01 -2.07589631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.469115933 meters Centerline goodness [0,1] 0.997159595242322 Centerline is valid? [True, True] Translation: X:-24.14, Y:10.23, Z:-0.14 [[ 6.53557616e-01 7.54352386e-01 -6.17650467e-02 -2.41381015e+01] [-7.52127945e-01 6.56417987e-01 5.84720420e-02 1.02276443e+01] [ 8.46522121e-02 8.24036930e-03 9.96376485e-01 -1.43587983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.499115933 meters Centerline goodness [0,1] 0.998374571067365 Centerline is valid? [True, True] Translation: X:-24.16, Y:10.23, Z:-0.16 [[ 6.61388033e-01 7.47816036e-01 -5.77671788e-02 -2.41590252e+01] [-7.45816772e-01 6.63872462e-01 5.50517612e-02 1.02298482e+01] [ 7.95186290e-02 6.67315473e-03 9.96811044e-01 -1.62352193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.529115933 meters Centerline goodness [0,1] 0.998374571067365 Centerline is valid? [True, True] Translation: X:-24.17, Y:10.24, Z:-0.17 [[ 6.65729113e-01 7.44043114e-01 -5.66091113e-02 -2.41722920e+01] [-7.42081506e-01 6.68105965e-01 5.43089212e-02 1.02409922e+01] [ 7.82290637e-02 5.85354461e-03 9.96918226e-01 -1.68640016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.559115933 meters Centerline goodness [0,1] 0.9998243456876866 Centerline is valid? [True, True] Translation: X:-24.20, Y:10.24, Z:-0.21 [[ 6.67793734e-01 7.42248633e-01 -5.58434947e-02 -2.41999025e+01] [-7.40306220e-01 6.70103401e-01 5.39271056e-02 1.02372021e+01] [ 7.74482361e-02 5.32910326e-03 9.96982132e-01 -2.11751645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.589115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.21, Y:10.25, Z:-0.21 [[ 6.68497888e-01 7.41768554e-01 -5.37585983e-02 -2.42114291e+01] [-7.39941432e-01 6.70638457e-01 5.22564606e-02 1.02507245e+01] [ 7.48147827e-02 4.84488068e-03 9.97185678e-01 -2.05719025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.619115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.22, Y:10.26, Z:-0.21 [[ 6.66066715e-01 7.43964791e-01 -5.35865851e-02 -2.42235829e+01] [-7.42130639e-01 6.68201258e-01 5.24327509e-02 1.02629687e+01] [ 7.48147441e-02 4.84453654e-03 9.97185682e-01 -2.05876760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.649115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.24, Y:10.27, Z:-0.21 [[ 6.63682343e-01 7.46082826e-01 -5.37230385e-02 -2.42381986e+01] [-7.44220058e-01 6.65835380e-01 5.29126802e-02 1.02735401e+01] [ 7.52479417e-02 4.86455127e-03 9.97152989e-01 -2.14150656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.679115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.25, Y:10.29, Z:-0.22 [[ 6.63065769e-01 7.46675711e-01 -5.30958435e-02 -2.42494904e+01] [-7.44832011e-01 6.65172042e-01 5.26443774e-02 1.02867851e+01] [ 7.46261485e-02 4.64079926e-03 9.97200783e-01 -2.18461781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.709115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.26, Y:10.30, Z:-0.22 [[ 6.54394017e-01 7.54124030e-01 -5.53662047e-02 -2.42614935e+01] [-7.52114950e-01 6.56709274e-01 5.52813813e-02 1.03006876e+01] [ 7.80485181e-02 5.46594510e-03 9.96934578e-01 -2.19570603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.739115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.27, Y:10.31, Z:-0.22 [[ 6.41629655e-01 7.64854571e-01 -5.75227792e-02 -2.42737076e+01] [-7.62694142e-01 6.44167532e-01 5.78432084e-02 1.03134529e+01] [ 8.12959491e-02 6.75836884e-03 9.96667092e-01 -2.18849407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.769115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.85, Y:11.66, Z:-1.50 [[ 8.07146998e-01 -5.88973513e-01 -4.02979475e-02 -2.28487211e+01] [-5.88045142e-01 -8.08146387e-01 3.32013361e-02 1.16633444e+01] [-5.21213482e-02 -3.10134654e-03 -9.98635943e-01 -1.49549939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.799115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.16, Y:10.18, Z:-0.22 [[ 7.01450585e-01 7.10632185e-01 -5.44882856e-02 -2.41629478e+01] [-7.09121740e-01 7.03539025e-01 4.66818711e-02 1.01821629e+01] [ 7.15082754e-02 5.89380213e-03 9.97422593e-01 -2.18065286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.829115933 meters Centerline goodness [0,1] 0.9996477632969355 Centerline is valid? [True, True] Translation: X:-24.18, Y:10.19, Z:-0.22 [[ 6.98753568e-01 7.13286020e-01 -5.44656391e-02 -2.41752848e+01] [-7.11764343e-01 7.00847704e-01 4.69469521e-02 1.01944646e+01] [ 7.16587227e-02 5.96234960e-03 9.97411388e-01 -2.20025626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.859115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.19, Y:10.20, Z:-0.22 [[ 6.93905561e-01 7.17926709e-01 -5.54645122e-02 -2.41917102e+01] [-7.16340018e-01 6.96089843e-01 4.81238936e-02 1.02023132e+01] [ 7.31577122e-02 6.33801224e-03 9.97300245e-01 -2.23546051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.889115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.20, Y:10.21, Z:-0.22 [[ 6.92495435e-01 7.19418970e-01 -5.37254009e-02 -2.42045370e+01] [-7.17912974e-01 6.94549787e-01 4.69207349e-02 1.02139996e+01] [ 7.10706325e-02 6.07776766e-03 9.97452769e-01 -2.21529512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.919115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.22, Y:10.23, Z:-0.22 [[ 6.90455320e-01 7.21458130e-01 -5.26271640e-02 -2.42165600e+01] [-7.19994200e-01 6.92432820e-01 4.63156752e-02 1.02257633e+01] [ 6.98555960e-02 5.91234846e-03 9.97539593e-01 -2.18394581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.949115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.23, Y:10.24, Z:-0.23 [[ 6.87155527e-01 7.24601604e-01 -5.26288652e-02 -2.42314134e+01] [-7.23121653e-01 6.89141996e-01 4.66731643e-02 1.02350678e+01] [ 7.00882109e-02 5.98534918e-03 9.97522841e-01 -2.26811716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.979115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.24, Y:10.25, Z:-0.22 [[ 6.86720835e-01 7.24904100e-01 -5.41159928e-02 -2.42421602e+01] [-7.23314880e-01 6.88824138e-01 4.83414101e-02 1.02490421e+01] [ 7.23192885e-02 5.94584932e-03 9.97363809e-01 -2.23229439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.009115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.26, Y:10.26, Z:-0.22 [[ 6.88128344e-01 7.23440969e-01 -5.57902042e-02 -2.42553383e+01] [-7.21722522e-01 6.90362334e-01 5.01642156e-02 1.02599992e+01] [ 7.48063043e-02 5.74562823e-03 9.97181530e-01 -2.19611526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.039115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.27, Y:10.27, Z:-0.21 [[ 6.94347220e-01 7.17683663e-01 -5.30292193e-02 -2.42675681e+01] [-7.16092920e-01 6.96353702e-01 4.79838705e-02 1.02719477e+01] [ 7.13643330e-02 4.65638139e-03 9.97439447e-01 -2.11763185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.069115933 meters Centerline goodness [0,1] 0.9996585282567868 Centerline is valid? [True, True] Translation: X:-24.28, Y:10.29, Z:-0.21 [[ 6.84516785e-01 7.26666700e-01 -5.82432630e-02 -2.42780964e+01] [-7.24749994e-01 6.86964984e-01 5.30712425e-02 1.02865663e+01] [ 7.85761869e-02 5.88364825e-03 9.96890749e-01 -2.13675801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.099115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.29, Y:10.30, Z:-0.20 [[ 6.93266350e-01 7.19262737e-01 -4.51982674e-02 -2.42879366e+01] [-7.18076807e-01 6.94728217e-01 4.14536347e-02 1.03026906e+01] [ 6.12165665e-02 3.71741749e-03 9.98117585e-01 -2.01636589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.129115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.30, Y:10.32, Z:-0.19 [[ 6.92893837e-01 7.19839519e-01 -4.15836295e-02 -2.42969688e+01] [-7.18822773e-01 6.94132714e-01 3.83874522e-02 1.03192485e+01] [ 5.64973627e-02 3.29283082e-03 9.98397318e-01 -1.91548032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.159115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.31, Y:10.33, Z:-0.19 [[ 6.94604049e-01 7.18494237e-01 -3.59339156e-02 -2.43096193e+01] [-7.17723049e-01 6.95528040e-01 3.33821752e-02 1.03323299e+01] [ 4.89779464e-02 2.60320544e-03 9.98796468e-01 -1.93661731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.189115933000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.32, Y:10.35, Z:-0.18 [[ 6.89480552e-01 7.23459018e-01 -3.49802352e-02 -2.43188158e+01] [-7.22724737e-01 6.90361915e-01 3.27014000e-02 1.03490340e+01] [ 4.78071448e-02 2.73410194e-03 9.98852843e-01 -1.83604744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.219115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.33, Y:10.36, Z:-0.18 [[ 6.91127019e-01 7.22073502e-01 -3.08755828e-02 -2.43282107e+01] [-7.21491364e-01 6.91812897e-01 2.90710565e-02 1.03644946e+01] [ 4.23515660e-02 2.18467373e-03 9.99100381e-01 -1.78952550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.249115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.33, Y:10.39, Z:-0.16 [[ 6.89237415e-01 7.23999502e-01 -2.78658781e-02 -2.43338128e+01] [-7.23520320e-01 6.89797712e-01 2.64095270e-02 1.03853051e+01] [ 3.83423034e-02 1.95909490e-03 9.99262743e-01 -1.59610341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.279115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.34, Y:10.40, Z:-0.15 [[ 6.93252335e-01 7.20364196e-01 -2.18317527e-02 -2.43438257e+01] [-7.20064601e-01 6.93594808e-01 2.08137691e-02 1.04011120e+01] [ 3.01358844e-02 1.29107823e-03 9.99544977e-01 -1.53686675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.309115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.35, Y:10.42, Z:-0.14 [[ 6.95331714e-01 7.18474003e-01 -1.75759722e-02 -2.43524905e+01] [-7.18276812e-01 6.95553226e-01 1.68561943e-02 1.04192578e+01] [ 2.43357616e-02 9.03766832e-04 9.99703433e-01 -1.44568093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.339115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.36, Y:10.43, Z:-0.14 [[ 6.92782526e-01 7.20906583e-01 -1.86029731e-02 -2.43646215e+01] [-7.20683537e-01 6.93031576e-01 1.79575677e-02 1.04343940e+01] [ 2.58381765e-02 9.66167350e-04 9.99665672e-01 -1.38752760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.369115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.38, Y:10.45, Z:-0.13 [[ 6.95841980e-01 7.18066223e-01 -1.35955202e-02 -2.43762943e+01] [-7.17945228e-01 6.95974542e-01 1.31941859e-02 1.04489525e+01] [ 1.89364352e-02 5.79770481e-04 9.99820522e-01 -1.33666159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.399115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.39, Y:10.46, Z:-0.14 [[ 6.94936104e-01 7.18979272e-01 -1.15159755e-02 -2.43887361e+01] [-7.18891533e-01 6.95031358e-01 1.12416380e-02 1.04619463e+01] [ 1.60864688e-02 4.66517185e-04 9.99870496e-01 -1.35479491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.429115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.40, Y:10.48, Z:-0.12 [[ 6.95843925e-01 7.18156803e-01 -7.21373983e-03 -2.43964511e+01] [-7.18122060e-01 6.95881267e-01 7.06895203e-03 1.04815628e+01] [ 1.00965224e-02 2.61458378e-04 9.99948995e-01 -1.20017545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.459115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.41, Y:10.50, Z:-0.11 [[ 7.04663209e-01 7.09541634e-01 -6.56632593e-04 -2.44092340e+01] [-7.09541380e-01 7.04663514e-01 6.01314640e-04 1.04955580e+01] [ 8.89362802e-04 4.21836930e-05 9.99999604e-01 -1.13414929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.489115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.43, Y:10.50, Z:-0.13 [[ 7.05817299e-01 7.08393867e-01 -2.61946297e-04 -2.44286503e+01] [-7.08393836e-01 7.05817347e-01 2.12923727e-04 1.05032804e+01] [ 3.35720102e-04 3.52758919e-05 9.99999943e-01 -1.31258556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.519115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.44, Y:10.52, Z:-0.12 [[ 7.03396591e-01 7.10797161e-01 7.94831874e-04 -2.44376372e+01] [-7.10796654e-01 7.03397039e-01 -8.49394761e-04 1.05216701e+01] [-1.16282977e-03 3.24975428e-05 9.99999323e-01 -1.22935157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.549115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.10, Y:11.81, Z:-1.59 [[ 7.58997495e-01 -6.50782999e-01 2.01069709e-02 -2.30963687e+01] [-6.50524348e-01 -7.59263293e-01 -1.83664107e-02 1.18099194e+01] [ 2.72190328e-02 8.59985556e-04 -9.99629124e-01 -1.58731648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.579115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.35, Y:10.41, Z:-0.14 [[ 7.61809121e-01 6.47787297e-01 4.29901418e-03 -2.43496955e+01] [-6.47776801e-01 7.61821250e-01 -3.68772255e-03 1.04093771e+01] [-5.66394018e-03 2.45390185e-05 9.99983959e-01 -1.35768791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.609115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.36, Y:10.43, Z:-0.13 [[ 7.65596460e-01 6.43268040e-01 8.26374426e-03 -2.43626190e+01] [-6.43228392e-01 7.65641042e-01 -7.14352484e-03 1.04260155e+01] [-1.09222630e-02 1.53582388e-04 9.99940339e-01 -1.28260259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.639115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.38, Y:10.44, Z:-0.14 [[ 7.64838624e-01 6.44135724e-01 1.05379385e-02 -2.43806657e+01] [-6.44070661e-01 7.64911186e-01 -9.15758821e-03 1.04359091e+01] [-1.39593168e-02 2.16900150e-04 9.99902540e-01 -1.35729541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.669115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.40, Y:10.45, Z:-0.14 [[ 7.66250876e-01 6.42463541e-01 1.00097007e-02 -2.43965358e+01] [-6.42403995e-01 7.66316203e-01 -8.75120785e-03 1.04491442e+01] [-1.32929278e-02 2.75348972e-04 9.99911607e-01 -1.41169173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.699115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.41, Y:10.46, Z:-0.15 [[ 7.66370834e-01 6.42333652e-01 9.12271915e-03 -2.44140586e+01] [-6.42283470e-01 7.66425072e-01 -8.03452822e-03 1.04586617e+01] [-1.21527285e-02 2.98056386e-04 9.99926108e-01 -1.45179649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.729115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.43, Y:10.47, Z:-0.14 [[ 7.68385770e-01 6.39900609e-01 1.05128221e-02 -2.44305775e+01] [-6.39833246e-01 7.68457571e-01 -9.29403307e-03 1.04711158e+01] [-1.40259152e-02 4.14949668e-04 9.99901546e-01 -1.43770282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.759115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.45, Y:10.48, Z:-0.14 [[ 7.63416246e-01 6.45841218e-01 9.20627305e-03 -2.44457690e+01] [-6.45789299e-01 7.63471692e-01 -8.19495685e-03 1.04848788e+01] [-1.23213698e-02 3.10850581e-04 9.99924041e-01 -1.37757293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.789115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.46, Y:10.50, Z:-0.15 [[ 7.68945395e-01 6.39162902e-01 1.39199416e-02 -2.44627036e+01] [-6.39042204e-01 7.69071087e-01 -1.24388060e-02 1.04954697e+01] [-1.86558479e-02 6.69332456e-04 9.99825740e-01 -1.49236846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.819115933 meters Centerline goodness [0,1] 0.9985808053929395 Centerline is valid? [True, True] Translation: X:-24.46, Y:10.53, Z:-0.09 [[ 7.57723231e-01 6.52523419e-01 8.28817785e-03 -2.44644884e+01] [-6.52480735e-01 7.57768517e-01 -7.46757216e-03 1.05255606e+01] [-1.11532860e-02 2.50476524e-04 9.99937769e-01 -9.18664458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.849115933 meters Centerline goodness [0,1] 0.9987416861405717 Centerline is valid? [True, True] Translation: X:-24.48, Y:10.54, Z:-0.10 [[ 7.54694568e-01 6.56030624e-01 7.74139717e-03 -2.44791321e+01] [-6.55993106e-01 7.54734239e-01 -7.01947272e-03 1.05404678e+01] [-1.04476866e-02 2.19254762e-04 9.99945397e-01 -9.62345993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.879115933 meters Centerline goodness [0,1] 0.9962439635127884 Centerline is valid? [True, True] Translation: X:-24.47, Y:10.58, Z:-0.01 [[ 7.49454839e-01 6.62009357e-01 7.81387472e-03 -2.44697079e+01] [-6.61970951e-01 7.49495552e-01 -7.13290470e-03 1.05811953e+01] [-1.05785140e-02 1.73231864e-04 9.99944031e-01 -1.00625212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.909115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.53, Y:10.54, Z:-0.17 [[ 7.49229058e-01 6.62265181e-01 7.78773277e-03 -2.45317516e+01] [-6.62226602e-01 7.49269504e-01 -7.15108350e-03 1.05401060e+01] [-1.05710243e-02 2.00555739e-04 9.99944105e-01 -1.72559541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.939115933000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.55, Y:10.55, Z:-0.17 [[ 7.36921982e-01 6.75976225e-01 1.46149545e-03 -2.45493485e+01] [-6.75974802e-01 7.36923430e-01 -1.38771447e-03 1.05505291e+01] [-2.01507223e-03 3.47032025e-05 9.99997969e-01 -1.73040033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.969115933 meters Centerline goodness [0,1] 0.9994443415447305 Centerline is valid? [True, True] Translation: X:-24.56, Y:10.57, Z:-0.15 [[ 7.31453316e-01 6.81883483e-01 -3.31102486e-03 -2.45581753e+01] [-6.81876834e-01 7.31460808e-01 3.01157317e-03 1.05703121e+01] [ 4.47542692e-03 5.48859668e-05 9.99989984e-01 -1.49227243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.999115933 meters Centerline goodness [0,1] 0.9975691847419597 Centerline is valid? [True, True] Translation: X:-24.55, Y:10.60, Z:-0.08 [[ 7.17207451e-01 6.96775480e-01 -1.08352006e-02 -2.45530495e+01] [-6.96703445e-01 7.17289203e-01 1.00253991e-02 1.06023569e+01] [ 1.47574247e-02 3.58630669e-04 9.99891039e-01 -7.71883675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.029115933 meters Centerline goodness [0,1] 0.9969873846733195 Centerline is valid? [True, True] Translation: X:-24.56, Y:10.62, Z:-0.06 [[ 7.12107602e-01 7.01945187e-01 -1.32558898e-02 -2.45617922e+01] [-7.01836398e-01 7.12230797e-01 1.23677394e-02 1.06209567e+01] [ 1.81227281e-02 4.96304678e-04 9.99835647e-01 -5.55241571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.059115933 meters Centerline goodness [0,1] 0.9971671388101983 Centerline is valid? [True, True] Translation: X:-24.57, Y:10.64, Z:-0.05 [[ 7.07023062e-01 7.06963038e-01 -1.79346685e-02 -2.45744198e+01] [-7.06762521e-01 7.07250088e-01 1.68538795e-02 1.06359559e+01] [ 2.45993657e-02 7.59470039e-04 9.99697101e-01 -4.58180962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.089115933 meters Centerline goodness [0,1] 0.9965979965979966 Centerline is valid? [True, True] Translation: X:-24.59, Y:10.65, Z:-0.03 [[ 7.09211358e-01 7.04771850e-01 -1.77732812e-02 -2.45852265e+01] [-7.04571657e-01 7.09433772e-01 1.68078287e-02 1.06528621e+01] [ 2.44546504e-02 6.02247171e-04 9.99700759e-01 -3.03195839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.119115933 meters Centerline goodness [0,1] 0.9996153106366609 Centerline is valid? [True, True] Translation: X:-24.64, Y:10.63, Z:-0.16 [[ 7.07155674e-01 7.06762224e-01 -2.04453033e-02 -2.46360177e+01] [-7.06494450e-01 7.07450844e-01 1.94652502e-02 1.06255045e+01] [ 2.82213507e-02 6.79531165e-04 9.99601467e-01 -1.55187947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.149115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.66, Y:10.63, Z:-0.18 [[ 7.12322974e-01 7.01610468e-01 -1.84046793e-02 -2.46586025e+01] [-7.01389000e-01 7.12560614e-01 1.76307133e-02 1.06286522e+01] [ 2.54843426e-02 3.50077454e-04 9.99675160e-01 -1.81749808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.179115933 meters Centerline goodness [0,1] 0.995935746080898 Centerline is valid? [True, True] Translation: X:-24.62, Y:10.70, Z:-0.01 [[ 6.93347862e-01 7.20034249e-01 -2.86255430e-02 -2.46216447e+01] [-7.19505674e-01 6.93937024e-01 2.76222926e-02 1.06979462e+01] [ 3.97533208e-02 1.44438312e-03 9.99208480e-01 -1.38478580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.209115933 meters Centerline goodness [0,1] 0.9986293322890151 Centerline is valid? [True, True] Translation: X:-24.66, Y:10.68, Z:-0.10 [[ 7.03572083e-01 7.10083526e-01 -2.77075732e-02 -2.46620300e+01] [-7.09573838e-01 7.04117076e-01 2.69093266e-02 1.06817988e+01] [ 3.86172449e-02 7.27918099e-04 9.99253811e-01 -9.71568159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.239115933 meters Centerline goodness [0,1] 0.9980237154150198 Centerline is valid? [True, True] Translation: X:-24.67, Y:10.70, Z:-0.07 [[ 7.00392719e-01 7.13143628e-01 -2.96007388e-02 -2.46652458e+01] [-7.12556366e-01 7.01017472e-01 2.89469940e-02 1.07039144e+01] [ 4.13939994e-02 8.17931027e-04 9.99142566e-01 -6.53477039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.269115933 meters Centerline goodness [0,1] 0.99959661153691 Centerline is valid? [True, True] Translation: X:-24.69, Y:10.70, Z:-0.12 [[ 7.05440371e-01 7.08101165e-01 -3.07672374e-02 -2.46946770e+01] [-7.07452787e-01 7.06110887e-01 3.02980090e-02 1.06989946e+01] [ 4.31791367e-02 3.92929146e-04 9.99067269e-01 -1.17993368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.299115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.71, Y:10.71, Z:-0.14 [[ 7.09976383e-01 7.03658114e-01 -2.82629644e-02 -2.47140724e+01] [-7.03100128e-01 7.10538710e-01 2.80169962e-02 1.07057427e+01] [ 3.97963170e-02 -1.97117458e-05 9.99207813e-01 -1.35283610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.329115933 meters Centerline goodness [0,1] 0.9987893462469734 Centerline is valid? [True, True] Translation: X:-24.70, Y:10.74, Z:-0.05 [[ 7.07073026e-01 7.06608341e-01 -2.74297108e-02 -2.47040162e+01] [-7.06078137e-01 7.07604870e-01 2.73680949e-02 1.07446155e+01] [ 3.87479211e-02 1.62774171e-05 9.99249017e-01 -5.25139238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.359115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.74, Y:10.74, Z:-0.12 [[ 7.14947524e-01 6.98666520e-01 -2.67419520e-02 -2.47375932e+01] [-6.98150368e-01 7.15447281e-01 2.68561304e-02 1.07375209e+01] [ 3.78959360e-02 -5.30820307e-04 9.99281550e-01 -1.17213888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.389115933 meters Centerline goodness [0,1] 0.9997959183673469 Centerline is valid? [True, True] Translation: X:-23.36, Y:12.07, Z:-1.62 [[ 7.52851431e-01 -6.58084292e-01 -1.18231796e-02 -2.33620354e+01] [-6.58025331e-01 -7.52943465e-01 8.87707973e-03 1.20693008e+01] [-1.47440526e-02 1.09682952e-03 -9.99890699e-01 -1.61811266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.419115933 meters Centerline goodness [0,1] 0.9995900799344127 Centerline is valid? [True, True] Translation: X:-24.64, Y:10.64, Z:-0.09 [[ 7.75833782e-01 6.30452945e-01 -2.47189349e-02 -2.46437046e+01] [-6.30099845e-01 7.76227052e-01 2.11127740e-02 1.06357250e+01] [ 3.24981165e-02 -8.04606264e-04 9.99471473e-01 -9.37139551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.449115933 meters Centerline goodness [0,1] 0.9989853896103896 Centerline is valid? [True, True] Translation: X:-24.65, Y:10.67, Z:-0.05 [[ 7.75356985e-01 6.30932078e-01 -2.73177238e-02 -2.46452249e+01] [-6.30497168e-01 7.75837487e-01 2.34417361e-02 1.06666503e+01] [ 3.59842575e-02 -9.51966380e-04 9.99351903e-01 -4.65141128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.479115933 meters Centerline goodness [0,1] 0.9973485621048338 Centerline is valid? [True, True] Translation: X:-24.64, Y:10.71, Z:0.03 [[ 7.74960496e-01 6.31544677e-01 -2.42394563e-02 -2.46368130e+01] [-6.31199015e-01 7.75338959e-01 2.09117715e-02 1.07081151e+01] [ 3.20005128e-02 -9.05875894e-04 9.99487442e-01 3.37952946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.509115933 meters Centerline goodness [0,1] 0.9973485621048338 Centerline is valid? [True, True] Translation: X:-24.65, Y:10.72, Z:0.03 [[ 7.73097973e-01 6.33825584e-01 -2.41796223e-02 -2.46520009e+01] [-6.33478878e-01 7.73475478e-01 2.09808575e-02 1.07211381e+01] [ 3.20005491e-02 -9.02978434e-04 9.99487443e-01 3.35989259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.539115933 meters Centerline goodness [0,1] 0.9979711909109353 Centerline is valid? [True, True] Translation: X:-24.69, Y:10.71, Z:-0.02 [[ 7.72345801e-01 6.34682567e-01 -2.56905423e-02 -2.46856890e+01] [-6.34287044e-01 7.72772274e-01 2.24267507e-02 1.07127778e+01] [ 3.40868065e-02 -1.02602857e-03 9.99418349e-01 -2.20709012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.569115933 meters Centerline goodness [0,1] 0.9975510204081632 Centerline is valid? [True, True] Translation: X:-24.70, Y:10.73, Z:-0.01 [[ 7.70575223e-01 6.36855037e-01 -2.50895982e-02 -2.46957690e+01] [-6.36474492e-01 7.70982905e-01 2.20359238e-02 1.07321555e+01] [ 3.33773403e-02 -1.01144761e-03 9.99442310e-01 -6.53378942e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.599115933 meters Centerline goodness [0,1] 0.9997979797979798 Centerline is valid? [True, True] Translation: X:-24.75, Y:10.70, Z:-0.12 [[ 7.69253929e-01 6.38411991e-01 -2.60484722e-02 -2.47471252e+01] [-6.37997601e-01 7.69694053e-01 2.30244414e-02 1.07019225e+01] [ 3.47484336e-02 -1.09277922e-03 9.99395493e-01 -1.18368678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.629115933 meters Centerline goodness [0,1] 0.9978013192084749 Centerline is valid? [True, True] Translation: X:-24.73, Y:10.75, Z:-0.02 [[ 7.67267939e-01 6.40891105e-01 -2.36326181e-02 -2.47311655e+01] [-6.40547186e-01 7.67631172e-01 2.10163152e-02 1.07511337e+01] [ 3.16103038e-02 -9.87337791e-04 9.99499782e-01 -1.73808593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.659115933 meters Centerline goodness [0,1] 0.9989806320081549 Centerline is valid? [True, True] Translation: X:-24.76, Y:10.75, Z:-0.06 [[ 7.63762953e-01 6.44959820e-01 -2.63245455e-02 -2.47583997e+01] [-6.44530063e-01 7.64215787e-01 2.35632724e-02 1.07495904e+01] [ 3.53149972e-02 -1.02979355e-03 9.99375700e-01 -6.12724244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.689115933 meters Centerline goodness [0,1] 0.9984009594243454 Centerline is valid? [True, True] Translation: X:-24.77, Y:10.77, Z:-0.04 [[ 7.61828529e-01 6.47276976e-01 -2.54913427e-02 -2.47670504e+01] [-6.46870443e-01 7.62254231e-01 2.29590129e-02 1.07702794e+01] [ 3.42917242e-02 -1.00123489e-03 9.99411364e-01 -3.85656489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.719115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.81, Y:10.75, Z:-0.12 [[ 7.58257636e-01 6.51357074e-01 -2.79162933e-02 -2.48096900e+01] [-6.50866175e-01 7.58770668e-01 2.53040626e-02 1.07510837e+01] [ 3.76640447e-02 -1.01722765e-03 9.99289940e-01 -1.23375983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.749115933 meters Centerline goodness [0,1] 0.9981924081140792 Centerline is valid? [True, True] Translation: X:-24.80, Y:10.79, Z:-0.05 [[ 7.53263630e-01 6.57139087e-01 -2.76065986e-02 -2.48000492e+01] [-6.56657432e-01 7.53768884e-01 2.51691713e-02 1.07926028e+01] [ 3.73486412e-02 -8.30943200e-04 9.99301951e-01 -4.95712137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.779115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.84, Y:10.78, Z:-0.12 [[ 7.49244002e-01 6.61702516e-01 -2.79858225e-02 -2.48367485e+01] [-6.61204783e-01 7.49766129e-01 2.56707476e-02 1.07801514e+01] [ 3.79692201e-02 -7.29293946e-04 9.99278643e-01 -1.23070165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.809115933 meters Centerline goodness [0,1] 0.9963533225283631 Centerline is valid? [True, True] Translation: X:-24.80, Y:10.86, Z:0.05 [[ 7.43469236e-01 6.68218004e-01 -2.71697320e-02 -2.47963941e+01] [-6.67747678e-01 7.43965356e-01 2.50716412e-02 1.08573218e+01] [ 3.69666613e-02 -4.97468468e-04 9.99316376e-01 4.91194523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.839115933 meters Centerline goodness [0,1] 0.9970279373885477 Centerline is valid? [True, True] Translation: X:-24.82, Y:10.86, Z:0.02 [[ 7.40120776e-01 6.71919751e-01 -2.72962464e-02 -2.48221165e+01] [-6.71441732e-01 7.40623834e-01 2.53443874e-02 1.08576463e+01] [ 3.72456451e-02 -4.30068719e-04 9.99306048e-01 2.14218951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.869115933 meters Centerline goodness [0,1] 0.9982185273159145 Centerline is valid? [True, True] Translation: X:-24.85, Y:10.85, Z:-0.03 [[ 7.33903132e-01 6.78669724e-01 -2.81708978e-02 -2.48500342e+01] [-6.78158811e-01 7.34443570e-01 2.63299889e-02 1.08532527e+01] [ 3.85593011e-02 -2.19318763e-04 9.99256290e-01 -2.73188110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.899115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.89, Y:10.84, Z:-0.11 [[ 7.30315688e-01 6.82417784e-01 -3.07402686e-02 -2.48856614e+01] [-6.81804321e-01 7.30962338e-01 2.89297264e-02 1.08411573e+01] [ 4.22121384e-02 -1.68985112e-04 9.99108656e-01 -1.14757028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.929115933 meters Centerline goodness [0,1] 0.9958718301552978 Centerline is valid? [True, True] Translation: X:-24.85, Y:10.91, Z:0.06 [[ 7.23740951e-01 6.89419244e-01 -3.00023700e-02 -2.48473103e+01] [-6.88834002e-01 7.24362543e-01 2.84011346e-02 1.09136715e+01] [ 4.13128818e-02 1.11588410e-04 9.99146252e-01 6.43951427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.959115933 meters Centerline goodness [0,1] 0.9972894482090997 Centerline is valid? [True, True] Translation: X:-24.88, Y:10.91, Z:0.00 [[ 7.22271025e-01 6.91008642e-01 -2.88378701e-02 -2.48804662e+01] [-6.90462739e-01 7.22846492e-01 2.74618930e-02 1.09059653e+01] [ 3.98217586e-02 7.65451677e-05 9.99206796e-01 2.68041144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.989115933 meters Centerline goodness [0,1] 0.9959048361934477 Centerline is valid? [True, True] Translation: X:-24.88, Y:10.94, Z:0.06 [[ 7.14375911e-01 6.99115477e-01 -3.00767137e-02 -2.48764045e+01] [-6.98521296e-01 7.15008653e-01 2.88205742e-02 1.09392407e+01] [ 4.16540200e-02 4.20501084e-04 9.99132006e-01 6.07133275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.019115933 meters Centerline goodness [0,1] 0.9968565815324165 Centerline is valid? [True, True] Translation: X:-24.88, Y:10.96, Z:0.08 [[ 7.01604432e-01 7.11741407e-01 -3.42839726e-02 -2.48824595e+01] [-7.10974375e-01 7.02440581e-01 3.30555309e-02 1.09612966e+01] [ 4.76094437e-02 1.18311902e-03 9.98865327e-01 8.37455882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.049115933 meters Centerline goodness [0,1] 0.9980372914622179 Centerline is valid? [True, True] Translation: X:-24.93, Y:10.94, Z:-0.03 [[ 7.13887062e-01 6.99725998e-01 -2.73640465e-02 -2.49259842e+01] [-6.99222204e-01 7.14411293e-01 2.65483295e-02 1.09410301e+01] [ 3.81257402e-02 1.81039985e-04 9.99272933e-01 -2.83871395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.079115933 meters Centerline goodness [0,1] 0.9970588235294118 Centerline is valid? [True, True] Translation: X:-24.93, Y:10.97, Z:0.02 [[ 7.06588658e-01 7.07084751e-01 -2.76337206e-02 -2.49266471e+01] [-7.06569849e-01 7.07128661e-01 2.69834218e-02 1.09690743e+01] [ 3.86201620e-02 4.58974000e-04 9.99253858e-01 2.04197027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.109115933 meters Centerline goodness [0,1] 0.9955218068535826 Centerline is valid? [True, True] Translation: X:-24.93, Y:10.99, Z:0.04 [[ 6.99290224e-01 7.14186870e-01 -3.05007691e-02 -2.49348058e+01] [-7.13558089e-01 6.99954618e-01 2.99730807e-02 1.09885651e+01] [ 4.27555349e-02 8.04188200e-04 9.99085240e-01 4.08894624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.139115933 meters Centerline goodness [0,1] 0.998443579766537 Centerline is valid? [True, True] Translation: X:-24.97, Y:10.98, Z:-0.03 [[ 7.09825964e-01 7.03908670e-01 -2.56843146e-02 -2.49656981e+01] [-7.03450217e-01 7.10290492e-01 2.54009921e-02 1.09826467e+01] [ 3.61233030e-02 3.73529673e-05 9.99347340e-01 -2.76370365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.169115933 meters Centerline goodness [0,1] 0.9958863858961802 Centerline is valid? [True, True] Translation: X:-24.95, Y:11.03, Z:0.06 [[ 6.98877910e-01 7.14716282e-01 -2.73916806e-02 -2.49507352e+01] [-7.14196197e-01 6.99414311e-01 2.72656111e-02 1.10272959e+01] [ 3.86453096e-02 5.07700779e-04 9.99252862e-01 6.00798499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.199115933 meters Centerline goodness [0,1] 0.9974609375 Centerline is valid? [True, True] Translation: X:-24.97, Y:11.03, Z:0.03 [[ 7.00855773e-01 7.12824041e-01 -2.61356560e-02 -2.49739076e+01] [-7.12343136e-01 7.01342866e-01 2.61809362e-02 1.10311400e+01] [ 3.69924565e-02 2.68494862e-04 9.99315509e-01 3.05891906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.229115933 meters Centerline goodness [0,1] 0.9955374466433837 Centerline is valid? [True, True] Translation: X:-23.71, Y:12.24, Z:-1.82 [[ 7.66713002e-01 -6.41870762e-01 -1.23732412e-02 -2.37137618e+01] [-6.41803277e-01 -7.66812439e-01 9.34009445e-03 1.22395024e+01] [-1.54830888e-02 7.80014881e-04 -9.99879826e-01 -1.82343651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.259115933 meters Centerline goodness [0,1] 0.9982514085875267 Centerline is valid? [True, True] Translation: X:-24.90, Y:10.92, Z:-0.01 [[ 7.53557708e-01 6.56660740e-01 -3.07807289e-02 -2.49028606e+01] [-6.56135956e-01 7.54185985e-01 2.62508386e-02 1.09166568e+01] [ 4.04522894e-02 4.14821200e-04 9.99181385e-01 -9.01495975e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.289115933 meters Centerline goodness [0,1] 0.9963440446411391 Centerline is valid? [True, True] Translation: X:-24.90, Y:10.95, Z:0.05 [[ 7.43795250e-01 6.67583414e-01 -3.31814890e-02 -2.49003831e+01] [-6.66977431e-01 7.44534385e-01 2.84544606e-02 1.09484551e+01] [ 4.37004854e-02 9.67011634e-04 9.99044209e-01 5.02232575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.319115933 meters Centerline goodness [0,1] 0.9964850615114236 Centerline is valid? [True, True] Translation: X:-24.91, Y:10.96, Z:0.05 [[ 7.43560077e-01 6.67911356e-01 -3.18250166e-02 -2.49142498e+01] [-6.67346993e-01 7.44240386e-01 2.74634190e-02 1.09628912e+01] [ 4.20285921e-02 8.17627179e-04 9.99116074e-01 5.08548650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.349115933 meters Centerline goodness [0,1] 0.9963691954901586 Centerline is valid? [True, True] Translation: X:-24.93, Y:10.98, Z:0.07 [[ 7.40633072e-01 6.71155050e-01 -3.18363434e-02 -2.49276085e+01] [-6.70586039e-01 7.41316488e-01 2.76446914e-02 1.09784615e+01] [ 4.21546805e-02 8.74434753e-04 9.99110714e-01 6.83954193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.379115933 meters Centerline goodness [0,1] 0.9998085024894676 Centerline is valid? [True, True] Translation: X:-24.92, Y:11.02, Z:0.14 [[ 7.37287387e-01 6.74729263e-01 -3.38781675e-02 -2.49231137e+01] [-6.74080890e-01 7.38064618e-01 2.95900816e-02 1.10158517e+01] [ 4.49695707e-02 1.02023139e-03 9.98987836e-01 1.35099146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.409115933 meters Centerline goodness [0,1] 0.9961824775720557 Centerline is valid? [True, True] Translation: X:-24.95, Y:11.01, Z:0.08 [[ 7.35647403e-01 6.76556453e-01 -3.30796782e-02 -2.49538165e+01] [-6.75932498e-01 7.36390122e-01 2.90662444e-02 1.10092463e+01] [ 4.40245035e-02 9.77122270e-04 9.99029974e-01 8.39912304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.439115933 meters Centerline goodness [0,1] 0.9969828399019423 Centerline is valid? [True, True] Translation: X:-24.96, Y:11.03, Z:0.11 [[ 7.30948631e-01 6.81605062e-01 -3.35952307e-02 -2.49640127e+01] [-6.80958661e-01 7.31719330e-01 2.97005773e-02 1.10282046e+01] [ 4.48263435e-02 1.16736696e-03 9.98994112e-01 1.05930095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.469115933 meters Centerline goodness [0,1] 0.9998105342932929 Centerline is valid? [True, True] Translation: X:-24.97, Y:11.05, Z:0.13 [[ 7.29761903e-01 6.82812371e-01 -3.48544164e-02 -2.49695834e+01] [-6.82108966e-01 7.30592876e-01 3.10065972e-02 1.10525087e+01] [ 4.66360764e-02 1.14707654e-03 9.98911288e-01 1.34790141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.499115933 meters Centerline goodness [0,1] 0.9957312546399406 Centerline is valid? [True, True] Translation: X:-24.99, Y:11.05, Z:0.11 [[ 7.20775114e-01 6.92173302e-01 -3.71396765e-02 -2.49924852e+01] [-6.91372972e-01 7.21729419e-01 3.33175436e-02 1.10475692e+01] [ 4.98663113e-02 1.66291229e-03 9.98754517e-01 1.05664845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.529115933 meters Centerline goodness [0,1] 0.9966348850252383 Centerline is valid? [True, True] Translation: X:-25.02, Y:11.05, Z:0.06 [[ 7.26726686e-01 6.86057212e-01 -3.45517713e-02 -2.50161529e+01] [-6.85347992e-01 7.27546901e-01 3.12031492e-02 1.10493479e+01] [ 4.65451797e-02 1.00382590e-03 9.98915681e-01 5.92706334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.559115933 meters Centerline goodness [0,1] 0.9996334982591167 Centerline is valid? [True, True] Translation: X:-25.02, Y:11.08, Z:0.12 [[ 7.15404402e-01 6.97662587e-01 -3.82551461e-02 -2.50192316e+01] [-6.96798692e-01 7.16424247e-01 3.47545758e-02 1.10757620e+01] [ 5.16538815e-02 1.79255922e-03 9.98663438e-01 1.17394836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.589115933 meters Centerline goodness [0,1] 0.996741491672701 Centerline is valid? [True, True] Translation: X:-25.04, Y:11.08, Z:0.10 [[ 7.16408632e-01 6.96804610e-01 -3.49572206e-02 -2.50389679e+01] [-6.96073312e-01 7.17259540e-01 3.19483277e-02 1.10827987e+01] [ 4.73351420e-02 1.44473063e-03 9.98878019e-01 9.72352922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.619115933 meters Centerline goodness [0,1] 0.9974747474747475 Centerline is valid? [True, True] Translation: X:-25.07, Y:11.08, Z:0.05 [[ 7.18511930e-01 6.94747976e-01 -3.26474530e-02 -2.50651157e+01] [-6.94099868e-01 7.19252434e-01 3.00218259e-02 1.10825153e+01] [ 4.43393628e-02 1.08955272e-03 9.99015933e-01 4.97590797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.649115933 meters Centerline goodness [0,1] 0.9950098021743005 Centerline is valid? [True, True] Translation: X:-25.07, Y:11.11, Z:0.11 [[ 7.18759638e-01 6.94599480e-01 -3.02678902e-02 -2.50666654e+01] [-6.94035024e-01 7.19396134e-01 2.80104857e-02 1.11103945e+01] [ 4.12306721e-02 8.74169347e-04 9.99149272e-01 1.11778111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.679115933 meters Centerline goodness [0,1] 0.9960756332500892 Centerline is valid? [True, True] Translation: X:-25.08, Y:11.13, Z:0.14 [[ 7.16024565e-01 6.97423132e-01 -3.01628481e-02 -2.50759666e+01] [-6.96857907e-01 7.16659019e-01 2.80874979e-02 1.11301042e+01] [ 4.12053480e-02 9.07880750e-04 9.99150287e-01 1.36090633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.709115933 meters Centerline goodness [0,1] 0.9991270949720671 Centerline is valid? [True, True] Translation: X:-25.08, Y:11.15, Z:0.17 [[ 7.25418204e-01 6.87876974e-01 -2.43659196e-02 -2.50794352e+01] [-6.87497878e-01 7.25827276e-01 2.28349078e-02 1.11524839e+01] [ 3.33930563e-02 1.86660187e-04 9.99442279e-01 1.69161183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.739115933 meters Centerline goodness [0,1] 0.9991416309012876 Centerline is valid? [True, True] Translation: X:-25.09, Y:11.17, Z:0.18 [[ 7.24933107e-01 6.88391224e-01 -2.42798870e-02 -2.50918871e+01] [-6.88010103e-01 7.25339584e-01 2.29038445e-02 1.11675930e+01] [ 3.33779687e-02 1.01052421e-04 9.99442795e-01 1.83903307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.769115933 meters Centerline goodness [0,1] 0.9979285344381149 Centerline is valid? [True, True] Translation: X:-25.11, Y:11.18, Z:0.16 [[ 7.20078995e-01 6.93412975e-01 -2.57815242e-02 -2.51100057e+01] [-6.92980901e-01 7.20540345e-01 2.44761511e-02 1.11766098e+01] [ 3.55487090e-02 2.41341583e-04 9.99367916e-01 1.63088062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.799115933 meters Centerline goodness [0,1] 0.9967609955676782 Centerline is valid? [True, True] Translation: X:-25.13, Y:11.17, Z:0.13 [[ 7.16174296e-01 6.97413319e-01 -2.66278043e-02 -2.51347496e+01] [-6.96946568e-01 7.16669087e-01 2.55127713e-02 1.11704569e+01] [ 3.68762707e-02 2.86565835e-04 9.99319798e-01 1.25157510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.829115933 meters Centerline goodness [0,1] 0.9967415537643629 Centerline is valid? [True, True] Translation: X:-25.16, Y:11.17, Z:0.09 [[ 7.13969689e-01 6.99694402e-01 -2.59812811e-02 -2.51575630e+01] [-6.99244825e-01 7.14442213e-01 2.50798566e-02 1.11744334e+01] [ 3.61103593e-02 2.61018944e-04 9.99347774e-01 8.94632890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.859115933 meters Centerline goodness [0,1] 0.9957648653227172 Centerline is valid? [True, True] Translation: X:-25.16, Y:11.20, Z:0.14 [[ 7.00093763e-01 7.13476731e-01 -2.86300133e-02 -2.51629432e+01] [-7.12934977e-01 7.00678295e-01 2.78144866e-02 1.11963571e+01] [ 3.99054179e-02 9.38589288e-04 9.99203021e-01 1.37951151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.889115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.16, Y:11.23, Z:0.20 [[ 6.95648604e-01 7.17809739e-01 -2.86740084e-02 -2.51608981e+01] [-7.17263145e-01 6.96238490e-01 2.80275761e-02 1.12273074e+01] [ 4.00824153e-02 1.06946529e-03 9.99195805e-01 1.99993119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.919115933 meters Centerline goodness [0,1] 0.997267292912041 Centerline is valid? [True, True] Translation: X:-25.21, Y:11.20, Z:0.03 [[ 6.95285687e-01 7.18020940e-01 -3.19959960e-02 -2.52147989e+01] [-7.17331488e-01 6.96020683e-01 3.14761066e-02 1.11963367e+01] [ 4.48703787e-02 1.06684900e-03 9.98992248e-01 3.28327023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.949115933 meters Centerline goodness [0,1] 0.9976635514018691 Centerline is valid? [True, True] Translation: X:-25.23, Y:11.21, Z:0.03 [[ 6.91782607e-01 7.21404720e-01 -3.18127951e-02 -2.52299123e+01] [-7.20717829e-01 6.92512764e-01 3.14941705e-02 1.12084259e+01] [ 4.47508099e-02 1.14092921e-03 9.98997529e-01 2.77493882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.979115933 meters Centerline goodness [0,1] 0.9953239812959251 Centerline is valid? [True, True] Translation: X:-25.23, Y:11.24, Z:0.11 [[ 6.78868060e-01 7.33247628e-01 -3.85496220e-02 -2.52261804e+01] [-7.32243699e-01 6.79958310e-01 3.84169369e-02 1.12407399e+01] [ 5.43812637e-02 2.14768644e-03 9.98517935e-01 1.06823794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.009115933 meters Centerline goodness [0,1] 0.9960356788899901 Centerline is valid? [True, True] Translation: X:-25.25, Y:11.24, Z:0.07 [[ 6.75013815e-01 7.36719422e-01 -4.00105339e-02 -2.52485945e+01] [-7.35629824e-01 6.76194477e-01 4.01221979e-02 1.12447908e+01] [ 5.66137045e-02 2.34990423e-03 9.98393393e-01 6.95588931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.039115933 meters Centerline goodness [0,1] 0.9978213507625272 Centerline is valid? [True, True] Translation: X:-23.91, Y:12.48, Z:-1.76 [[ 7.83424816e-01 -6.21051288e-01 -2.32562789e-02 -2.39115591e+01] [-6.20772227e-01 -7.83769912e-01 1.86162984e-02 1.24778909e+01] [-2.97892478e-02 -1.47618091e-04 -9.99556191e-01 -1.75981502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.069115933 meters Centerline goodness [0,1] 0.9976283245807217 Centerline is valid? [True, True] Translation: X:-25.15, Y:11.09, Z:-0.00 [[ 7.35389403e-01 6.76440881e-01 -4.03752585e-02 -2.51480168e+01] [-6.75565274e-01 7.36494396e-01 3.44610616e-02 1.10948259e+01] [ 5.30470225e-02 1.93382306e-03 9.98590143e-01 -2.21393331e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.099115933 meters Centerline goodness [0,1] 0.9996610169491525 Centerline is valid? [True, True] Translation: X:-25.13, Y:11.15, Z:0.14 [[ 7.05965200e-01 7.06340603e-01 -5.19238734e-02 -2.51284171e+01] [-7.04951779e-01 7.07853474e-01 4.45695926e-02 1.11494926e+01] [ 6.82358071e-02 5.13924560e-03 9.97655984e-01 1.38004929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.129115933 meters Centerline goodness [0,1] 0.995763429927131 Centerline is valid? [True, True] Translation: X:-25.15, Y:11.15, Z:0.11 [[ 7.05954378e-01 7.06300788e-01 -5.26081074e-02 -2.51495759e+01] [-7.04856082e-01 7.07894127e-01 4.54291693e-02 1.11527459e+01] [ 6.93276283e-02 5.01022343e-03 9.97581364e-01 1.06722792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.159115933 meters Centerline goodness [0,1] 0.997057296174485 Centerline is valid? [True, True] Translation: X:-25.17, Y:11.16, Z:0.10 [[ 7.02628409e-01 7.09602251e-01 -5.27063860e-02 -2.51667037e+01] [-7.08141960e-01 7.04583656e-01 4.57912223e-02 1.11597154e+01] [ 6.96296126e-02 5.14938982e-03 9.97559623e-01 9.65173851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.189115933 meters Centerline goodness [0,1] 0.99739266469668 Centerline is valid? [True, True] Translation: X:-25.20, Y:11.15, Z:0.03 [[ 7.16365448e-01 6.96218693e-01 -4.58265839e-02 -2.51962452e+01] [-6.95071859e-01 7.17822830e-01 4.00686366e-02 1.11523783e+01] [ 6.07919019e-02 3.14898201e-03 9.98145495e-01 3.35663592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.219115933 meters Centerline goodness [0,1] 0.9965295852854417 Centerline is valid? [True, True] Translation: X:-25.20, Y:11.17, Z:0.07 [[ 7.04595362e-01 7.07906158e-01 -4.91349847e-02 -2.51988459e+01] [-7.06593282e-01 7.06293951e-01 4.32988395e-02 1.11744618e+01] [ 6.53552576e-02 4.21028860e-03 9.97853177e-01 7.49571028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.249115933 meters Centerline goodness [0,1] 0.9973707274320771 Centerline is valid? [True, True] Translation: X:-25.22, Y:11.18, Z:0.04 [[ 7.06587037e-01 7.05976751e-01 -4.82864975e-02 -2.52189026e+01] [-7.04685861e-01 7.08225039e-01 4.28384396e-02 1.11782261e+01] [ 6.44406490e-02 3.75772597e-03 9.97914466e-01 3.56345765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.279115933 meters Centerline goodness [0,1] 0.9978452145807146 Centerline is valid? [True, True] Translation: X:-25.24, Y:11.19, Z:0.02 [[ 7.07139770e-01 7.05431197e-01 -4.81681671e-02 -2.52363318e+01] [-7.04128970e-01 7.08769672e-01 4.29877321e-02 1.11857884e+01] [ 6.44650234e-02 3.51826690e-03 9.97913765e-01 2.03427449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.309115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.22, Y:11.23, Z:0.11 [[ 6.77554902e-01 7.33094464e-01 -5.90919772e-02 -2.52190110e+01] [-7.31201588e-01 6.80088674e-01 5.31378619e-02 1.12309553e+01] [ 7.91428568e-02 7.20432878e-03 9.96837251e-01 1.12646858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.339115933 meters Centerline goodness [0,1] 0.9978026002563634 Centerline is valid? [True, True] Translation: X:-25.26, Y:11.21, Z:0.03 [[ 6.98979942e-01 7.13567717e-01 -4.74147079e-02 -2.52576420e+01] [-7.12286718e-01 7.00576049e-01 4.29049056e-02 1.12129898e+01] [ 6.38331643e-02 3.78319826e-03 9.97953413e-01 2.93166408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.369115933 meters Centerline goodness [0,1] 0.9974141115626154 Centerline is valid? [True, True] Translation: X:-25.27, Y:11.23, Z:0.04 [[ 6.91840274e-01 7.20352222e-01 -4.94945522e-02 -2.52651652e+01] [-7.18953657e-01 6.93594518e-01 4.50808572e-02 1.12319830e+01] [ 6.68032458e-02 4.39553672e-03 9.97756486e-01 4.46211614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.399115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.24, Y:11.28, Z:0.16 [[ 6.73201566e-01 7.37338057e-01 -5.59664295e-02 -2.52449684e+01] [-7.35581683e-01 6.75491333e-01 5.12937219e-02 1.12828199e+01] [ 7.56256513e-02 6.63686649e-03 9.97114192e-01 1.60762925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.429115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.26, Y:11.29, Z:0.16 [[ 6.71020551e-01 7.39334984e-01 -5.58139958e-02 -2.52576794e+01] [-7.37571816e-01 6.73305086e-01 5.14594756e-02 1.12947622e+01] [ 7.56256378e-02 6.63646463e-03 9.97114196e-01 1.60598049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.459115933 meters Centerline goodness [0,1] 0.9996255382887099 Centerline is valid? [True, True] Translation: X:-25.29, Y:11.29, Z:0.10 [[ 6.80300081e-01 7.31126754e-01 -5.14341213e-02 -2.52864640e+01] [-7.29586246e-01 6.82222807e-01 4.77069227e-02 1.12890157e+01] [ 6.99693381e-02 5.07060409e-03 9.97536255e-01 1.01926928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.489115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.29, Y:11.31, Z:0.13 [[ 6.80056567e-01 7.31261586e-01 -5.27215124e-02 -2.52907261e+01] [-7.29620794e-01 6.82078813e-01 4.92137200e-02 1.13091815e+01] [ 7.19483296e-02 4.99859826e-03 9.97395835e-01 1.32923966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.519115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.30, Y:11.33, Z:0.14 [[ 6.77189965e-01 7.34048380e-01 -5.08598769e-02 -2.52986530e+01] [-7.32507999e-01 6.79079512e-01 4.77812575e-02 1.13259785e+01] [ 6.96116551e-02 4.89827855e-03 9.97562141e-01 1.43501362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.549115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.30, Y:11.35, Z:0.16 [[ 6.73620570e-01 7.37311090e-01 -5.10654830e-02 -2.53026010e+01] [-7.35747095e-01 6.75534425e-01 4.82644143e-02 1.13497373e+01] [ 7.00823796e-02 5.05937849e-03 9.97528377e-01 1.64141307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.579115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.31, Y:11.36, Z:0.17 [[ 6.84611045e-01 7.27553723e-01 -4.44218152e-02 -2.53141203e+01] [-7.26334431e-01 6.86042536e-01 4.22366219e-02 1.13638042e+01] [ 6.12046663e-02 3.34943602e-03 9.98119617e-01 1.74759468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.609115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.32, Y:11.39, Z:0.20 [[ 6.76471894e-01 7.35016290e-01 -4.62258602e-02 -2.53194684e+01] [-7.33696239e-01 6.78037611e-01 4.42134368e-02 1.13862936e+01] [ 6.38404681e-02 4.00659237e-03 9.97952074e-01 2.03397689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.639115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.34, Y:11.39, Z:0.18 [[ 6.78284008e-01 7.33561020e-01 -4.26501494e-02 -2.53394201e+01] [-7.32419597e-01 6.79615108e-01 4.10468008e-02 1.13911271e+01] [ 5.90960189e-02 3.39641663e-03 9.98246525e-01 1.78395384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.669115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.34, Y:11.41, Z:0.20 [[ 6.80756251e-01 7.31401805e-01 -4.02781238e-02 -2.53446238e+01] [-7.30366528e-01 6.81940760e-01 3.90068641e-02 1.14129716e+01] [ 5.59969851e-02 2.86362690e-03 9.98426831e-01 1.96128702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.699115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.35, Y:11.44, Z:0.22 [[ 6.83444993e-01 7.29053927e-01 -3.71929331e-02 -2.53478418e+01] [-7.28156325e-01 6.84452348e-01 3.62401618e-02 1.14370354e+01] [ 5.18778226e-02 2.31411240e-03 9.98650758e-01 2.21600949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.729115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.37, Y:11.44, Z:0.20 [[ 6.76482401e-01 7.35486212e-01 -3.78363948e-02 -2.53690042e+01] [-7.34555240e-01 6.77534309e-01 3.70925811e-02 1.14416695e+01] [ 5.29165376e-02 2.70044373e-03 9.98595287e-01 2.00922714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.759115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.38, Y:11.46, Z:0.21 [[ 6.77204071e-01 7.34961238e-01 -3.50232085e-02 -2.53815545e+01] [-7.34152783e-01 6.78105148e-01 3.45412608e-02 1.14554261e+01] [ 4.91359058e-02 2.32090354e-03 9.98789405e-01 2.09125891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.789115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.39, Y:11.47, Z:0.20 [[ 6.78329598e-01 7.34022595e-01 -3.28600980e-02 -2.53940238e+01] [-7.33300658e-01 6.79122167e-01 3.26071732e-02 1.14690319e+01] [ 4.62504228e-02 1.97792083e-03 9.98927918e-01 2.04641149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.819115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.41, Y:11.48, Z:0.20 [[ 6.66667118e-01 7.44395450e-01 -3.78202177e-02 -2.54068815e+01] [-7.43442831e-01 6.67732550e-01 3.77624083e-02 1.14823384e+01] [ 5.33639553e-02 2.94221386e-03 9.98570795e-01 1.96745480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.849115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.42, Y:11.50, Z:0.21 [[ 6.69103920e-01 7.42352747e-01 -3.48187164e-02 -2.54163096e+01] [-7.41531888e-01 6.70004913e-01 3.49839221e-02 1.14972753e+01] [ 4.92991218e-02 2.41130915e-03 9.98781148e-01 2.08531402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.879115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.22, Y:12.62, Z:-1.95 [[ 7.90497282e-01 -6.12025905e-01 -2.32021132e-02 -2.42227666e+01] [-6.11742434e-01 -7.90837533e-01 1.86330328e-02 1.26201397e+01] [-2.97530007e-02 -5.35644545e-04 -9.99557138e-01 -1.95138788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.909115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.34, Y:11.39, Z:0.20 [[ 7.21627371e-01 6.91123049e-01 -4.00358405e-02 -2.53390589e+01] [-6.90279513e-01 7.22731240e-01 3.42600138e-02 1.13889038e+01] [ 5.26130379e-02 2.91295673e-03 9.98610726e-01 1.96794795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.939115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.36, Y:11.39, Z:0.18 [[ 7.22828742e-01 6.89975235e-01 -3.81154061e-02 -2.53616267e+01] [-6.89200656e-01 7.23828409e-01 3.27855145e-02 1.13919242e+01] [ 5.02102069e-02 2.57085071e-03 9.98735363e-01 1.79638944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.969115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.37, Y:11.41, Z:0.19 [[ 7.23951370e-01 6.88793163e-01 -3.81889185e-02 -2.53744887e+01] [-6.88003930e-01 7.24954109e-01 3.30474331e-02 1.14067160e+01] [ 5.04480593e-02 2.34939162e-03 9.98723923e-01 1.87445450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.999115933 meters Centerline goodness [0,1] 0.9983792544570502 Centerline is valid? [True, True] Translation: X:-25.39, Y:11.41, Z:0.18 [[ 7.18188526e-01 6.94564472e-01 -4.22544110e-02 -2.53935534e+01] [-6.93595307e-01 7.19424686e-01 3.67922719e-02 1.14137163e+01] [ 5.59534713e-02 2.88367365e-03 9.98429213e-01 1.82795384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.029115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.41, Y:11.42, Z:0.18 [[ 7.20468308e-01 6.92332027e-01 -4.00222654e-02 -2.54092833e+01] [-6.91445219e-01 7.21575163e-01 3.51111483e-02 1.14214119e+01] [ 5.31876451e-02 2.37673442e-03 9.98581707e-01 1.77001303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.059115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.42, Y:11.44, Z:0.19 [[ 7.20629474e-01 6.92165674e-01 -3.99980060e-02 -2.54193543e+01] [-6.91267634e-01 7.21735299e-01 3.53159565e-02 1.14391172e+01] [ 5.33124656e-02 2.19960778e-03 9.98575457e-01 1.89936417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.089115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.43, Y:11.45, Z:0.19 [[ 7.19757137e-01 6.93040098e-01 -4.05596547e-02 -2.54347680e+01] [-6.92105957e-01 7.20895875e-01 3.60344517e-02 1.14505890e+01] [ 5.42126077e-02 2.13552487e-03 9.98527132e-01 1.94921831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.119115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.45, Y:11.46, Z:0.19 [[ 7.25298314e-01 6.87430527e-01 -3.71702249e-02 -2.54507688e+01] [-6.86628644e-01 7.26248746e-01 3.32244497e-02 1.14599960e+01] [ 4.98343302e-02 1.42450376e-03 9.98756482e-01 1.85759349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.149115933 meters Centerline goodness [0,1] 0.9979562640506846 Centerline is valid? [True, True] Translation: X:-25.49, Y:11.44, Z:0.10 [[ 7.20893823e-01 6.91989964e-01 -3.82359075e-02 -2.54931914e+01] [-6.91136464e-01 7.21905280e-01 3.43970227e-02 1.14390303e+01] [ 5.14050980e-02 1.62962870e-03 9.98676554e-01 1.01183136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.179115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.48, Y:11.48, Z:0.19 [[ 7.16004465e-01 6.96962652e-01 -3.97576108e-02 -2.54795352e+01] [-6.96035299e-01 7.17104904e-01 3.59919334e-02 1.14845406e+01] [ 5.35954110e-02 1.90231551e-03 9.98560921e-01 1.89075960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.209115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.51, Y:11.48, Z:0.15 [[ 7.18110856e-01 6.94983199e-01 -3.62650213e-02 -2.55063563e+01] [-6.94199163e-01 7.19024508e-01 3.30345152e-02 1.14813764e+01] [ 4.90338721e-02 1.45270345e-03 9.98796060e-01 1.46072069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.239115933 meters Centerline goodness [0,1] 0.999792531120332 Centerline is valid? [True, True] Translation: X:-25.51, Y:11.51, Z:0.17 [[ 7.10031500e-01 7.03082388e-01 -3.91206418e-02 -2.55112102e+01] [-7.02170017e-01 7.11105570e-01 3.58627254e-02 1.15054233e+01] [ 5.30333569e-02 2.00567699e-03 9.98590727e-01 1.72769988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.269115933 meters Centerline goodness [0,1] 0.9989711934156379 Centerline is valid? [True, True] Translation: X:-25.53, Y:11.51, Z:0.15 [[ 7.04946744e-01 7.08221515e-01 -3.83715174e-02 -2.55346647e+01] [-7.07339833e-01 7.05986892e-01 3.53958972e-02 1.15076669e+01] [ 5.21579243e-02 2.18948017e-03 9.98636449e-01 1.49282894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.299115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.54, Y:11.54, Z:0.19 [[ 7.05872465e-01 7.07387997e-01 -3.66917546e-02 -2.55350393e+01] [-7.06570284e-01 7.06822936e-01 3.40554027e-02 1.15362259e+01] [ 5.00249568e-02 1.88653239e-03 9.98746186e-01 1.91572627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.329115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.55, Y:11.55, Z:0.20 [[ 7.01468023e-01 7.11839049e-01 -3.50396968e-02 -2.55459075e+01] [-7.11089329e-01 7.02339883e-01 3.27208499e-02 1.15525193e+01] [ 4.79017552e-02 1.96372462e-03 9.98850122e-01 2.01607266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.359115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.55, Y:11.57, Z:0.21 [[ 6.98498233e-01 7.14810696e-01 -3.38509540e-02 -2.55541817e+01] [-7.14105069e-01 6.99315279e-01 3.18133657e-02 1.15704584e+01] [ 4.64130235e-02 1.95155814e-03 9.98920429e-01 2.14006048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.389115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.57, Y:11.58, Z:0.20 [[ 6.89489343e-01 7.23500007e-01 -3.39438800e-02 -2.55699614e+01] [-7.22791509e-01 6.90320197e-01 3.21007798e-02 1.15802253e+01] [ 4.66570603e-02 2.40120269e-03 9.98908080e-01 2.00535875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.419115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.58, Y:11.60, Z:0.22 [[ 6.85833020e-01 7.27037875e-01 -3.23882160e-02 -2.55803165e+01] [-7.26388576e-01 6.86593182e-01 3.08129687e-02 1.15963697e+01] [ 4.46397236e-02 2.39387876e-03 9.99000282e-01 2.16549273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.449115933 meters Centerline goodness [0,1] 0.9997959183673469 Centerline is valid? [True, True] Translation: X:-25.60, Y:11.60, Z:0.20 [[ 6.76114075e-01 7.35963363e-01 -3.50383399e-02 -2.55976350e+01] [-7.35204965e-01 6.77014356e-01 3.35443180e-02 1.16039145e+01] [ 4.84088482e-02 3.08057590e-03 9.98822854e-01 1.95903647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.479115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.62, Y:11.60, Z:0.16 [[ 6.70606431e-01 7.41002266e-01 -3.46793483e-02 -2.56241338e+01] [-7.40256387e-01 6.71494547e-01 3.33999130e-02 1.16029517e+01] [ 4.80364045e-02 3.27341262e-03 9.98840222e-01 1.62859750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.509115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.62, Y:11.63, Z:0.21 [[ 6.68358304e-01 7.43049781e-01 -3.42666063e-02 -2.56248309e+01] [-7.42314254e-01 6.69228309e-01 3.32117086e-02 1.16276276e+01] [ 4.76101358e-02 3.23926905e-03 9.98860742e-01 2.09863698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.539115933 meters Centerline goodness [0,1] 0.9993935718617344 Centerline is valid? [True, True] Translation: X:-25.64, Y:11.64, Z:0.19 [[ 6.59436068e-01 7.51028168e-01 -3.31777406e-02 -2.56419462e+01] [-7.50339316e-01 6.60260578e-01 3.23555393e-02 1.16358416e+01] [ 4.62058755e-02 3.55815356e-03 9.98925601e-01 1.94791223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.569115933 meters Centerline goodness [0,1] 0.9995915032679739 Centerline is valid? [True, True] Translation: X:-25.67, Y:11.63, Z:0.14 [[ 6.58397135e-01 7.52092811e-01 -2.94892607e-02 -2.56724315e+01] [-7.51542646e-01 6.59049847e-01 2.89301052e-02 1.16298085e+01] [ 4.11930169e-02 3.11493862e-03 9.99146352e-01 1.44710810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.599115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.68, Y:11.65, Z:0.19 [[ 6.55289327e-01 7.54837299e-01 -2.85753301e-02 -2.56754576e+01] [-7.54316605e-01 6.55904866e-01 2.82004623e-02 1.16536730e+01] [ 4.00294589e-02 3.07538402e-03 9.99193767e-01 1.89613919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.629115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.69, Y:11.66, Z:0.18 [[ 6.53910843e-01 7.56010821e-01 -2.91246893e-02 -2.56942847e+01] [-7.55463727e-01 6.54551822e-01 2.89217690e-02 1.16599295e+01] [ 4.09287887e-02 3.09038800e-03 9.99157287e-01 1.75136011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.659115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.72, Y:11.66, Z:0.14 [[ 6.48435174e-01 7.60702356e-01 -2.93896320e-02 -2.57179272e+01] [-7.60142199e-01 6.49092501e-01 2.93728116e-02 1.16616275e+01] [ 4.14205567e-02 3.29393529e-03 9.99136371e-01 1.41871908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.689115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.39, Y:12.86, Z:-1.87 [[ 8.08188922e-01 -5.88726888e-01 -1.52091426e-02 -2.43875159e+01] [-5.88609970e-01 -8.08331838e-01 1.17449214e-02 1.28624614e+01] [-1.92085852e-02 -5.39862427e-04 -9.99815352e-01 -1.87226762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.719115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.59, Y:11.52, Z:0.16 [[ 7.12873839e-01 7.00609575e-01 -3.09372431e-02 -2.55915671e+01] [-7.00120181e-01 7.13539007e-01 2.63404079e-02 1.15187289e+01] [ 4.05292717e-02 2.88240049e-03 9.99174194e-01 1.56010455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.749115933 meters Centerline goodness [0,1] 0.9985519238725693 Centerline is valid? [True, True] Translation: X:-25.63, Y:11.51, Z:0.10 [[ 7.17121411e-01 6.96337202e-01 -2.91784608e-02 -2.56252686e+01] [-6.95893418e-01 7.17710773e-01 2.49719214e-02 1.15065687e+01] [ 3.83305735e-02 2.39719927e-03 9.99262238e-01 1.02493487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.779115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.69, Y:11.45, Z:-0.07 [[ 7.21838364e-01 6.91495962e-01 -2.79769900e-02 -2.56946932e+01] [-6.91078744e-01 7.22377718e-01 2.40956897e-02 1.14498393e+01] [ 3.68720263e-02 1.94110992e-03 9.99318110e-01 -7.29619439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.809115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.71, Y:11.46, Z:-0.07 [[ 7.16727891e-01 6.96652526e-01 -3.12472110e-02 -2.57118586e+01] [-6.96129164e-01 7.17404929e-01 2.70989979e-02 1.14581199e+01] [ 4.12954885e-02 2.32948727e-03 9.99144262e-01 -6.82258563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.839115933 meters Centerline goodness [0,1] 0.999168226242462 Centerline is valid? [True, True] Translation: X:-25.67, Y:11.54, Z:0.13 [[ 7.19655096e-01 6.93730506e-01 -2.88882057e-02 -2.56654790e+01] [-6.93274756e-01 7.20232212e-01 2.52125600e-02 1.15432542e+01] [ 3.82969383e-02 1.88311652e-03 9.99264629e-01 1.31215101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.869115933 meters Centerline goodness [0,1] 0.9997924019099025 Centerline is valid? [True, True] Translation: X:-25.72, Y:11.51, Z:0.01 [[ 7.19842462e-01 6.93493893e-01 -2.98839459e-02 -2.57167507e+01] [-6.92999253e-01 7.20460223e-01 2.62507406e-02 1.15100355e+01] [ 3.97349227e-02 1.81315444e-03 9.99208611e-01 1.24824063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.899115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.73, Y:11.52, Z:-0.00 [[ 7.20175787e-01 6.93188938e-01 -2.89124808e-02 -2.57314401e+01] [-6.92717869e-01 7.20754163e-01 2.56005887e-02 1.15162096e+01] [ 3.85848358e-02 1.59126796e-03 9.99254061e-01 -2.99536435e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.929115933 meters Centerline goodness [0,1] 0.9991726990692864 Centerline is valid? [True, True] Translation: X:-25.71, Y:11.57, Z:0.13 [[ 7.17682646e-01 6.95657081e-01 -3.15094674e-02 -2.57134788e+01] [-6.95091626e-01 7.18371914e-01 2.80966868e-02 1.15673891e+01] [ 4.21811755e-02 1.73746245e-03 9.99108467e-01 1.30052686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.959115933 meters Centerline goodness [0,1] 0.998351195383347 Centerline is valid? [True, True] Translation: X:-25.73, Y:11.57, Z:0.10 [[ 7.22049581e-01 6.91254113e-01 -2.84983149e-02 -2.57320030e+01] [-6.90779298e-01 7.22610810e-01 2.56432948e-02 1.15655934e+01] [ 3.83192234e-02 1.17031574e-03 9.99264864e-01 1.04577630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.989115933 meters Centerline goodness [0,1] 0.9993781094527363 Centerline is valid? [True, True] Translation: X:-25.76, Y:11.56, Z:0.05 [[ 7.16951811e-01 6.96406070e-01 -3.16019987e-02 -2.57628919e+01] [-6.95817684e-01 7.17646503e-01 2.86574247e-02 1.15575953e+01] [ 4.26362683e-02 1.44323698e-03 9.99089618e-01 5.33044545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.019115933 meters Centerline goodness [0,1] 0.9997949979499795 Centerline is valid? [True, True] Translation: X:-25.80, Y:11.55, Z:-0.00 [[ 7.24741237e-01 6.88426007e-01 -2.86316718e-02 -2.57963817e+01] [-6.87930309e-01 7.25306182e-01 2.61310683e-02 1.15472543e+01] [ 3.87560356e-02 7.58332078e-04 9.99248415e-01 -1.40084028e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.049115933 meters Centerline goodness [0,1] 0.9993801652892562 Centerline is valid? [True, True] Translation: X:-25.81, Y:11.56, Z:0.01 [[ 7.21158104e-01 6.92076859e-01 -3.09937158e-02 -2.58061406e+01] [-6.91491369e-01 7.21823259e-01 2.84757505e-02 1.15637646e+01] [ 4.20793929e-02 8.96368708e-04 9.99113868e-01 1.25217982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.079115933 meters Centerline goodness [0,1] 0.9991808314560721 Centerline is valid? [True, True] Translation: X:-25.82, Y:11.57, Z:0.01 [[ 7.24250307e-01 6.88849853e-01 -3.07794233e-02 -2.58215438e+01] [-6.88261797e-01 7.24903825e-01 2.84630214e-02 1.15747923e+01] [ 4.19188698e-02 5.69949167e-04 9.99120855e-01 1.22486144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.109115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.85, Y:11.57, Z:-0.05 [[ 7.21062127e-01 6.92151674e-01 -3.15510655e-02 -2.58526398e+01] [-6.91528662e-01 7.21751791e-01 2.93677019e-02 1.15677325e+01] [ 4.30989421e-02 6.42528528e-04 9.99070602e-01 -4.64282600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.139115933 meters Centerline goodness [0,1] 0.9983606557377049 Centerline is valid? [True, True] Translation: X:-25.86, Y:11.58, Z:-0.03 [[ 7.18791121e-01 6.94552097e-01 -3.06056890e-02 -2.58614044e+01] [-6.93959066e-01 7.19442155e-01 2.87019266e-02 1.15843801e+01] [ 4.19540061e-02 6.08405311e-04 9.99119358e-01 -2.57587208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.169115933 meters Centerline goodness [0,1] 0.9993825890100844 Centerline is valid? [True, True] Translation: X:-25.87, Y:11.60, Z:-0.02 [[ 7.14725927e-01 6.98677815e-01 -3.18772771e-02 -2.58735098e+01] [-6.98027770e-01 7.15436096e-01 3.01400770e-02 1.15966328e+01] [ 4.38643579e-02 7.09330192e-04 9.99037244e-01 -2.36383558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.199115933 meters Centerline goodness [0,1] 0.9993822075782537 Centerline is valid? [True, True] Translation: X:-25.89, Y:11.61, Z:-0.04 [[ 7.12061265e-01 7.01305366e-01 -3.37570517e-02 -2.58888062e+01] [-7.00568817e-01 7.12860577e-01 3.21423292e-02 1.16073925e+01] [ 4.66056593e-02 7.61830241e-04 9.98913075e-01 -3.56224167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.229115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.90, Y:11.62, Z:-0.03 [[ 7.03159737e-01 7.10227933e-01 -3.38033775e-02 -2.58986678e+01] [-7.09488374e-01 7.03970797e-01 3.24247270e-02 1.16229204e+01] [ 4.68255374e-02 1.18334083e-03 9.98902382e-01 -3.23505400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.259115933 meters Centerline goodness [0,1] 0.9995920864776667 Centerline is valid? [True, True] Translation: X:-25.91, Y:11.64, Z:-0.03 [[ 7.00256717e-01 7.13149508e-01 -3.25316663e-02 -2.59098161e+01] [-7.12458337e-01 7.01010973e-01 3.14123082e-02 1.16387583e+01] [ 4.52067272e-02 1.18077709e-03 9.98976955e-01 -3.25487931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.289115933 meters Centerline goodness [0,1] 0.9993922204213939 Centerline is valid? [True, True] Translation: X:-25.93, Y:11.64, Z:-0.06 [[ 6.92610066e-01 7.20529217e-01 -3.35997492e-02 -2.59291710e+01] [-7.19789165e-01 6.93422854e-01 3.26849139e-02 1.16441201e+01] [ 4.68492694e-02 1.54683510e-03 9.98900772e-01 -5.64461169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.319115933 meters Centerline goodness [0,1] 0.9993922204213939 Centerline is valid? [True, True] Translation: X:-25.94, Y:11.66, Z:-0.06 [[ 6.90241536e-01 7.22803692e-01 -3.34879903e-02 -2.59415022e+01] [-7.22060771e-01 6.91051697e-01 3.27993174e-02 1.16563595e+01] [ 4.68494002e-02 1.54091288e-03 9.98900775e-01 -5.65939109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.349115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.95, Y:11.68, Z:-0.03 [[ 6.91933403e-01 7.21271940e-01 -3.15429116e-02 -2.59458776e+01] [-7.20602399e-01 6.92650932e-01 3.10945101e-02 1.16780191e+01] [ 4.42758247e-02 1.21456759e-03 9.99018607e-01 -3.34987556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.379115933 meters Centerline goodness [0,1] 0.9987973541791942 Centerline is valid? [True, True] Translation: X:-25.95, Y:11.70, Z:-0.02 [[ 6.92786979e-01 7.20435814e-01 -3.19129873e-02 -2.59545422e+01] [-7.19740152e-01 6.93520856e-01 3.16691590e-02 1.16951361e+01] [ 4.49479186e-02 1.02907729e-03 9.98988802e-01 -2.34672874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.409115933 meters Centerline goodness [0,1] 0.9991988784298017 Centerline is valid? [True, True] Translation: X:-25.97, Y:11.71, Z:-0.02 [[ 6.85919705e-01 7.26812915e-01 -3.54562245e-02 -2.59684904e+01] [-7.25950688e-01 6.86833971e-01 3.54216737e-02 1.17070534e+01] [ 5.00974694e-02 1.44304657e-03 9.98743291e-01 -2.47000524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.439115933 meters Centerline goodness [0,1] 0.9995946493717065 Centerline is valid? [True, True] Translation: X:-24.51, Y:13.11, Z:-1.72 [[ 7.79073343e-01 -6.26565229e-01 -2.14648687e-02 -2.45082826e+01] [-6.26333637e-01 -7.79368965e-01 1.70350123e-02 1.31073091e+01] [-2.74025989e-02 1.72645286e-04 -9.99624463e-01 -1.72268753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.469115933 meters Centerline goodness [0,1] 0.9997958767095325 Centerline is valid? [True, True] Translation: X:-25.86, Y:11.58, Z:-0.05 [[ 7.48029766e-01 6.62705550e-01 -3.56766589e-02 -2.58638605e+01] [-6.62011562e-01 7.48879493e-01 3.03347502e-02 1.15768330e+01] [ 4.68205255e-02 9.27064611e-04 9.98902888e-01 -4.60903720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.499115933 meters Centerline goodness [0,1] 0.9989987985582699 Centerline is valid? [True, True] Translation: X:-25.87, Y:11.60, Z:-0.02 [[ 7.43547030e-01 6.67735417e-01 -3.55981318e-02 -2.58687186e+01] [-6.67042551e-01 7.44397852e-01 3.04314419e-02 1.16014619e+01] [ 4.68193244e-02 1.11826037e-03 9.98902748e-01 -1.74177069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.529115933 meters Centerline goodness [0,1] 0.9981655116184264 Centerline is valid? [True, True] Translation: X:-25.87, Y:11.63, Z:0.04 [[ 7.39488866e-01 6.72241722e-01 -3.53169151e-02 -2.58687754e+01] [-6.71556129e-01 7.40330669e-01 3.03787193e-02 1.16312366e+01] [ 4.65680379e-02 1.25256610e-03 9.98914335e-01 4.14462810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.559115933 meters Centerline goodness [0,1] 0.9987829614604462 Centerline is valid? [True, True] Translation: X:-25.88, Y:11.64, Z:0.03 [[ 7.37470944e-01 6.74456333e-01 -3.52882650e-02 -2.58838807e+01] [-6.73765516e-01 7.38313680e-01 3.05440452e-02 1.16422851e+01] [ 4.66544335e-02 1.25067026e-03 9.98910306e-01 3.43438848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.589115933 meters Centerline goodness [0,1] 0.9995981514968857 Centerline is valid? [True, True] Translation: X:-25.92, Y:11.63, Z:-0.04 [[ 7.36652970e-01 6.75271635e-01 -3.67507897e-02 -2.59164298e+01] [-6.74513219e-01 7.37568147e-01 3.20178918e-02 1.16322063e+01] [ 4.87269860e-02 1.20281833e-03 9.98811411e-01 -4.07140426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.619115933 meters Centerline goodness [0,1] 0.9989953787422142 Centerline is valid? [True, True] Translation: X:-25.90, Y:11.68, Z:0.06 [[ 7.33393364e-01 6.78903960e-01 -3.49798078e-02 -2.59009736e+01] [-6.78212169e-01 7.34226049e-01 3.06653444e-02 1.16803939e+01] [ 4.65019098e-02 1.23397121e-03 9.98917439e-01 6.49568418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.649115933 meters Centerline goodness [0,1] 0.9992087042532146 Centerline is valid? [True, True] Translation: X:-25.93, Y:11.67, Z:0.00 [[ 7.31950679e-01 6.80449402e-01 -3.51683804e-02 -2.59329145e+01] [-6.79742490e-01 7.32794098e-01 3.10315418e-02 1.16706389e+01] [ 4.68865756e-02 1.19188440e-03 9.98899509e-01 2.09684522e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.679115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.95, Y:11.67, Z:-0.03 [[ 7.25909007e-01 6.86904161e-01 -3.49111298e-02 -2.59533590e+01] [-6.86205694e-01 7.26746564e-01 3.10028552e-02 1.16745241e+01] [ 4.66675338e-02 1.45096426e-03 9.98909423e-01 -3.27200163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.709115933 meters Centerline goodness [0,1] 0.9988088147706968 Centerline is valid? [True, True] Translation: X:-25.95, Y:11.71, Z:0.03 [[ 7.18090890e-01 6.95079723e-01 -3.47800570e-02 -2.59488613e+01] [-6.94386429e-01 7.18930351e-01 3.10907951e-02 1.17074473e+01] [ 4.66150198e-02 1.82478282e-03 9.98911262e-01 3.43679891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.739115933 meters Centerline goodness [0,1] 0.9992225461613217 Centerline is valid? [True, True] Translation: X:-25.98, Y:11.69, Z:-0.05 [[ 7.10388527e-01 7.02884225e-01 -3.60819461e-02 -2.59823671e+01] [-7.02137385e-01 7.11300660e-01 3.24724967e-02 1.16943548e+01] [ 4.84895178e-02 2.26639420e-03 9.98821120e-01 -5.06887173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.769115933 meters Centerline goodness [0,1] 0.9966861598440546 Centerline is valid? [True, True] Translation: X:-25.95, Y:11.76, Z:0.11 [[ 7.00609465e-01 7.12630968e-01 -3.61037451e-02 -2.59504906e+01] [-7.11885964e-01 7.01533532e-01 3.26967665e-02 1.17607008e+01] [ 4.86287162e-02 2.79408531e-03 9.98813016e-01 1.13826859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.799115933 meters Centerline goodness [0,1] 0.9973389089526706 Centerline is valid? [True, True] Translation: X:-25.98, Y:11.76, Z:0.07 [[ 6.94722515e-01 7.18444018e-01 -3.46239867e-02 -2.59763103e+01] [-7.17756496e-01 6.95578628e-01 3.15592236e-02 1.17563223e+01] [ 4.67572406e-02 2.92668816e-03 9.98901995e-01 6.96097569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.829115933 meters Centerline goodness [0,1] 0.9975383450104147 Centerline is valid? [True, True] Translation: X:-25.99, Y:11.77, Z:0.06 [[ 6.93227591e-01 7.20047455e-01 -3.10993461e-02 -2.59887264e+01] [-7.19486972e-01 6.93919946e-01 2.85237568e-02 1.17682732e+01] [ 4.21189151e-02 2.60211914e-03 9.99109216e-01 6.39760843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.859115933 meters Centerline goodness [0,1] 0.9958317544524441 Centerline is valid? [True, True] Translation: X:-25.99, Y:11.79, Z:0.10 [[ 6.85480156e-01 7.27321416e-01 -3.34740705e-02 -2.59933433e+01] [-7.26671543e-01 6.86289790e-01 3.08997282e-02 1.17909520e+01] [ 4.54469469e-02 3.14350389e-03 9.98961808e-01 1.02327339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.889115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.04, Y:11.76, Z:-0.04 [[ 6.85614475e-01 7.27006630e-01 -3.73383430e-02 -2.60393221e+01] [-7.26185878e-01 6.86622379e-01 3.46955138e-02 1.17649248e+01] [ 5.08612105e-02 3.32683090e-03 9.98700190e-01 -3.89383294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.919115933 meters Centerline goodness [0,1] 0.9986804901036758 Centerline is valid? [True, True] Translation: X:-26.04, Y:11.78, Z:0.00 [[ 6.86292720e-01 7.26384284e-01 -3.69888398e-02 -2.60449529e+01] [-7.25566540e-01 6.87281816e-01 3.45962544e-02 1.17846613e+01] [ 5.05519325e-02 3.09470699e-03 9.98716639e-01 7.36164130e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.949115933 meters Centerline goodness [0,1] 0.9972324723247232 Centerline is valid? [True, True] Translation: X:-26.04, Y:11.81, Z:0.06 [[ 6.81677606e-01 7.30702401e-01 -3.72779107e-02 -2.60430557e+01] [-7.29866421e-01 6.82688232e-01 3.50967983e-02 1.18133452e+01] [ 5.10945057e-02 3.28319377e-03 9.98688426e-01 6.32242283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.979115933 meters Centerline goodness [0,1] 0.9987049028677151 Centerline is valid? [True, True] Translation: X:-26.07, Y:11.81, Z:0.01 [[ 6.81890311e-01 7.30426977e-01 -3.87561057e-02 -2.60678212e+01] [-7.29510192e-01 6.82983165e-01 3.67270484e-02 1.18118049e+01] [ 5.32961947e-02 3.22915567e-03 9.98573527e-01 1.04142993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.009115933 meters Centerline goodness [0,1] 0.9966740576496674 Centerline is valid? [True, True] Translation: X:-26.06, Y:11.85, Z:0.13 [[ 6.79723968e-01 7.32430628e-01 -3.89961821e-02 -2.60552075e+01] [-7.31492770e-01 6.80833943e-01 3.71950177e-02 1.18522436e+01] [ 5.37926945e-02 3.24308022e-03 9.98546858e-01 1.28619383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.039115933 meters Centerline goodness [0,1] 0.9961311717022845 Centerline is valid? [True, True] Translation: X:-26.08, Y:11.86, Z:0.10 [[ 6.79450477e-01 7.32668527e-01 -3.92922298e-02 -2.60760513e+01] [-7.31703876e-01 6.80578477e-01 3.77143948e-02 1.18556177e+01] [ 5.43735960e-02 3.12521329e-03 9.98515771e-01 9.57272492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.069115933 meters Centerline goodness [0,1] 0.9979753359101785 Centerline is valid? [True, True] Translation: X:-26.10, Y:11.85, Z:0.04 [[ 6.82656258e-01 7.29770550e-01 -3.76214972e-02 -2.61026784e+01] [-7.28867958e-01 6.83687241e-01 3.63765886e-02 1.18519561e+01] [ 5.22679007e-02 2.58839798e-03 9.98629745e-01 3.93158141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.099115933 meters Centerline goodness [0,1] 0.9979640940218397 Centerline is valid? [True, True] Translation: X:-26.11, Y:11.87, Z:0.05 [[ 6.85141785e-01 7.27520245e-01 -3.59864868e-02 -2.61133064e+01] [-7.26679721e-01 6.86082839e-01 3.50274419e-02 1.18667528e+01] [ 5.01728841e-02 2.15188610e-03 9.98738230e-01 5.45924137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.129115933 meters Centerline goodness [0,1] 0.998522076482542 Centerline is valid? [True, True] Translation: X:-26.14, Y:11.86, Z:-0.01 [[ 6.85878228e-01 7.26888298e-01 -3.47053018e-02 -2.61444544e+01] [-7.26095205e-01 6.86753133e-01 3.39983645e-02 1.18596790e+01] [ 4.85469880e-02 1.88061520e-03 9.98819129e-01 -1.45627682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.159115933 meters Centerline goodness [0,1] 0.9996355020958629 Centerline is valid? [True, True] Translation: X:-26.16, Y:11.87, Z:-0.03 [[ 6.87580226e-01 7.25332150e-01 -3.35664180e-02 -2.61632541e+01] [-7.24578413e-01 6.88397284e-01 3.30953606e-02 1.18658544e+01] [ 4.71121600e-02 1.56578640e-03 9.98888378e-01 -3.25724701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.189115933 meters Centerline goodness [0,1] 0.9976076555023924 Centerline is valid? [True, True] Translation: X:-26.17, Y:11.88, Z:-0.03 [[ 6.80102903e-01 7.32289590e-01 -3.48137701e-02 -2.61728584e+01] [-7.31474724e-01 6.80990597e-01 3.45909670e-02 1.18795412e+01] [ 4.90384551e-02 1.93997583e-03 9.98795007e-01 -2.94753147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.219115933 meters Centerline goodness [0,1] 0.9990956773376741 Centerline is valid? [True, True] Translation: X:-26.18, Y:11.89, Z:-0.01 [[ 6.87128325e-01 7.25922318e-01 -2.98572056e-02 -2.61847281e+01] [-7.25308226e-01 6.87775774e-01 2.98741084e-02 1.18929305e+01] [ 4.22213447e-02 1.12833079e-03 9.99107644e-01 -1.27334870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.249115933 meters Centerline goodness [0,1] 0.9989077007099946 Centerline is valid? [True, True] Translation: X:-24.71, Y:13.26, Z:-1.77 [[ 7.73292733e-01 -6.33964837e-01 -1.03409004e-02 -2.47100821e+01] [-6.33919464e-01 -7.73361584e-01 7.61401727e-03 1.32640662e+01] [-1.28242743e-02 6.67433816e-04 -9.99917543e-01 -1.76528867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.279115933 meters Centerline goodness [0,1] 0.9962752749201844 Centerline is valid? [True, True] Translation: X:-26.05, Y:11.75, Z:0.02 [[ 7.54757598e-01 6.55579447e-01 -2.35914496e-02 -2.60532365e+01] [-6.55271589e-01 7.55126150e-01 2.00908772e-02 1.17535813e+01] [ 3.09856867e-02 2.95064410e-04 9.99519785e-01 1.64446513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.309115933 meters Centerline goodness [0,1] 0.997434957860022 Centerline is valid? [True, True] Translation: X:-26.07, Y:11.76, Z:-0.00 [[ 7.52893913e-01 6.57718802e-01 -2.35952038e-02 -2.60741241e+01] [-6.57408772e-01 7.53263489e-01 2.01946471e-02 1.17587198e+01] [ 3.10558046e-02 3.07267107e-04 9.99517605e-01 -4.67929477e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.339115933 meters Centerline goodness [0,1] 0.9966502115655853 Centerline is valid? [True, True] Translation: X:-26.08, Y:11.78, Z:0.04 [[ 7.48402503e-01 6.62872780e-01 -2.22119600e-02 -2.60832175e+01] [-6.62596828e-01 7.48731939e-01 1.91292314e-02 1.17781631e+01] [ 2.93110507e-02 4.01209559e-04 9.99570258e-01 4.11998679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.369115933 meters Centerline goodness [0,1] 0.9955736543909348 Centerline is valid? [True, True] Translation: X:-26.09, Y:11.80, Z:0.08 [[ 7.48393851e-01 6.62970828e-01 -1.93990829e-02 -2.60885868e+01] [-6.62757281e-01 7.48645184e-01 1.68277732e-02 1.17973816e+01] [ 2.56793527e-02 2.63081441e-04 9.99670196e-01 7.65641074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.399115933 meters Centerline goodness [0,1] 0.9969669937555754 Centerline is valid? [True, True] Translation: X:-26.10, Y:11.81, Z:0.08 [[ 7.49049968e-01 6.62298811e-01 -1.68650704e-02 -2.61031643e+01] [-6.62134976e-01 7.49239793e-01 1.47310953e-02 1.18103813e+01] [ 2.23923687e-02 1.32626508e-04 9.99749251e-01 8.10978618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.429115933 meters Centerline goodness [0,1] 0.9982152418347314 Centerline is valid? [True, True] Translation: X:-26.12, Y:11.82, Z:0.09 [[ 7.38751013e-01 6.73720454e-01 -1.86464490e-02 -2.61160225e+01] [-6.73520716e-01 7.38986170e-01 1.64099427e-02 1.18237436e+01] [ 2.48351820e-02 4.35907858e-04 9.99691464e-01 9.49091787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.459115933 meters Centerline goodness [0,1] 0.9984065155807366 Centerline is valid? [True, True] Translation: X:-26.13, Y:11.84, Z:0.12 [[ 7.33251086e-01 6.79691027e-01 -1.90513322e-02 -2.61281682e+01] [-6.79481537e-01 7.33498322e-01 1.68835061e-02 1.18398135e+01] [ 2.54496878e-02 5.65179346e-04 9.99675944e-01 1.19002811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.489115933 meters Centerline goodness [0,1] 0.9983621474067333 Centerline is valid? [True, True] Translation: X:-26.13, Y:11.87, Z:0.17 [[ 7.25799691e-01 6.87603326e-01 -2.04076942e-02 -2.61313944e+01] [-6.87362869e-01 7.26086082e-01 1.82013298e-02 1.18659683e+01] [ 2.73330376e-02 8.16971720e-04 9.99626049e-01 1.74416565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.519115933 meters Centerline goodness [0,1] 0.9985473034319956 Centerline is valid? [True, True] Translation: X:-26.14, Y:11.88, Z:0.19 [[ 7.21254599e-01 6.92314919e-01 -2.21778533e-02 -2.61426787e+01] [-6.92029345e-01 7.21594813e-01 1.99075825e-02 1.18827351e+01] [ 2.97857403e-02 9.89289910e-04 9.99555817e-01 1.86862060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.549115933 meters Centerline goodness [0,1] 0.9983606557377049 Centerline is valid? [True, True] Translation: X:-26.16, Y:11.89, Z:0.18 [[ 7.25587745e-01 6.87935666e-01 -1.63384062e-02 -2.61602676e+01] [-6.87777765e-01 7.25771474e-01 1.47483532e-02 1.18898579e+01] [ 2.20038674e-02 5.35968178e-04 9.99757742e-01 1.75177054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.579115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.18, Y:11.90, Z:0.16 [[ 7.21663651e-01 6.92042989e-01 -1.66756393e-02 -2.61781134e+01] [-6.91877392e-01 7.21856036e-01 1.51505068e-02 1.18979701e+01] [ 2.25222129e-02 6.03927782e-04 9.99746160e-01 1.55541955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.609115933 meters Centerline goodness [0,1] 0.9986932984879596 Centerline is valid? [True, True] Translation: X:-26.20, Y:11.90, Z:0.14 [[ 7.26550035e-01 6.86973938e-01 -1.38511614e-02 -2.61964449e+01] [-6.86857282e-01 7.26681987e-01 1.26635164e-02 1.19041495e+01] [ 1.87648952e-02 3.13092761e-04 9.99823875e-01 1.43323361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.639115933 meters Centerline goodness [0,1] 0.9994389377220871 Centerline is valid? [True, True] Translation: X:-26.21, Y:11.92, Z:0.15 [[ 7.26433622e-01 6.87097964e-01 -1.38051380e-02 -2.62120782e+01] [-6.86980391e-01 7.26564744e-01 1.27128038e-02 1.19159699e+01] [ 1.87652682e-02 2.48850971e-04 9.99823886e-01 1.50912556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.669115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.23, Y:11.93, Z:0.16 [[ 7.23439202e-01 6.90195075e-01 -1.63241999e-02 -2.62264154e+01] [-6.90029145e-01 7.23623286e-01 1.51366852e-02 1.19285284e+01] [ 2.22598367e-02 3.13702266e-04 9.99752170e-01 1.59626867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.699115933 meters Centerline goodness [0,1] 0.998314606741573 Centerline is valid? [True, True] Translation: X:-26.22, Y:11.96, Z:0.24 [[ 7.25979761e-01 6.87604796e-01 -1.23706214e-02 -2.62213896e+01] [-6.87508095e-01 7.26085138e-01 1.15321826e-02 1.19639792e+01] [ 1.69117084e-02 1.32771223e-04 9.99856978e-01 2.37572799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.729115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.25, Y:11.96, Z:0.20 [[ 7.18005361e-01 6.95860045e-01 -1.57193668e-02 -2.62479292e+01] [-6.95703313e-01 7.18177338e-01 1.47719944e-02 1.19608295e+01] [ 2.15685337e-02 3.29644382e-04 9.99767318e-01 1.98540130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.759115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.27, Y:11.97, Z:0.18 [[ 7.07257692e-01 7.06681699e-01 -1.96858815e-02 -2.62655059e+01] [-7.06436120e-01 7.07531240e-01 1.86427419e-02 1.19691889e+01] [ 2.71028607e-02 7.21595138e-04 9.99632390e-01 1.82640120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.789115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.28, Y:11.98, Z:0.16 [[ 7.08673026e-01 7.05319479e-01 -1.75206998e-02 -2.62835596e+01] [-7.05122081e-01 7.08889384e-01 1.66940575e-02 1.19769294e+01] [ 2.41948821e-02 5.23604062e-04 9.99707124e-01 1.64681239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.819115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.29, Y:11.99, Z:0.18 [[ 7.06707136e-01 7.07302820e-01 -1.69630216e-02 -2.62939174e+01] [-7.07115884e-01 7.06910513e-01 1.62681860e-02 1.19913477e+01] [ 2.34978721e-02 4.97978872e-04 9.99723763e-01 1.75854715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.849115933 meters Centerline goodness [0,1] 0.9994376757263356 Centerline is valid? [True, True] Translation: X:-26.30, Y:12.01, Z:0.21 [[ 7.01682903e-01 7.12257570e-01 -1.81729924e-02 -2.63014067e+01] [-7.12041354e-01 7.01917924e-01 1.75595912e-02 1.20090028e+01] [ 2.52629009e-02 6.18657185e-04 9.99680651e-01 2.09057256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.879115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.32, Y:12.02, Z:0.20 [[ 7.04962840e-01 7.09077841e-01 -1.53625915e-02 -2.63168022e+01] [-7.08920476e-01 7.05130121e-01 1.49422478e-02 1.20190589e+01] [ 2.14278428e-02 3.57126277e-04 9.99770334e-01 1.95788593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.909115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.33, Y:12.03, Z:0.21 [[ 7.03303969e-01 7.10745162e-01 -1.43122722e-02 -2.63284747e+01] [-7.10607155e-01 7.03449510e-01 1.40091932e-02 1.20339213e+01] [ 2.00249271e-02 3.17681849e-04 9.99799431e-01 2.08772536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.939115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.36, Y:12.03, Z:0.15 [[ 6.93839535e-01 7.19895327e-01 -1.83689388e-02 -2.63576579e+01] [-7.19667742e-01 6.94082338e-01 1.81121190e-02 1.20296768e+01] [ 2.57883858e-02 6.52628529e-04 9.99667211e-01 1.48026914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.969115933 meters Centerline goodness [0,1] 0.9998066511987626 Centerline is valid? [True, True] Translation: X:-26.36, Y:12.05, Z:0.19 [[ 6.95101525e-01 7.18725163e-01 -1.63709962e-02 -2.63608156e+01] [-7.18541750e-01 6.95294122e-01 1.62430786e-02 1.20530323e+01] [ 2.30569668e-02 4.72655545e-04 9.99734041e-01 1.93152428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.999115933 meters Centerline goodness [0,1] 0.9994183792167507 Centerline is valid? [True, True] Translation: X:-26.38, Y:12.06, Z:0.18 [[ 6.83962712e-01 7.29213508e-01 -2.10396538e-02 -2.63810205e+01] [-7.28910946e-01 6.84285574e-01 2.10258493e-02 1.20578332e+01] [ 2.97294649e-02 9.55137022e-04 9.99557525e-01 1.79690045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.029115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.93, Y:13.44, Z:-1.96 [[ 7.85205018e-01 -6.19169828e-01 -9.04452554e-03 -2.49253813e+01] [-6.19135758e-01 -7.85256957e-01 6.51340696e-03 1.34387676e+01] [-1.11351817e-02 4.85429349e-04 -9.99937884e-01 -1.96148218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.059115933 meters Centerline goodness [0,1] 0.9998028779814705 Centerline is valid? [True, True] Translation: X:-26.27, Y:11.93, Z:0.17 [[ 7.35431980e-01 6.77075230e-01 -2.66258514e-02 -2.62730158e+01] [-6.76697114e-01 7.35912571e-01 2.26650218e-02 1.19273477e+01] [ 3.49402236e-02 1.34905494e-03 9.99388493e-01 1.74592870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.089115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.29, Y:11.93, Z:0.17 [[ 7.21574043e-01 6.91630030e-01 -3.12858156e-02 -2.62900568e+01] [-6.91114460e-01 7.22248349e-01 2.67978576e-02 1.19345494e+01] [ 4.11303317e-02 2.28544107e-03 9.99151176e-01 1.67379711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.119115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.29, Y:11.96, Z:0.21 [[ 7.17471639e-01 6.95869330e-01 -3.16278704e-02 -2.62924239e+01] [-6.95338809e-01 7.18164330e-01 2.72751904e-02 1.19587999e+01] [ 4.16939768e-02 2.42291013e-03 9.99127490e-01 2.14416325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.149115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.31, Y:11.97, Z:0.20 [[ 7.07720496e-01 7.05588863e-01 -3.57219167e-02 -2.63086278e+01] [-7.04914268e-01 7.08614083e-01 3.10153986e-02 1.19670499e+01] [ 4.71971731e-02 3.23065546e-03 9.98880368e-01 2.00696230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.179115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.33, Y:11.97, Z:0.19 [[ 7.03543531e-01 7.09740893e-01 -3.59772798e-02 -2.63252775e+01] [-7.09052334e-01 7.04454659e-01 3.14391626e-02 1.19741806e+01] [ 4.76580217e-02 3.39095476e-03 9.98857955e-01 1.85106682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.209115933 meters Centerline goodness [0,1] 0.9994460856720827 Centerline is valid? [True, True] Translation: X:-26.35, Y:11.97, Z:0.14 [[ 7.04211074e-01 7.09195494e-01 -3.35933797e-02 -2.63508611e+01] [-7.08586272e-01 7.05005498e-01 2.95422123e-02 1.19706246e+01] [ 4.46347213e-02 2.99985463e-03 9.98998870e-01 1.39665788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.239115933 meters Centerline goodness [0,1] 0.9994460856720827 Centerline is valid? [True, True] Translation: X:-26.36, Y:11.98, Z:0.14 [[ 7.01958354e-01 7.11429735e-01 -3.34992745e-02 -2.63636207e+01] [-7.10817990e-01 7.02750833e-01 2.96487969e-02 1.19822873e+01] [ 4.46346788e-02 2.99966634e-03 9.98998873e-01 1.39513486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.269115933 meters Centerline goodness [0,1] 0.998915205207015 Centerline is valid? [True, True] Translation: X:-26.37, Y:12.00, Z:0.17 [[ 6.92357823e-01 7.20685901e-01 -3.53903413e-02 -2.63713270e+01] [-7.20004694e-01 6.93252151e-01 3.15388023e-02 1.20005992e+01] [ 4.72640004e-02 3.64507535e-03 9.98875782e-01 1.74362056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.299115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.39, Y:12.01, Z:0.17 [[ 6.98079583e-01 7.15222992e-01 -3.37782140e-02 -2.63851105e+01] [-7.14587241e-01 6.98889939e-01 3.02973317e-02 1.20115306e+01] [ 4.52766021e-02 2.98753209e-03 9.98970022e-01 1.73214454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.329115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.41, Y:12.01, Z:0.10 [[ 6.91577615e-01 7.21378029e-01 -3.65259037e-02 -2.64118902e+01] [-7.20631680e-01 6.92532640e-01 3.29927924e-02 1.20068208e+01] [ 4.90956560e-02 3.50464666e-03 9.98787932e-01 1.00475826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.359115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.42, Y:12.02, Z:0.12 [[ 6.85335285e-01 7.27143013e-01 -3.97314302e-02 -2.64234370e+01] [-7.26256332e-01 6.86473805e-01 3.61310946e-02 1.20204198e+01] [ 5.35470591e-02 4.09328872e-03 9.98556938e-01 1.21784261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.389115933 meters Centerline goodness [0,1] 0.9998180494905385 Centerline is valid? [True, True] Translation: X:-26.44, Y:12.03, Z:0.13 [[ 6.80722762e-01 7.31311130e-01 -4.24329205e-02 -2.64363015e+01] [-7.30293093e-01 6.82028844e-01 3.88413981e-02 1.20315538e+01] [ 5.73456225e-02 4.54824493e-03 9.98344025e-01 1.31854763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.419115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.45, Y:12.05, Z:0.15 [[ 6.80494655e-01 7.31435890e-01 -4.39154016e-02 -2.64468492e+01] [-7.30328358e-01 6.81895233e-01 4.04892760e-02 1.20462276e+01] [ 5.95610126e-02 4.51992716e-03 9.98214434e-01 1.47705832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.449115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.47, Y:12.05, Z:0.10 [[ 6.76375764e-01 7.35127173e-01 -4.58679127e-02 -2.64688770e+01] [-7.33908522e-01 6.77911832e-01 4.25890612e-02 1.20475468e+01] [ 6.24027770e-02 4.85664322e-03 9.98039231e-01 1.04407474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.479115933 meters Centerline goodness [0,1] 0.9996360989810772 Centerline is valid? [True, True] Translation: X:-26.48, Y:12.06, Z:0.12 [[ 6.73944129e-01 7.37361967e-01 -4.57890902e-02 -2.64779490e+01] [-7.36133160e-01 6.75480469e-01 4.28264881e-02 1.20642797e+01] [ 6.25082596e-02 4.84420742e-03 9.98032690e-01 1.21948836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.509115933 meters Centerline goodness [0,1] 0.9998169503935567 Centerline is valid? [True, True] Translation: X:-26.49, Y:12.07, Z:0.11 [[ 6.77536541e-01 7.34120843e-01 -4.48422082e-02 -2.64931718e+01] [-7.32917909e-01 6.79005496e-01 4.22240992e-02 1.20731189e+01] [ 6.14456971e-02 4.25728733e-03 9.98101348e-01 1.10853516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.539115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.50, Y:12.09, Z:0.14 [[ 6.71971983e-01 7.39220994e-01 -4.47881251e-02 -2.65003526e+01] [-7.38014963e-01 6.73447708e-01 4.24511273e-02 1.20907739e+01] [ 6.15432247e-02 4.52833834e-03 9.98094147e-01 1.36751207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.569115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.51, Y:12.10, Z:0.13 [[ 6.70742032e-01 7.40268287e-01 -4.59128470e-02 -2.65128946e+01] [-7.38983074e-01 6.72296348e-01 4.38364770e-02 1.21025400e+01] [ 6.33177931e-02 4.52584912e-03 9.97983153e-01 1.29475768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.599115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.52, Y:12.12, Z:0.14 [[ 6.64833057e-01 7.45449500e-01 -4.79796636e-02 -2.65230483e+01] [-7.44036705e-01 6.66543213e-01 4.61467899e-02 1.21170870e+01] [ 6.63806206e-02 5.01871941e-03 9.97781753e-01 1.36365204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.629115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.53, Y:12.14, Z:0.18 [[ 6.59627605e-01 7.50014665e-01 -4.86767502e-02 -2.65258562e+01] [-7.48550605e-01 6.61399644e-01 4.71434295e-02 1.21399414e+01] [ 6.75530487e-02 5.33990335e-03 9.97701394e-01 1.78509428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.659115933 meters Centerline goodness [0,1] 0.9998189061934082 Centerline is valid? [True, True] Translation: X:-26.55, Y:12.14, Z:0.13 [[ 6.60562028e-01 7.49333095e-01 -4.64512613e-02 -2.65461529e+01] [-7.47977244e-01 6.62175773e-01 4.53132130e-02 1.21422322e+01] [ 6.47135900e-02 4.81229850e-03 9.97892275e-01 1.31962041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.689115933 meters Centerline goodness [0,1] 0.9990880904614262 Centerline is valid? [True, True] Translation: X:-26.55, Y:12.16, Z:0.16 [[ 6.53747521e-01 7.55264355e-01 -4.67967193e-02 -2.65528289e+01] [-7.53881248e-01 6.55399523e-01 4.59840074e-02 1.21608175e+01] [ 6.54006292e-02 5.21723834e-03 9.97845448e-01 1.56485731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.719115933 meters Centerline goodness [0,1] 0.999457111834962 Centerline is valid? [True, True] Translation: X:-26.58, Y:12.16, Z:0.11 [[ 6.60715258e-01 7.49286918e-01 -4.49940302e-02 -2.65754427e+01] [-7.47973676e-01 6.62232039e-01 4.45433106e-02 1.21613148e+01] [ 6.31722083e-02 4.22390517e-03 9.97993703e-01 1.11310997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.749115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.58, Y:12.18, Z:0.13 [[ 6.56800660e-01 7.52629248e-01 -4.64984685e-02 -2.65834619e+01] [-7.51212463e-01 6.58429360e-01 4.63747093e-02 1.21786977e+01] [ 6.55189194e-02 4.47128931e-03 9.97841309e-01 1.29679118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.779115933 meters Centerline goodness [0,1] 0.9996414485478666 Centerline is valid? [True, True] Translation: X:-26.60, Y:12.19, Z:0.13 [[ 6.50508864e-01 7.58034596e-01 -4.71356376e-02 -2.65955577e+01] [-7.56571482e-01 6.52196124e-01 4.73266195e-02 1.21904772e+01] [ 6.66168951e-02 4.87509364e-03 9.97766718e-01 1.29550057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.809115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.07, Y:13.62, Z:-1.89 [[ 8.01121684e-01 -5.97573508e-01 -3.33159057e-02 -2.50678284e+01] [-5.96955617e-01 -8.01811806e-01 2.72363696e-02 1.36170171e+01] [-4.29888194e-02 -1.93152928e-03 -9.99073686e-01 -1.88504484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.839115933 meters Centerline goodness [0,1] 0.9996478253213594 Centerline is valid? [True, True] Translation: X:-26.47, Y:12.04, Z:0.11 [[ 7.12525336e-01 6.99822740e-01 -5.05547119e-02 -2.64677626e+01] [-6.98499485e-01 7.14302401e-01 4.32498425e-02 1.20427690e+01] [ 6.63785754e-02 4.49583169e-03 9.97784382e-01 1.14462862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.869115933 meters Centerline goodness [0,1] 0.9994652406417113 Centerline is valid? [True, True] Translation: X:-26.49, Y:12.05, Z:0.08 [[ 7.20458595e-01 6.91855417e-01 -4.77021501e-02 -2.64868247e+01] [-6.90641512e-01 7.22028373e-01 4.11014655e-02 1.20454867e+01] [ 6.28785774e-02 3.33318097e-03 9.98015618e-01 8.33985803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.899115933 meters Centerline goodness [0,1] 0.9996439380452199 Centerline is valid? [True, True] Translation: X:-26.49, Y:12.07, Z:0.15 [[ 7.08327578e-01 7.04128646e-01 -4.97482914e-02 -2.64860637e+01] [-7.02818862e-01 7.10058806e-01 4.31525082e-02 1.20742597e+01] [ 6.57091296e-02 4.39792590e-03 9.97829128e-01 1.48723869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.929115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.50, Y:12.09, Z:0.15 [[ 7.04395634e-01 7.07992818e-01 -5.07243464e-02 -2.64972715e+01] [-7.06621928e-01 7.06204319e-01 4.42821812e-02 1.20873829e+01] [ 6.71732187e-02 4.65076034e-03 9.97730489e-01 1.53278195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.959115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.51, Y:12.10, Z:0.13 [[ 7.06221773e-01 7.06232105e-01 -4.98700417e-02 -2.65119088e+01] [-7.04884003e-01 7.07967876e-01 4.38181355e-02 1.20962674e+01] [ 6.62521615e-02 4.20727333e-03 9.97794042e-01 1.30316639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.989115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.52, Y:12.11, Z:0.14 [[ 7.06615784e-01 7.05895089e-01 -4.90536187e-02 -2.65236140e+01] [-7.04571661e-01 7.08305620e-01 4.33811391e-02 1.21095905e+01] [ 6.53674869e-02 3.90799202e-03 9.97853606e-01 1.41233136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.019115933 meters Centerline goodness [0,1] 0.9991063449508489 Centerline is valid? [True, True] Translation: X:-26.54, Y:12.12, Z:0.12 [[ 7.02675701e-01 7.09646326e-01 -5.14679622e-02 -2.65377067e+01] [-7.08178172e-01 7.04545261e-01 4.58219600e-02 1.21189412e+01] [ 6.87788945e-02 4.25050949e-03 9.97622873e-01 1.22028130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.049115933 meters Centerline goodness [0,1] 0.9996382054992764 Centerline is valid? [True, True] Translation: X:-26.54, Y:12.14, Z:0.13 [[ 6.94518736e-01 7.17655681e-01 -5.11277726e-02 -2.65443548e+01] [-7.16205936e-01 6.96381707e-01 4.58429394e-02 1.21369398e+01] [ 6.85038915e-02 4.77923391e-03 9.97639402e-01 1.32396291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.079115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.55, Y:12.15, Z:0.15 [[ 6.97726668e-01 7.14576128e-01 -5.05811509e-02 -2.65528385e+01] [-7.13127830e-01 6.99545031e-01 4.56667048e-02 1.21541394e+01] [ 6.80161299e-02 4.20794859e-03 9.97675348e-01 1.45046427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.109115933 meters Centerline goodness [0,1] 0.9996366279069767 Centerline is valid? [True, True] Translation: X:-26.57, Y:12.16, Z:0.12 [[ 6.94159482e-01 7.17957356e-01 -5.17672445e-02 -2.65719929e+01] [-7.16427681e-01 6.96073011e-01 4.70504179e-02 1.21576413e+01] [ 6.98139754e-02 4.42699317e-03 9.97550205e-01 1.15362881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.139115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.58, Y:12.17, Z:0.11 [[ 6.93798965e-01 7.18383522e-01 -5.06765465e-02 -2.65822543e+01] [-7.16895507e-01 6.95634954e-01 4.63987306e-02 1.21721919e+01] [ 6.85844606e-02 4.13839725e-03 9.97636730e-01 1.14306901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.169115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.59, Y:12.19, Z:0.12 [[ 6.86198160e-01 7.25506455e-01 -5.26542459e-02 -2.65921240e+01] [-7.23897210e-01 6.88198539e-01 4.85345246e-02 1.21871472e+01] [ 7.14486860e-02 4.81196019e-03 9.97432670e-01 1.20099064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.199115933 meters Centerline goodness [0,1] 0.9992673992673993 Centerline is valid? [True, True] Translation: X:-26.60, Y:12.20, Z:0.14 [[ 6.88457608e-01 7.23455544e-01 -5.13633974e-02 -2.66037242e+01] [-7.21897144e-01 6.90357747e-01 4.76517953e-02 1.22000995e+01] [ 6.99330748e-02 4.27284894e-03 9.97542534e-01 1.37414883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.229115933 meters Centerline goodness [0,1] 0.9990960043391792 Centerline is valid? [True, True] Translation: X:-26.62, Y:12.21, Z:0.12 [[ 6.85650536e-01 7.25955067e-01 -5.35964835e-02 -2.66193402e+01] [-7.24239123e-01 6.87727566e-01 5.00847935e-02 1.22089872e+01] [ 7.32190888e-02 4.47600475e-03 9.97305836e-01 1.18902932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.259115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.63, Y:12.22, Z:0.13 [[ 6.86715086e-01 7.24881892e-01 -5.44851727e-02 -2.66281421e+01] [-7.23076458e-01 6.88860552e-01 5.12988886e-02 1.22248337e+01] [ 7.47183215e-02 4.16922499e-03 9.97195964e-01 1.28519739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.289115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.64, Y:12.24, Z:0.13 [[ 6.85801994e-01 7.25729159e-01 -5.47066134e-02 -2.66374355e+01] [-7.23882011e-01 6.87968843e-01 5.19009223e-02 1.22404104e+01] [ 7.53024582e-02 4.00737728e-03 9.97152687e-01 1.33907101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.319115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.65, Y:12.25, Z:0.13 [[ 6.76232306e-01 7.34462131e-01 -5.72297675e-02 -2.66479546e+01] [-7.32435978e-01 6.78631969e-01 5.47374535e-02 1.22507587e+01] [ 7.90405365e-02 4.90190637e-03 9.96859351e-01 1.30230833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.349115933 meters Centerline goodness [0,1] 0.9990930527843279 Centerline is valid? [True, True] Translation: X:-26.66, Y:12.26, Z:0.11 [[ 6.80996338e-01 7.30179983e-01 -5.55083750e-02 -2.66637920e+01] [-7.28230879e-01 6.83243071e-01 5.34667446e-02 1.22592014e+01] [ 7.69660593e-02 4.01225542e-03 9.97025640e-01 1.07982456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.379115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.67, Y:12.27, Z:0.11 [[ 6.81811990e-01 7.29508417e-01 -5.43128046e-02 -2.66736768e+01] [-7.27610013e-01 6.83962485e-01 5.27161045e-02 1.22729440e+01] [ 7.56047628e-02 3.57606839e-03 9.97131452e-01 1.07881824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.409115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.68, Y:12.29, Z:0.11 [[ 6.75169821e-01 7.35520320e-01 -5.61744765e-02 -2.66833422e+01] [-7.33480193e-01 6.77490040e-01 5.49003900e-02 1.22875860e+01] [ 7.84380008e-02 4.13577941e-03 9.96910415e-01 1.14694164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.439115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.70, Y:12.30, Z:0.11 [[ 6.74184665e-01 7.36377530e-01 -5.67729752e-02 -2.66966815e+01] [-7.34263462e-01 6.76559050e-01 5.59018806e-02 1.22991843e+01] [ 7.95751589e-02 3.99813067e-03 9.96820851e-01 1.07393636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.469115933 meters Centerline goodness [0,1] 0.9994655264564404 Centerline is valid? [True, True] Translation: X:-26.70, Y:12.32, Z:0.11 [[ 6.72910466e-01 7.37470919e-01 -5.76901106e-02 -2.67048431e+01] [-7.35260991e-01 6.75367415e-01 5.71850441e-02 1.23166751e+01] [ 8.11343279e-02 3.93687321e-03 9.96695401e-01 1.12973725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.499115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.72, Y:12.33, Z:0.11 [[ 6.71340983e-01 7.38861885e-01 -5.81755817e-02 -2.67152415e+01] [-7.36588833e-01 6.73845692e-01 5.80420034e-02 1.23306641e+01] [ 8.20863891e-02 3.88550819e-03 9.96617644e-01 1.08001167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.529115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.72, Y:12.35, Z:0.12 [[ 6.67037086e-01 7.42764737e-01 -5.79833810e-02 -2.67230219e+01] [-7.40489408e-01 6.69540008e-01 5.82375630e-02 1.23465921e+01] [ 8.20790015e-02 4.08946515e-03 9.96617436e-01 1.15020580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.559115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.25, Y:13.71, Z:-1.90 [[ 7.86003654e-01 -6.16560072e-01 -4.52982672e-02 -2.52533125e+01] [-6.15423526e-01 -7.87306322e-01 3.74518218e-02 1.37070974e+01] [-5.87549101e-02 -1.55964946e-03 -9.98271220e-01 -1.90101474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.589115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.60, Y:12.20, Z:0.10 [[ 7.32631101e-01 6.77886170e-01 -6.10082822e-02 -2.65951728e+01] [-6.75882784e-01 7.35160691e-01 5.21653156e-02 1.22024422e+01] [ 8.02130369e-02 3.01651507e-03 9.96773178e-01 9.92503996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.619115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.60, Y:12.22, Z:0.12 [[ 7.25516787e-01 6.85355215e-01 -6.25589499e-02 -2.66029158e+01] [-6.83247889e-01 7.28199577e-01 5.38302636e-02 1.22215527e+01] [ 8.24482528e-02 3.68851062e-03 9.96588521e-01 1.23955138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.649115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.62, Y:12.23, Z:0.09 [[ 7.22439762e-01 6.88524997e-01 -6.33570701e-02 -2.66183176e+01] [-6.86345179e-01 7.25202452e-01 5.48789398e-02 1.22300114e+01] [ 8.37322245e-02 3.83809145e-03 9.96480900e-01 9.49633418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.679115933 meters Centerline goodness [0,1] 0.9996434937611408 Centerline is valid? [True, True] Translation: X:-26.63, Y:12.24, Z:0.10 [[ 7.19472121e-01 6.91660466e-01 -6.29735427e-02 -2.66307257e+01] [-6.89489155e-01 7.22212187e-01 5.49023036e-02 1.22429780e+01] [ 8.34540128e-02 3.91889790e-03 9.96503924e-01 9.90464532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.709115933 meters Centerline goodness [0,1] 0.9996398343237889 Centerline is valid? [True, True] Translation: X:-26.65, Y:12.25, Z:0.08 [[ 7.13882361e-01 6.97401918e-01 -6.32656236e-02 -2.66455026e+01] [-6.95202071e-01 7.16667050e-01 5.55195445e-02 1.22523027e+01] [ 8.40598246e-02 4.34796899e-03 9.96451224e-01 7.71521835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.739115933 meters Centerline goodness [0,1] 0.9971448965024983 Centerline is valid? [True, True] Translation: X:-26.64, Y:12.28, Z:0.15 [[ 7.06807522e-01 7.04579606e-01 -6.31720281e-02 -2.66446100e+01] [-7.02384470e-01 7.09607788e-01 5.57928669e-02 1.22817996e+01] [ 8.41378793e-02 4.93623348e-03 9.96441895e-01 1.47016998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.769115933 meters Centerline goodness [0,1] 0.9985760056959773 Centerline is valid? [True, True] Translation: X:-26.67, Y:12.28, Z:0.07 [[ 7.08785030e-01 7.02646075e-01 -6.25481822e-02 -2.66712705e+01] [-7.00456577e-01 7.11525900e-01 5.56010548e-02 1.22779232e+01] [ 8.35725145e-02 4.40309035e-03 9.96491971e-01 6.91885740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.799115933 meters Centerline goodness [0,1] 0.9983994309087676 Centerline is valid? [True, True] Translation: X:-26.68, Y:12.29, Z:0.05 [[ 7.07216105e-01 7.04255329e-01 -6.22078151e-02 -2.66842692e+01] [-7.02064877e-01 7.09933734e-01 5.56686889e-02 1.22900858e+01] [ 8.33683973e-02 4.30412871e-03 9.96509501e-01 5.48048205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.829115933 meters Centerline goodness [0,1] 0.9991299808595789 Centerline is valid? [True, True] Translation: X:-26.70, Y:12.30, Z:0.02 [[ 7.05910094e-01 7.05763514e-01 -5.99066090e-02 -2.67004581e+01] [-7.03703283e-01 7.08436143e-01 5.40362905e-02 1.22955802e+01] [ 8.05768493e-02 4.01171457e-03 9.96740326e-01 1.77281760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.859115933 meters Centerline goodness [0,1] 0.999823539791777 Centerline is valid? [True, True] Translation: X:-26.71, Y:12.31, Z:0.02 [[ 6.98525932e-01 7.12931219e-01 -6.15678387e-02 -2.67111341e+01] [-7.10750298e-01 7.01218229e-01 5.59196592e-02 1.23090413e+01] [ 8.30393617e-02 4.69802759e-03 9.96535194e-01 2.07172787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.889115933 meters Centerline goodness [0,1] 0.9998233839632639 Centerline is valid? [True, True] Translation: X:-26.73, Y:12.32, Z:-0.01 [[ 7.00195950e-01 7.11440295e-01 -5.98192186e-02 -2.67282682e+01] [-7.09347087e-01 7.02734362e-01 5.46911940e-02 1.23153628e+01] [ 8.09465396e-02 4.13803590e-03 9.96709855e-01 -1.45320748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.919115933 meters Centerline goodness [0,1] 0.998256320836966 Centerline is valid? [True, True] Translation: X:-26.73, Y:12.34, Z:0.04 [[ 6.89812007e-01 7.21457227e-01 -6.04885406e-02 -2.67285617e+01] [-7.19323207e-01 6.92440223e-01 5.56835750e-02 1.23412719e+01] [ 8.20580162e-02 5.09961235e-03 9.96614507e-01 4.03770333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.949115933 meters Centerline goodness [0,1] 0.9975291210730675 Centerline is valid? [True, True] Translation: X:-26.73, Y:12.36, Z:0.06 [[ 6.79852227e-01 7.30793088e-01 -6.11752607e-02 -2.67332920e+01] [-7.28616599e-01 6.82572345e-01 5.66819658e-02 1.23618972e+01] [ 8.31793299e-02 6.03794973e-03 9.96516303e-01 6.41683459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.979115933 meters Centerline goodness [0,1] 0.9971988795518207 Centerline is valid? [True, True] Translation: X:-26.74, Y:12.38, Z:0.08 [[ 6.71719806e-01 7.38210278e-01 -6.19523101e-02 -2.67381993e+01] [-7.35977569e-01 6.74536501e-01 5.77713304e-02 1.23831001e+01] [ 8.44364843e-02 6.78936381e-03 9.96405733e-01 8.35077407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.009115933 meters Centerline goodness [0,1] 0.9989373007438895 Centerline is valid? [True, True] Translation: X:-26.77, Y:12.38, Z:-0.00 [[ 6.73291641e-01 7.36863710e-01 -6.09117329e-02 -2.67674903e+01] [-7.34667656e-01 6.76012479e-01 5.71888480e-02 1.23755599e+01] [ 8.33174783e-02 6.24510675e-03 9.96503485e-01 -3.73552891e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.039115933 meters Centerline goodness [0,1] 0.9984249212460623 Centerline is valid? [True, True] Translation: X:-26.77, Y:12.40, Z:0.03 [[ 6.68797988e-01 7.40988521e-01 -6.03760120e-02 -2.67670874e+01] [-7.38813081e-01 6.71487020e-01 5.71000289e-02 1.24008059e+01] [ 8.28521744e-02 6.41820309e-03 9.96541180e-01 3.11374469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.069115933 meters Centerline goodness [0,1] 0.9968717413972888 Centerline is valid? [True, True] Translation: X:-26.76, Y:12.43, Z:0.08 [[ 6.58656342e-01 7.49920450e-01 -6.15722521e-02 -2.67637156e+01] [-7.47658749e-01 6.61486694e-01 5.86664182e-02 1.24287980e+01] [ 8.47243722e-02 7.39402463e-03 9.96376991e-01 7.90525318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.099115933 meters Centerline goodness [0,1] 0.9984420979747274 Centerline is valid? [True, True] Translation: X:-26.79, Y:12.42, Z:0.02 [[ 6.58055988e-01 7.50508745e-01 -6.08189093e-02 -2.67909511e+01] [-7.48271188e-01 6.60822223e-01 5.83456822e-02 1.24242467e+01] [ 8.39794316e-02 7.11431200e-03 9.96442091e-01 1.54394556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.129115933 meters Centerline goodness [0,1] 0.9984420979747274 Centerline is valid? [True, True] Translation: X:-26.80, Y:12.44, Z:0.02 [[ 6.55695996e-01 7.52586463e-01 -6.06331330e-02 -2.68031128e+01] [-7.50340050e-01 6.58455038e-01 5.85386399e-02 1.24363177e+01] [ 8.39795799e-02 7.11191629e-03 9.96442096e-01 1.52898713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.159115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.83, Y:12.43, Z:-0.07 [[ 6.53455838e-01 7.54519322e-01 -6.07952395e-02 -2.68287958e+01] [-7.52231960e-01 6.56239523e-01 5.91334767e-02 1.24331800e+01] [ 8.45135897e-02 7.09100660e-03 9.96397095e-01 -6.57266599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.189115933 meters Centerline goodness [0,1] 0.9972569861134922 Centerline is valid? [True, True] Translation: X:-26.81, Y:12.48, Z:0.05 [[ 6.36705634e-01 7.68614097e-01 -6.19540580e-02 -2.68102776e+01] [-7.66258360e-01 6.39652457e-01 6.07689076e-02 1.24763218e+01] [ 8.63369045e-02 8.78090903e-03 9.96227301e-01 5.00790924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.219115933 meters Centerline goodness [0,1] 0.9984466689678978 Centerline is valid? [True, True] Translation: X:-26.83, Y:12.47, Z:-0.00 [[ 6.39118327e-01 7.66745161e-01 -6.02463445e-02 -2.68341091e+01] [-7.64476201e-01 6.41901292e-01 5.94883965e-02 1.24747868e+01] [ 8.42846465e-02 8.03677211e-03 9.96409308e-01 -4.92627798e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.249115933 meters Centerline goodness [0,1] 0.9988060719768037 Centerline is valid? [True, True] Translation: X:-26.84, Y:12.49, Z:-0.01 [[ 6.30325216e-01 7.73942935e-01 -6.08478054e-02 -2.68441564e+01] [-7.71623424e-01 6.33194125e-01 6.05185124e-02 1.24885990e+01] [ 8.53663480e-02 8.80524758e-03 9.96310722e-01 -1.22231694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.279115933 meters Centerline goodness [0,1] 0.9983139436857191 Centerline is valid? [True, True] Translation: X:-26.85, Y:12.50, Z:-0.01 [[ 6.26894209e-01 7.76718061e-01 -6.09319688e-02 -2.68511390e+01] [-7.74359002e-01 6.29786149e-01 6.11354371e-02 1.25005309e+01] [ 8.58591081e-02 8.85776709e-03 9.96267913e-01 -6.81708175e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.309115933 meters Centerline goodness [0,1] 0.9976351351351351 Centerline is valid? [True, True] Translation: X:-25.45, Y:13.81, Z:-1.79 [[ 8.26128690e-01 -5.61215660e-01 -5.04813976e-02 -2.54475846e+01] [-5.59686275e-01 -8.27645240e-01 4.18883112e-02 1.38061393e+01] [-6.52890647e-02 -6.35139031e-03 -9.97846179e-01 -1.79450165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.339115933 meters Centerline goodness [0,1] 0.9979865771812081 Centerline is valid? [True, True] Translation: X:-26.72, Y:12.37, Z:0.01 [[ 6.83721804e-01 7.26871667e-01 -6.46689622e-02 -2.67223571e+01] [-7.24817581e-01 6.86713938e-01 5.53483626e-02 1.23735900e+01] [ 8.46402343e-02 9.03031843e-03 9.96370656e-01 1.04807647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.369115932999996 meters Centerline goodness [0,1] 0.9976604278074866 Centerline is valid? [True, True] Translation: X:-26.73, Y:12.39, Z:0.02 [[ 6.76754079e-01 7.33323579e-01 -6.51186998e-02 -2.67328011e+01] [-7.31241508e-01 6.79810916e-01 5.60622443e-02 1.23881989e+01] [ 8.53801686e-02 9.67714375e-03 9.96301450e-01 2.01859214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.399115933 meters Centerline goodness [0,1] 0.9983176312247645 Centerline is valid? [True, True] Translation: X:-26.75, Y:12.39, Z:-0.03 [[ 6.72301678e-01 7.37293508e-01 -6.63983160e-02 -2.67519900e+01] [-7.35116452e-01 6.75496444e-01 5.75183116e-02 1.23910080e+01] [ 8.72597041e-02 1.01408371e-02 9.96133981e-01 -2.53959332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.429115933 meters Centerline goodness [0,1] 0.9975153221798907 Centerline is valid? [True, True] Translation: X:-26.76, Y:12.41, Z:0.00 [[ 6.65061994e-01 7.43923998e-01 -6.53424020e-02 -2.67550833e+01] [-7.41816273e-01 6.68180253e-01 5.69540679e-02 1.24131349e+01] [ 8.60300006e-02 1.05940711e-02 9.96236219e-01 1.96501745e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.459115933 meters Centerline goodness [0,1] 0.9984942278735152 Centerline is valid? [True, True] Translation: X:-26.77, Y:12.42, Z:-0.04 [[ 6.60796930e-01 7.47620092e-01 -6.64199902e-02 -2.67746649e+01] [-7.45425756e-01 6.64035598e-01 5.82852193e-02 1.24153900e+01] [ 8.76804389e-02 1.09964775e-02 9.96087957e-01 -3.72212038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.489115933 meters Centerline goodness [0,1] 0.9998328318288198 Centerline is valid? [True, True] Translation: X:-26.79, Y:12.40, Z:-0.11 [[ 6.64506434e-01 7.44557862e-01 -6.37556916e-02 -2.67905263e+01] [-7.42449887e-01 6.67489047e-01 5.68026186e-02 1.23971273e+01] [ 8.48490620e-02 9.58970046e-03 9.96347667e-01 -1.06170423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.519115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.81, Y:12.40, Z:-0.12 [[ 6.59644360e-01 7.48939674e-01 -6.29180692e-02 -2.68059818e+01] [-7.46869508e-01 6.62566778e-01 5.64907275e-02 1.24044421e+01] [ 8.39955694e-02 9.72779760e-03 9.96418644e-01 -1.23524991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.549115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.82, Y:12.42, Z:-0.12 [[ 6.56397619e-01 7.51806671e-01 -6.26808978e-02 -2.68163867e+01] [-7.49730538e-01 6.59310976e-01 5.66847222e-02 1.24187589e+01] [ 8.39421562e-02 9.78606653e-03 9.96422575e-01 -1.20738308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.579115933 meters Centerline goodness [0,1] 0.9983159312899966 Centerline is valid? [True, True] Translation: X:-26.81, Y:12.45, Z:-0.05 [[ 6.45906042e-01 7.60905287e-01 -6.18751049e-02 -2.68098316e+01] [-7.58888777e-01 6.48777106e-01 5.63568117e-02 1.24521291e+01] [ 8.30253476e-02 1.05551175e-02 9.96491536e-01 -5.35437438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.609115933 meters Centerline goodness [0,1] 0.9988352745424293 Centerline is valid? [True, True] Translation: X:-26.83, Y:12.45, Z:-0.09 [[ 6.45472514e-01 7.61360699e-01 -6.07874919e-02 -2.68293835e+01] [-7.59384848e-01 6.48248688e-01 5.57520487e-02 1.24548261e+01] [ 8.18528306e-02 1.01746853e-02 9.96592489e-01 -9.22544718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.639115933 meters Centerline goodness [0,1] 0.9975 Centerline is valid? [True, True] Translation: X:-26.83, Y:12.48, Z:-0.06 [[ 6.37281592e-01 7.68049276e-01 -6.30276227e-02 -2.68321160e+01] [-7.65926078e-01 6.40292622e-01 5.81601267e-02 1.24763120e+01] [ 8.50259651e-02 1.12101218e-02 9.96315672e-01 -5.82645122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.669115933 meters Centerline goodness [0,1] 0.9973675551168147 Centerline is valid? [True, True] Translation: X:-26.84, Y:12.49, Z:-0.05 [[ 6.32048371e-01 7.72385827e-01 -6.27295059e-02 -2.68402210e+01] [-7.70269869e-01 6.35049779e-01 5.82761239e-02 1.24912232e+01] [ 8.48480110e-02 1.14853191e-02 9.96327708e-01 -4.95902573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.699115933 meters Centerline goodness [0,1] 0.9983454665784249 Centerline is valid? [True, True] Translation: X:-26.86, Y:12.49, Z:-0.09 [[ 6.32270456e-01 7.72277008e-01 -6.18246932e-02 -2.68611909e+01] [-7.70188130e-01 6.35189776e-01 5.78289953e-02 1.24911793e+01] [ 8.39304165e-02 1.10530797e-02 9.96410314e-01 -9.47026465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.729115933 meters Centerline goodness [0,1] 0.9975091331783461 Centerline is valid? [True, True] Translation: X:-26.87, Y:12.51, Z:-0.07 [[ 6.27955739e-01 7.75808557e-01 -6.15846827e-02 -2.68655819e+01] [-7.73720194e-01 6.30868295e-01 5.79849566e-02 1.25101580e+01] [ 8.38370493e-02 1.12373264e-02 9.96416114e-01 -7.29383178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.759115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.91, Y:12.49, Z:-0.17 [[ 6.34763145e-01 7.70548187e-01 -5.77169146e-02 -2.69052488e+01] [-7.68661960e-01 6.37309126e-01 5.47345293e-02 1.24875745e+01] [ 7.89591087e-02 9.62133481e-03 9.96831425e-01 -1.68037358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.789115933 meters Centerline goodness [0,1] 0.9966504773069838 Centerline is valid? [True, True] Translation: X:-26.88, Y:12.54, Z:-0.06 [[ 6.11366057e-01 7.88846560e-01 -6.28700885e-02 -2.68802741e+01] [-7.86657363e-01 6.14458550e-01 6.00906269e-02 1.25375962e+01] [ 8.60333478e-02 1.27198484e-02 9.96211056e-01 -5.68361397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.819115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.93, Y:12.51, Z:-0.18 [[ 6.28183905e-01 7.75926176e-01 -5.76502495e-02 -2.69267511e+01] [-7.74001989e-01 6.30748047e-01 5.54781200e-02 1.25093017e+01] [ 7.94097078e-02 9.77094575e-03 9.96794175e-01 -1.75636775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.849115933 meters Centerline goodness [0,1] 0.9981721502160186 Centerline is valid? [True, True] Translation: X:-26.92, Y:12.54, Z:-0.11 [[ 6.11274471e-01 7.89131482e-01 -6.01250741e-02 -2.69166779e+01] [-7.87064678e-01 6.14112738e-01 5.82643784e-02 1.25442238e+01] [ 8.29018291e-02 1.17067950e-02 9.96488955e-01 -1.11021493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.879115933 meters Centerline goodness [0,1] 0.9998302783435167 Centerline is valid? [True, True] Translation: X:-26.95, Y:12.53, Z:-0.20 [[ 6.20308423e-01 7.82338017e-01 -5.62555486e-02 -2.69523221e+01] [-7.80472772e-01 6.22776035e-01 5.48840780e-02 1.25288558e+01] [ 7.79725083e-02 9.86086811e-03 9.96906741e-01 -1.97614137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.909115933 meters Centerline goodness [0,1] 0.9978077571669477 Centerline is valid? [True, True] Translation: X:-26.94, Y:12.56, Z:-0.15 [[ 6.01916403e-01 7.96385517e-01 -5.88791257e-02 -2.69435034e+01] [-7.94372061e-01 6.04671136e-01 5.78432828e-02 1.25618772e+01] [ 8.16680605e-02 1.19551117e-02 9.96587880e-01 -1.49931267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.939115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.97, Y:12.55, Z:-0.20 [[ 6.03756725e-01 7.94983353e-01 -5.89854686e-02 -2.69726713e+01] [-7.92924039e-01 6.06521306e-01 5.83384369e-02 1.25530677e+01] [ 8.21540296e-02 1.15487724e-02 9.96552729e-01 -1.98724306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.969115933 meters Centerline goodness [0,1] 0.9988173677986146 Centerline is valid? [True, True] Translation: X:-26.97, Y:12.58, Z:-0.17 [[ 5.98298108e-01 7.99205274e-01 -5.75352454e-02 -2.69708923e+01] [-7.97235609e-01 6.00946074e-01 5.72642976e-02 1.25784522e+01] [ 8.03415085e-02 1.16080255e-02 9.96699802e-01 -1.68909691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.999115933 meters Centerline goodness [0,1] 0.9974472430224642 Centerline is valid? [True, True] Translation: X:-26.97, Y:12.60, Z:-0.13 [[ 5.86691762e-01 8.07587733e-01 -5.99569024e-02 -2.69718193e+01] [-8.05457351e-01 5.89602879e-01 6.00574794e-02 1.26004712e+01] [ 8.38524459e-02 1.30574993e-02 9.96392628e-01 -1.29863978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.029115933 meters Centerline goodness [0,1] 0.9981340118744699 Centerline is valid? [True, True] Translation: X:-25.55, Y:13.91, Z:-1.64 [[ 8.49370871e-01 -5.25513545e-01 -4.90370948e-02 -2.55519971e+01] [-5.24017596e-01 -8.50739987e-01 4.05836601e-02 1.39079009e+01] [-6.30450805e-02 -8.77427822e-03 -9.97972109e-01 -1.64036419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.059115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.87, Y:12.42, Z:-0.22 [[ 6.61112959e-01 7.47757058e-01 -6.15551630e-02 -2.68661129e+01] [-7.45990270e-01 6.63878567e-01 5.25715283e-02 1.24186533e+01] [ 8.01758847e-02 1.11638341e-02 9.96718213e-01 -2.15435316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.089115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.87, Y:12.43, Z:-0.21 [[ 6.51862229e-01 7.55643798e-01 -6.38598888e-02 -2.68738953e+01] [-7.53746312e-01 6.54866644e-01 5.49197191e-02 1.24349427e+01] [ 8.33194562e-02 1.23340651e-02 9.96446556e-01 -2.14393259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.119115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.89, Y:12.44, Z:-0.21 [[ 6.50866796e-01 7.56582943e-01 -6.28861219e-02 -2.68874041e+01] [-7.54718350e-01 6.53786999e-01 5.44313558e-02 1.24439502e+01] [ 8.22959642e-02 1.20337480e-02 9.96535279e-01 -2.09692462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.149115933 meters Centerline goodness [0,1] 0.99776132254176 Centerline is valid? [True, True] Translation: X:-26.88, Y:12.48, Z:-0.15 [[ 6.32577407e-01 7.71648357e-01 -6.63674468e-02 -2.68779476e+01] [-7.69614670e-01 6.35884213e-01 5.78318981e-02 1.24807135e+01] [ 8.68279008e-02 1.44942085e-02 9.96117881e-01 -1.48680971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.179115933 meters Centerline goodness [0,1] 0.9982704946385333 Centerline is valid? [True, True] Translation: X:-26.89, Y:12.49, Z:-0.16 [[ 6.31923809e-01 7.72270712e-01 -6.53471315e-02 -2.68917731e+01] [-7.70268748e-01 6.35136994e-01 5.73328493e-02 1.24880085e+01] [ 8.57808610e-02 1.41048607e-02 9.96214182e-01 -1.58222251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.209115933 meters Centerline goodness [0,1] 0.9986135181975736 Centerline is valid? [True, True] Translation: X:-26.91, Y:12.50, Z:-0.17 [[ 6.29632900e-01 7.74105408e-01 -6.57512647e-02 -2.69060047e+01] [-7.72054738e-01 6.32897450e-01 5.80715035e-02 1.24955923e+01] [ 8.65672727e-02 1.41998463e-02 9.96144805e-01 -1.67863689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.239115933 meters Centerline goodness [0,1] 0.998272884283247 Centerline is valid? [True, True] Translation: X:-26.92, Y:12.51, Z:-0.16 [[ 6.23806247e-01 7.78719654e-01 -6.67942188e-02 -2.69155013e+01] [-7.76593880e-01 6.27196770e-01 5.93814574e-02 1.25090587e+01] [ 8.81346262e-02 1.48294575e-02 9.95998180e-01 -1.61842762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.269115933 meters Centerline goodness [0,1] 0.9989510489510489 Centerline is valid? [True, True] Translation: X:-26.93, Y:12.51, Z:-0.19 [[ 6.27142139e-01 7.76246998e-01 -6.42910291e-02 -2.69334215e+01] [-7.74232606e-01 6.30280216e-01 5.75388628e-02 1.25101551e+01] [ 8.51857333e-02 1.36911655e-02 9.96271019e-01 -1.88400545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.299115933 meters Centerline goodness [0,1] 0.997719298245614 Centerline is valid? [True, True] Translation: X:-26.94, Y:12.53, Z:-0.14 [[ 6.25428961e-01 7.77798291e-01 -6.21967358e-02 -2.69361298e+01] [-7.75889595e-01 6.28375114e-01 5.60361735e-02 1.25314026e+01] [ 8.26677209e-02 1.32111543e-02 9.96489595e-01 -1.40252378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.329115933 meters Centerline goodness [0,1] 0.9973753280839895 Centerline is valid? [True, True] Translation: X:-26.94, Y:12.55, Z:-0.13 [[ 6.18463107e-01 7.83251136e-01 -6.34117034e-02 -2.69443889e+01] [-7.81261829e-01 6.21548409e-01 5.75111323e-02 1.25465375e+01] [ 8.44591030e-02 1.39726298e-02 9.96328975e-01 -1.32069340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.359115933 meters Centerline goodness [0,1] 0.996845978622744 Centerline is valid? [True, True] Translation: X:-26.95, Y:12.56, Z:-0.12 [[ 6.15126947e-01 7.85960091e-01 -6.23343697e-02 -2.69535652e+01] [-7.84019834e-01 6.18121722e-01 5.69072575e-02 1.25600228e+01] [ 8.32570613e-02 1.38661946e-02 9.96431629e-01 -1.16580140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.389115933 meters Centerline goodness [0,1] 0.9980819529206626 Centerline is valid? [True, True] Translation: X:-26.98, Y:12.56, Z:-0.15 [[ 6.18791145e-01 7.83197137e-01 -6.08256710e-02 -2.69752490e+01] [-7.81306415e-01 6.21638996e-01 5.59038776e-02 1.25588384e+01] [ 8.15953660e-02 1.29306625e-02 9.96581655e-01 -1.46183354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.419115933 meters Centerline goodness [0,1] 0.9963299545613422 Centerline is valid? [True, True] Translation: X:-26.97, Y:12.58, Z:-0.11 [[ 6.09987336e-01 7.89963489e-01 -6.22345257e-02 -2.69740310e+01] [-7.87984752e-01 6.12995988e-01 5.75842745e-02 1.25846727e+01] [ 8.36389890e-02 1.39141791e-02 9.96398974e-01 -1.06616003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.449115933 meters Centerline goodness [0,1] 0.9982474588152822 Centerline is valid? [True, True] Translation: X:-27.00, Y:12.58, Z:-0.14 [[ 6.16647983e-01 7.85000523e-01 -5.93248981e-02 -2.69972552e+01] [-7.83148739e-01 6.19371652e-01 5.52884156e-02 1.25794048e+01] [ 8.01455952e-02 1.23667292e-02 9.96706450e-01 -1.38410313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.479115933 meters Centerline goodness [0,1] 0.9976752503576538 Centerline is valid? [True, True] Translation: X:-27.00, Y:12.59, Z:-0.12 [[ 6.15563659e-01 7.85920616e-01 -5.83966308e-02 -2.70031315e+01] [-7.84098804e-01 6.18210118e-01 5.48207651e-02 1.25938859e+01] [ 7.91861575e-02 1.20430576e-02 9.96787097e-01 -1.18176681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.509115933 meters Centerline goodness [0,1] 0.9972948602344455 Centerline is valid? [True, True] Translation: X:-27.02, Y:12.60, Z:-0.11 [[ 6.16037835e-01 7.85678012e-01 -5.66343324e-02 -2.70187526e+01] [-7.83934549e-01 6.18530354e-01 5.35427277e-02 1.25994984e+01] [ 7.70973975e-02 1.14132638e-02 9.96958238e-01 -1.07897242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.539115933 meters Centerline goodness [0,1] 0.995439620576432 Centerline is valid? [True, True] Translation: X:-27.02, Y:12.62, Z:-0.07 [[ 6.11885748e-01 7.88955126e-01 -5.60860139e-02 -2.70218068e+01] [-7.87232486e-01 6.14343168e-01 5.33618388e-02 1.26203433e+01] [ 7.65561557e-02 1.15013835e-02 9.96998933e-01 -7.30600012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.569115933 meters Centerline goodness [0,1] 0.9985665651316968 Centerline is valid? [True, True] Translation: X:-27.05, Y:12.61, Z:-0.14 [[ 6.13886686e-01 7.87513939e-01 -5.44511996e-02 -2.70527014e+01] [-7.85857792e-01 6.16202817e-01 5.21691342e-02 1.26094772e+01] [ 7.46369029e-02 1.07649627e-02 9.97152671e-01 -1.43355107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.599115933 meters Centerline goodness [0,1] 0.9994617868675996 Centerline is valid? [True, True] Translation: X:-27.07, Y:12.62, Z:-0.16 [[ 6.12244187e-01 7.88711650e-01 -5.55966673e-02 -2.70683479e+01] [-7.86960812e-01 6.14666521e-01 5.36446489e-02 1.26155738e+01] [ 7.64835696e-02 1.09087740e-02 9.97011165e-01 -1.63821662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.629115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.09, Y:12.62, Z:-0.19 [[ 6.11218601e-01 7.89479085e-01 -5.59874648e-02 -2.70887600e+01] [-7.87675981e-01 6.13681750e-01 5.44174581e-02 1.26165146e+01] [ 7.73199304e-02 1.08390186e-02 9.96947413e-01 -1.89499091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.659115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.10, Y:12.63, Z:-0.18 [[ 6.12516145e-01 7.88554147e-01 -5.48300106e-02 -2.70976355e+01] [-7.86791458e-01 6.14879786e-01 5.36847343e-02 1.26296456e+01] [ 7.60471850e-02 1.02570175e-02 9.97051463e-01 -1.78844867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.689115933 meters Centerline goodness [0,1] 0.9998233527645293 Centerline is valid? [True, True] Translation: X:-27.11, Y:12.64, Z:-0.18 [[ 6.08684890e-01 7.91434705e-01 -5.59804626e-02 -2.71110788e+01] [-7.89577582e-01 6.11161903e-01 5.52120493e-02 1.26383808e+01] [ 7.79098580e-02 1.05941781e-02 9.96904116e-01 -1.82637891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.719115933 meters Centerline goodness [0,1] 0.9983994309087676 Centerline is valid? [True, True] Translation: X:-27.11, Y:12.66, Z:-0.14 [[ 6.04908349e-01 7.94409776e-01 -5.47630947e-02 -2.71129914e+01] [-7.92614707e-01 6.07291401e-01 5.43974406e-02 1.26604922e+01] [ 7.64710151e-02 1.05005683e-02 9.97016510e-01 -1.41353864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.749115933 meters Centerline goodness [0,1] 0.9975269387034092 Centerline is valid? [True, True] Translation: X:-27.12, Y:12.68, Z:-0.11 [[ 6.08130342e-01 7.92171525e-01 -5.13980849e-02 -2.71209958e+01] [-7.90556799e-01 6.10226631e-01 5.14140627e-02 1.26751669e+01] [ 7.20932366e-02 9.36665397e-03 9.97353915e-01 -1.14775956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.779115933 meters Centerline goodness [0,1] 0.9992999649982499 Centerline is valid? [True, True] Translation: X:-25.65, Y:14.06, Z:-1.63 [[ 8.39151150e-01 -5.42240136e-01 -4.24379789e-02 -2.56493811e+01] [-5.41152891e-01 -8.40199801e-01 3.48975998e-02 1.40613571e+01] [-5.45792607e-02 -6.31892603e-03 -9.98489447e-01 -1.63181601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.809115933 meters Centerline goodness [0,1] 0.9977363747170468 Centerline is valid? [True, True] Translation: X:-27.00, Y:12.52, Z:-0.13 [[ 6.66233148e-01 7.43451353e-01 -5.84249768e-02 -2.70041285e+01] [-7.41851050e-01 6.68712792e-01 4.98018170e-02 1.25240171e+01] [ 7.60947576e-02 1.01630091e-02 9.97048796e-01 -1.25068400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.839115933 meters Centerline goodness [0,1] 0.9987910189982729 Centerline is valid? [True, True] Translation: X:-27.02, Y:12.53, Z:-0.15 [[ 6.69363402e-01 7.40715717e-01 -5.73834718e-02 -2.70233383e+01] [-7.39140061e-01 6.71751768e-01 4.92090630e-02 1.25258832e+01] [ 7.49973750e-02 9.47567705e-03 9.97138709e-01 -1.47544960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.869115932999996 meters Centerline goodness [0,1] 0.9989613986498183 Centerline is valid? [True, True] Translation: X:-27.04, Y:12.53, Z:-0.16 [[ 6.69388346e-01 7.40687782e-01 -5.74530458e-02 -2.70386164e+01] [-7.39081638e-01 6.71785759e-01 4.96208380e-02 1.25336653e+01] [ 7.53496864e-02 9.24688047e-03 9.97114296e-01 -1.57432388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.899115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.06, Y:12.53, Z:-0.18 [[ 6.71131268e-01 7.39011564e-01 -5.86918218e-02 -2.70595121e+01] [-7.37302683e-01 6.73632296e-01 5.10321803e-02 1.25324593e+01] [ 7.72500780e-02 9.02434586e-03 9.96970906e-01 -1.82074962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.929115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.07, Y:12.54, Z:-0.18 [[ 6.70656709e-01 7.39462296e-01 -5.84387855e-02 -2.70743549e+01] [-7.37743068e-01 6.73140412e-01 5.11580902e-02 1.25393329e+01] [ 7.71669870e-02 8.80329252e-03 9.96979317e-01 -1.84182843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.959115933 meters Centerline goodness [0,1] 0.9996632996632997 Centerline is valid? [True, True] Translation: X:-27.09, Y:12.55, Z:-0.18 [[ 6.71279138e-01 7.38822711e-01 -5.93744156e-02 -2.70885504e+01] [-7.37015481e-01 6.73844803e-01 5.23580201e-02 1.25486788e+01] [ 7.86924357e-02 8.61301694e-03 9.96861734e-01 -1.78439413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.989115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.10, Y:12.56, Z:-0.18 [[ 6.73775840e-01 7.36621332e-01 -5.84391155e-02 -2.71023689e+01] [-7.34832319e-01 6.76258572e-01 5.19211603e-02 1.25575362e+01] [ 7.77661871e-02 7.95972733e-03 9.96939849e-01 -1.77099610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.019115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.11, Y:12.57, Z:-0.15 [[ 6.69976812e-01 7.39974990e-01 -5.97334543e-02 -2.71124302e+01] [-7.38087210e-01 6.72583573e-01 5.34659559e-02 1.25716778e+01] [ 7.97392103e-02 8.26754790e-03 9.96781474e-01 -1.54786876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.049115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.12, Y:12.58, Z:-0.15 [[ 6.67261163e-01 7.42440516e-01 -5.95367169e-02 -2.71241230e+01] [-7.40543187e-01 6.69860975e-01 5.36848379e-02 1.25829514e+01] [ 7.97391220e-02 8.26770271e-03 9.96781479e-01 -1.54919101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.079115933 meters Centerline goodness [0,1] 0.9996644295302013 Centerline is valid? [True, True] Translation: X:-27.14, Y:12.59, Z:-0.16 [[ 6.69487056e-01 7.40466599e-01 -5.91295008e-02 -2.71401671e+01] [-7.38557626e-01 6.72048786e-01 5.36941547e-02 1.25906114e+01] [ 7.94966374e-02 7.72300219e-03 9.96805217e-01 -1.57831280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.109115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.15, Y:12.60, Z:-0.14 [[ 6.69519073e-01 7.40517913e-01 -5.81156755e-02 -2.71505834e+01] [-7.38646757e-01 6.71996308e-01 5.31218460e-02 1.26041992e+01] [ 7.83911980e-02 7.36086614e-03 9.96895500e-01 -1.44487606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.139115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.16, Y:12.61, Z:-0.15 [[ 6.67494419e-01 7.42277725e-01 -5.89489565e-02 -2.71645476e+01] [-7.40332088e-01 6.70050968e-01 5.42226853e-02 1.26146232e+01] [ 7.97470968e-02 7.44846422e-03 9.96787300e-01 -1.50484487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.169115933 meters Centerline goodness [0,1] 0.9996678292642418 Centerline is valid? [True, True] Translation: X:-27.18, Y:12.63, Z:-0.15 [[ 6.62285747e-01 7.46943704e-01 -5.87596219e-02 -2.71777121e+01] [-7.44997924e-01 6.64842383e-01 5.44306707e-02 1.26255823e+01] [ 7.97225338e-02 7.72713896e-03 9.96787143e-01 -1.51570002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.199115933 meters Centerline goodness [0,1] 0.9993227226549272 Centerline is valid? [True, True] Translation: X:-27.19, Y:12.63, Z:-0.15 [[ 6.65009912e-01 7.44786797e-01 -5.52670184e-02 -2.71928950e+01] [-7.43030105e-01 6.67268153e-01 5.15700987e-02 1.26341225e+01] [ 7.52866499e-02 6.77043169e-03 9.97138948e-01 -1.53900406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.229115933 meters Centerline goodness [0,1] 0.999831734814067 Centerline is valid? [True, True] Translation: X:-27.20, Y:12.65, Z:-0.15 [[ 6.54831673e-01 7.53682032e-01 -5.62038704e-02 -2.72025004e+01] [-7.51866856e-01 6.57194583e-01 5.28347550e-02 1.26490456e+01] [ 7.67574847e-02 7.65995634e-03 9.97020368e-01 -1.48489478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.259115933 meters Centerline goodness [0,1] 0.9991725963925203 Centerline is valid? [True, True] Translation: X:-27.22, Y:12.66, Z:-0.16 [[ 6.53251310e-01 7.55061509e-01 -5.60789074e-02 -2.72167789e+01] [-7.53229521e-01 6.55610499e-01 5.31051967e-02 1.26594122e+01] [ 7.68636104e-02 7.54924925e-03 9.97013036e-01 -1.55863812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.289115933 meters Centerline goodness [0,1] 0.9995006657789614 Centerline is valid? [True, True] Translation: X:-27.23, Y:12.67, Z:-0.16 [[ 6.49734599e-01 7.58153049e-01 -5.52168914e-02 -2.72284754e+01] [-7.56357640e-01 6.52033153e-01 5.26866815e-02 1.26705886e+01] [ 7.59478120e-02 7.53135777e-03 9.97083351e-01 -1.59667383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.319115933 meters Centerline goodness [0,1] 0.9991799245530589 Centerline is valid? [True, True] Translation: X:-27.24, Y:12.68, Z:-0.16 [[ 6.45267264e-01 7.61981769e-01 -5.48993730e-02 -2.72398814e+01] [-7.60192117e-01 6.47552796e-01 5.27572006e-02 1.26828991e+01] [ 7.57502675e-02 7.69157608e-03 9.97097155e-01 -1.59172594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.349115933 meters Centerline goodness [0,1] 0.9991800590357495 Centerline is valid? [True, True] Translation: X:-27.25, Y:12.70, Z:-0.16 [[ 6.42504028e-01 7.64458739e-01 -5.28337969e-02 -2.72506935e+01] [-7.62783947e-01 6.44629551e-01 5.11213538e-02 1.26956151e+01] [ 7.31383924e-02 7.45509635e-03 9.97293937e-01 -1.59701290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.379115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.26, Y:12.71, Z:-0.17 [[ 6.41562170e-01 7.65346524e-01 -5.14070096e-02 -2.72623559e+01] [-7.63738135e-01 6.43579069e-01 5.01003336e-02 1.27077936e+01] [ 7.14285915e-02 7.11901482e-03 9.97420311e-01 -1.66238312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.409115933 meters Centerline goodness [0,1] 0.9995108429805968 Centerline is valid? [True, True] Translation: X:-27.27, Y:12.72, Z:-0.16 [[ 6.37935849e-01 7.68330770e-01 -5.20161571e-02 -2.72726447e+01] [-7.66666568e-01 6.40011341e-01 5.10671809e-02 1.27216606e+01] [ 7.25274169e-02 7.30146328e-03 9.97339693e-01 -1.62136068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.439115933 meters Centerline goodness [0,1] 0.9995140126356715 Centerline is valid? [True, True] Translation: X:-27.28, Y:12.73, Z:-0.17 [[ 6.32866634e-01 7.72566540e-01 -5.11934050e-02 -2.72817239e+01] [-7.70939198e-01 6.34890630e-01 5.06620324e-02 1.27326504e+01] [ 7.16420042e-02 7.40469264e-03 9.97402924e-01 -1.68260395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.469115933 meters Centerline goodness [0,1] 0.9995162850693324 Centerline is valid? [True, True] Translation: X:-27.29, Y:12.75, Z:-0.17 [[ 6.27723377e-01 7.76742537e-01 -5.13263492e-02 -2.72918549e+01] [-7.75092625e-01 6.29771694e-01 5.11765067e-02 1.27457829e+01] [ 7.20748515e-02 7.65798517e-03 9.97369827e-01 -1.66473596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.499115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.31, Y:12.76, Z:-0.19 [[ 6.27476248e-01 7.77052688e-01 -4.96253845e-02 -2.73051469e+01] [-7.75485763e-01 6.29394302e-01 4.98462089e-02 1.27554550e+01] [ 6.99670649e-02 7.20646702e-03 9.97523271e-01 -1.85094395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.529115933 meters Centerline goodness [0,1] 0.9996807151979565 Centerline is valid? [True, True] Translation: X:-25.77, Y:14.22, Z:-1.63 [[ 8.17353791e-01 -5.75005796e-01 -3.60709649e-02 -2.57728450e+01] [-5.74253203e-01 -8.18141878e-01 2.96163097e-02 1.42188267e+01] [-4.65407167e-02 -3.49313584e-03 -9.98910286e-01 -1.62962910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.559115933 meters Centerline goodness [0,1] 0.999530736743313 Centerline is valid? [True, True] Translation: X:-27.18, Y:12.62, Z:-0.17 [[ 6.93059631e-01 7.19018173e-01 -5.17804453e-02 -2.71833799e+01] [-7.17680374e-01 6.94961336e-01 4.43127645e-02 1.26237839e+01] [ 6.78470904e-02 6.45042111e-03 9.97674879e-01 -1.68356651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.589115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.20, Y:12.63, Z:-0.18 [[ 6.95469871e-01 7.16885384e-01 -4.89592264e-02 -2.71996941e+01] [-7.15665765e-01 6.97167744e-01 4.21858876e-02 1.26314276e+01] [ 6.43752397e-02 5.69942843e-03 9.97909487e-01 -1.81755148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.619115932999996 meters Centerline goodness [0,1] 0.999203187250996 Centerline is valid? [True, True] Translation: X:-27.21, Y:12.65, Z:-0.17 [[ 6.88008502e-01 7.24070329e-01 -4.86462684e-02 -2.72078900e+01] [-7.22863423e-01 6.89699102e-01 4.22329306e-02 1.26476890e+01] [ 6.41308996e-02 6.10799271e-03 9.97922803e-01 -1.72136947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.649115933 meters Centerline goodness [0,1] 0.9988890652277417 Centerline is valid? [True, True] Translation: X:-27.22, Y:12.66, Z:-0.17 [[ 6.86982247e-01 7.25072115e-01 -4.82267598e-02 -2.72192760e+01] [-7.23870797e-01 6.88647177e-01 4.21442024e-02 1.26606513e+01] [ 6.37688080e-02 5.95762419e-03 9.97946915e-01 -1.70399283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.679115933 meters Centerline goodness [0,1] 0.9998391765841107 Centerline is valid? [True, True] Translation: X:-27.23, Y:12.67, Z:-0.18 [[ 6.86428182e-01 7.25745953e-01 -4.59256201e-02 -2.72336055e+01] [-7.24640696e-01 6.87940533e-01 4.04188666e-02 1.26707446e+01] [ 6.09279244e-02 5.53492416e-03 9.98126822e-01 -1.78896728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.709115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.24, Y:12.68, Z:-0.18 [[ 6.86937156e-01 7.25262010e-01 -4.59604296e-02 -2.72449358e+01] [-7.24135782e-01 6.88452631e-01 4.07473299e-02 1.26842815e+01] [ 6.11940691e-02 5.29073675e-03 9.98111864e-01 -1.75622516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.739115933 meters Centerline goodness [0,1] 0.9993525412754937 Centerline is valid? [True, True] Translation: X:-27.26, Y:12.70, Z:-0.18 [[ 6.82230300e-01 7.29679170e-01 -4.61532924e-02 -2.72577523e+01] [-7.28534842e-01 6.83767517e-01 4.12185129e-02 1.26963524e+01] [ 6.16344124e-02 5.50376310e-03 9.98083618e-01 -1.80839623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.769115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.27, Y:12.71, Z:-0.18 [[ 6.82338961e-01 7.29635862e-01 -4.52222408e-02 -2.72693362e+01] [-7.28520704e-01 6.83816090e-01 4.06588083e-02 1.27087575e+01] [ 6.05898205e-02 5.20224973e-03 9.98149192e-01 -1.80694360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.799115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.28, Y:12.72, Z:-0.18 [[ 6.83589875e-01 7.28594671e-01 -4.30660871e-02 -2.72805054e+01] [-7.27566757e-01 6.84929037e-01 3.89721438e-02 1.27212630e+01] [ 5.78921098e-02 4.69249041e-03 9.98311817e-01 -1.82427913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.829115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.29, Y:12.73, Z:-0.18 [[ 6.78296134e-01 7.33485218e-01 -4.37468733e-02 -2.72900702e+01] [-7.32416062e-01 6.79687184e-01 3.99004253e-02 1.27325970e+01] [ 5.90005613e-02 4.97660837e-03 9.98245545e-01 -1.80324259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.859115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.30, Y:12.74, Z:-0.18 [[ 6.78335456e-01 7.33415567e-01 -4.43014225e-02 -2.73026461e+01] [-7.32302655e-01 6.79763266e-01 4.06782907e-02 1.27444616e+01] [ 5.99485713e-02 4.84852245e-03 9.98189692e-01 -1.82611985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.889115933 meters Centerline goodness [0,1] 0.9982217911412867 Centerline is valid? [True, True] Translation: X:-27.32, Y:12.76, Z:-0.19 [[ 6.74592770e-01 7.36742647e-01 -4.62046180e-02 -2.73150688e+01] [-7.35522627e-01 6.76153404e-01 4.26970706e-02 1.27563661e+01] [ 6.26981626e-02 5.18140688e-03 9.98019085e-01 -1.91561530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.919115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.33, Y:12.77, Z:-0.19 [[ 6.75274272e-01 7.36165857e-01 -4.54366480e-02 -2.73262318e+01] [-7.34966104e-01 6.76783887e-01 4.22894232e-02 1.27698298e+01] [ 6.18828207e-02 4.83743678e-03 9.98071699e-01 -1.88757697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.949115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.34, Y:12.78, Z:-0.19 [[ 6.71577809e-01 7.39485246e-01 -4.63121700e-02 -2.73369209e+01] [-7.38227447e-01 6.73153907e-01 4.34056887e-02 1.27825586e+01] [ 6.32730846e-02 5.03861770e-03 9.97983531e-01 -1.89547676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.979115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.35, Y:12.80, Z:-0.19 [[ 6.69033979e-01 7.41783643e-01 -4.63741518e-02 -2.73473788e+01] [-7.40507247e-01 6.70620296e-01 4.37885376e-02 1.27963754e+01] [ 6.35810684e-02 5.04437593e-03 9.97963928e-01 -1.87605095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.009115933 meters Centerline goodness [0,1] 0.9981478363360835 Centerline is valid? [True, True] Translation: X:-27.35, Y:12.82, Z:-0.15 [[ 6.57643960e-01 7.51732182e-01 -4.90219105e-02 -2.73491720e+01] [-7.50309093e-01 6.59440195e-01 4.66357572e-02 1.28204654e+01] [ 6.73846178e-02 6.11186111e-03 9.97708353e-01 -1.47616854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.039115933 meters Centerline goodness [0,1] 0.9991575400168492 Centerline is valid? [True, True] Translation: X:-27.37, Y:12.82, Z:-0.17 [[ 6.64642405e-01 7.45773505e-01 -4.55231130e-02 -2.73679208e+01] [-7.44512274e-01 6.66181601e-01 4.36296864e-02 1.28248425e+01] [ 6.28645244e-02 4.89437661e-03 9.98010068e-01 -1.73538428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.069115933 meters Centerline goodness [0,1] 0.9989748846745259 Centerline is valid? [True, True] Translation: X:-27.38, Y:12.84, Z:-0.17 [[ 6.64968023e-01 7.45379886e-01 -4.71842516e-02 -2.73792117e+01] [-7.44003783e-01 6.66622454e-01 4.55288361e-02 1.28380171e+01] [ 6.53903603e-02 4.83004158e-03 9.97848070e-01 -1.71526106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.099115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.40, Y:12.85, Z:-0.19 [[ 6.66402320e-01 7.44129619e-01 -4.66803825e-02 -2.73957901e+01] [-7.42758294e-01 6.68020534e-01 4.53727081e-02 1.28461278e+01] [ 6.49466301e-02 4.43576337e-03 9.97878880e-01 -1.94101635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.129115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.41, Y:12.86, Z:-0.19 [[ 6.68049055e-01 7.42739656e-01 -4.52577535e-02 -2.74065194e+01] [-7.41428737e-01 6.69568555e-01 4.42874628e-02 1.28600005e+01] [ 6.31972235e-02 3.96920132e-03 9.97993164e-01 -1.85994820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.159115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.42, Y:12.87, Z:-0.20 [[ 6.63207656e-01 7.47019031e-01 -4.60236067e-02 -2.74183277e+01] [-7.45651901e-01 6.64789214e-01 4.53711745e-02 1.28730318e+01] [ 6.44891281e-02 4.22707952e-03 9.97909457e-01 -1.95082856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.189115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.43, Y:12.89, Z:-0.20 [[ 6.60741177e-01 7.49305207e-01 -4.43035441e-02 -2.74280723e+01] [-7.48022784e-01 6.62212358e-01 4.40080481e-02 1.28878473e+01] [ 6.23138140e-02 4.06213086e-03 9.98048339e-01 -1.97560918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.219115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.44, Y:12.90, Z:-0.20 [[ 6.56298593e-01 7.53220165e-01 -4.39492769e-02 -2.74407775e+01] [-7.51946304e-01 6.57755211e-01 4.39867944e-02 1.28995538e+01] [ 6.20396065e-02 4.17902508e-03 9.98064939e-01 -2.00573444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.249115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.93, Y:14.32, Z:-1.61 [[ 7.99478899e-01 -5.99879584e-01 -3.12725760e-02 -2.59277447e+01] [-5.99341785e-01 -8.00088697e-01 2.54460678e-02 1.43156024e+01] [-4.02854111e-02 -1.60063273e-03 -9.99186931e-01 -1.60992424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.279115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.30, Y:12.75, Z:-0.20 [[ 7.19393267e-01 6.93086690e-01 -4.58712124e-02 -2.73045632e+01] [-6.91990686e-01 7.20845282e-01 3.91276040e-02 1.27549497e+01] [ 6.01848686e-02 3.59431687e-03 9.98180776e-01 -1.98392647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.309115933 meters Centerline goodness [0,1] 0.9994849785407726 Centerline is valid? [True, True] Translation: X:-27.32, Y:12.77, Z:-0.20 [[ 7.15388207e-01 6.97195647e-01 -4.62378944e-02 -2.73163779e+01] [-6.96075919e-01 7.16870840e-01 3.96801381e-02 1.27686654e+01] [ 6.08114178e-02 3.79838196e-03 9.98142046e-01 -1.98781186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.339115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.33, Y:12.78, Z:-0.20 [[ 7.14496017e-01 6.98128794e-01 -4.59524468e-02 -2.73262854e+01] [-6.97008990e-01 7.15962806e-01 3.96954473e-02 1.27842121e+01] [ 6.06127775e-02 3.66702958e-03 9.98154619e-01 -1.96950883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.369115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.34, Y:12.80, Z:-0.19 [[ 7.10860022e-01 7.01818077e-01 -4.61455956e-02 -2.73370748e+01] [-7.00680546e-01 7.12346028e-01 4.01236732e-02 1.27985899e+01] [ 6.10311509e-02 3.81100587e-03 9.98128586e-01 -1.93051211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.399115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.35, Y:12.81, Z:-0.19 [[ 7.09841652e-01 7.02910570e-01 -4.51836166e-02 -2.73484587e+01] [-7.01806841e-01 7.11268920e-01 3.95434129e-02 1.28124647e+01] [ 5.99331851e-02 3.64060967e-03 9.98195752e-01 -1.93592445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.429115933 meters Centerline goodness [0,1] 0.9991206472036581 Centerline is valid? [True, True] Translation: X:-27.36, Y:12.83, Z:-0.18 [[ 7.06389508e-01 7.06431353e-01 -4.43689776e-02 -2.73572744e+01] [-7.05359043e-01 7.07771955e-01 3.90829975e-02 1.28300327e+01] [ 5.90125729e-02 3.68824021e-03 9.98250426e-01 -1.78037132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.459115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.37, Y:12.84, Z:-0.20 [[ 7.07788712e-01 7.05074002e-01 -4.36553713e-02 -2.73747723e+01] [-7.04018702e-01 7.09125875e-01 3.87060842e-02 1.28372184e+01] [ 5.82478071e-02 3.33846833e-03 9.98296573e-01 -2.02116518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.489115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.38, Y:12.85, Z:-0.20 [[ 7.02450168e-01 7.10340572e-01 -4.44975693e-02 -2.73848532e+01] [-7.09239269e-01 7.03848588e-01 3.97092563e-02 1.28533242e+01] [ 5.95266472e-02 3.66564976e-03 9.98219986e-01 -2.04512978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.519115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.40, Y:12.87, Z:-0.20 [[ 7.02848754e-01 7.10033250e-01 -4.30861113e-02 -2.73959162e+01] [-7.08985843e-01 7.04160187e-01 3.86976056e-02 1.28679348e+01] [ 5.78161108e-02 3.34887903e-03 9.98321633e-01 -1.98850087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.549115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.41, Y:12.88, Z:-0.20 [[ 7.01137221e-01 7.11783000e-01 -4.20898727e-02 -2.74057470e+01] [-7.10772807e-01 7.02391957e-01 3.80467611e-02 1.28845777e+01] [ 5.66446258e-02 3.24033661e-03 9.98389146e-01 -2.02007303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.579115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.42, Y:12.90, Z:-0.21 [[ 6.98445554e-01 7.14524861e-01 -4.03488811e-02 -2.74183045e+01] [-7.13588395e-01 6.99602936e-01 3.67060558e-02 1.28974557e+01] [ 5.44555850e-02 3.15531187e-03 9.98511208e-01 -2.07216503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.609115933 meters Centerline goodness [0,1] 0.998015873015873 Centerline is valid? [True, True] Translation: X:-27.41, Y:12.94, Z:-0.14 [[ 6.84439813e-01 7.27914791e-01 -4.10146382e-02 -2.74061168e+01] [-7.26956948e-01 6.85655275e-01 3.75558179e-02 1.29380148e+01] [ 5.54593383e-02 4.11117926e-03 9.98452483e-01 -1.38796542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.639115933 meters Centerline goodness [0,1] 0.9994622692238753 Centerline is valid? [True, True] Translation: X:-27.43, Y:12.93, Z:-0.19 [[ 6.92381199e-01 7.20522691e-01 -3.81487546e-02 -2.74338570e+01] [-7.19671397e-01 6.93424363e-01 3.51530085e-02 1.29333393e+01] [ 5.17818162e-02 3.11528535e-03 9.98653563e-01 -1.93157746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.669115933 meters Centerline goodness [0,1] 0.9990867579908675 Centerline is valid? [True, True] Translation: X:-27.44, Y:12.95, Z:-0.18 [[ 6.88929474e-01 7.23694819e-01 -4.05214687e-02 -2.74399957e+01] [-7.22726400e-01 6.90111786e-01 3.75802278e-02 1.29536597e+01] [ 5.51609593e-02 3.39580866e-03 9.98471701e-01 -1.83894186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.699115933 meters Centerline goodness [0,1] 0.9965968117499552 Centerline is valid? [True, True] Translation: X:-27.43, Y:12.99, Z:-0.11 [[ 6.71252497e-01 7.39844342e-01 -4.52817284e-02 -2.74290526e+01] [-7.38653600e-01 6.72758924e-01 4.22645240e-02 1.29929638e+01] [ 6.17328559e-02 5.07734443e-03 9.98079794e-01 -1.13812743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.729115933 meters Centerline goodness [0,1] 0.9980472217290964 Centerline is valid? [True, True] Translation: X:-27.45, Y:12.99, Z:-0.16 [[ 6.78154705e-01 7.34043495e-01 -3.58656438e-02 -2.74516036e+01] [-7.33278279e-01 6.79093668e-01 3.36861332e-02 1.29935235e+01] [ 4.90832185e-02 3.45508780e-03 9.98788716e-01 -1.55230576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.759115933 meters Centerline goodness [0,1] 0.9987817612252001 Centerline is valid? [True, True] Translation: X:-27.47, Y:13.00, Z:-0.17 [[ 6.75264672e-01 7.36857273e-01 -3.25419893e-02 -2.74668688e+01] [-7.36222123e-01 6.76040809e-01 3.07540111e-02 1.30017889e+01] [ 4.46610295e-02 3.19103518e-03 9.98997102e-01 -1.65763901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.789115933 meters Centerline goodness [0,1] 0.9987665198237885 Centerline is valid? [True, True] Translation: X:-27.47, Y:13.03, Z:-0.14 [[ 6.74812516e-01 7.37535837e-01 -2.58642320e-02 -2.74673885e+01] [-7.37129944e-01 6.75303473e-01 2.45899275e-02 1.30278956e+01] [ 3.56021584e-02 2.47170907e-03 9.99362986e-01 -1.38851249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.819115933 meters Centerline goodness [0,1] 0.9982285208148804 Centerline is valid? [True, True] Translation: X:-27.45, Y:13.07, Z:-0.07 [[ 6.58769646e-01 7.51958360e-01 -2.41076685e-02 -2.74544350e+01] [-7.51609782e-01 6.59204158e-01 2.30784382e-02 1.30660045e+01] [ 3.32458998e-02 2.91618490e-03 9.99442948e-01 -6.55084899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.849115933 meters Centerline goodness [0,1] 0.9989508655359328 Centerline is valid? [True, True] Translation: X:-27.47, Y:13.07, Z:-0.10 [[ 6.56573098e-01 7.54054838e-01 -1.76937228e-02 -2.74702940e+01] [-7.53865349e-01 6.56807944e-01 1.70399371e-02 1.30738581e+01] [ 2.44704247e-02 2.15072017e-03 9.99698241e-01 -9.82685413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.879115933 meters Centerline goodness [0,1] 0.9987671715392744 Centerline is valid? [True, True] Translation: X:-27.48, Y:13.09, Z:-0.09 [[ 6.47975453e-01 7.61465435e-01 -1.72685619e-02 -2.74767358e+01] [-7.61284992e-01 6.48201428e-01 1.67353142e-02 1.30930930e+01] [ 2.39368698e-02 2.30222425e-03 9.99710821e-01 -9.20767674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.909115933 meters Centerline goodness [0,1] 0.9994683678894205 Centerline is valid? [True, True] Translation: X:-27.50, Y:13.09, Z:-0.14 [[ 6.43723599e-01 7.65171380e-01 -1.15189828e-02 -2.74989335e+01] [-7.65090789e-01 6.43824686e-01 1.12186542e-02 1.30945472e+01] [ 1.60003986e-02 1.59135512e-03 9.99870719e-01 -1.38274961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.939115933 meters Centerline goodness [0,1] 0.9994683678894205 Centerline is valid? [True, True] Translation: X:-27.51, Y:13.11, Z:-0.14 [[ 6.41230040e-01 7.67262786e-01 -1.14826842e-02 -2.75107894e+01] [-7.67181873e-01 6.41330868e-01 1.12557253e-02 1.31067989e+01] [ 1.60002990e-02 1.59179802e-03 9.99870720e-01 -1.38424482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.969115933 meters Centerline goodness [0,1] 0.9987764376857193 Centerline is valid? [True, True] Translation: X:-27.50, Y:13.14, Z:-0.08 [[ 6.33924055e-01 7.73329395e-01 -1.00965140e-02 -2.75002510e+01] [-7.73266759e-01 6.34002688e-01 9.95542819e-03 1.31433369e+01] [ 1.41000423e-02 1.49631328e-03 9.99899470e-01 -8.10638074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.999115933 meters Centerline goodness [0,1] 0.9991266375545852 Centerline is valid? [True, True] Translation: X:-27.51, Y:13.16, Z:-0.09 [[ 6.34573722e-01 7.72855872e-01 -3.16120662e-03 -2.75065792e+01] [-7.72849812e-01 6.34581416e-01 3.09758483e-03 1.31585308e+01] [ 4.40002960e-03 4.77492006e-04 9.99990206e-01 -8.90068715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.029115933 meters Centerline goodness [0,1] 0.9991223450939091 Centerline is valid? [True, True] Translation: X:-27.52, Y:13.17, Z:-0.12 [[ 6.28533232e-01 7.77782065e-01 -1.01724279e-03 -2.75246650e+01] [-7.77781475e-01 6.28534030e-01 9.74833504e-04 1.31654205e+01] [ 1.39757973e-03 1.78477346e-04 9.99999007e-01 -1.16901243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.059115933 meters Centerline goodness [0,1] 0.9994657168299198 Centerline is valid? [True, True] Translation: X:-26.20, Y:14.32, Z:-1.73 [[ 8.26260073e-01 -5.63063050e-01 1.59465675e-02 -2.62023754e+01] [-5.62879143e-01 -8.26407725e-01 -1.47425323e-02 1.43221166e+01] [ 2.14793417e-02 3.20517560e-03 -9.99764155e-01 -1.73111424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.089115933 meters Centerline goodness [0,1] 0.9996443812233285 Centerline is valid? [True, True] Translation: X:-27.37, Y:13.02, Z:-0.10 [[ 6.86237887e-01 7.27373940e-01 2.17127008e-03 -2.73688555e+01] [-7.27371591e-01 6.86241259e-01 -1.87182858e-03 1.30196218e+01] [-2.85153444e-03 -2.94800479e-04 9.99995891e-01 -9.70822437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.119115932999996 meters Centerline goodness [0,1] 0.9989276139410188 Centerline is valid? [True, True] Translation: X:-27.36, Y:13.04, Z:-0.08 [[ 6.72628098e-01 7.39979633e-01 1.25892651e-03 -2.73630223e+01] [-7.39978733e-01 6.72629260e-01 -1.16361809e-03 1.30447384e+01] [-1.70784449e-03 -1.48896621e-04 9.99998531e-01 -7.53207411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.149115933 meters Centerline goodness [0,1] 0.9998214285714285 Centerline is valid? [True, True] Translation: X:-27.37, Y:13.06, Z:-0.04 [[ 6.72680343e-01 7.39916044e-01 5.04020265e-03 -2.73699915e+01] [-7.39903227e-01 6.72698800e-01 -4.42025193e-03 1.30646748e+01] [-6.66115360e-03 -7.55845624e-04 9.99977529e-01 -3.78264509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.179115933 meters Centerline goodness [0,1] 0.9994565217391305 Centerline is valid? [True, True] Translation: X:-27.39, Y:13.07, Z:-0.09 [[ 6.66812395e-01 7.45212955e-01 4.34538816e-03 -2.73903506e+01] [-7.45203350e-01 6.66826211e-01 -3.84336005e-03 1.30678200e+01] [-5.76174042e-03 -6.75397689e-04 9.99983173e-01 -8.55681055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.209115933 meters Centerline goodness [0,1] 0.9996397694524496 Centerline is valid? [True, True] Translation: X:-27.40, Y:13.09, Z:-0.06 [[ 6.59451454e-01 7.51735034e-01 4.26825594e-03 -2.73961558e+01] [-7.51725773e-01 6.59464891e-01 -3.79732879e-03 1.30890454e+01] [-5.66935002e-03 -7.04404002e-04 9.99983681e-01 -6.12151419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.239115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.39, Y:13.13, Z:-0.01 [[ 6.49513294e-01 7.60350235e-01 3.32479690e-05 -2.73850558e+01] [-7.60350232e-01 6.49513295e-01 -7.24171893e-05 1.31302534e+01] [-7.66574253e-05 2.17558262e-05 9.99999997e-01 -6.54132057e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.269115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.42, Y:13.12, Z:-0.06 [[ 6.48406338e-01 7.61294088e-01 7.29556151e-04 -2.74158985e+01] [-7.61293784e-01 6.48406739e-01 -6.89031303e-04 1.31220146e+01] [-9.97604582e-04 -1.08634299e-04 9.99999496e-01 -6.37496538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.299115933 meters Centerline goodness [0,1] 0.9987144168962351 Centerline is valid? [True, True] Translation: X:-27.45, Y:13.11, Z:-0.12 [[ 6.48032873e-01 7.61610334e-01 1.75934683e-03 -2.74514431e+01] [-7.61608668e-01 6.48035196e-01 -1.61897380e-03 1.31069030e+01] [-2.37314585e-03 -2.90785554e-04 9.99997142e-01 -1.24549180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.329115933 meters Centerline goodness [0,1] 0.9989023051591658 Centerline is valid? [True, True] Translation: X:-27.43, Y:13.16, Z:-0.04 [[ 6.47820493e-01 7.61783606e-01 3.78761823e-03 -2.74323936e+01] [-7.61776037e-01 6.47831243e-01 -3.45670888e-03 1.31570864e+01] [-5.08700159e-03 -6.45989959e-04 9.99986852e-01 -4.09240376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.359115933 meters Centerline goodness [0,1] 0.9988954344624448 Centerline is valid? [True, True] Translation: X:-27.45, Y:13.17, Z:-0.03 [[ 6.39443905e-01 7.68837000e-01 1.07678635e-03 -2.74458589e+01] [-7.68836352e-01 6.39444786e-01 -1.01411191e-03 1.31682859e+01] [-1.46823218e-03 -1.79404814e-04 9.99998906e-01 -3.24720818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.389115933 meters Centerline goodness [0,1] 0.999453452359264 Centerline is valid? [True, True] Translation: X:-27.44, Y:13.20, Z:0.00 [[ 6.36373534e-01 7.71378810e-01 -1.85931000e-03 -2.74434771e+01] [-7.71377129e-01 6.36376136e-01 1.65482046e-03 1.31993712e+01] [ 2.45971395e-03 3.81145268e-04 9.99996902e-01 4.07903658e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.419115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.44, Y:13.23, Z:0.05 [[ 6.30750990e-01 7.75983856e-01 -1.49761749e-03 -2.74394310e+01] [-7.75982780e-01 6.30752686e-01 1.33220495e-03 1.32310344e+01] [ 1.97839579e-03 3.21835790e-04 9.99997991e-01 5.42256294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.449115933 meters Centerline goodness [0,1] 0.9992500937382827 Centerline is valid? [True, True] Translation: X:-27.46, Y:13.24, Z:0.04 [[ 6.31071071e-01 7.75721520e-01 -2.32951150e-03 -2.74579073e+01] [-7.75718808e-01 6.31075190e-01 2.10596670e-03 1.32372112e+01] [ 3.10374060e-03 4.78031227e-04 9.99995069e-01 3.77694715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.479115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.48, Y:13.24, Z:0.02 [[ 6.27929640e-01 7.78268134e-01 -1.75478274e-03 -2.74758642e+01] [-7.78266609e-01 6.27931982e-01 1.58473344e-03 1.32443542e+01] [ 2.33523174e-03 3.70587715e-04 9.99997205e-01 2.04812324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.509115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.46, Y:13.29, Z:0.10 [[ 6.27196680e-01 7.78859204e-01 -1.63229951e-03 -2.74630760e+01] [-7.78857868e-01 6.27198711e-01 1.48266436e-03 1.32862237e+01] [ 2.17856293e-03 3.41407149e-04 9.99997569e-01 9.66894131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.539115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.48, Y:13.29, Z:0.08 [[ 6.21571164e-01 7.83344276e-01 -4.58617566e-03 -2.74832638e+01] [-7.83333287e-01 6.21587361e-01 4.25608858e-03 1.32891508e+01] [ 6.18469146e-03 9.47042124e-04 9.99980426e-01 7.81893666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.569115933 meters Centerline goodness [0,1] 0.9996282527881041 Centerline is valid? [True, True] Translation: X:-27.50, Y:13.30, Z:0.08 [[ 6.20096490e-01 7.84505017e-01 -5.67640656e-03 -2.74953870e+01] [-7.84487942e-01 6.20121380e-01 5.30507698e-03 1.33032356e+01] [ 7.68192057e-03 1.16341288e-03 9.99969817e-01 7.60526685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.599115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.51, Y:13.31, Z:0.07 [[ 6.20156228e-01 7.84435084e-01 -8.23727852e-03 -2.75140211e+01] [-7.84398421e-01 6.20208742e-01 7.76109546e-03 1.33087153e+01] [ 1.11969077e-02 1.64821657e-03 9.99935954e-01 7.46979067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.629115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.53, Y:13.32, Z:0.06 [[ 6.20308745e-01 7.84299886e-01 -9.52630083e-03 -2.75300525e+01] [-7.84250085e-01 6.20379079e-01 9.03341128e-03 1.33179155e+01] [ 1.29948212e-02 1.86749822e-03 9.99913820e-01 5.55853398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.659115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.56, Y:13.32, Z:0.02 [[ 6.14740211e-01 7.88583335e-01 -1.51919581e-02 -2.75555234e+01] [-7.88455560e-01 6.14920325e-01 1.45197387e-02 1.33171908e+01] [ 2.07918678e-02 3.05231659e-03 9.99779166e-01 1.67143164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.689115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.55, Y:13.35, Z:0.05 [[ 6.16648223e-01 7.87094372e-01 -1.50804077e-02 -2.75545993e+01] [-7.86966265e-01 6.16825649e-01 1.44988251e-02 1.33451521e+01] [ 2.07139259e-02 2.92709744e-03 9.99781159e-01 4.93776002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.719115933 meters Centerline goodness [0,1] 0.9998175182481752 Centerline is valid? [True, True] Translation: X:-27.57, Y:13.35, Z:0.04 [[ 6.12798926e-01 7.89932416e-01 -2.20057896e-02 -2.75749178e+01] [-7.89657011e-01 6.13178670e-01 2.13007654e-02 1.33478423e+01] [ 3.03196459e-02 4.32393987e-03 9.99530901e-01 3.90971437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.749115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.59, Y:13.36, Z:0.05 [[ 6.12596877e-01 7.90011743e-01 -2.46274698e-02 -2.75856992e+01] [-7.89661878e-01 6.13073277e-01 2.39849114e-02 1.33624560e+01] [ 3.40468053e-02 4.75429226e-03 9.99408931e-01 5.03794431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.779115933 meters Centerline goodness [0,1] 0.9994614970382337 Centerline is valid? [True, True] Translation: X:-27.60, Y:13.37, Z:0.05 [[ 6.21752120e-01 7.82923455e-01 -2.13346030e-02 -2.76002527e+01] [-7.82653379e-01 6.22107004e-01 2.08940858e-02 1.33717765e+01] [ 2.96308758e-02 3.70665702e-03 9.99554037e-01 5.18851101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.809115933 meters Centerline goodness [0,1] 0.9994564232650842 Centerline is valid? [True, True] Translation: X:-27.61, Y:13.38, Z:0.05 [[ 6.24181912e-01 7.80996446e-01 -2.10117116e-02 -2.76142408e+01] [-7.80729770e-01 6.24525760e-01 2.07026814e-02 1.33836414e+01] [ 2.92910758e-02 3.48222955e-03 9.99564859e-01 5.31984751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.839115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.61, Y:13.42, Z:0.11 [[ 6.35791278e-01 7.71693936e-01 -1.60598841e-02 -2.76062915e+01] [-7.71533259e-01 6.35990010e-01 1.59102924e-02 1.34184357e+01] [ 2.24918020e-02 2.27510960e-03 9.99744439e-01 1.09777672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.869115932999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.62, Y:13.43, Z:0.11 [[ 6.36846249e-01 7.70855641e-01 -1.44373391e-02 -2.76216751e+01] [-7.70723967e-01 6.37006836e-01 1.43825668e-02 1.34276199e+01] [ 2.02835664e-02 1.96771953e-03 9.99792331e-01 1.13551995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.899115933 meters Centerline goodness [0,1] 0.9996433030140895 Centerline is valid? [True, True] Translation: X:-27.63, Y:13.44, Z:0.12 [[ 6.38345794e-01 7.69659754e-01 -1.17690650e-02 -2.76324839e+01] [-7.69571058e-01 6.38452433e-01 1.17846249e-02 1.34430578e+01] [ 1.65841396e-02 1.53446606e-03 9.99861296e-01 1.18824570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.929115933 meters Centerline goodness [0,1] 0.9985567382283962 Centerline is valid? [True, True] Translation: X:-26.51, Y:14.44, Z:-1.96 [[ 8.08937493e-01 -5.87842597e-01 7.82395285e-03 -2.65056855e+01] [-5.87793218e-01 -8.08973501e-01 -7.81077895e-03 1.44362824e+01] [ 1.09208791e-02 1.71956552e-03 -9.99938887e-01 -1.95691447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.959115933 meters Centerline goodness [0,1] 0.9987537831582696 Centerline is valid? [True, True] Translation: X:-27.53, Y:13.31, Z:0.10 [[ 6.96698932e-01 7.17283394e-01 -1.07298980e-02 -2.75314031e+01] [-7.17226015e-01 6.96780323e-01 9.16656290e-03 1.33093699e+01] [ 1.40514051e-02 1.30942736e-03 9.99900417e-01 1.03465111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.989115933 meters Centerline goodness [0,1] 0.9994539497633782 Centerline is valid? [True, True] Translation: X:-27.55, Y:13.32, Z:0.10 [[ 6.97230897e-01 7.16802460e-01 -7.95680110e-03 -2.75496942e+01] [-7.16770786e-01 6.97275639e-01 6.80619320e-03 1.33184988e+01] [ 1.04267796e-02 9.57714385e-04 9.99945181e-01 9.94247347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.019115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.57, Y:13.33, Z:0.10 [[ 6.85031356e-01 7.28415781e-01 -1.19370118e-02 -2.75659413e+01] [-7.28344941e-01 6.85133378e-01 1.02908311e-02 1.33284792e+01] [ 1.56744490e-02 1.64472015e-03 9.99875796e-01 1.01826925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.049115933 meters Centerline goodness [0,1] 0.999645704162976 Centerline is valid? [True, True] Translation: X:-27.57, Y:13.36, Z:0.15 [[ 6.86430699e-01 7.27106183e-01 -1.13795177e-02 -2.75675218e+01] [-7.27040786e-01 6.86523376e-01 9.86657054e-03 1.33563983e+01] [ 1.49863493e-02 1.50065655e-03 9.99886572e-01 1.48309904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.079115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.60, Y:13.35, Z:0.10 [[ 6.81743032e-01 7.31431640e-01 -1.53033812e-02 -2.75994529e+01] [-7.31312574e-01 6.81911590e-01 1.33605040e-02 1.33482027e+01] [ 2.02078484e-02 2.08312458e-03 9.99793630e-01 9.53312503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.109115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.63, Y:13.34, Z:0.06 [[ 6.87356057e-01 7.26141307e-01 -1.61385693e-02 -2.76281779e+01] [-7.26005677e-01 6.87542654e-01 1.41723772e-02 1.33409749e+01] [ 2.13871033e-02 1.97522363e-03 9.99769319e-01 5.98739659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.139115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.64, Y:13.35, Z:0.07 [[ 6.90948263e-01 7.22727902e-01 -1.59649012e-02 -2.76449476e+01] [-7.22592536e-01 6.91130354e-01 1.41018056e-02 1.33516168e+01] [ 2.12255962e-02 1.79250039e-03 9.99773105e-01 7.38563384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.169115933 meters Centerline goodness [0,1] 0.9996470172961525 Centerline is valid? [True, True] Translation: X:-27.68, Y:13.34, Z:0.02 [[ 6.83517477e-01 7.29668052e-01 -1.97076759e-02 -2.76757031e+01] [-7.29461675e-01 6.83797313e-01 1.75185492e-02 1.33439972e+01] [ 2.62587815e-02 2.40175967e-03 9.99652294e-01 2.48509654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.199115933 meters Centerline goodness [0,1] 0.9991178546224417 Centerline is valid? [True, True] Translation: X:-27.69, Y:13.36, Z:0.05 [[ 6.89405119e-01 7.24134755e-01 -1.86932706e-02 -2.76880951e+01] [-7.23944613e-01 6.89655579e-01 1.67146611e-02 1.33583384e+01] [ 2.49955854e-02 2.00971960e-03 9.99685541e-01 5.03060333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.229115933 meters Centerline goodness [0,1] 0.9994681794008154 Centerline is valid? [True, True] Translation: X:-27.72, Y:13.35, Z:-0.02 [[ 6.86959564e-01 7.26427105e-01 -1.97539560e-02 -2.77234675e+01] [-7.26212709e-01 6.87240210e-01 1.77762132e-02 1.33459303e+01] [ 2.64888360e-02 2.13403424e-03 9.99646831e-01 -1.85067864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.259115933 meters Centerline goodness [0,1] 0.9994688385269122 Centerline is valid? [True, True] Translation: X:-27.73, Y:13.37, Z:0.02 [[ 6.79175545e-01 7.33623141e-01 -2.27522849e-02 -2.77288048e+01] [-7.33338442e-01 6.79551229e-01 2.06120542e-02 1.33676989e+01] [ 3.05828231e-02 2.68592201e-03 9.99528627e-01 2.01393174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.289115933 meters Centerline goodness [0,1] 0.9992840522641847 Centerline is valid? [True, True] Translation: X:-27.75, Y:13.37, Z:-0.01 [[ 6.82781076e-01 7.30257519e-01 -2.31075399e-02 -2.77533684e+01] [-7.29957720e-01 6.83167474e-01 2.10696214e-02 1.33679998e+01] [ 3.11725691e-02 2.48158834e-03 9.99510937e-01 -1.43445041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.319115933 meters Centerline goodness [0,1] 0.999458972046889 Centerline is valid? [True, True] Translation: X:-27.77, Y:13.37, Z:-0.03 [[ 6.77760528e-01 7.34860288e-01 -2.49203400e-02 -2.77739425e+01] [-7.34509608e-01 6.78212727e-01 2.28721036e-02 1.33723256e+01] [ 3.37090924e-02 2.80242008e-03 9.99427758e-01 -3.13225389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.349115933 meters Centerline goodness [0,1] 0.9989088925259137 Centerline is valid? [True, True] Translation: X:-27.78, Y:13.40, Z:0.02 [[ 6.70606968e-01 7.41247179e-01 -2.89640107e-02 -2.77789190e+01] [-7.40772337e-01 6.71222984e-01 2.67591260e-02 1.33955863e+01] [ 3.92764363e-02 3.51088147e-03 9.99222215e-01 1.70740750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.379115933 meters Centerline goodness [0,1] 0.998713944515892 Centerline is valid? [True, True] Translation: X:-27.79, Y:13.41, Z:0.02 [[ 6.70742934e-01 7.41145418e-01 -2.84145406e-02 -2.77929645e+01] [-7.40682113e-01 6.71336264e-01 2.64126529e-02 1.34071623e+01] [ 3.86513282e-02 3.33004165e-03 9.99247209e-01 1.64579712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.409115933 meters Centerline goodness [0,1] 0.9996332966629996 Centerline is valid? [True, True] Translation: X:-27.81, Y:13.42, Z:0.02 [[ 6.67824358e-01 7.43711617e-01 -3.00608977e-02 -2.78081673e+01] [-7.43188457e-01 6.68491086e-01 2.81173389e-02 1.34180346e+01] [ 4.10066338e-02 3.56346841e-03 9.99152520e-01 2.23493528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.439115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.82, Y:13.43, Z:0.04 [[ 6.66156988e-01 7.45183773e-01 -3.05942942e-02 -2.78175348e+01] [-7.44636257e-01 6.66849420e-01 2.87870872e-02 1.34340803e+01] [ 4.18534576e-02 3.60490136e-03 9.99117257e-01 3.99176782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.469115933 meters Centerline goodness [0,1] 0.9990723562152134 Centerline is valid? [True, True] Translation: X:-27.84, Y:13.43, Z:0.00 [[ 6.70626464e-01 7.41230769e-01 -2.89325493e-02 -2.78418115e+01] [-7.40729792e-01 6.71243382e-01 2.74171108e-02 1.34326446e+01] [ 3.97431883e-02 3.04456112e-03 9.99205289e-01 6.84194210e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.499115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.86, Y:13.44, Z:-0.01 [[ 6.75921114e-01 7.36521173e-01 -2.58303910e-02 -2.78616435e+01] [-7.36112730e-01 6.76410372e-01 2.46385507e-02 1.34380521e+01] [ 3.56187587e-02 2.36036298e-03 9.99362663e-01 -1.08953501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.529115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.88, Y:13.45, Z:-0.02 [[ 6.67224752e-01 7.44252691e-01 -2.99843671e-02 -2.78774807e+01] [-7.43701804e-01 6.67891016e-01 2.87961469e-02 1.34483089e+01] [ 4.14578992e-02 3.08592596e-03 9.99135486e-01 -1.74960808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.559115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.88, Y:13.47, Z:0.01 [[ 6.70651925e-01 7.41147031e-01 -3.04478895e-02 -2.78823462e+01] [-7.40567678e-01 6.71336865e-01 2.94334516e-02 1.34701520e+01] [ 4.22553060e-02 2.80912181e-03 9.99102897e-01 1.19882852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.589115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.88, Y:13.50, Z:0.06 [[ 6.58244862e-01 7.52000993e-01 -3.47593057e-02 -2.78801991e+01] [-7.51249710e-01 6.59150745e-01 3.38255555e-02 1.34997088e+01] [ 4.83484735e-02 3.84742020e-03 9.98823119e-01 5.94056689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.619115932999996 meters Centerline goodness [0,1] 0.9996222851746931 Centerline is valid? [True, True] Translation: X:-27.90, Y:13.51, Z:0.05 [[ 6.59797658e-01 7.50709390e-01 -3.32033405e-02 -2.78982749e+01] [-7.50012807e-01 6.60623581e-01 3.25157568e-02 1.35067349e+01] [ 4.63447936e-02 3.44911039e-03 9.98919548e-01 4.64648605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.649115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.90, Y:13.53, Z:0.09 [[ 6.62937962e-01 7.48009613e-01 -3.15416732e-02 -2.78994838e+01] [-7.47369436e-01 6.63681258e-01 3.10823594e-02 1.35319652e+01] [ 4.41835210e-02 2.96760650e-03 9.99019024e-01 8.61582700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.679115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.90, Y:13.55, Z:0.11 [[ 6.62732191e-01 7.48233870e-01 -3.05306111e-02 -2.79046106e+01] [-7.47625698e-01 6.63429345e-01 3.02872879e-02 1.35513849e+01] [ 4.29168780e-02 2.75310879e-03 9.99074853e-01 1.10578648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.709115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.89, Y:13.59, Z:0.19 [[ 6.66322923e-01 7.45083675e-01 -2.93952454e-02 -2.78922080e+01] [-7.44509182e-01 6.66966929e-01 2.93461159e-02 1.35916989e+01] [ 4.14709684e-02 2.33104041e-03 9.99136990e-01 1.87520102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.739115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.92, Y:13.59, Z:0.16 [[ 6.68608245e-01 7.43086606e-01 -2.80233859e-02 -2.79160285e+01] [-7.42555882e-01 6.69192308e-01 2.81498970e-02 1.35943177e+01] [ 3.96708457e-02 1.98767683e-03 9.99210825e-01 1.64722735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.769115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-26.71, Y:14.71, Z:-1.99 [[ 7.89650758e-01 -6.13375309e-01 -1.49134052e-02 -2.67072578e+01] [-6.13265515e-01 -7.89791573e-01 1.16051132e-02 1.47093013e+01] [-1.88967717e-02 -1.81093300e-05 -9.99821440e-01 -1.99356843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.799115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.81, Y:13.49, Z:0.19 [[ 7.29752869e-01 6.83081319e-01 -2.93370285e-02 -2.78115985e+01] [-6.82622385e-01 7.30340314e-01 2.50939264e-02 1.34921060e+01] [ 3.85672070e-02 1.71374756e-03 9.99254539e-01 1.90762401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.829115933 meters Centerline goodness [0,1] 0.9998056365403304 Centerline is valid? [True, True] Translation: X:-27.83, Y:13.49, Z:0.16 [[ 7.25957459e-01 6.87149711e-01 -2.84787981e-02 -2.78340041e+01] [-6.86715643e-01 7.26513661e-01 2.44852083e-02 1.34946225e+01] [ 3.75152397e-02 1.78161662e-03 9.99294467e-01 1.64789440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.859115933 meters Centerline goodness [0,1] 0.9998056365403304 Centerline is valid? [True, True] Translation: X:-27.85, Y:13.51, Z:0.16 [[ 7.23876758e-01 6.89344369e-01 -2.84038602e-02 -2.78483020e+01] [-6.88908590e-01 7.24431619e-01 2.45720249e-02 1.35071922e+01] [ 3.75152415e-02 1.78054555e-03 9.99294469e-01 1.64616479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.889115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.86, Y:13.53, Z:0.18 [[ 7.27754523e-01 6.85333876e-01 -2.62836902e-02 -2.78569612e+01] [-6.84953419e-01 7.28227737e-01 2.28730641e-02 1.35277486e+01] [ 3.48161979e-02 1.35712760e-03 9.99392811e-01 1.83516215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.919115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.86, Y:13.55, Z:0.21 [[ 7.23969351e-01 6.89352008e-01 -2.57329862e-02 -2.78630605e+01] [-6.88985338e-01 7.24425143e-01 2.25259074e-02 1.35521208e+01] [ 3.41699017e-02 1.42158365e-03 9.99415027e-01 2.09235949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.949115933 meters Centerline goodness [0,1] 0.9996151625938041 Centerline is valid? [True, True] Translation: X:-27.88, Y:13.56, Z:0.19 [[ 7.17642979e-01 6.95881881e-01 -2.71470356e-02 -2.78813426e+01] [-6.95473729e-01 7.18154164e-01 2.38932835e-02 1.35608296e+01] [ 3.61226597e-02 1.73320288e-03 9.99345861e-01 1.89983891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.979115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.90, Y:13.57, Z:0.16 [[ 7.13279629e-01 7.00360292e-01 -2.69746632e-02 -2.79012359e+01] [-6.99955673e-01 7.13787107e-01 2.38751273e-02 1.35678138e+01] [ 3.59753579e-02 1.85142661e-03 9.99350962e-01 1.58650272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.00911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.89, Y:13.61, Z:0.23 [[ 7.07487776e-01 7.06122927e-01 -2.91797612e-02 -2.78933950e+01] [-7.05648259e-01 7.08085821e-01 2.59808547e-02 1.36065479e+01] [ 3.90074523e-02 2.20951055e-03 9.99236477e-01 2.28720380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.91, Y:13.62, Z:0.22 [[ 6.96737346e-01 7.16503188e-01 -3.43547975e-02 -2.79063353e+01] [-7.15849270e-01 6.97576676e-01 3.07669228e-02 1.36220259e+01] [ 4.60097038e-02 3.15639255e-03 9.98936006e-01 2.23889734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.06911593299999 meters Centerline goodness [0,1] 0.999414405621706 Centerline is valid? [True, True] Translation: X:-27.93, Y:13.63, Z:0.21 [[ 6.93003481e-01 7.20099365e-01 -3.46854465e-02 -2.79262991e+01] [-7.19428830e-01 6.93863101e-01 3.12435010e-02 1.36289334e+01] [ 4.65653767e-02 3.30185520e-03 9.98909787e-01 2.09315777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.099115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.93, Y:13.65, Z:0.25 [[ 7.05164421e-01 7.08342526e-01 -3.15278472e-02 -2.79312368e+01] [-7.07769573e-01 7.05865537e-01 2.85670337e-02 1.36534215e+01] [ 4.24896656e-02 2.16999521e-03 9.99094550e-01 2.49597614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.129115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.94, Y:13.67, Z:0.26 [[ 6.98333581e-01 7.15031773e-01 -3.25541651e-02 -2.79389647e+01] [-7.14420258e-01 6.99087361e-01 2.96741793e-02 1.36744219e+01] [ 4.39761864e-02 2.53487917e-03 9.99029364e-01 2.59985094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.159115933 meters Centerline goodness [0,1] 0.9998114985862394 Centerline is valid? [True, True] Translation: X:-27.96, Y:13.68, Z:0.23 [[ 6.97153289e-01 7.16242197e-01 -3.12154884e-02 -2.79629315e+01] [-7.15674116e-01 6.97847703e-01 2.86206652e-02 1.36778068e+01] [ 4.22829850e-02 2.38712624e-03 9.99102823e-01 2.31246672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.189115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.98, Y:13.69, Z:0.21 [[ 6.83651214e-01 7.28956563e-01 -3.52611321e-02 -2.79809435e+01] [-7.28238366e-01 6.84551322e-01 3.25325890e-02 1.36858922e+01] [ 4.78528989e-02 3.43756527e-03 9.98848479e-01 2.08919567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.219115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.00, Y:13.70, Z:0.21 [[ 6.84568654e-01 7.28110821e-01 -3.49340933e-02 -2.79958342e+01] [-7.27395556e-01 6.85451899e-01 3.24252805e-02 1.36980942e+01] [ 4.75548382e-02 3.21357358e-03 9.98863459e-01 2.09460474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.249115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.01, Y:13.71, Z:0.20 [[ 6.82132376e-01 7.30403984e-01 -3.47194720e-02 -2.80095948e+01] [-7.29691213e-01 6.83007800e-01 3.24203435e-02 1.37109017e+01] [ 4.73936182e-02 3.21952763e-03 9.98871103e-01 2.02159909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.02, Y:13.73, Z:0.22 [[ 6.82091762e-01 7.30511974e-01 -3.32126896e-02 -2.80181191e+01] [-7.29851478e-01 6.82893470e-01 3.11981981e-02 1.37300966e+01] [ 4.54713862e-02 2.96029672e-03 9.98961255e-01 2.20766739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.30911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.03, Y:13.75, Z:0.23 [[ 6.78824995e-01 7.33507687e-01 -3.41042498e-02 -2.80290479e+01] [-7.32805907e-01 6.79674023e-01 3.22292479e-02 1.37475499e+01] [ 4.68201738e-02 3.11377668e-03 9.98898481e-01 2.34498359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.04, Y:13.76, Z:0.24 [[ 6.74844335e-01 7.37187590e-01 -3.37576886e-02 -2.80408602e+01] [-7.36495835e-01 6.75680524e-01 3.20891442e-02 1.37629788e+01] [ 4.64651316e-02 3.20721992e-03 9.98914764e-01 2.44042838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.36911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.05, Y:13.78, Z:0.25 [[ 6.72623338e-01 7.39265689e-01 -3.26203429e-02 -2.80501492e+01] [-7.38613475e-01 6.73406704e-01 3.12016856e-02 1.37780315e+01] [ 4.50330932e-02 3.10684295e-03 9.98980664e-01 2.48865227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.06, Y:13.79, Z:0.25 [[ 6.70595730e-01 7.41169322e-01 -3.11352410e-02 -2.80636530e+01] [-7.40569306e-01 6.71311590e-01 2.99641640e-02 1.37901886e+01] [ 4.31099672e-02 2.96396341e-03 9.99065937e-01 2.49904489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.42911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.07, Y:13.81, Z:0.26 [[ 6.69975007e-01 7.41779533e-01 -2.99435191e-02 -2.80742095e+01] [-7.41218014e-01 6.70638084e-01 2.89899204e-02 1.38070990e+01] [ 4.15853939e-02 2.77215364e-03 9.99131108e-01 2.63287133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.10, Y:13.81, Z:0.23 [[ 6.68140107e-01 7.43463600e-01 -2.91663004e-02 -2.80960131e+01] [-7.42925634e-01 6.68770993e-01 2.84052993e-02 1.38123280e+01] [ 4.06238818e-02 2.68967251e-03 9.99170889e-01 2.34988041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.489115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.10, Y:13.83, Z:0.26 [[ 6.62440477e-01 7.48560781e-01 -2.87988073e-02 -2.81040830e+01] [-7.48034088e-01 6.63060060e-01 2.82198665e-02 1.38319333e+01] [ 4.02196242e-02 2.84850773e-03 9.99186803e-01 2.62679442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.519115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.12, Y:13.84, Z:0.25 [[ 6.55290386e-01 7.54766972e-01 -3.03533998e-02 -2.81196434e+01] [-7.54180878e-01 6.55984772e-01 2.99195909e-02 1.38433372e+01] [ 4.24936871e-02 3.28593348e-03 9.99091332e-01 2.50862523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.549115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.13, Y:13.86, Z:0.26 [[ 6.52492709e-01 7.57296270e-01 -2.74886058e-02 -2.81290525e+01] [-7.56811827e-01 6.53064487e-01 2.72513252e-02 1.38617525e+01] [ 3.85891592e-02 3.02241101e-03 9.99250590e-01 2.58568682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.579115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.15, Y:13.87, Z:0.24 [[ 6.43058555e-01 7.65272019e-01 -2.88865304e-02 -2.81475635e+01] [-7.64738158e-01 6.43697131e-01 2.88019508e-02 1.38685963e+01] [ 4.06355038e-02 3.56929124e-03 9.99167662e-01 2.42579737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.609115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.17, Y:13.87, Z:0.22 [[ 6.39852908e-01 7.67927235e-01 -2.95975971e-02 -2.81707526e+01] [-7.67362109e-01 6.40526312e-01 2.96890078e-02 1.38706984e+01] [ 4.17570374e-02 3.71547657e-03 9.99120886e-01 2.17646735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.639115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.04, Y:14.94, Z:-2.05 [[ 8.19398877e-01 -5.72946907e-01 -1.78135329e-02 -2.70362152e+01] [-5.72775580e-01 -8.19591409e-01 1.40733211e-02 1.49390022e+01] [-2.26630843e-02 -1.32850685e-03 -9.99742277e-01 -2.05483956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.66911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.10, Y:13.76, Z:0.20 [[ 6.92830466e-01 7.20229148e-01 -3.54389538e-02 -2.81040901e+01] [-7.19606297e-01 6.93721523e-01 3.02857368e-02 1.37611167e+01] [ 4.63974354e-02 4.51921312e-03 9.98912836e-01 1.98139268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.12, Y:13.77, Z:0.18 [[ 6.94602205e-01 7.18605434e-01 -3.36750177e-02 -2.81225621e+01] [-7.18034632e-01 6.95406013e-01 2.89265274e-02 1.37689142e+01] [ 4.42045696e-02 4.08739922e-03 9.99014139e-01 1.80548096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.72911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.13, Y:13.79, Z:0.21 [[ 6.89540803e-01 7.23349718e-01 -3.60370194e-02 -2.81320624e+01] [-7.22693279e-01 6.90466746e-01 3.11463845e-02 1.37870250e+01] [ 4.74120920e-02 4.56700875e-03 9.98864974e-01 2.07152306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.14, Y:13.80, Z:0.23 [[ 6.84466805e-01 7.28123777e-01 -3.66191100e-02 -2.81412120e+01] [-7.27442834e-01 6.85428605e-01 3.18520187e-02 1.38042149e+01] [ 4.82919976e-02 4.83665964e-03 9.98821550e-01 2.27238743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.78911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.16, Y:13.81, Z:0.20 [[ 6.82623928e-01 7.29872694e-01 -3.61997802e-02 -2.81585863e+01] [-7.29200378e-01 6.83566452e-01 3.16814586e-02 1.38115929e+01] [ 4.78683869e-02 4.77037166e-03 9.98842260e-01 2.04325469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.81911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.17, Y:13.83, Z:0.24 [[ 6.86115783e-01 7.26718487e-01 -3.35465667e-02 -2.81699393e+01] [-7.26129740e-01 6.86923181e-01 2.95320910e-02 1.38271461e+01] [ 4.45054308e-02 4.09672597e-03 9.99000742e-01 2.39823532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.849115933 meters Centerline goodness [0,1] 0.9998372925479987 Centerline is valid? [True, True] Translation: X:-28.19, Y:13.84, Z:0.23 [[ 6.80037108e-01 7.32326145e-01 -3.53263227e-02 -2.81865567e+01] [-7.31671848e-01 6.80938701e-01 3.12856533e-02 1.38368585e+01] [ 4.69663623e-02 4.57187062e-03 9.98886009e-01 2.29344627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.879115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.20, Y:13.85, Z:0.23 [[ 6.80652060e-01 7.31763561e-01 -3.51406279e-02 -2.82005783e+01] [-7.31106145e-01 6.81544536e-01 3.13185367e-02 1.38480445e+01] [ 4.68676669e-02 4.37450247e-03 9.98891528e-01 2.34094036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.909115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.21, Y:13.86, Z:0.25 [[ 6.77898974e-01 7.34239078e-01 -3.66872924e-02 -2.82130523e+01] [-7.33515915e-01 6.78875369e-01 3.29034427e-02 1.38618929e+01] [ 4.90650925e-02 4.60550276e-03 9.98784965e-01 2.47762461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.939115933 meters Centerline goodness [0,1] 0.99966616591554 Centerline is valid? [True, True] Translation: X:-28.23, Y:13.87, Z:0.25 [[ 6.77310798e-01 7.34720327e-01 -3.78962333e-02 -2.82279561e+01] [-7.33938861e-01 6.78354183e-01 3.41957641e-02 1.38734298e+01] [ 5.08313914e-02 4.65235809e-03 9.98696413e-01 2.49881877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.969115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.24, Y:13.89, Z:0.28 [[ 6.72620864e-01 7.38881472e-01 -4.04393766e-02 -2.82386475e+01] [-7.37986578e-01 6.73815759e-01 3.67169345e-02 1.38893598e+01] [ 5.43781518e-02 5.14714094e-03 9.98507147e-01 2.75458309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.999115933 meters Centerline goodness [0,1] 0.9998356074305441 Centerline is valid? [True, True] Translation: X:-28.25, Y:13.90, Z:0.29 [[ 6.72295546e-01 7.39218047e-01 -3.96910272e-02 -2.82495644e+01] [-7.38344629e-01 6.73448138e-01 3.62603727e-02 1.39043599e+01] [ 5.35341702e-02 4.92796972e-03 9.98553858e-01 2.91363061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.02911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.26, Y:13.92, Z:0.29 [[ 6.68891027e-01 7.42233959e-01 -4.09089759e-02 -2.82634380e+01] [-7.41298798e-01 6.70120881e-01 3.76044630e-02 1.39165400e+01] [ 5.53252684e-02 5.17248685e-03 9.98454986e-01 2.88625182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.28, Y:13.93, Z:0.29 [[ 6.59399425e-01 7.50636428e-01 -4.16815513e-02 -2.82790993e+01] [-7.49668874e-01 6.60689750e-01 3.85439073e-02 1.39272718e+01] [ 5.64710346e-02 5.83153137e-03 9.98387207e-01 2.86022006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.08911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.29, Y:13.94, Z:0.29 [[ 6.62825679e-01 7.47756882e-01 -3.90097855e-02 -2.82901540e+01] [-7.46892907e-01 6.63953186e-01 3.62925958e-02 1.39428832e+01] [ 5.30387097e-02 5.08046757e-03 9.98579533e-01 2.87944741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.31, Y:13.95, Z:0.30 [[ 6.63312120e-01 7.47373359e-01 -3.80800903e-02 -2.83051457e+01] [-7.46537904e-01 6.64387090e-01 3.56504294e-02 1.39533269e+01] [ 5.19441016e-02 4.78086888e-03 9.98638550e-01 3.00232377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.14911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.32, Y:13.96, Z:0.29 [[ 6.68705774e-01 7.42763412e-01 -3.36912703e-02 -2.83230681e+01] [-7.42094871e-01 6.69543285e-01 3.17331423e-02 1.39615358e+01] [ 4.61279808e-02 3.78198340e-03 9.98928379e-01 2.86364123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.17911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.34, Y:13.98, Z:0.28 [[ 6.57246505e-01 7.52845801e-01 -3.53586084e-02 -2.83355223e+01] [-7.52113327e-01 6.58181089e-01 3.35141378e-02 1.39754227e+01] [ 4.85033453e-02 4.56663061e-03 9.98812581e-01 2.78431099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.20911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.34, Y:14.00, Z:0.34 [[ 6.58186668e-01 7.52097362e-01 -3.37619245e-02 -2.83372134e+01] [-7.51419563e-01 6.59038766e-01 3.21954245e-02 1.40019711e+01] [ 4.64645109e-02 4.17877138e-03 9.98911201e-01 3.35225053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.239115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.35, Y:14.01, Z:0.33 [[ 6.62123973e-01 7.48679828e-01 -3.27163401e-02 -2.83546560e+01] [-7.48030431e-01 6.62921507e-01 3.13934767e-02 1.40087167e+01] [ 4.51920282e-02 3.68644444e-03 9.98971516e-01 3.31780944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.269115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.37, Y:14.02, Z:0.32 [[ 6.55843816e-01 7.54127277e-01 -3.40725619e-02 -2.83710783e+01] [-7.53420545e-01 6.56715521e-01 3.28969204e-02 1.40177026e+01] [ 4.71844452e-02 4.09572632e-03 9.98877797e-01 3.18183183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.299115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.38, Y:14.04, Z:0.36 [[ 6.57053096e-01 7.53060219e-01 -3.43734597e-02 -2.83768319e+01] [-7.52329665e-01 6.57939928e-01 3.33935007e-02 1.40390124e+01] [ 4.77629885e-02 3.91887040e-03 9.98851010e-01 3.58389960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.329115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.39, Y:14.05, Z:0.36 [[ 6.65047866e-01 7.46094219e-01 -3.24769407e-02 -2.83935222e+01] [-7.45425056e-01 6.65833176e-01 3.17437840e-02 1.40492928e+01] [ 4.53080783e-02 3.09798952e-03 9.98968258e-01 3.55900455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.359115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.41, Y:14.06, Z:0.38 [[ 6.66964664e-01 7.44391934e-01 -3.22302032e-02 -2.84077362e+01] [-7.43721989e-01 6.67736967e-01 3.17008740e-02 1.40620524e+01] [ 4.51191730e-02 2.82694806e-03 9.98977612e-01 3.75002886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.389115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.42, Y:14.08, Z:0.39 [[ 6.64433118e-01 7.46667176e-01 -3.18866857e-02 -2.84168762e+01] [-7.46005153e-01 6.65191846e-01 3.15613649e-02 1.40793874e+01] [ 4.47765985e-02 2.81721570e-03 9.98993053e-01 3.93544790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.43, Y:14.09, Z:0.40 [[ 6.60701666e-01 7.49944640e-01 -3.25014593e-02 -2.84332805e+01] [-7.49251427e-01 6.61493960e-01 3.23734254e-02 1.40897960e+01] [ 4.57777959e-02 2.96258864e-03 9.98947254e-01 3.98059910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.44911593299999 meters Centerline goodness [0,1] 0.9998356344510191 Centerline is valid? [True, True] Translation: X:-28.45, Y:14.10, Z:0.39 [[ 6.61957817e-01 7.48878240e-01 -3.15155534e-02 -2.84490626e+01] [-7.48216679e-01 6.62702223e-01 3.15842571e-02 1.41009216e+01] [ 4.45381902e-02 2.67301678e-03 9.99004106e-01 3.92082401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.27, Y:15.17, Z:-2.22 [[ 7.93946615e-01 -6.07743275e-01 -1.72303370e-02 -2.72744288e+01] [-6.07592015e-01 -7.94133504e-01 1.35617230e-02 1.51669248e+01] [-2.19252339e-02 -2.98268898e-04 -9.99759569e-01 -2.21831419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.50911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.35, Y:13.98, Z:0.38 [[ 7.19672998e-01 6.93484441e-01 -3.39132035e-02 -2.83549461e+01] [-6.92885130e-01 7.20466673e-01 2.89477135e-02 1.39799382e+01] [ 4.45081218e-02 2.66506669e-03 9.99005468e-01 3.78608906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.37, Y:13.99, Z:0.39 [[ 7.18487661e-01 6.94768655e-01 -3.27413530e-02 -2.83700690e+01] [-6.94205179e-01 7.19228778e-01 2.80915341e-02 1.39927458e+01] [ 4.30656407e-02 2.54579618e-03 9.99069001e-01 3.91612021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.56911593299999 meters Centerline goodness [0,1] 0.9993319973279893 Centerline is valid? [True, True] Translation: X:-28.39, Y:14.00, Z:0.36 [[ 7.24903559e-01 6.88177221e-01 -3.04457406e-02 -2.83918748e+01] [-6.87677745e-01 7.25540185e-01 2.62822872e-02 1.39965308e+01] [ 4.01764796e-02 1.88473470e-03 9.99190822e-01 3.59718569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.599115933 meters Centerline goodness [0,1] 0.9998305659098611 Centerline is valid? [True, True] Translation: X:-28.40, Y:14.01, Z:0.37 [[ 7.25889565e-01 6.87207381e-01 -2.88158754e-02 -2.84043107e+01] [-6.86753397e-01 7.26459486e-01 2.50277126e-02 1.40117196e+01] [ 3.81327948e-02 1.62204492e-03 9.99271364e-01 3.71533774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.629115933 meters Centerline goodness [0,1] 0.9993331110370124 Centerline is valid? [True, True] Translation: X:-28.43, Y:14.01, Z:0.33 [[ 7.21579695e-01 6.91799082e-01 -2.71435731e-02 -2.84288905e+01] [-6.91394337e-01 7.22088153e-01 2.37185515e-02 1.40124886e+01] [ 3.60085247e-02 1.65208760e-03 9.99350117e-01 3.34476712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.659115933 meters Centerline goodness [0,1] 0.9994948644552955 Centerline is valid? [True, True] Translation: X:-28.44, Y:14.03, Z:0.35 [[ 7.21695712e-01 6.91767022e-01 -2.47727017e-02 -2.84422585e+01] [-6.91425618e-01 7.22119376e-01 2.17766262e-02 1.40273384e+01] [ 3.29531997e-02 1.41238279e-03 9.99455898e-01 3.47741196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.689115933 meters Centerline goodness [0,1] 0.9993339993339994 Centerline is valid? [True, True] Translation: X:-28.45, Y:14.05, Z:0.37 [[ 7.18152562e-01 6.95477208e-01 -2.38401012e-02 -2.84514540e+01] [-6.95159015e-01 7.18546731e-01 2.10840870e-02 1.40464623e+01] [ 3.17937287e-02 1.43107013e-03 9.99493427e-01 3.70605736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.719115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.47, Y:14.06, Z:0.36 [[ 7.12906432e-01 7.00897836e-01 -2.25087374e-02 -2.84683415e+01] [-7.00613566e-01 7.13260102e-01 2.00164535e-02 1.40569320e+01] [ 3.00840733e-02 1.50006838e-03 9.99546246e-01 3.56276398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.749115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.48, Y:14.07, Z:0.36 [[ 7.10858303e-01 7.02976799e-01 -2.24520194e-02 -2.84829835e+01] [-7.02691563e-01 7.11211193e-01 2.00799895e-02 1.40702198e+01] [ 3.00838942e-02 1.50281733e-03 9.99546247e-01 3.56092580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77911593299999 meters Centerline goodness [0,1] 0.999503804168045 Centerline is valid? [True, True] Translation: X:-28.50, Y:14.08, Z:0.36 [[ 7.03855598e-01 7.10039555e-01 -2.07636256e-02 -2.84965458e+01] [-7.09795493e-01 7.04160002e-01 1.86828683e-02 1.40835095e+01] [ 2.78864901e-02 1.58788640e-03 9.99609835e-01 3.60052197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.80911593299999 meters Centerline goodness [0,1] 0.9990008326394672 Centerline is valid? [True, True] Translation: X:-28.51, Y:14.10, Z:0.37 [[ 7.05194010e-01 7.08692342e-01 -2.13675557e-02 -2.85087298e+01] [-7.08429713e-01 7.05516079e-01 1.93495287e-02 1.40995077e+01] [ 2.87880169e-02 1.49223962e-03 9.99584425e-01 3.67083493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83911593299999 meters Centerline goodness [0,1] 0.9988249118683902 Centerline is valid? [True, True] Translation: X:-28.52, Y:14.11, Z:0.40 [[ 7.07685249e-01 7.06293364e-01 -1.82008923e-02 -2.85218757e+01] [-7.06099610e-01 7.07918381e-01 1.65803178e-02 1.41146682e+01] [ 2.45953146e-02 1.11799659e-03 9.99696864e-01 3.95998389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.86911593299999 meters Centerline goodness [0,1] 0.9990133201776024 Centerline is valid? [True, True] Translation: X:-28.53, Y:14.13, Z:0.43 [[ 7.07732974e-01 7.06315560e-01 -1.52435718e-02 -2.85339132e+01] [-7.06178041e-01 7.07896569e-01 1.39649971e-02 1.41322738e+01] [ 2.06545669e-02 8.81186746e-04 9.99786283e-01 4.31764246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89911593299999 meters Centerline goodness [0,1] 0.9988377884775029 Centerline is valid? [True, True] Translation: X:-28.56, Y:14.14, Z:0.42 [[ 7.15695413e-01 6.98323471e-01 -1.11537672e-02 -2.85556644e+01] [-6.98248091e-01 7.15782186e-01 1.02695979e-02 1.41363945e+01] [ 1.51551691e-02 4.38192529e-04 9.99885058e-01 4.17668866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.92911593299999 meters Centerline goodness [0,1] 0.9991610738255033 Centerline is valid? [True, True] Translation: X:-28.57, Y:14.16, Z:0.44 [[ 7.13481931e-01 7.00605840e-01 -9.74636333e-03 -2.85655808e+01] [-7.00547809e-01 7.13548391e-01 9.02556970e-03 1.41555086e+01] [ 1.32778687e-02 3.88212574e-04 9.99911770e-01 4.43293268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95911593299999 meters Centerline goodness [0,1] 0.9996621050853185 Centerline is valid? [True, True] Translation: X:-28.57, Y:14.18, Z:0.52 [[ 7.18599833e-01 6.95399238e-01 -5.84635080e-03 -2.85674321e+01] [-6.95378062e-01 7.18623596e-01 5.42935958e-03 1.41845758e+01] [ 7.97689816e-03 1.63887197e-04 9.99968171e-01 5.21142282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.989115933 meters Centerline goodness [0,1] 0.9991558331926389 Centerline is valid? [True, True] Translation: X:-28.59, Y:14.19, Z:0.49 [[ 7.15227729e-01 6.98868399e-01 -5.67942736e-03 -2.85910687e+01] [-6.98848280e-01 7.15250257e-01 5.30581561e-03 1.41880941e+01] [ 7.77027874e-03 1.74191593e-04 9.99969796e-01 4.87417005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.019115933 meters Centerline goodness [0,1] 0.9994794377928162 Centerline is valid? [True, True] Translation: X:-28.60, Y:14.21, Z:0.55 [[ 7.08484956e-01 7.05705427e-01 -5.37742417e-03 -2.85978467e+01] [-7.05687358e-01 7.08505331e-01 5.05456229e-03 1.42120263e+01] [ 7.37696573e-03 2.13698919e-04 9.99972767e-01 5.46167866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.049115933 meters Centerline goodness [0,1] 0.999131492096578 Centerline is valid? [True, True] Translation: X:-28.62, Y:14.22, Z:0.54 [[ 7.09968915e-01 7.04219269e-01 -4.39995276e-03 -2.86157873e+01] [-7.04207085e-01 7.09982532e-01 4.14553573e-03 1.42211891e+01] [ 6.04325574e-03 1.55276399e-04 9.99981727e-01 5.38080524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.079115933 meters Centerline goodness [0,1] 0.9980565371024736 Centerline is valid? [True, True] Translation: X:-28.64, Y:14.23, Z:0.52 [[ 7.07847366e-01 7.06360185e-01 -2.71956301e-03 -2.86375008e+01] [-7.06355545e-01 7.07852582e-01 2.56255714e-03 1.42277295e+01] [ 3.73513804e-03 1.07079094e-04 9.99993019e-01 5.16186555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.109115933 meters Centerline goodness [0,1] 0.9985724482512491 Centerline is valid? [True, True] Translation: X:-28.65, Y:14.24, Z:0.51 [[ 6.93967351e-01 7.19970817e-01 -7.16512840e-03 -2.86532171e+01] [-7.19938198e-01 6.94004227e-01 6.86466070e-03 1.42402607e+01] [ 9.91498477e-03 3.94599234e-04 9.99950767e-01 5.13312308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.139115933 meters Centerline goodness [0,1] 0.9994548428130111 Centerline is valid? [True, True] Translation: X:-28.66, Y:14.27, Z:0.57 [[ 6.89850304e-01 7.23928707e-01 -5.81253252e-03 -2.86573684e+01] [-7.23907181e-01 6.89874703e-01 5.59361635e-03 1.42660839e+01] [ 8.05929860e-03 3.48976090e-04 9.99967462e-01 5.68348145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.16911593299999 meters Centerline goodness [0,1] 0.9987461938026151 Centerline is valid? [True, True] Translation: X:-28.67, Y:14.28, Z:0.57 [[ 6.81393049e-01 7.31877248e-01 -7.69462816e-03 -2.86737458e+01] [-7.31839420e-01 6.81436274e-01 7.46113875e-03 1.42774067e+01] [ 1.07040364e-02 5.47264125e-04 9.99942560e-01 5.66981959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19911593299999 meters Centerline goodness [0,1] 0.9985549132947977 Centerline is valid? [True, True] Translation: X:-28.69, Y:14.29, Z:0.55 [[ 6.79288547e-01 7.33830357e-01 -7.75093000e-03 -2.86906823e+01] [-7.33791616e-01 6.79332542e-01 7.56059045e-03 1.42884909e+01] [ 1.08136498e-02 5.51744946e-04 9.99941379e-01 5.47703119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.22911593299999 meters Centerline goodness [0,1] 0.9994489346069066 Centerline is valid? [True, True] Translation: X:-28.69, Y:14.31, Z:0.60 [[ 6.62038784e-01 7.49309168e-01 -1.55054406e-02 -2.86938682e+01] [-7.49155378e-01 6.62218599e-01 1.52560492e-02 1.43131244e+01] [ 2.16994887e-02 1.51588794e-03 9.99763389e-01 5.99833669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25911593299999 meters Centerline goodness [0,1] 0.9996312684365781 Centerline is valid? [True, True] Translation: X:-28.72, Y:14.31, Z:0.57 [[ 6.61630650e-01 7.49597194e-01 -1.86796528e-02 -2.87190722e+01] [-7.49371019e-01 6.61891947e-01 1.84966732e-02 1.43141276e+01] [ 2.62289661e-02 1.76002447e-03 9.99654412e-01 5.70613439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.28911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.73, Y:14.33, Z:0.59 [[ 6.53133183e-01 7.56878346e-01 -2.34992248e-02 -2.87280244e+01] [-7.56519951e-01 6.53551081e-01 2.34210925e-02 1.43329073e+01] [ 3.30848615e-02 2.48053967e-03 9.99449468e-01 5.89222058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.74, Y:14.35, Z:0.60 [[ 6.48608147e-01 7.60657837e-01 -2.65918458e-02 -2.87389434e+01] [-7.60195328e-01 6.49146508e-01 2.66809734e-02 1.43469638e+01] [ 3.75570954e-02 2.90950024e-03 9.99290248e-01 5.98105351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.349115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.56, Y:15.40, Z:-2.48 [[ 8.04833770e-01 -5.93338658e-01 -1.38506364e-02 -2.75630432e+01] [-5.93242311e-01 -8.04952844e-01 1.06994942e-02 1.53962646e+01] [-1.74975327e-02 -3.94530660e-04 -9.99846829e-01 -2.48247017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.379115933 meters Centerline goodness [0,1] 0.999807803190467 Centerline is valid? [True, True] Translation: X:-28.62, Y:14.25, Z:0.70 [[ 7.06772408e-01 7.06745548e-01 -3.13607051e-02 -2.86201869e+01] [-7.06244237e-01 7.07460583e-01 2.68067323e-02 1.42471015e+01] [ 4.11320015e-02 3.20205853e-03 9.99148590e-01 7.04720999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.409115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.64, Y:14.25, Z:0.69 [[ 6.98223171e-01 7.14991766e-01 -3.56535734e-02 -2.86416842e+01] [-7.14346886e-01 6.99120967e-01 3.06333119e-02 1.42511310e+01] [ 4.68287265e-02 4.08013089e-03 9.98894600e-01 6.88210686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.439115933 meters Centerline goodness [0,1] 0.9998045729919874 Centerline is valid? [True, True] Translation: X:-28.65, Y:14.28, Z:0.72 [[ 7.00904378e-01 7.12445357e-01 -3.39803659e-02 -2.86463261e+01] [-7.11848898e-01 7.01718336e-01 2.93687584e-02 1.42758761e+01] [ 4.47682814e-02 3.60419464e-03 9.98990896e-01 7.19736096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.469115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.65, Y:14.30, Z:0.76 [[ 6.93622019e-01 7.19351068e-01 -3.77165141e-02 -2.86542539e+01] [-7.18616369e-01 6.94633038e-01 3.27941648e-02 1.42971052e+01] [ 4.97896542e-02 4.35694959e-03 9.98750223e-01 7.59206591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.499115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.65, Y:14.33, Z:0.84 [[ 6.84069322e-01 7.28266509e-01 -4.09518571e-02 -2.86537448e+01] [-7.27404194e-01 6.85273645e-01 3.58213714e-02 1.43270808e+01] [ 5.41507335e-02 5.28425136e-03 9.98518790e-01 8.38828088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.52911593299999 meters Centerline goodness [0,1] 0.9992042967972946 Centerline is valid? [True, True] Translation: X:-28.67, Y:14.34, Z:0.82 [[ 6.87539488e-01 7.25092067e-01 -3.91272999e-02 -2.86658274e+01] [-7.24288462e-01 6.88636189e-01 3.44444819e-02 1.43385031e+01] [ 5.19198953e-02 4.65751042e-03 9.98640392e-01 8.19256583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55911593299999 meters Centerline goodness [0,1] 0.9992110453648915 Centerline is valid? [True, True] Translation: X:-28.67, Y:14.36, Z:0.85 [[ 6.69841481e-01 7.40999089e-01 -4.72518857e-02 -2.86747542e+01] [-7.39848947e-01 6.71470290e-01 4.18471726e-02 1.43569781e+01] [ 6.27369541e-02 6.92828577e-03 9.98006049e-01 8.45724070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.58911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.67, Y:14.39, Z:0.93 [[ 6.70188440e-01 7.40633833e-01 -4.80518456e-02 -2.86726942e+01] [-7.39427539e-01 6.71874012e-01 4.28045162e-02 1.43883407e+01] [ 6.39872592e-02 6.84376603e-03 9.97927249e-01 9.30374260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61911593299999 meters Centerline goodness [0,1] 0.9993964996982498 Centerline is valid? [True, True] Translation: X:-28.69, Y:14.39, Z:0.91 [[ 6.61703310e-01 7.48030643e-01 -5.09792754e-02 -2.86928644e+01] [-7.46675631e-01 6.63617909e-01 4.56812092e-02 1.43933205e+01] [ 6.80017044e-02 7.83757530e-03 9.97654419e-01 9.09314166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.64911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.70, Y:14.41, Z:0.92 [[ 6.50746777e-01 7.57220561e-01 -5.60861382e-02 -2.87018343e+01] [-7.55590627e-01 6.53090454e-01 5.05535716e-02 1.44102671e+01] [ 7.49095253e-02 9.48058651e-03 9.97145266e-01 9.15783171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.67911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.73, Y:14.40, Z:0.85 [[ 6.44581356e-01 7.62162061e-01 -6.01985660e-02 -2.87304369e+01] [-7.60279327e-01 6.47299666e-01 5.45755212e-02 1.44043031e+01] [ 8.05619034e-02 1.05893617e-02 9.96693356e-01 8.45187357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.70911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.75, Y:14.40, Z:0.79 [[ 6.42296651e-01 7.63976275e-01 -6.16057148e-02 -2.87546859e+01] [-7.61985342e-01 6.45152946e-01 5.61784142e-02 1.44032528e+01] [ 8.26640840e-02 1.08594444e-02 9.96518300e-01 7.88292625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.739115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.76, Y:14.42, Z:0.81 [[ 6.35451050e-01 7.69684865e-01 -6.15399973e-02 -2.87594855e+01] [-7.67693089e-01 6.38323132e-01 5.64880516e-02 1.44232683e+01] [ 8.27604022e-02 1.13484389e-02 9.96504856e-01 8.13553053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.769115933 meters Centerline goodness [0,1] 0.9996029382568989 Centerline is valid? [True, True] Translation: X:-28.81, Y:14.39, Z:0.66 [[ 6.29099362e-01 7.74541602e-01 -6.57213779e-02 -2.88065435e+01] [-7.72259909e-01 6.32398357e-01 6.07202774e-02 1.43936630e+01] [ 8.85924723e-02 1.25548975e-02 9.95988829e-01 6.59399999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.799115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.80, Y:14.43, Z:0.76 [[ 6.10651307e-01 7.88804768e-01 -6.99429800e-02 -2.87953479e+01] [-7.86266915e-01 6.14453994e-01 6.50432757e-02 1.44327565e+01] [ 9.42831894e-02 1.52750898e-02 9.95428225e-01 7.58824326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.829115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.82, Y:14.43, Z:0.71 [[ 6.07487741e-01 7.91303815e-01 -6.92597861e-02 -2.88163591e+01] [-7.88793061e-01 6.11232661e-01 6.48084864e-02 1.44338740e+01] [ 9.36170459e-02 1.52612778e-02 9.95491307e-01 7.14560908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.859115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.82, Y:14.45, Z:0.73 [[ 6.01670919e-01 7.95681031e-01 -6.98842132e-02 -2.88208113e+01] [-7.93112936e-01 6.05508944e-01 6.58087356e-02 1.44534170e+01] [ 9.46782787e-02 1.58308711e-02 9.95382041e-01 7.34875109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.889115933 meters Centerline goodness [0,1] 0.9992153785798352 Centerline is valid? [True, True] Translation: X:-28.85, Y:14.44, Z:0.63 [[ 6.02099640e-01 7.95337140e-01 -7.01060370e-02 -2.88535871e+01] [-7.92711088e-01 6.05967167e-01 6.64298382e-02 1.44412732e+01] [ 9.53160742e-02 1.55764512e-02 9.95325183e-01 6.28597206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.83, Y:14.49, Z:0.76 [[ 5.92027582e-01 8.02986877e-01 -6.86689006e-02 -2.88294578e+01] [-8.00465129e-01 5.95778430e-01 6.56021358e-02 1.44875668e+01] [ 9.35891039e-02 1.61287865e-02 9.95480257e-01 7.63950536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.94911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.83, Y:14.51, Z:0.81 [[ 5.96336163e-01 8.00126838e-01 -6.46546532e-02 -2.88318851e+01] [-7.97839112e-01 5.99655441e-01 6.21780026e-02 1.45093350e+01] [ 8.85208032e-02 1.45050196e-02 9.95968710e-01 8.09974787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.83, Y:14.54, Z:0.89 [[ 5.98698766e-01 7.98573962e-01 -6.19630173e-02 -2.88255027e+01] [-7.96434339e-01 6.01746211e-01 5.99486627e-02 1.45419900e+01] [ 8.51594520e-02 1.34582843e-02 9.96276439e-01 8.89780493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.00911593299999 meters Centerline goodness [0,1] 0.9991784760731156 Centerline is valid? [True, True] Translation: X:-28.87, Y:14.52, Z:0.74 [[ 6.03384434e-01 7.95195325e-01 -5.99301157e-02 -2.88667147e+01] [-7.93141213e-01 6.06228985e-01 5.84245987e-02 1.45184398e+01] [ 8.27903410e-02 1.22805512e-02 9.96491318e-01 7.41115910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.89, Y:14.52, Z:0.70 [[ 6.08456743e-01 7.91398136e-01 -5.89014656e-02 -2.88889085e+01] [-7.89367119e-01 6.11195957e-01 5.77845494e-02 1.45192408e+01] [ 8.17309223e-02 1.13354814e-02 9.96589967e-01 7.04714838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.06911593299999 meters Centerline goodness [0,1] 0.9998000799680128 Centerline is valid? [True, True] Translation: X:-28.90, Y:14.53, Z:0.70 [[ 6.05538349e-01 7.93533463e-01 -6.02324695e-02 -2.89021160e+01] [-7.91389734e-01 6.08414697e-01 5.94461519e-02 1.45286024e+01] [ 8.38188305e-02 1.16704334e-02 9.96412668e-01 6.98027201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.099115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.89, Y:14.56, Z:0.79 [[ 6.02332257e-01 7.95981094e-01 -6.00828694e-02 -2.88947379e+01] [-7.93824382e-01 6.05207913e-01 5.97179378e-02 1.45596348e+01] [ 8.38969774e-02 1.17252065e-02 9.96405448e-01 7.90497835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.129115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.93, Y:14.54, Z:0.67 [[ 6.04180611e-01 7.94601805e-01 -5.97809390e-02 -2.89326396e+01] [-7.92427224e-01 6.07026966e-01 5.98110162e-02 1.45433140e+01] [ 8.38145835e-02 1.12353872e-02 9.96418026e-01 6.66172079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.159115933 meters Centerline goodness [0,1] 0.999410493220672 Centerline is valid? [True, True] Translation: X:-27.80, Y:15.56, Z:-2.59 [[ 8.40688871e-01 -5.39281461e-01 -4.91703913e-02 -2.77969063e+01] [-5.37801237e-01 -8.42089922e-01 4.06742339e-02 1.55584110e+01] [-6.33407512e-02 -7.75047855e-03 -9.97961863e-01 -2.58552140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.189115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.81, Y:14.46, Z:0.79 [[ 6.70327289e-01 7.39371081e-01 -6.31801470e-02 -2.88068687e+01] [-7.37479541e-01 6.73216657e-01 5.38819009e-02 1.44584456e+01] [ 8.23726467e-02 1.04755572e-02 9.96546542e-01 7.91790614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.219115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.84, Y:14.45, Z:0.71 [[ 6.73455337e-01 7.36433050e-01 -6.42204962e-02 -2.88380268e+01] [-7.34438457e-01 6.76435564e-01 5.50915609e-02 1.44471032e+01] [ 8.40122739e-02 1.00642965e-02 9.96413894e-01 7.10600449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.249115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.84, Y:14.48, Z:0.79 [[ 6.73084450e-01 7.36862597e-01 -6.31730643e-02 -2.88354341e+01] [-7.34907453e-01 6.75972498e-01 5.45180395e-02 1.44794296e+01] [ 8.28755583e-02 9.73111117e-03 9.96512392e-01 7.90217309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.85, Y:14.49, Z:0.77 [[ 6.71668141e-01 7.38197725e-01 -6.26580180e-02 -2.88537205e+01] [-7.36253493e-01 6.74516135e-01 5.43946549e-02 1.44857760e+01] [ 8.24178546e-02 9.59702787e-03 9.96551652e-01 7.69565574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.30911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.88, Y:14.49, Z:0.73 [[ 6.74655115e-01 7.35554619e-01 -6.16431540e-02 -2.88754117e+01] [-7.33634692e-01 6.77407049e-01 5.38500511e-02 1.44866395e+01] [ 8.13671609e-02 8.89334390e-03 9.96644517e-01 7.29894287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33911593299999 meters Centerline goodness [0,1] 0.9996171516079633 Centerline is valid? [True, True] Translation: X:-28.92, Y:14.46, Z:0.58 [[ 6.73884069e-01 7.36220555e-01 -6.21253177e-02 -2.89181475e+01] [-7.34244288e-01 6.76684377e-01 5.46221552e-02 1.44604964e+01] [ 8.22531853e-02 8.80615946e-03 9.96572559e-01 5.83597277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.36911593299999 meters Centerline goodness [0,1] 0.9990219092331768 Centerline is valid? [True, True] Translation: X:-28.92, Y:14.48, Z:0.63 [[ 6.70737008e-01 7.38978385e-01 -6.34256472e-02 -2.89201249e+01] [-7.36901347e-01 6.73667629e-01 5.61099820e-02 1.44842404e+01] [ 8.41918693e-02 9.10340344e-03 9.96407977e-01 6.31744840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39911593299999 meters Centerline goodness [0,1] 0.9998047637641546 Centerline is valid? [True, True] Translation: X:-28.94, Y:14.49, Z:0.61 [[ 6.70087896e-01 7.39451061e-01 -6.47637225e-02 -2.89352583e+01] [-7.37256745e-01 6.73148576e-01 5.76496820e-02 1.44924857e+01] [ 8.62247261e-02 9.11713717e-03 9.96233996e-01 6.12793809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.42911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.96, Y:14.49, Z:0.56 [[ 6.62774906e-01 7.45798674e-01 -6.71845400e-02 -2.89590836e+01] [-7.43436375e-01 6.66095237e-01 6.01622103e-02 1.44913141e+01] [ 8.96201987e-02 1.00734277e-02 9.95925070e-01 5.64758993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.95, Y:14.52, Z:0.65 [[ 6.57359788e-01 7.50529082e-01 -6.77067681e-02 -2.89531035e+01] [-7.48111057e-01 6.60754238e-01 6.11038681e-02 1.45199142e+01] [ 9.05977640e-02 1.04849561e-02 9.95832371e-01 6.51630478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.489115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.97, Y:14.53, Z:0.64 [[ 6.53891596e-01 7.53593210e-01 -6.72536639e-02 -2.89662042e+01] [-7.51180524e-01 6.57256820e-01 6.11661174e-02 1.45280297e+01] [ 9.02973000e-02 1.05236324e-02 9.95859252e-01 6.43161049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.519115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.98, Y:14.53, Z:0.63 [[ 6.59759017e-01 7.48733071e-01 -6.41625133e-02 -2.89827869e+01] [-7.46481094e-01 6.62808607e-01 5.87428776e-02 1.45343404e+01] [ 8.65102012e-02 9.13995998e-03 9.96209037e-01 6.26174799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.549115933 meters Centerline goodness [0,1] 0.9996147177807744 Centerline is valid? [True, True] Translation: X:-29.00, Y:14.54, Z:0.62 [[ 6.60985221e-01 7.47742685e-01 -6.30826030e-02 -2.89976046e+01] [-7.45530546e-01 6.63932713e-01 5.81167593e-02 1.45445775e+01] [ 8.53389854e-02 8.61568844e-03 9.96314723e-01 6.20214079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.579115933 meters Centerline goodness [0,1] 0.9990557129367328 Centerline is valid? [True, True] Translation: X:-29.00, Y:14.56, Z:0.64 [[ 6.55284453e-01 7.52693521e-01 -6.36769163e-02 -2.90036976e+01] [-7.50431066e-01 6.58308061e-01 5.90229864e-02 1.45642420e+01] [ 8.63452467e-02 9.10829079e-03 9.96223638e-01 6.35607297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.609115933 meters Centerline goodness [0,1] 0.9980747015787447 Centerline is valid? [True, True] Translation: X:-29.03, Y:14.56, Z:0.56 [[ 6.57258479e-01 7.51163893e-01 -6.13522523e-02 -2.90322731e+01] [-7.49028011e-01 6.60062971e-01 5.72181129e-02 1.45579185e+01] [ 8.34765304e-02 8.34746567e-03 9.96474781e-01 5.61745159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.639115933 meters Centerline goodness [0,1] 0.9980623910094942 Centerline is valid? [True, True] Translation: X:-29.06, Y:14.56, Z:0.49 [[ 6.55031633e-01 7.53199563e-01 -6.01994894e-02 -2.90564305e+01] [-7.51122112e-01 6.57740886e-01 5.65022120e-02 1.45553789e+01] [ 8.21531069e-02 8.20643145e-03 9.96585933e-01 4.87745397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.66911593299999 meters Centerline goodness [0,1] 0.9980623910094942 Centerline is valid? [True, True] Translation: X:-29.07, Y:14.57, Z:0.49 [[ 6.52787977e-01 7.55158506e-01 -6.00290580e-02 -2.90689627e+01] [-7.53072835e-01 6.55490902e-01 5.66831804e-02 1.45674836e+01] [ 8.21532872e-02 8.20415420e-03 9.96585937e-01 4.87592384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69911593299999 meters Centerline goodness [0,1] 0.9978235061337555 Centerline is valid? [True, True] Translation: X:-29.07, Y:14.59, Z:0.53 [[ 6.55782593e-01 7.52787871e-01 -5.70930094e-02 -2.90730814e+01] [-7.50866781e-01 6.58222708e-01 5.42396890e-02 1.45896659e+01] [ 7.84108952e-02 7.29980029e-03 9.96894400e-01 5.28394962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.72911593299999 meters Centerline goodness [0,1] 0.9973459715639811 Centerline is valid? [True, True] Translation: X:-29.09, Y:14.60, Z:0.53 [[ 6.58561616e-01 7.50503165e-01 -5.51506754e-02 -2.90853625e+01] [-7.48678105e-01 6.60834181e-01 5.27188815e-02 1.46011765e+01] [ 7.60111389e-02 6.57147133e-03 9.97085314e-01 5.32654816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75911593299999 meters Centerline goodness [0,1] 0.9982390921541773 Centerline is valid? [True, True] Translation: X:-29.10, Y:14.62, Z:0.54 [[ 6.54694806e-01 7.53781847e-01 -5.64591680e-02 -2.90959159e+01] [-7.51853897e-01 6.57088635e-01 5.43161372e-02 1.46150821e+01] [ 7.80411959e-02 6.88855265e-03 9.96926336e-01 5.35706555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.78911593299999 meters Centerline goodness [0,1] 0.9980369061641147 Centerline is valid? [True, True] Translation: X:-29.11, Y:14.62, Z:0.50 [[ 6.53130736e-01 7.55041959e-01 -5.77224495e-02 -2.91126949e+01] [-7.53001698e-01 6.55639607e-01 5.59030362e-02 1.46215345e+01] [ 8.00542621e-02 6.95311127e-03 9.96766256e-01 4.97817347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.81911593299999 meters Centerline goodness [0,1] 0.9986274509803922 Centerline is valid? [True, True] Translation: X:-29.12, Y:14.64, Z:0.50 [[ 6.60364173e-01 7.48809349e-01 -5.66013988e-02 -2.91242226e+01] [-7.46796483e-01 6.62759787e-01 5.51767856e-02 1.46350004e+01] [ 7.88300240e-02 5.83295319e-03 9.96871007e-01 4.96957046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.849115933 meters Centerline goodness [0,1] 0.9986179664363277 Centerline is valid? [True, True] Translation: X:-29.13, Y:14.65, Z:0.51 [[ 6.52607149e-01 7.55293647e-01 -6.02944060e-02 -2.91275813e+01] [-7.52995199e-01 6.55352011e-01 5.92618953e-02 1.46526857e+01] [ 8.42741933e-02 6.72666168e-03 9.96419898e-01 5.12496336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.879115933 meters Centerline goodness [0,1] 0.9978456717587152 Centerline is valid? [True, True] Translation: X:-29.14, Y:14.66, Z:0.48 [[ 6.40439164e-01 7.65257405e-01 -6.49521440e-02 -2.91448000e+01] [-7.62599447e-01 6.43669990e-01 6.42730694e-02 1.46591395e+01] [ 9.09931882e-02 8.36947826e-03 9.95816344e-01 4.77248255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.909115933 meters Centerline goodness [0,1] 0.9978359236671257 Centerline is valid? [True, True] Translation: X:-29.16, Y:14.67, Z:0.47 [[ 6.35382096e-01 7.69088285e-01 -6.92300645e-02 -2.91570207e+01] [-7.66039533e-01 6.39076688e-01 6.90247880e-02 1.46706558e+01] [ 9.73294762e-02 9.17585176e-03 9.95209916e-01 4.66754808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.939115933 meters Centerline goodness [0,1] 0.9980480187390202 Centerline is valid? [True, True] Translation: X:-29.17, Y:14.68, Z:0.47 [[ 6.33154715e-01 7.70544529e-01 -7.33228203e-02 -2.91674539e+01] [-7.67083942e-01 6.37313026e-01 7.35821486e-02 1.46845849e+01] [ 1.03427911e-01 9.65587370e-03 9.94590082e-01 4.69115152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.969115933 meters Centerline goodness [0,1] 0.9974874371859297 Centerline is valid? [True, True] Translation: X:-27.94, Y:15.77, Z:-2.30 [[ 8.18872028e-01 -5.69903606e-01 -6.82530798e-02 -2.79417178e+01] [-5.67094410e-01 -8.21672228e-01 5.70848427e-02 1.57709195e+01] [-8.86145179e-02 -8.03924081e-03 -9.96033553e-01 -2.29931319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.999115933 meters Centerline goodness [0,1] 0.9990408593899865 Centerline is valid? [True, True] Translation: X:-29.06, Y:14.54, Z:0.42 [[ 6.84843123e-01 7.23603640e-01 -8.59515494e-02 -2.90556696e+01] [-7.19948348e-01 6.90119723e-01 7.35468793e-02 1.45423075e+01] [ 1.12535649e-01 1.15126015e-02 9.93580992e-01 4.24691728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.02911593299999 meters Centerline goodness [0,1] 0.9994192799070848 Centerline is valid? [True, True] Translation: X:-29.07, Y:14.55, Z:0.40 [[ 6.82427993e-01 7.25636613e-01 -8.79973885e-02 -2.90690280e+01] [-7.21767663e-01 6.87976709e-01 7.57594176e-02 1.45532442e+01] [ 1.15513961e-01 1.18133221e-02 9.93235607e-01 3.98639503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05911593299999 meters Centerline goodness [0,1] 0.9990169091624066 Centerline is valid? [True, True] Translation: X:-29.09, Y:14.56, Z:0.36 [[ 6.84082711e-01 7.24018467e-01 -8.84765712e-02 -2.90874658e+01] [-7.20034601e-01 6.89688807e-01 7.66780465e-02 1.45578593e+01] [ 1.16537623e-01 1.12520668e-02 9.93122537e-01 3.63688472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.08911593299999 meters Centerline goodness [0,1] 0.9998069498069498 Centerline is valid? [True, True] Translation: X:-29.11, Y:14.56, Z:0.32 [[ 6.80007352e-01 7.27791644e-01 -8.89343880e-02 -2.91060123e+01] [-7.23738861e-01 6.85699950e-01 7.75734471e-02 1.45626221e+01] [ 1.17439612e-01 1.16147584e-02 9.93012102e-01 3.24984494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11911593299999 meters Centerline goodness [0,1] 0.9990176817288802 Centerline is valid? [True, True] Translation: X:-29.13, Y:14.56, Z:0.27 [[ 6.70750988e-01 7.36060233e-01 -9.11506757e-02 -2.91280902e+01] [-7.31813513e-01 6.76790612e-01 8.00215576e-02 1.45627445e+01] [ 1.20590608e-01 1.30307573e-02 9.92616796e-01 2.73969606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.14911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.14, Y:14.57, Z:0.26 [[ 6.73704108e-01 7.33670206e-01 -8.86047633e-02 -2.91421483e+01] [-7.29573151e-01 6.79402022e-01 7.83320519e-02 1.45723432e+01] [ 1.17668148e-01 1.18710312e-02 9.92982017e-01 2.62665119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.17911593299999 meters Centerline goodness [0,1] 0.9974594488958374 Centerline is valid? [True, True] Translation: X:-29.16, Y:14.58, Z:0.23 [[ 6.65770217e-01 7.40656907e-01 -9.04287827e-02 -2.91581837e+01] [-7.36386224e-01 6.71757488e-01 8.04810916e-02 1.45795915e+01] [ 1.20355088e-01 1.30085960e-02 9.92645672e-01 2.31088858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.20911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.17, Y:14.59, Z:0.22 [[ 6.63742263e-01 7.42594364e-01 -8.94417062e-02 -2.91698446e+01] [-7.38371711e-01 6.69617919e-01 8.01190314e-02 1.45926595e+01] [ 1.19387710e-01 1.28628385e-02 9.92764384e-01 2.20127102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.239115933 meters Centerline goodness [0,1] 0.9976424361493124 Centerline is valid? [True, True] Translation: X:-29.20, Y:14.59, Z:0.15 [[ 6.63913445e-01 7.42642523e-01 -8.77554602e-02 -2.91950374e+01] [-7.38517325e-01 6.69575512e-01 7.91251798e-02 1.45901647e+01] [ 1.17520630e-01 1.22766570e-02 9.92994554e-01 1.52420721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.269115933 meters Centerline goodness [0,1] 0.9996136758740584 Centerline is valid? [True, True] Translation: X:-29.19, Y:14.62, Z:0.20 [[ 6.49789913e-01 7.54650612e-01 -9.09698978e-02 -2.91868715e+01] [-7.50254963e-01 6.55965265e-01 8.26260306e-02 1.46236714e+01] [ 1.22026878e-01 1.45610561e-02 9.92419980e-01 1.99268795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.299115933 meters Centerline goodness [0,1] 0.9972915457535306 Centerline is valid? [True, True] Translation: X:-29.20, Y:14.64, Z:0.20 [[ 6.47708850e-01 7.56509624e-01 -9.03683231e-02 -2.91970766e+01] [-7.52121921e-01 6.53822984e-01 8.26324448e-02 1.46373130e+01] [ 1.21597127e-01 1.44462310e-02 9.92474405e-01 1.97848389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.329115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.20, Y:14.66, Z:0.21 [[ 6.40331234e-01 7.62543071e-01 -9.22170009e-02 -2.92030982e+01] [-7.57965859e-01 6.46750373e-01 8.48628978e-02 1.46567029e+01] [ 1.24352994e-01 1.55569743e-02 9.92116079e-01 2.07835975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.359115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.22, Y:14.67, Z:0.19 [[ 6.40444288e-01 7.62444449e-01 -9.22473662e-02 -2.92150547e+01] [-7.57793278e-01 6.46875593e-01 8.54477332e-02 1.46691459e+01] [ 1.24821719e-01 1.51799214e-02 9.92063057e-01 1.91502745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.389115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.21, Y:14.70, Z:0.23 [[ 6.33906793e-01 7.67625466e-01 -9.44103916e-02 -2.92101797e+01] [-7.62735094e-01 6.40693529e-01 8.80169169e-02 1.47012348e+01] [ 1.28052154e-01 1.62155974e-02 9.91634862e-01 2.28455903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.23, Y:14.70, Z:0.17 [[ 6.37025651e-01 7.65307707e-01 -9.22086439e-02 -2.92334923e+01] [-7.60547803e-01 6.43489678e-01 8.65336570e-02 1.47010366e+01] [ 1.25560185e-01 1.50049223e-02 9.91972526e-01 1.72335429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.44911593299999 meters Centerline goodness [0,1] 0.9986777483944088 Centerline is valid? [True, True] Translation: X:-29.24, Y:14.71, Z:0.18 [[ 6.29398176e-01 7.71369056e-01 -9.40622908e-02 -2.92439856e+01] [-7.66405192e-01 6.36182694e-01 8.88519061e-02 1.47146467e+01] [ 1.28378412e-01 1.61666004e-02 9.91593477e-01 1.80632325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.26, Y:14.73, Z:0.17 [[ 6.29123002e-01 7.71859556e-01 -9.18535527e-02 -2.92552989e+01] [-7.67060966e-01 6.35603624e-01 8.73241495e-02 1.47277759e+01] [ 1.25784430e-01 1.55196439e-02 9.91936196e-01 1.69057419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.50911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.27, Y:14.74, Z:0.15 [[ 6.30762452e-01 7.70567897e-01 -9.14540616e-02 -2.92684121e+01] [-7.65728251e-01 6.37185121e-01 8.74949597e-02 1.47388480e+01] [ 1.25693974e-01 1.48404233e-02 9.91958057e-01 1.54513389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.28, Y:14.74, Z:0.13 [[ 6.27055010e-01 7.73657870e-01 -9.08598590e-02 -2.92778027e+01] [-7.68791714e-01 6.33431977e-01 8.78819170e-02 1.47443366e+01] [ 1.25544077e-01 1.47455104e-02 9.91978455e-01 1.26987518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.56911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.28, Y:14.76, Z:0.14 [[ 6.25310597e-01 7.75129155e-01 -9.03407469e-02 -2.92841119e+01] [-7.70258373e-01 6.31634702e-01 8.79752392e-02 1.47626736e+01] [ 1.25254523e-01 1.45738674e-02 9.92017594e-01 1.37379237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.599115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.29, Y:14.78, Z:0.13 [[ 6.27731469e-01 7.73566561e-01 -8.68790975e-02 -2.92908772e+01] [-7.68982465e-01 6.33574210e-01 8.51451102e-02 1.47804686e+01] [ 1.20909766e-01 1.33602375e-02 9.92573591e-01 1.31742980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.629115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.30, Y:14.80, Z:0.13 [[ 6.36682706e-01 7.66778046e-01 -8.17713914e-02 -2.93006301e+01] [-7.62602742e-01 6.41818035e-01 8.06639180e-02 1.47963106e+01] [ 1.14333675e-01 1.10017658e-02 9.93381484e-01 1.26258085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.659115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.31, Y:14.81, Z:0.12 [[ 6.31671511e-01 7.70840158e-01 -8.24412093e-02 -2.93127522e+01] [-7.66568101e-01 6.36924938e-01 8.18533430e-02 1.48091423e+01] [ 1.15604706e-01 1.14923763e-02 9.93228814e-01 1.24632598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.689115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.32, Y:14.83, Z:0.13 [[ 6.37113855e-01 7.66743548e-01 -7.86782571e-02 -2.93225784e+01] [-7.62767069e-01 6.41876794e-01 7.86166655e-02 1.48253432e+01] [ 1.10780568e-01 9.92541667e-03 9.93795327e-01 1.27339525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.719115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.34, Y:14.84, Z:0.11 [[ 6.33292259e-01 7.69887912e-01 -7.88258686e-02 -2.93350692e+01] [-7.65863816e-01 6.38098092e-01 7.92681533e-02 1.48379028e+01] [ 1.11326229e-01 1.01699727e-02 9.93731876e-01 1.08704119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.749115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.14, Y:15.91, Z:-1.99 [[ 8.09696158e-01 -5.83191700e-01 -6.54184462e-02 -2.81431206e+01] [-5.80650759e-01 -8.12309780e-01 5.47495868e-02 1.59114519e+01] [-8.50695482e-02 -6.34525967e-03 -9.96354811e-01 -1.98760378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.22, Y:14.72, Z:0.10 [[ 6.96700952e-01 7.12814891e-01 -8.06394165e-02 -2.92234470e+01] [-7.09517176e-01 7.01293405e-01 6.90864451e-02 1.47159540e+01] [ 1.05797738e-01 9.08245893e-03 9.94346191e-01 1.00045765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.80911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.24, Y:14.72, Z:0.06 [[ 6.90852080e-01 7.18672319e-01 -7.89525236e-02 -2.92449758e+01] [-7.15506303e-01 6.95284277e-01 6.80478093e-02 1.47182645e+01] [ 1.03798525e-01 9.48005764e-03 9.94553163e-01 5.70378465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.25, Y:14.74, Z:0.06 [[ 6.96904545e-01 7.13536669e-01 -7.20380346e-02 -2.92536439e+01] [-7.10837100e-01 7.00575970e-01 6.24814115e-02 1.47363382e+01] [ 9.50508942e-02 7.66372800e-03 9.95442914e-01 5.78106588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.86911593299999 meters Centerline goodness [0,1] 0.9994551398474392 Centerline is valid? [True, True] Translation: X:-29.27, Y:14.75, Z:0.05 [[ 6.98048502e-01 7.12654490e-01 -6.96553422e-02 -2.92651032e+01] [-7.10082585e-01 7.01480702e-01 6.08896256e-02 1.47490672e+01] [ 9.22551435e-02 6.95713349e-03 9.95711096e-01 4.58557928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.28, Y:14.76, Z:0.03 [[ 6.94389249e-01 7.16230235e-01 -6.95544484e-02 -2.92793282e+01] [-7.13648063e-01 6.97827407e-01 6.11829386e-02 1.47621522e+01] [ 9.23580709e-02 7.15262254e-03 9.95700169e-01 3.37959813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.92911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.29, Y:14.78, Z:0.04 [[ 6.93454256e-01 7.17090355e-01 -7.00186968e-02 -2.92873279e+01] [-7.14440187e-01 6.96944722e-01 6.19941475e-02 1.47794631e+01] [ 9.32545663e-02 7.03406537e-03 9.95617451e-01 3.60895519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95911593299999 meters Centerline goodness [0,1] 0.999128160418483 Centerline is valid? [True, True] Translation: X:-29.28, Y:14.82, Z:0.10 [[ 6.83915863e-01 7.25791535e-01 -7.40657771e-02 -2.92797145e+01] [-7.22835330e-01 6.87863260e-01 6.59789530e-02 1.48166554e+01] [ 9.88340924e-02 8.41330785e-03 9.95068359e-01 1.03169525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.989115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.30, Y:14.82, Z:0.06 [[ 6.96056054e-01 7.14896310e-01 -6.65525101e-02 -2.93019628e+01] [-7.12429116e-01 6.99205551e-01 5.96351569e-02 1.48191668e+01] [ 8.91668381e-02 5.90453395e-03 9.95999203e-01 6.07535998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.019115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.32, Y:14.82, Z:0.03 [[ 6.94955597e-01 7.16171232e-01 -6.43077354e-02 -2.93245325e+01] [-7.13843006e-01 6.97902014e-01 5.79736305e-02 1.48220124e+01] [ 8.63995444e-02 5.61652816e-03 9.96244736e-01 3.33480197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.049115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.32, Y:14.86, Z:0.11 [[ 6.93803630e-01 7.17314969e-01 -6.39981148e-02 -2.93159057e+01] [-7.14984328e-01 6.96727409e-01 5.80372921e-02 1.48628392e+01] [ 8.62202591e-02 5.49116517e-03 9.96260967e-01 1.14982522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.079115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.35, Y:14.85, Z:0.04 [[ 6.93382604e-01 7.17580948e-01 -6.55602560e-02 -2.93496045e+01] [-7.15103031e-01 6.96454182e-01 5.98266414e-02 1.48528970e+01] [ 8.85901726e-02 5.39958538e-03 9.96053526e-01 3.99674726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.109115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.36, Y:14.87, Z:0.04 [[ 6.94704857e-01 7.16343201e-01 -6.50966955e-02 -2.93617774e+01] [-7.13862016e-01 6.97730588e-01 5.97749752e-02 1.48680887e+01] [ 8.82393527e-02 4.94409270e-03 9.96087031e-01 3.89353385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.139115933 meters Centerline goodness [0,1] 0.9998204345483929 Centerline is valid? [True, True] Translation: X:-29.37, Y:14.88, Z:0.04 [[ 6.94575627e-01 7.16371639e-01 -6.61541573e-02 -2.93728381e+01] [-7.13775135e-01 6.97702641e-01 6.11234870e-02 1.48844137e+01] [ 8.99430628e-02 4.76430822e-03 9.95935513e-01 4.27785563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.16911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.38, Y:14.91, Z:0.06 [[ 6.91497118e-01 7.19466770e-01 -6.48020257e-02 -2.93775006e+01] [-7.16954460e-01 6.94510360e-01 6.02632726e-02 1.49070629e+01] [ 8.83631003e-02 4.78822205e-03 9.96076822e-01 5.81590155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.38, Y:14.93, Z:0.09 [[ 6.84689509e-01 7.25872463e-01 -6.56463456e-02 -2.93818047e+01] [-7.23289018e-01 6.87807936e-01 6.14267035e-02 1.49317444e+01] [ 8.97400301e-02 5.42306138e-03 9.95950459e-01 8.54132061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.22911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.40, Y:14.94, Z:0.05 [[ 6.79418199e-01 7.30742769e-01 -6.63770781e-02 -2.94011231e+01] [-7.28089465e-01 6.82627674e-01 6.24915154e-02 1.49395267e+01] [ 9.09760535e-02 5.87057842e-03 9.95835777e-01 5.05393081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.42, Y:14.95, Z:0.02 [[ 6.69926689e-01 7.39264539e-01 -6.84556276e-02 -2.94211986e+01] [-7.36448244e-01 6.73379024e-01 6.48434644e-02 1.49452573e+01] [ 9.40330575e-02 6.97365933e-03 9.95544651e-01 2.36151630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.28911593299999 meters Centerline goodness [0,1] 0.9996400935756703 Centerline is valid? [True, True] Translation: X:-29.42, Y:14.98, Z:0.06 [[ 6.76148132e-01 7.33913330e-01 -6.47682672e-02 -2.94196336e+01] [-7.31335070e-01 6.79219756e-01 6.17214597e-02 1.49756556e+01] [ 8.92900887e-02 5.63445553e-03 9.95989725e-01 6.39373405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.44, Y:14.98, Z:0.04 [[ 6.72194797e-01 7.37460081e-01 -6.56260900e-02 -2.94385016e+01] [-7.34794381e-01 6.75364749e-01 6.29259321e-02 1.49837145e+01] [ 9.07269108e-02 5.92319806e-03 9.95858194e-01 4.06423951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.349115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.43, Y:15.02, Z:0.11 [[ 6.68413054e-01 7.40973755e-01 -6.46674831e-02 -2.94275798e+01] [-7.38368584e-01 6.71506676e-01 6.23748212e-02 1.50246755e+01] [ 8.96427521e-02 6.05629325e-03 9.95955570e-01 1.08247087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.379115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.43, Y:15.04, Z:0.12 [[ 6.62838877e-01 7.45830910e-01 -6.61881953e-02 -2.94336132e+01] [-7.43088476e-01 6.66102590e-01 6.42406060e-02 1.50449463e+01] [ 9.20007579e-02 6.60251407e-03 9.95737047e-01 1.15721569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.409115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.47, Y:15.04, Z:0.03 [[ 6.62399047e-01 7.46170669e-01 -6.67595415e-02 -2.94671297e+01] [-7.43348520e-01 6.65723313e-01 6.51571091e-02 1.50358856e+01] [ 9.30617068e-02 6.46559946e-03 9.95639350e-01 3.42847545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.439115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.47, Y:15.06, Z:0.05 [[ 6.58217714e-01 7.49960767e-01 -6.56375660e-02 -2.94711248e+01] [-7.47217178e-01 6.61449041e-01 6.44333408e-02 1.50590172e+01] [ 9.17383828e-02 6.63435055e-03 9.95761043e-01 5.20622070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.469115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.47, Y:15.09, Z:0.09 [[ 6.63736549e-01 7.45355937e-01 -6.24365364e-02 -2.94694326e+01] [-7.42822948e-01 6.66644313e-01 6.16394925e-02 1.50896056e+01] [ 8.75663236e-02 5.46690807e-03 9.96143690e-01 9.37750324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.499115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.50, Y:15.09, Z:0.04 [[ 6.55826662e-01 7.52139193e-01 -6.46376407e-02 -2.94975276e+01] [-7.49421990e-01 6.58973742e-01 6.41894747e-02 1.50876160e+01] [ 9.08739276e-02 6.34370044e-03 9.95842200e-01 4.48840634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.52911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.49, Y:15.12, Z:0.10 [[ 6.46870847e-01 7.59681887e-01 -6.66448634e-02 -2.94892826e+01] [-7.56796623e-01 6.50252976e-01 6.65577939e-02 1.51247430e+01] [ 9.38987712e-02 7.38231099e-03 9.95554379e-01 9.67031812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.50, Y:15.14, Z:0.10 [[ 6.44710127e-01 7.61533036e-01 -6.64551566e-02 -2.95029804e+01] [-7.58638181e-01 6.48084045e-01 6.67471504e-02 1.51385347e+01] [ 9.38986868e-02 7.38285534e-03 9.95554383e-01 9.65228352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.58911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.47, Y:16.04, Z:-1.97 [[ 8.07347893e-01 -5.87379343e-01 -5.63461425e-02 -2.84711719e+01] [-5.85518141e-01 -8.09296673e-01 4.69830001e-02 1.60355271e+01] [-7.31975894e-02 -4.93993749e-03 -9.97305224e-01 -1.96574436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.40, Y:15.02, Z:0.08 [[ 7.01470782e-01 7.09039173e-01 -7.21262329e-02 -2.93957341e+01] [-7.06393887e-01 7.05127174e-01 6.16712653e-02 1.50243010e+01] [ 9.45855097e-02 7.68893927e-03 9.95487047e-01 8.20642708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.64911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.40, Y:15.05, Z:0.09 [[ 6.99757998e-01 7.10967847e-01 -6.97385520e-02 -2.94031526e+01] [-7.08480138e-01 7.03184557e-01 5.98946768e-02 1.50468055e+01] [ 9.16222622e-02 7.49659977e-03 9.95765616e-01 8.73233133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.42, Y:15.06, Z:0.08 [[ 6.95612850e-01 7.14884922e-01 -7.11499168e-02 -2.94160098e+01] [-7.12284479e-01 6.99197004e-01 6.14359009e-02 1.50627728e+01] [ 9.36674079e-02 7.94337934e-03 9.95571855e-01 8.06908044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.70911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.45, Y:15.05, Z:0.01 [[ 6.99193834e-01 7.11651242e-01 -6.84141238e-02 -2.94505986e+01] [-7.09205209e-01 7.02497953e-01 5.93683223e-02 1.50514779e+01] [ 9.03103223e-02 7.00968803e-03 9.95889005e-01 1.08362704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.739115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.46, Y:15.07, Z:0.01 [[ 6.94224482e-01 7.16373584e-01 -6.97227151e-02 -2.94622901e+01] [-7.13823327e-01 6.97676392e-01 6.08597565e-02 1.50682845e+01] [ 9.22422142e-02 7.51936755e-03 9.95708207e-01 7.81357260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.769115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.45, Y:15.11, Z:0.07 [[ 6.87221456e-01 7.22990112e-01 -7.07952545e-02 -2.94549875e+01] [-7.20365211e-01 6.90808345e-01 6.21111403e-02 1.51085238e+01] [ 9.38116929e-02 8.31433013e-03 9.95555241e-01 7.01116702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.799115933 meters Centerline goodness [0,1] 0.9993154201608763 Centerline is valid? [True, True] Translation: X:-29.47, Y:15.12, Z:0.07 [[ 6.81623118e-01 7.28090530e-01 -7.26230395e-02 -2.94690579e+01] [-7.25327187e-01 6.85421363e-01 6.40158408e-02 1.51231057e+01] [ 9.63867102e-02 9.04078792e-03 9.95302902e-01 6.53335829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.829115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.49, Y:15.13, Z:0.02 [[ 6.81527057e-01 7.28170938e-01 -7.27183385e-02 -2.94913610e+01] [-7.25367229e-01 6.85338736e-01 6.44453265e-02 1.51255375e+01] [ 9.67639080e-02 8.82626604e-03 9.95268227e-01 2.30880438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.859115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.50, Y:15.14, Z:0.04 [[ 6.78569811e-01 7.30776775e-01 -7.42180289e-02 -2.95025652e+01] [-7.27835872e-01 6.82555262e-01 6.61306057e-02 1.51436031e+01] [ 9.89846170e-02 9.14431111e-03 9.95046947e-01 4.07453896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.88911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.52, Y:15.16, Z:0.02 [[ 6.75664869e-01 7.33351988e-01 -7.53116613e-02 -2.95153351e+01] [-7.30296024e-01 6.79784567e-01 6.75326569e-02 1.51557450e+01] [ 1.00720913e-01 9.37036307e-03 9.94870592e-01 2.46488250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91911593299999 meters Centerline goodness [0,1] 0.9996562392574768 Centerline is valid? [True, True] Translation: X:-29.53, Y:15.17, Z:0.03 [[ 6.68336289e-01 7.39866774e-01 -7.69659775e-02 -2.95275856e+01] [-7.36671043e-01 6.72674898e-01 6.94568587e-02 1.51684993e+01] [ 1.03161903e-01 1.02780677e-02 9.94611473e-01 2.69669872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.94911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.54, Y:15.18, Z:0.03 [[ 6.70777451e-01 7.38106580e-01 -7.25002581e-02 -2.95390466e+01] [-7.35228745e-01 6.74621496e-01 6.57611631e-02 1.51843110e+01] [ 9.74489797e-02 9.19316839e-03 9.95198062e-01 2.54089816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.55, Y:15.20, Z:0.03 [[ 6.65112541e-01 7.43305780e-01 -7.15669346e-02 -2.95521356e+01] [-7.40498932e-01 6.68882923e-01 6.52454461e-02 1.52005151e+01] [ 9.63672176e-02 9.59967420e-03 9.95299556e-01 2.69713883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.00911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.56, Y:15.22, Z:0.04 [[ 6.59461793e-01 7.48345867e-01 -7.13344685e-02 -2.95607077e+01] [-7.45554177e-01 6.63232124e-01 6.53614488e-02 1.52219145e+01] [ 9.62242812e-02 1.00803327e-02 9.95308633e-01 3.59001100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.58, Y:15.23, Z:0.03 [[ 6.61833033e-01 7.46289415e-01 -7.09164732e-02 -2.95778081e+01] [-7.43487456e-01 6.65553727e-01 6.53042083e-02 1.52314330e+01] [ 9.59345625e-02 9.50502598e-03 9.95342260e-01 3.29756962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.06911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.59, Y:15.25, Z:0.04 [[ 6.56865039e-01 7.50485136e-01 -7.28037128e-02 -2.95852940e+01] [-7.47523796e-01 6.60809136e-01 6.73755089e-02 1.52527075e+01] [ 9.86736766e-02 1.01658914e-02 9.95067917e-01 4.14127460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.099115933 meters Centerline goodness [0,1] 0.9998252053836741 Centerline is valid? [True, True] Translation: X:-29.60, Y:15.26, Z:0.03 [[ 6.48538023e-01 7.57540242e-01 -7.43721323e-02 -2.96016182e+01] [-7.54459453e-01 6.52691514e-01 6.91716783e-02 1.52631145e+01] [ 1.00942390e-01 1.12502948e-02 9.94828661e-01 2.86722682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.129115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.61, Y:15.29, Z:0.05 [[ 6.51262914e-01 7.55477467e-01 -7.14871603e-02 -2.96087369e+01] [-7.52582187e-01 6.55094427e-01 6.68681030e-02 1.52854351e+01] [ 9.73481854e-02 1.02512478e-02 9.95197590e-01 5.28693314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.159115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.63, Y:15.29, Z:0.03 [[ 6.49693886e-01 7.57108932e-01 -6.84391727e-02 -2.96289852e+01] [-7.54430759e-01 6.53215032e-01 6.43766364e-02 1.52932060e+01] [ 9.34456228e-02 9.80750999e-03 9.95576079e-01 3.36030122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.189115933 meters Centerline goodness [0,1] 0.9994696835778681 Centerline is valid? [True, True] Translation: X:-29.62, Y:15.33, Z:0.08 [[ 6.46226824e-01 7.59983198e-01 -6.94005031e-02 -2.96216714e+01] [-7.57203789e-01 6.49864501e-01 6.57156970e-02 1.53263606e+01] [ 9.50437490e-02 1.00830777e-02 9.95422030e-01 8.18149415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.219115933 meters Centerline goodness [0,1] 0.9996320147194112 Centerline is valid? [True, True] Translation: X:-29.64, Y:15.34, Z:0.07 [[ 6.40642239e-01 7.64763807e-01 -6.86574122e-02 -2.96376514e+01] [-7.62032986e-01 6.44226510e-01 6.54059025e-02 1.53365649e+01] [ 9.42509921e-02 1.04174290e-02 9.95493962e-01 6.62008072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.249115933 meters Centerline goodness [0,1] 0.9998172848529143 Centerline is valid? [True, True] Translation: X:-29.65, Y:15.35, Z:0.06 [[ 6.41408026e-01 7.64203826e-01 -6.77366796e-02 -2.96531329e+01] [-7.61512698e-01 6.44897498e-01 6.48508148e-02 1.53489228e+01] [ 9.32424559e-02 9.98650854e-03 9.95593348e-01 6.33898542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27911593299999 meters Centerline goodness [0,1] 0.9996460176991151 Centerline is valid? [True, True] Translation: X:-29.67, Y:15.36, Z:0.05 [[ 6.39498713e-01 7.65862837e-01 -6.70485748e-02 -2.96714872e+01] [-7.63205715e-01 6.42927468e-01 6.45081987e-02 1.53581010e+01] [ 9.25118025e-02 9.91894549e-03 9.95662182e-01 5.05596395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.30911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.67, Y:15.39, Z:0.08 [[ 6.38980899e-01 7.66401353e-01 -6.58207931e-02 -2.96723715e+01] [-7.63814895e-01 6.42290139e-01 6.36410446e-02 1.53863242e+01] [ 9.10506291e-02 9.60949036e-03 9.95799900e-01 8.09609229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33911593299999 meters Centerline goodness [0,1] 0.9992675334187877 Centerline is valid? [True, True] Translation: X:-29.69, Y:15.40, Z:0.09 [[ 6.37878042e-01 7.67379871e-01 -6.51132597e-02 -2.96858595e+01] [-7.64825875e-01 6.41123175e-01 6.32649643e-02 1.54013719e+01] [ 9.02938799e-02 9.44497421e-03 9.95870377e-01 9.47398843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.36911593299999 meters Centerline goodness [0,1] 0.9998144368157358 Centerline is valid? [True, True] Translation: X:-29.70, Y:15.41, Z:0.07 [[ 6.36554749e-01 7.68535627e-01 -6.44285697e-02 -2.97027236e+01] [-7.66010347e-01 6.39739570e-01 6.29398932e-02 1.54121058e+01] [ 8.95890558e-02 9.28826306e-03 9.95935505e-01 7.05583339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39911593299999 meters Centerline goodness [0,1] 0.9998153618906942 Centerline is valid? [True, True] Translation: X:-29.71, Y:15.43, Z:0.07 [[ 6.36072812e-01 7.69180995e-01 -6.14163987e-02 -2.97122762e+01] [-7.66862223e-01 6.38971311e-01 6.03157832e-02 1.54315077e+01] [ 8.56370709e-02 8.73268621e-03 9.96288127e-01 6.86544363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.42911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.71, Y:15.46, Z:0.12 [[ 6.31952091e-01 7.72569288e-01 -6.14267886e-02 -2.97133945e+01] [-7.70239550e-01 6.34866656e-01 6.06247934e-02 1.54599479e+01] [ 8.58346733e-02 9.00137708e-03 9.96268731e-01 1.20245668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45911593299999 meters Centerline goodness [0,1] 0.9992599444958372 Centerline is valid? [True, True] Translation: X:-29.74, Y:15.46, Z:0.08 [[ 6.36369652e-01 7.69110983e-01 -5.91773787e-02 -2.97366505e+01] [-7.66910570e-01 6.39064728e-01 5.86894555e-02 1.54643813e+01] [ 8.29568802e-02 8.03556884e-03 9.96520740e-01 7.87053606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.489115933 meters Centerline goodness [0,1] 0.9998126990073047 Centerline is valid? [True, True] Translation: X:-29.77, Y:15.46, Z:0.04 [[ 6.34773059e-01 7.70483146e-01 -5.84712360e-02 -2.97679991e+01] [-7.68317716e-01 6.37410950e-01 5.82680724e-02 1.54620681e+01] [ 8.21647738e-02 7.93748387e-03 9.96587149e-01 3.81206245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.519115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.77, Y:15.49, Z:0.07 [[ 6.32704009e-01 7.72332337e-01 -5.64659019e-02 -2.97700364e+01] [-7.70294064e-01 6.35172178e-01 5.65982258e-02 1.54876693e+01] [ 7.95782099e-02 7.68542466e-03 9.96798998e-01 7.04855895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.549115933 meters Centerline goodness [0,1] 0.9998204345483929 Centerline is valid? [True, True] Translation: X:-28.89, Y:16.30, Z:-1.95 [[ 8.24116308e-01 -5.64287350e-01 -4.91131169e-02 -2.88876344e+01] [-5.62844465e-01 -8.25557003e-01 4.07644930e-02 1.63041157e+01] [-6.35485653e-02 -5.95163752e-03 -9.97961000e-01 -1.94663045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.579115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.70, Y:15.42, Z:0.11 [[ 6.85494730e-01 7.25423896e-01 -6.21059292e-02 -2.97043527e+01] [-7.23534854e-01 6.88248757e-01 5.30185269e-02 1.54198692e+01] [ 8.12052349e-02 8.59188355e-03 9.96660368e-01 1.05125468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.609115933 meters Centerline goodness [0,1] 0.9996280453784638 Centerline is valid? [True, True] Translation: X:-29.73, Y:15.43, Z:0.08 [[ 6.85650711e-01 7.25455625e-01 -5.99769812e-02 -2.97255101e+01] [-7.23675183e-01 6.88220889e-01 5.14415954e-02 1.54260708e+01] [ 7.85960061e-02 8.13288637e-03 9.96873374e-01 8.20969344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63911593299999 meters Centerline goodness [0,1] 0.999626307922272 Centerline is valid? [True, True] Translation: X:-29.74, Y:15.44, Z:0.09 [[ 6.83578476e-01 7.27427538e-01 -5.97464955e-02 -2.97406292e+01] [-7.25649024e-01 6.86135990e-01 5.14868573e-02 1.54405265e+01] [ 7.84471787e-02 8.15967870e-03 9.96884878e-01 9.24439850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.66911593299999 meters Centerline goodness [0,1] 0.9996336325334311 Centerline is valid? [True, True] Translation: X:-29.77, Y:15.43, Z:0.04 [[ 6.83894705e-01 7.27179195e-01 -5.91477065e-02 -2.97738083e+01] [-7.25416302e-01 6.86402432e-01 5.12141642e-02 1.54323893e+01] [ 7.78410043e-02 7.88161480e-03 9.96934631e-01 3.84716959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69911593299999 meters Centerline goodness [0,1] 0.9996186844613918 Centerline is valid? [True, True] Translation: X:-29.78, Y:15.45, Z:0.07 [[ 6.79629647e-01 7.31072299e-01 -6.03061902e-02 -2.97823728e+01] [-7.29232174e-01 6.82249539e-01 5.24976446e-02 1.54543814e+01] [ 7.95234441e-02 8.29825857e-03 9.96798455e-01 6.77851021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.72911593299999 meters Centerline goodness [0,1] 0.99962469506474 Centerline is valid? [True, True] Translation: X:-29.80, Y:15.46, Z:0.04 [[ 6.80423896e-01 7.30414132e-01 -5.93170953e-02 -2.98030799e+01] [-7.28610736e-01 6.82958793e-01 5.19006943e-02 1.54610202e+01] [ 7.84201324e-02 7.90459987e-03 9.96889061e-01 3.93956214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.82, Y:15.48, Z:0.07 [[ 6.76343133e-01 7.34076798e-01 -6.07554152e-02 -2.98172602e+01] [-7.32178865e-01 6.79015000e-01 5.34110418e-02 1.54768676e+01] [ 8.04616449e-02 8.35963957e-03 9.96722650e-01 6.60170750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.78911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.83, Y:15.49, Z:0.06 [[ 6.75467301e-01 7.34914194e-01 -6.03742740e-02 -2.98315481e+01] [-7.33021313e-01 6.78110289e-01 5.33496934e-02 1.54912669e+01] [ 8.01478633e-02 8.21965627e-03 9.96749094e-01 6.01745397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.85, Y:15.50, Z:0.07 [[ 6.70939542e-01 7.39066701e-01 -6.01709492e-02 -2.98476715e+01] [-7.37182206e-01 6.73578487e-01 5.34267493e-02 1.55031813e+01] [ 8.00157883e-02 8.51083438e-03 9.96757262e-01 7.05704197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.849115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.87, Y:15.51, Z:0.06 [[ 6.81388415e-01 7.29856081e-01 -5.49538842e-02 -2.98676283e+01] [-7.28236981e-01 6.83568902e-01 4.90352546e-02 1.55107403e+01] [ 7.33534451e-02 6.60739631e-03 9.97284119e-01 5.98286384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.879115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.90, Y:15.51, Z:0.03 [[ 6.75633267e-01 7.34997726e-01 -5.74284810e-02 -2.98956687e+01] [-7.33226724e-01 6.78030228e-01 5.15129180e-02 1.55086247e+01] [ 7.68001237e-02 7.30425594e-03 9.97019753e-01 3.31756826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.909115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.90, Y:15.53, Z:0.06 [[ 6.70382945e-01 7.39916719e-01 -5.57669734e-02 -2.99011632e+01] [-7.38240176e-01 6.72657478e-01 5.03324915e-02 1.55299125e+01] [ 7.47539237e-02 7.42737634e-03 9.97174350e-01 6.08145706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.939115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.92, Y:15.54, Z:0.06 [[ 6.76480511e-01 7.34481227e-01 -5.39578093e-02 -2.99184775e+01] [-7.32876317e-01 6.78598550e-01 4.89521348e-02 1.55408850e+01] [ 7.25701152e-02 6.42923537e-03 9.97342591e-01 6.15272434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.969115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.94, Y:15.55, Z:0.04 [[ 6.72974196e-01 7.37722816e-01 -5.35796487e-02 -2.99392434e+01] [-7.36130814e-01 6.75071987e-01 4.88798254e-02 1.55464621e+01] [ 7.22298823e-02 6.54676924e-03 9.97366524e-01 3.93510743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.999115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.95, Y:15.56, Z:0.06 [[ 6.72418782e-01 7.38292933e-01 -5.26927511e-02 -2.99509262e+01] [-7.36737973e-01 6.74450435e-01 4.83090960e-02 1.55641734e+01] [ 7.12049131e-02 6.33680711e-03 9.97441580e-01 5.71877034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.02911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.96, Y:15.58, Z:0.07 [[ 6.70987675e-01 7.39838450e-01 -4.91386556e-02 -2.99600312e+01] [-7.38475822e-01 6.72758584e-01 4.52697175e-02 1.55843103e+01] [ 6.65507300e-02 5.91228658e-03 9.97765526e-01 7.49535578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.99, Y:15.58, Z:0.05 [[ 6.66100880e-01 7.44031355e-01 -5.22203119e-02 -2.99907370e+01] [-7.42486883e-01 6.68112509e-01 4.83622179e-02 1.55810156e+01] [ 7.08720502e-02 6.55878073e-03 9.97463851e-01 4.80996393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.08911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.01, Y:15.59, Z:0.02 [[ 6.67191816e-01 7.43227323e-01 -4.96812576e-02 -3.00128117e+01] [-7.41810328e-01 6.69012170e-01 4.62617981e-02 1.55855878e+01] [ 6.76203983e-02 5.98857687e-03 9.97693149e-01 1.51100867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.02, Y:15.60, Z:0.05 [[ 6.61426529e-01 7.48277578e-01 -5.09471543e-02 -3.00185646e+01] [-7.46778912e-01 6.63354417e-01 4.77721038e-02 1.56035091e+01] [ 6.95428140e-02 6.44852365e-03 9.97558125e-01 4.71376588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.14911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.04, Y:15.61, Z:0.02 [[ 6.52133667e-01 7.56225394e-01 -5.33369908e-02 -3.00436693e+01] [-7.54588096e-01 6.54268779e-01 5.02908589e-02 1.56055322e+01] [ 7.29279524e-02 7.45109610e-03 9.97309378e-01 1.89959505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.06, Y:15.61, Z:0.02 [[ 6.59849094e-01 7.49764995e-01 -4.95138951e-02 -3.00625720e+01] [-7.48317592e-01 6.61676394e-01 4.69588199e-02 1.56144756e+01] [ 6.79702549e-02 6.06638400e-03 9.97668905e-01 2.30572906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.20911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.07, Y:15.64, Z:0.05 [[ 6.55808519e-01 7.53471299e-01 -4.68635140e-02 -3.00685057e+01] [-7.52169881e-01 6.57453807e-01 4.46649921e-02 1.56381133e+01] [ 6.44643853e-02 5.95764149e-03 9.97902224e-01 5.21129785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.239115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.09, Y:15.65, Z:0.04 [[ 6.56113105e-01 7.53237728e-01 -4.63521093e-02 -3.00892392e+01] [-7.51949177e-01 6.57723530e-01 4.44093737e-02 1.56459243e+01] [ 6.39376888e-02 5.71685839e-03 9.97937518e-01 3.50801334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.269115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.10, Y:15.66, Z:0.05 [[ 6.52137143e-01 7.56856365e-01 -4.34233837e-02 -3.01014746e+01] [-7.55721329e-01 6.53557652e-01 4.18051301e-02 1.56631931e+01] [ 6.00201635e-02 5.55329917e-03 9.98181717e-01 5.12405664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.299115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.11, Y:15.68, Z:0.07 [[ 6.45080175e-01 7.62685561e-01 -4.67151242e-02 -3.01143239e+01] [-7.61370199e-01 6.46737873e-01 4.52276798e-02 1.56776114e+01] [ 6.47069384e-02 6.39202379e-03 9.97883838e-01 6.97535429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.329115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.13, Y:15.69, Z:0.06 [[ 6.48551906e-01 7.59942188e-01 -4.32237926e-02 -3.01315045e+01] [-7.58795038e-01 6.49967450e-01 4.20999208e-02 1.56862029e+01] [ 6.00875642e-02 5.49401552e-03 9.98177990e-01 5.87669750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.359115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.14, Y:15.70, Z:0.07 [[ 6.47487880e-01 7.60959822e-01 -4.12261377e-02 -3.01439870e+01] [-7.59904737e-01 6.48778363e-01 4.03909144e-02 1.57023480e+01] [ 5.74824892e-02 5.17530978e-03 9.98333101e-01 7.07851323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.38911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.16, Y:15.71, Z:0.06 [[ 6.50827762e-01 7.58179113e-01 -3.98454155e-02 -3.01638665e+01] [-7.57176340e-01 6.52029961e-01 3.92545536e-02 1.57104102e+01] [ 5.57423873e-02 4.62205257e-03 9.98434486e-01 5.69582894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.18, Y:15.72, Z:0.05 [[ 6.48562078e-01 7.60148284e-01 -3.92659699e-02 -3.01847229e+01] [-7.59165424e-01 6.49733546e-01 3.89124520e-02 1.57161724e+01] [ 5.50916515e-02 4.57222597e-03 9.98470833e-01 5.47221447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.44911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.21, Y:15.72, Z:0.04 [[ 6.45407473e-01 7.62895392e-01 -3.79448857e-02 -3.02055283e+01] [-7.61970506e-01 6.46506270e-01 3.78231513e-02 1.57235450e+01] [ 5.33867144e-02 4.50153928e-03 9.98563766e-01 4.34538355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.22, Y:15.74, Z:0.04 [[ 6.43175484e-01 7.64783549e-01 -3.78341000e-02 -3.02191843e+01] [-7.63855458e-01 6.44271572e-01 3.79339073e-02 1.57374681e+01] [ 5.33866633e-02 4.50162460e-03 9.98563768e-01 4.32754404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.50911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.15, Y:16.68, Z:-1.90 [[ 8.12108392e-01 -5.82902971e-01 -2.65346346e-02 -2.91499350e+01] [-5.82509011e-01 -8.12539253e-01 2.15224033e-02 1.66794477e+01] [-3.41059050e-02 -2.02186056e-03 -9.99416179e-01 -1.90485283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.53911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.13, Y:15.60, Z:0.01 [[ 7.00189267e-01 7.12645371e-01 -4.32615917e-02 -3.01307048e+01] [-7.11704505e-01 7.01507169e-01 3.69376523e-02 1.55991583e+01] [ 5.66717636e-02 4.92612202e-03 9.98380711e-01 9.59020977e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.56911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.13, Y:15.63, Z:0.07 [[ 7.05510418e-01 7.07718989e-01 -3.72677028e-02 -3.01278964e+01] [-7.07006733e-01 7.06483856e-01 3.19693583e-02 1.56344606e+01] [ 4.89543523e-02 3.79380144e-03 9.98793812e-01 7.03442846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.599115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.16, Y:15.63, Z:0.04 [[ 6.99121611e-01 7.14002825e-01 -3.78013071e-02 -3.01565314e+01] [-7.13269875e-01 7.00130437e-01 3.26106791e-02 1.56305564e+01] [ 4.97499627e-02 4.16370309e-03 9.98753025e-01 3.80228950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.629115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.18, Y:15.64, Z:0.03 [[ 6.96375321e-01 7.16609402e-01 -3.91456006e-02 -3.01778903e+01] [-7.15816815e-01 6.97461070e-01 3.39756300e-02 1.56351913e+01] [ 5.16497884e-02 4.36128892e-03 9.98655736e-01 2.56031179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.659115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.19, Y:15.66, Z:0.06 [[ 6.96961597e-01 7.16264595e-01 -3.47787557e-02 -3.01861592e+01] [-7.15631596e-01 6.97818752e-01 3.03382461e-02 1.56563452e+01] [ 4.59994794e-02 3.74418398e-03 9.98934447e-01 5.64297278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.689115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.22, Y:15.65, Z:0.02 [[ 6.87335548e-01 7.25298491e-01 -3.88837240e-02 -3.02153258e+01] [-7.24510604e-01 6.88418373e-01 3.41251847e-02 1.56509871e+01] [ 5.15192149e-02 4.71621782e-03 9.98660867e-01 1.84637198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.719115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.23, Y:15.67, Z:0.03 [[ 6.87489170e-01 7.25388286e-01 -3.42122204e-02 -3.02268764e+01] [-7.24770643e-01 6.88328087e-01 3.01986643e-02 1.56685517e+01] [ 4.54549895e-02 4.03475833e-03 9.98958240e-01 3.07801549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.749115933 meters Centerline goodness [0,1] 0.9998163115356355 Centerline is valid? [True, True] Translation: X:-30.25, Y:15.67, Z:0.01 [[ 6.82272152e-01 7.30197499e-01 -3.62811674e-02 -3.02536766e+01] [-7.29500088e-01 6.83221416e-01 3.22198421e-02 1.56664566e+01] [ 4.83149187e-02 4.48441376e-03 9.98822086e-01 5.54782933e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.27, Y:15.68, Z:0.02 [[ 6.81008901e-01 7.31425469e-01 -3.52655718e-02 -3.02676236e+01] [-7.30759658e-01 6.81907710e-01 3.14991576e-02 1.56810909e+01] [ 4.70871514e-02 4.31945056e-03 9.98881446e-01 1.60318310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.80911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.28, Y:15.69, Z:0.01 [[ 6.75858413e-01 7.36232766e-01 -3.43033494e-02 -3.02841065e+01] [-7.35598616e-01 6.76714250e-01 3.08626131e-02 1.56871987e+01] [ 4.59356323e-02 4.37473961e-03 9.98934822e-01 9.43546587e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83911593299999 meters Centerline goodness [0,1] 0.9998166147075005 Centerline is valid? [True, True] Translation: X:-30.30, Y:15.69, Z:0.01 [[ 6.76466358e-01 7.35769023e-01 -3.22057635e-02 -3.02970694e+01] [-7.35199066e-01 6.77221261e-01 2.92180884e-02 1.56933114e+01] [ 4.33081921e-02 3.91259338e-03 9.99054099e-01 6.06506219e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.86911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.29, Y:15.73, Z:0.08 [[ 6.72870310e-01 7.39091426e-01 -3.14548954e-02 -3.02915344e+01] [-7.38543184e-01 6.73593833e-01 2.87282759e-02 1.57279092e+01] [ 4.24206459e-02 3.90039468e-03 9.99092226e-01 7.84852972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.33, Y:15.72, Z:0.03 [[ 6.71447784e-01 7.40372961e-01 -3.17136040e-02 -3.03261255e+01] [-7.39809787e-01 6.72184997e-01 2.91343238e-02 1.57160058e+01] [ 4.28876744e-02 3.89985751e-03 9.99072289e-01 3.05770288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.92911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.34, Y:15.73, Z:0.02 [[ 6.68339519e-01 7.43226441e-01 -3.06062733e-02 -3.03414654e+01] [-7.42698002e-01 6.69028994e-01 2.82821972e-02 1.57278034e+01] [ 4.14965610e-02 3.82910797e-03 9.99131309e-01 1.94634468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.36, Y:15.73, Z:0.02 [[ 6.62642833e-01 7.48300225e-01 -3.08423173e-02 -3.03604604e+01] [-7.47761626e-01 6.63347782e-01 2.86752665e-02 1.57342847e+01] [ 4.19168911e-02 4.06124151e-03 9.99112847e-01 1.74619471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.989115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.35, Y:15.78, Z:0.12 [[ 6.59277273e-01 7.51329996e-01 -2.92696850e-02 -3.03469553e+01] [-7.50841333e-01 6.59915000e-01 2.73767419e-02 1.57779878e+01] [ 3.98844716e-02 3.92802554e-03 9.99196577e-01 1.21065033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.019115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.40, Y:15.75, Z:0.01 [[ 6.62291762e-01 7.48698705e-01 -2.86333912e-02 -3.03992405e+01] [-7.48222455e-01 6.62900759e-01 2.69395694e-02 1.57471510e+01] [ 3.91507175e-02 3.58229137e-03 9.99226895e-01 6.93623367e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.049115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.41, Y:15.76, Z:0.02 [[ 6.63454827e-01 7.47764475e-01 -2.59996530e-02 -3.04108952e+01] [-7.47365929e-01 6.63956811e-01 2.46073457e-02 1.57630077e+01] [ 3.56631456e-02 3.10539248e-03 9.99359043e-01 2.16031352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.079115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.43, Y:15.77, Z:0.03 [[ 6.63260544e-01 7.47924618e-01 -2.63479839e-02 -3.04258750e+01] [-7.47509873e-01 6.63776650e-01 2.50908061e-02 1.57748088e+01] [ 3.62552080e-02 3.05363642e-03 9.99337898e-01 3.25130533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.109115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.45, Y:15.78, Z:0.01 [[ 6.50921010e-01 7.58515996e-01 -3.09083041e-02 -3.04500976e+01] [-7.57948757e-01 6.51641231e-01 2.96207257e-02 1.57769564e+01] [ 4.26089195e-02 4.14615802e-03 9.99083224e-01 5.01706777e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.47, Y:15.78, Z:-0.02 [[ 6.46716616e-01 7.62125060e-01 -3.03810948e-02 -3.04741154e+01] [-7.61573441e-01 6.47416257e-01 2.92930615e-02 1.57787022e+01] [ 4.19941909e-02 4.19312533e-03 9.99109056e-01 -1.58810709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.16911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.49, Y:15.79, Z:-0.02 [[ 6.45199879e-01 7.63469200e-01 -2.88426371e-02 -3.04926032e+01] [-7.62966528e-01 6.45832143e-01 2.79807044e-02 1.57866534e+01] [ 3.99899081e-02 3.95281963e-03 9.99192265e-01 -2.20933569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.51, Y:15.80, Z:-0.01 [[ 6.44211926e-01 7.64298225e-01 -2.89692466e-02 -3.05068531e+01] [-7.63784664e-01 6.44851125e-01 2.82845170e-02 1.57984609e+01] [ 4.02986574e-02 3.90504310e-03 9.99180048e-01 -1.22257905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.22911593299999 meters Centerline goodness [0,1] 0.9994383074330649 Centerline is valid? [True, True] Translation: X:-30.50, Y:15.83, Z:0.06 [[ 6.40802583e-01 7.67106408e-01 -3.03283495e-02 -3.05005879e+01] [-7.66538582e-01 6.41506449e-01 2.98006393e-02 1.58311152e+01] [ 4.23160932e-02 4.15152337e-03 9.99095648e-01 6.18807001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25911593299999 meters Centerline goodness [0,1] 0.9996256083863722 Centerline is valid? [True, True] Translation: X:-30.54, Y:15.82, Z:-0.01 [[ 6.43644812e-01 7.64738290e-01 -2.99449997e-02 -3.05369263e+01] [-7.64174628e-01 6.44329646e-01 2.96048307e-02 1.58186594e+01] [ 4.19343986e-02 3.82821330e-03 9.99113032e-01 -6.40704039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.28911593299999 meters Centerline goodness [0,1] 0.9996343692870201 Centerline is valid? [True, True] Translation: X:-30.55, Y:15.83, Z:-0.00 [[ 6.34906642e-01 7.71960446e-01 -3.11548717e-02 -3.05527817e+01] [-7.71350274e-01 6.35655663e-01 3.09940768e-02 1.58289201e+01] [ 4.37299720e-02 4.35297358e-03 9.99033904e-01 -2.78740492e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.57, Y:15.84, Z:0.01 [[ 6.34070575e-01 7.72651083e-01 -3.10613899e-02 -3.05669606e+01] [-7.72036867e-01 6.34816608e-01 3.10958339e-02 1.58398810e+01] [ 4.37445159e-02 4.26358490e-03 9.99033653e-01 8.03704183e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.349115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.32, Y:17.01, Z:-1.90 [[ 8.23859798e-01 -5.66443201e-01 -1.99281981e-02 -2.93150242e+01] [-5.66223634e-01 -8.24098834e-01 1.58716226e-02 1.70084671e+01] [-2.54131775e-02 -1.79217504e-03 -9.99675427e-01 -1.89677599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.379115933 meters Centerline goodness [0,1] 0.9994433104472072 Centerline is valid? [True, True] Translation: X:-30.46, Y:15.73, Z:0.07 [[ 6.93630597e-01 7.19630189e-01 -3.17645478e-02 -3.04598573e+01] [-7.19130768e-01 6.94345787e-01 2.71084242e-02 1.57317834e+01] [ 4.15636204e-02 4.03963126e-03 9.99127693e-01 7.14127968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.409115933 meters Centerline goodness [0,1] 0.999623848034606 Centerline is valid? [True, True] Translation: X:-30.49, Y:15.72, Z:0.02 [[ 6.98926378e-01 7.14592587e-01 -2.93147249e-02 -3.04907774e+01] [-7.14157554e-01 6.99532836e-01 2.51554851e-02 1.57236012e+01] [ 3.84825359e-02 3.35350016e-03 9.99253646e-01 1.66055045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.439115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.50, Y:15.74, Z:0.03 [[ 6.92328831e-01 7.20854811e-01 -3.23903001e-02 -3.05045149e+01] [-7.20322749e-01 6.93074760e-01 2.79734480e-02 1.57370518e+01] [ 4.26136941e-02 3.96464548e-03 9.99083758e-01 3.04024251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.469115933 meters Centerline goodness [0,1] 0.9998086124401914 Centerline is valid? [True, True] Translation: X:-30.52, Y:15.75, Z:0.06 [[ 6.96888464e-01 7.16479390e-01 -3.16820436e-02 -3.05152306e+01] [-7.15958704e-01 6.97599502e-01 2.75330493e-02 1.57543136e+01] [ 4.18282401e-02 3.49557044e-03 9.99118701e-01 6.02960324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.499115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.54, Y:15.76, Z:0.04 [[ 6.93665221e-01 7.19536565e-01 -3.31012520e-02 -3.05369191e+01] [-7.18963574e-01 6.94444607e-01 2.89493957e-02 1.57571774e+01] [ 4.38171347e-02 3.71740549e-03 9.99032652e-01 3.57782909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.52911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.55, Y:15.77, Z:0.06 [[ 6.86566052e-01 7.26019895e-01 -3.90149776e-02 -3.05468776e+01] [-7.25222198e-01 6.87657555e-01 3.43489659e-02 1.57733548e+01] [ 5.17669767e-02 4.71169390e-03 9.98648076e-01 5.89894686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.57, Y:15.78, Z:0.06 [[ 6.92748695e-01 7.20137590e-01 -3.87440004e-02 -3.05661296e+01] [-7.19330603e-01 6.93819232e-01 3.43271987e-02 1.57794846e+01] [ 5.16016387e-02 4.08962314e-03 9.98659374e-01 6.12112488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.58911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.58, Y:15.79, Z:0.07 [[ 6.90690696e-01 7.22031169e-01 -4.02163436e-02 -3.05800264e+01] [-7.21152622e-01 6.91847568e-01 3.58585999e-02 1.57925440e+01] [ 5.37146063e-02 4.23492028e-03 9.98547348e-01 7.20140431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.60, Y:15.80, Z:0.08 [[ 6.90449788e-01 7.22088553e-01 -4.32112430e-02 -3.05980939e+01] [-7.21060261e-01 6.91786720e-01 3.87715582e-02 1.57999642e+01] [ 5.78894624e-02 4.38809602e-03 9.98313355e-01 7.93740446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.64911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.61, Y:15.81, Z:0.08 [[ 6.89002601e-01 7.23355640e-01 -4.50780839e-02 -3.06140687e+01] [-7.22224000e-01 6.90460878e-01 4.06972950e-02 1.58103240e+01] [ 6.05632713e-02 4.51593197e-03 9.98154145e-01 7.57025340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.63, Y:15.82, Z:0.08 [[ 6.90008890e-01 7.22283754e-01 -4.68391988e-02 -3.06297192e+01] [-7.21042040e-01 6.91582808e-01 4.25628430e-02 1.58196211e+01] [ 6.31356347e-02 4.40429142e-03 9.97995237e-01 7.60638840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.70911593299999 meters Centerline goodness [0,1] 0.9998088319632957 Centerline is valid? [True, True] Translation: X:-30.65, Y:15.83, Z:0.08 [[ 6.85998415e-01 7.25911314e-01 -4.95876758e-02 -3.06460540e+01] [-7.24509454e-01 6.87771440e-01 4.53486274e-02 1.58283071e+01] [ 6.70240689e-02 4.81765333e-03 9.97739728e-01 8.00960967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.739115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.65, Y:15.85, Z:0.10 [[ 6.87603092e-01 7.24491046e-01 -4.81114561e-02 -3.06536897e+01] [-7.23148314e-01 6.89270608e-01 4.43006108e-02 1.58464860e+01] [ 6.52572085e-02 4.33048145e-03 9.97859080e-01 9.74206069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.769115933 meters Centerline goodness [0,1] 0.9998052580331062 Centerline is valid? [True, True] Translation: X:-30.67, Y:15.85, Z:0.08 [[ 6.81570307e-01 7.29868134e-01 -5.24826024e-02 -3.06743649e+01] [-7.28263294e-01 6.83569163e-01 4.86392294e-02 1.58515116e+01] [ 7.13757122e-02 5.07009843e-03 9.97436615e-01 7.89856066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.799115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.69, Y:15.86, Z:0.09 [[ 6.83008264e-01 7.28568296e-01 -5.18454331e-02 -3.06875789e+01] [-7.26976788e-01 6.84957293e-01 4.83555273e-02 1.58639242e+01] [ 7.07422116e-02 4.66320164e-03 9.97483731e-01 8.70222887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.829115933 meters Centerline goodness [0,1] 0.9998079877112135 Centerline is valid? [True, True] Translation: X:-30.70, Y:15.88, Z:0.10 [[ 6.80966847e-01 7.30389593e-01 -5.30584240e-02 -3.06973921e+01] [-7.28703752e-01 6.83014353e-01 4.98220327e-02 1.58798488e+01] [ 7.26291593e-02 4.73672017e-03 9.97347767e-01 1.02653232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.859115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.71, Y:15.89, Z:0.09 [[ 6.74288252e-01 7.36393068e-01 -5.53227100e-02 -3.07123091e+01] [-7.34549543e-01 6.76532876e-01 5.23472592e-02 1.58884116e+01] [ 7.59757910e-02 5.34012945e-03 9.97095363e-01 9.12314293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.88911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.72, Y:15.91, Z:0.13 [[ 6.71674637e-01 7.38548209e-01 -5.83071613e-02 -3.07162979e+01] [-7.36478917e-01 6.74177071e-01 5.55345093e-02 1.59110775e+01] [ 8.03242636e-02 5.64087364e-03 9.96752825e-01 1.30881027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.74, Y:15.91, Z:0.09 [[ 6.61822303e-01 7.47273485e-01 -5.97794156e-02 -3.07388594e+01] [-7.45102215e-01 6.64483698e-01 5.73070985e-02 1.59123218e+01] [ 8.25465223e-02 6.61465911e-03 9.96565260e-01 9.19583460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.94911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.75, Y:15.93, Z:0.11 [[ 6.65197151e-01 7.44597477e-01 -5.55639099e-02 -3.07462338e+01] [-7.42686426e-01 6.67490192e-01 5.36070590e-02 1.59304003e+01] [ 7.70040457e-02 5.60729874e-03 9.97015012e-01 1.12076523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.76, Y:15.94, Z:0.10 [[ 6.63496668e-01 7.46154377e-01 -5.50074243e-02 -3.07617566e+01] [-7.44260262e-01 6.65750262e-01 5.34158388e-02 1.59387762e+01] [ 7.64776690e-02 5.49860888e-03 9.97056133e-01 9.98927104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.00911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.78, Y:15.94, Z:0.08 [[ 6.57408998e-01 7.51512414e-01 -5.51588704e-02 -3.07784810e+01] [-7.49594205e-01 6.59692921e-01 5.39794150e-02 1.59440619e+01] [ 7.69541168e-02 5.86021647e-03 9.97017413e-01 8.10199857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.79, Y:15.96, Z:0.08 [[ 6.55946306e-01 7.52737207e-01 -5.58671686e-02 -3.07894060e+01] [-7.50744871e-01 6.58295234e-01 5.50411097e-02 1.59576329e+01] [ 7.82085820e-02 5.83797767e-03 9.96919924e-01 7.66128535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.06911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.81, Y:15.96, Z:0.05 [[ 6.50481591e-01 7.57398131e-01 -5.67606491e-02 -3.08070832e+01] [-7.55329957e-01 6.52923319e-01 5.62831656e-02 1.59645352e+01] [ 7.96891158e-02 6.26185557e-03 9.96800097e-01 5.25056181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.099115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.82, Y:15.97, Z:0.03 [[ 6.44962464e-01 7.62000370e-01 -5.81279333e-02 -3.08224022e+01] [-7.59816055e-01 6.47541629e-01 5.80465489e-02 1.59727345e+01] [ 8.18717483e-02 6.72869179e-03 9.96620159e-01 3.17468342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.129115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.83, Y:15.99, Z:0.03 [[ 6.45106917e-01 7.61963227e-01 -5.70009262e-02 -3.08325186e+01] [-7.59832460e-01 6.47589171e-01 5.72965835e-02 1.59875835e+01] [ 8.05710722e-02 6.34873168e-03 9.96728647e-01 3.13385249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.159115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.51, Y:17.24, Z:-1.92 [[ 8.13067255e-01 -5.80134746e-01 -4.86344980e-02 -2.95055168e+01] [-5.78743677e-01 -8.14506823e-01 4.04276030e-02 1.72411419e+01] [-6.30665877e-02 -4.72345199e-03 -9.97998144e-01 -1.92253426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.189115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.73, Y:15.87, Z:0.02 [[ 6.98435511e-01 7.12839980e-01 -6.36160416e-02 -3.07335379e+01] [-7.10789730e-01 7.01290222e-01 5.44975702e-02 1.58674297e+01] [ 8.34613547e-02 7.15459074e-03 9.96485331e-01 2.11714640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.219115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.74, Y:15.89, Z:0.04 [[ 6.95447053e-01 7.15782502e-01 -6.33151299e-02 -3.07402379e+01] [-7.13736417e-01 6.98285721e-01 5.45653632e-02 1.58889317e+01] [ 8.32689834e-02 7.24299286e-03 9.96500785e-01 4.33591638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.249115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.76, Y:15.89, Z:0.02 [[ 6.95917057e-01 7.15371122e-01 -6.27981443e-02 -3.07592407e+01] [-7.13327650e-01 6.98710739e-01 5.44698609e-02 1.58939634e+01] [ 8.28439034e-02 6.88914744e-03 9.96538723e-01 1.52969168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.78, Y:15.89, Z:-0.02 [[ 6.93739609e-01 7.17449640e-01 -6.31772813e-02 -3.07831269e+01] [-7.15360403e-01 6.96575859e-01 5.51503992e-02 1.58936633e+01] [ 8.35754030e-02 6.93450907e-03 9.96477328e-01 -2.46192775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.30911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.79, Y:15.92, Z:-0.01 [[ 6.89833200e-01 7.21266257e-01 -6.24911345e-02 -3.07880882e+01] [-7.19208468e-01 6.92621819e-01 5.49016793e-02 1.59159596e+01] [ 8.28814520e-02 7.07115203e-03 9.96534326e-01 -9.15599345e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33911593299999 meters Centerline goodness [0,1] 0.9998214285714285 Centerline is valid? [True, True] Translation: X:-30.80, Y:15.93, Z:-0.02 [[ 6.88560717e-01 7.22556579e-01 -6.16127426e-02 -3.08025285e+01] [-7.20533072e-01 6.91277506e-01 5.44747873e-02 1.59261004e+01] [ 8.19526189e-02 6.88482007e-03 9.96612446e-01 -2.11029661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.36911593299999 meters Centerline goodness [0,1] 0.9998214285714285 Centerline is valid? [True, True] Translation: X:-30.82, Y:15.94, Z:-0.02 [[ 6.86193063e-01 7.24820585e-01 -6.14345236e-02 -3.08151314e+01] [-7.22788265e-01 6.88903260e-01 5.46756157e-02 1.59376201e+01] [ 8.19524553e-02 6.88612450e-03 9.96612450e-01 -2.12464176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39911593299999 meters Centerline goodness [0,1] 0.9998229148220295 Centerline is valid? [True, True] Translation: X:-30.83, Y:15.94, Z:-0.04 [[ 6.77431934e-01 7.32855360e-01 -6.33166384e-02 -3.08331134e+01] [-7.30698643e-01 6.80339329e-01 5.67264619e-02 1.59436182e+01] [ 8.46490909e-02 7.83706492e-03 9.96380004e-01 -3.95324910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.42911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.84, Y:15.96, Z:-0.04 [[ 6.71103492e-01 7.38624548e-01 -6.36700920e-02 -3.08405784e+01] [-7.36423444e-01 6.74066552e-01 5.75742503e-02 1.59553129e+01] [ 8.54436340e-02 8.24986800e-03 9.96308850e-01 -4.49316454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45911593299999 meters Centerline goodness [0,1] 0.9998206921283844 Centerline is valid? [True, True] Translation: X:-30.86, Y:15.96, Z:-0.06 [[ 6.62577713e-01 7.46158797e-01 -6.50985695e-02 -3.08553781e+01] [-7.43853123e-01 6.65705537e-01 5.93183724e-02 1.59643282e+01] [ 8.75974036e-02 9.12074273e-03 9.96114204e-01 -5.73537481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.489115933 meters Centerline goodness [0,1] 0.99982149232417 Centerline is valid? [True, True] Translation: X:-30.86, Y:15.99, Z:-0.04 [[ 6.61577318e-01 7.47112457e-01 -6.43306293e-02 -3.08589220e+01] [-7.44831051e-01 6.64638419e-01 5.90125194e-02 1.59862198e+01] [ 8.68455961e-02 8.87410593e-03 9.96182259e-01 -3.71304167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.519115933 meters Centerline goodness [0,1] 0.9998229775181448 Centerline is valid? [True, True] Translation: X:-30.86, Y:16.01, Z:0.00 [[ 6.59679580e-01 7.48903073e-01 -6.29844298e-02 -3.08633248e+01] [-7.46692622e-01 6.62622816e-01 5.81475043e-02 1.60074679e+01] [ 8.52817649e-02 8.67128780e-03 9.96319140e-01 3.51014162e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.549115933 meters Centerline goodness [0,1] 0.9996375498368975 Centerline is valid? [True, True] Translation: X:-30.88, Y:16.01, Z:-0.05 [[ 6.50403097e-01 7.56950610e-01 -6.32580856e-02 -3.08836743e+01] [-7.54724926e-01 6.53402855e-01 5.87792113e-02 1.60093303e+01] [ 8.58259736e-02 9.51227290e-03 9.96264733e-01 -5.43977996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.579115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.89, Y:16.03, Z:-0.03 [[ 6.47767330e-01 7.59301752e-01 -6.21154963e-02 -3.08921908e+01] [-7.57135232e-01 6.50670735e-01 5.80847182e-02 1.60261864e+01] [ 8.45205639e-02 9.40444788e-03 9.96377354e-01 -3.03243206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.609115933 meters Centerline goodness [0,1] 0.9993037423846823 Centerline is valid? [True, True] Translation: X:-30.91, Y:16.04, Z:-0.04 [[ 6.51748884e-01 7.56078633e-01 -5.97368576e-02 -3.09058926e+01] [-7.54032888e-01 6.54426797e-01 5.62136203e-02 1.60370785e+01] [ 8.15953176e-02 8.40639097e-03 9.96630090e-01 -3.87204608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63911593299999 meters Centerline goodness [0,1] 0.9985947655014931 Centerline is valid? [True, True] Translation: X:-30.92, Y:16.05, Z:-0.04 [[ 6.46254129e-01 7.60616108e-01 -6.17959263e-02 -3.09189516e+01] [-7.58416158e-01 6.49138800e-01 5.85128207e-02 1.60489414e+01] [ 8.46199274e-02 9.05287703e-03 9.96372176e-01 -3.91741044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.66911593299999 meters Centerline goodness [0,1] 0.999475799405906 Centerline is valid? [True, True] Translation: X:-30.93, Y:16.06, Z:-0.05 [[ 6.43781105e-01 7.62761020e-01 -6.11679353e-02 -3.09333104e+01] [-7.60584689e-01 6.46617771e-01 5.82785556e-02 1.60590832e+01] [ 8.40048844e-02 9.00476210e-03 9.96424655e-01 -5.24256611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69911593299999 meters Centerline goodness [0,1] 0.9996524761077324 Centerline is valid? [True, True] Translation: X:-30.93, Y:16.09, Z:0.01 [[ 6.44159380e-01 7.62726105e-01 -5.75115873e-02 -3.09307903e+01] [-7.60771658e-01 6.46669562e-01 5.51811769e-02 1.60868772e+01] [ 7.92791171e-02 8.20771292e-03 9.96818667e-01 1.21431802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.72911593299999 meters Centerline goodness [0,1] 0.9984082065794128 Centerline is valid? [True, True] Translation: X:-30.96, Y:16.08, Z:-0.07 [[ 6.46001231e-01 7.61207557e-01 -5.69689728e-02 -3.09595655e+01] [-7.59255886e-01 6.48462466e-01 5.50175325e-02 1.60806052e+01] [ 7.88220021e-02 7.71263423e-03 9.96858870e-01 -6.68077171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75911593299999 meters Centerline goodness [0,1] 0.9980506822612085 Centerline is valid? [True, True] Translation: X:-30.97, Y:16.09, Z:-0.05 [[ 6.47237273e-01 7.60367222e-01 -5.40888222e-02 -3.09714108e+01] [-7.58578992e-01 6.49455731e-01 5.25848439e-02 1.60937779e+01] [ 7.51120872e-02 6.99577327e-03 9.97150557e-01 -5.39231075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.78911593299999 meters Centerline goodness [0,1] 0.9996415128159168 Centerline is valid? [True, True] Translation: X:-31.00, Y:16.09, Z:-0.14 [[ 6.48569953e-01 7.59283814e-01 -5.33395348e-02 -3.10030431e+01] [-7.57515644e-01 6.50726661e-01 5.22002099e-02 1.60850058e+01] [ 7.43442318e-02 6.55004434e-03 9.97211127e-01 -1.41422954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.81911593299999 meters Centerline goodness [0,1] 0.9992887624466572 Centerline is valid? [True, True] Translation: X:-31.01, Y:16.10, Z:-0.10 [[ 6.45779156e-01 7.61826710e-01 -5.08856136e-02 -3.10094607e+01] [-7.60202372e-01 6.47750086e-01 5.01216588e-02 1.61037018e+01] [ 7.11451790e-02 6.31584167e-03 9.97445975e-01 -1.04457530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.849115933 meters Centerline goodness [0,1] 0.9992950299612267 Centerline is valid? [True, True] Translation: X:-31.03, Y:16.11, Z:-0.15 [[ 6.43274690e-01 7.63813235e-01 -5.27921908e-02 -3.10272968e+01] [-7.62045015e-01 6.45404072e-01 5.23543546e-02 1.61089025e+01] [ 7.40612439e-02 6.55179459e-03 9.97232173e-01 -1.45191006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.879115933 meters Centerline goodness [0,1] 0.9905574723079716 Centerline is valid? [True, True] Translation: X:-31.04, Y:16.11, Z:-0.17 [[ 6.41016585e-01 7.65564960e-01 -5.48455053e-02 -3.10439070e+01] [-7.63614801e-01 6.43324549e-01 5.50087261e-02 1.61058690e+01] [ 7.73962131e-02 6.61933386e-03 9.96978440e-01 -1.67432592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.909115933 meters Centerline goodness [0,1] 0.9736794986571172 Centerline is valid? [True, True] Translation: X:-29.61, Y:17.39, Z:-1.70 [[ 8.09697159e-01 -5.84852385e-01 -4.83549151e-02 -2.96120225e+01] [-5.83489727e-01 -8.11128465e-01 4.01291789e-02 1.73928912e+01] [-6.26916941e-02 -4.27788598e-03 -9.98023773e-01 -1.70182187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.939115933 meters Centerline goodness [0,1] 0.9607637064284463 Centerline is valid? [True, True] Translation: X:-30.91, Y:15.93, Z:-0.23 [[ 7.04225717e-01 7.06665828e-01 -6.84802670e-02 -3.09060546e+01] [-7.04267909e-01 7.07513098e-01 5.85826617e-02 1.59322291e+01] [ 8.98490510e-02 6.97303750e-03 9.95930984e-01 -2.30031079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.969115933 meters Centerline goodness [0,1] 0.9499912572127994 Centerline is valid? [True, False] Translation: X:-30.07, Y:15.61, Z:-0.45 [[ 8.68916712e-01 -4.83292240e-01 1.06828635e-01 -3.00681102e+01] [ 4.94856800e-01 8.43891045e-01 -2.07279163e-01 1.56071191e+01] [ 1.00246829e-02 2.32973206e-01 9.72431484e-01 -4.47421039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.999115933 meters Centerline goodness [0,1] 0.9406320935917584 Centerline is valid? [False, False] Translation: X:-29.91, Y:15.62, Z:-0.47 [[ 0.97808994 -0.17103895 -0.11868335 -29.906312 ] [ 0.12897709 0.94535153 -0.2994585 15.62143286] [ 0.16341656 0.27758992 0.94669893 -0.47081205] [ 0. 0. 0. 1. ]] SLAMing on 74.02911593299999 meters Centerline goodness [0,1] 0.9187235543018336 Centerline is valid? [False, False] Translation: X:-29.80, Y:15.62, Z:-0.49 [[ 0.97583025 -0.10320798 -0.1926225 -29.795238 ] [ 0.03511079 0.94404242 -0.32794992 15.62373376] [ 0.21569086 0.31326032 0.92484887 -0.48551755] [ 0. 0. 0. 1. ]] SLAMing on 74.05911593299999 meters Centerline goodness [0,1] 0.9188455008488965 Centerline is valid? [False, False] Translation: X:-29.73, Y:15.64, Z:-0.47 [[ 9.75047854e-01 -6.57312054e-02 -2.12040305e-01 -2.97254196e+01] [-6.06723521e-03 9.46911701e-01 -3.21436494e-01 1.56382747e+01] [ 2.21911854e-01 3.14702462e-01 9.22885415e-01 -4.66312685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.08911593299999 meters Centerline goodness [0,1] 0.9035803497085761 Centerline is valid? [False, False] Translation: X:-29.69, Y:15.66, Z:-0.42 [[ 9.80275684e-01 -4.39263343e-02 -1.92691618e-01 -2.96888986e+01] [-1.43652175e-02 9.56572064e-01 -2.91141764e-01 1.56565457e+01] [ 1.97112209e-01 2.88167249e-01 9.37073323e-01 -4.22332435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11911593299999 meters Centerline goodness [0,1] 0.8954493557331593 Centerline is valid? [False, False] Translation: X:-29.69, Y:15.68, Z:-0.37 [[ 9.85170190e-01 -2.13744654e-02 -1.70243440e-01 -2.96867331e+01] [-2.30232646e-02 9.66769207e-01 -2.54611918e-01 1.56778263e+01] [ 1.70028310e-01 2.54755631e-01 9.51940094e-01 -3.74945712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.14911593299999 meters Centerline goodness [0,1] 0.8818699731903485 Centerline is valid? [False, False] Translation: X:-29.69, Y:15.68, Z:-0.37 [[ 9.86503192e-01 -1.88814867e-02 -1.62649753e-01 -2.96940108e+01] [-2.28763836e-02 9.67694329e-01 -2.51086352e-01 1.56767300e+01] [ 1.62136127e-01 2.51418326e-01 9.54201604e-01 -3.69222482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17911593299999 meters Centerline goodness [0,1] 0.8692908154791563 Centerline is valid? [False, False] Translation: X:-29.70, Y:15.68, Z:-0.36 [[ 9.86721456e-01 -2.88253410e-02 -1.59843258e-01 -2.97035081e+01] [-1.14116979e-02 9.69390154e-01 -2.45260071e-01 1.56791405e+01] [ 1.62020186e-01 2.43827458e-01 9.56189118e-01 -3.62775648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.20911593299999 meters Centerline goodness [0,1] 0.8609427609427609 Centerline is valid? [False, False] Translation: X:-29.71, Y:15.68, Z:-0.35 [[ 9.86667308e-01 -4.21884636e-02 -1.57187015e-01 -2.97051934e+01] [ 3.51107110e-03 9.71110670e-01 -2.38603729e-01 1.56809873e+01] [ 1.62712312e-01 2.34870604e-01 9.58311276e-01 -3.54329913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.239115933 meters Centerline goodness [0,1] 0.8693510023785254 Centerline is valid? [False, False] Translation: X:-29.70, Y:15.69, Z:-0.35 [[ 9.86613873e-01 -5.53335609e-02 -1.53399031e-01 -2.97016095e+01] [ 1.84691880e-02 9.72535286e-01 -2.32021565e-01 1.56877425e+01] [ 1.62024550e-01 2.26082540e-01 9.60538771e-01 -3.47050689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.269115933 meters Centerline goodness [0,1] 0.8755186721991701 Centerline is valid? [False, False] Translation: X:-29.71, Y:15.69, Z:-0.34 [[ 9.86297748e-01 -5.14478325e-02 -1.56747801e-01 -2.97050010e+01] [ 1.49033096e-02 9.74031488e-01 -2.25921563e-01 1.56909012e+01] [ 1.64300469e-01 2.20489868e-01 9.61451805e-01 -3.38339345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.299115933 meters Centerline goodness [0,1] 0.8669208109513082 Centerline is valid? [False, False] Translation: X:-29.70, Y:15.71, Z:-0.33 [[ 9.85921316e-01 -5.53173043e-02 -1.57794661e-01 -2.96956414e+01] [ 1.87250950e-02 9.74282064e-01 -2.24552510e-01 1.57056527e+01] [ 1.66158148e-01 2.18436386e-01 9.61601277e-01 -3.29712431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.329115933 meters Centerline goodness [0,1] 0.8706764355086045 Centerline is valid? [False, False] Translation: X:-29.69, Y:15.72, Z:-0.32 [[ 9.86148289e-01 -5.36653854e-02 -1.56944507e-01 -2.96930702e+01] [ 1.82967233e-02 9.75633844e-01 -2.18640873e-01 1.57154145e+01] [ 1.64853819e-01 2.12740753e-01 9.63101547e-01 -3.19386508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.359115933 meters Centerline goodness [0,1] 0.8604095563139932 Centerline is valid? [False, False] Translation: X:-29.70, Y:15.72, Z:-0.31 [[ 9.86990598e-01 -4.77887146e-02 -1.53511555e-01 -2.96961179e+01] [ 1.45118758e-02 9.77386725e-01 -2.10961125e-01 1.57217677e+01] [ 1.60121717e-01 2.05988906e-01 9.65365012e-01 -3.11905030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.38911593299999 meters Centerline goodness [0,1] 0.8632435180477885 Centerline is valid? [False, False] Translation: X:-29.70, Y:15.73, Z:-0.31 [[ 9.87467986e-01 -4.16479505e-02 -1.52224914e-01 -2.97008508e+01] [ 9.67616136e-03 9.78713581e-01 -2.05002680e-01 1.57257575e+01] [ 1.57522532e-01 2.00960630e-01 9.66851321e-01 -3.05787827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41911593299999 meters Centerline goodness [0,1] 0.8619557705597789 Centerline is valid? [False, False] Translation: X:-29.71, Y:15.73, Z:-0.30 [[ 9.87226095e-01 -4.49381333e-02 -1.52856798e-01 -2.97056496e+01] [ 1.27936188e-02 9.78660098e-01 -2.05087140e-01 1.57271326e+01] [ 1.58811082e-01 2.00511785e-01 9.66733709e-01 -2.97965545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.44911593299999 meters Centerline goodness [0,1] 0.856725648514001 Centerline is valid? [False, False] Translation: X:-29.71, Y:15.73, Z:-0.30 [[ 9.86944312e-01 -4.30058911e-02 -1.55214105e-01 -2.97143934e+01] [ 1.04369354e-02 9.78743843e-01 -2.04820800e-01 1.57289772e+01] [ 1.60723351e-01 2.00526764e-01 9.66414519e-01 -2.95091324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47911593299999 meters Centerline goodness [0,1] 0.8461935040384946 Centerline is valid? [False, False] Translation: X:-29.71, Y:15.74, Z:-0.29 [[ 0.98631524 -0.06169438 -0.15289227 -29.71021087] [ 0.03007998 0.97912052 -0.2010428 15.7362983 ] [ 0.16210317 0.19369258 0.96757726 -0.28739917] [ 0. 0. 0. 1. ]] SLAMing on 74.50911593299999 meters Centerline goodness [0,1] 0.8356911539117096 Centerline is valid? [False, False] Translation: X:-29.71, Y:15.74, Z:-0.28 [[ 9.85203956e-01 -5.91688328e-02 -1.60848418e-01 -2.97135493e+01] [ 2.69151128e-02 9.80285179e-01 -1.95746123e-01 1.57392393e+01] [ 1.69259390e-01 1.88520602e-01 9.67373372e-01 -2.79196699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53911593299999 meters Centerline goodness [0,1] 0.8348275862068966 Centerline is valid? [False, False] Translation: X:-29.72, Y:15.74, Z:-0.27 [[ 9.84553114e-01 -5.43329082e-02 -1.66442487e-01 -2.97194097e+01] [ 2.19396735e-02 9.81423867e-01 -1.90593397e-01 1.57418951e+01] [ 1.73706122e-01 1.83997629e-01 9.67455971e-01 -2.71918855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.56911593299999 meters Centerline goodness [0,1] 0.8253125535194382 Centerline is valid? [False, False] Translation: X:-29.72, Y:15.75, Z:-0.27 [[ 9.84093887e-01 -5.30438367e-02 -1.69545196e-01 -2.97226203e+01] [ 2.04332957e-02 9.81845529e-01 -1.88578464e-01 1.57466524e+01] [ 1.76470118e-01 1.82114546e-01 9.67312044e-01 -2.65493600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.599115933 meters Centerline goodness [0,1] 0.8283800034358357 Centerline is valid? [False, False] Translation: X:-29.73, Y:15.75, Z:-0.26 [[ 9.83916386e-01 -4.92577116e-02 -1.71703880e-01 -2.97290388e+01] [ 1.65430022e-02 9.82224414e-01 -1.86980027e-01 1.57507179e+01] [ 1.77861951e-01 1.81132215e-01 9.67241566e-01 -2.61939795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.629115933 meters Centerline goodness [0,1] 0.811246356934682 Centerline is valid? [False, False] Translation: X:-29.73, Y:15.75, Z:-0.26 [[ 9.83553022e-01 -4.86968313e-02 -1.73931226e-01 -2.97287747e+01] [ 1.60880622e-02 9.82761651e-01 -1.84175762e-01 1.57530892e+01] [ 1.79901715e-01 1.78348411e-01 9.67381630e-01 -2.55593380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.659115933 meters Centerline goodness [0,1] 0.8213669313082499 Centerline is valid? [False, False] Translation: X:-29.73, Y:15.76, Z:-0.25 [[ 9.83022886e-01 -4.59861805e-02 -1.77626789e-01 -2.97331099e+01] [ 1.31606404e-02 9.83261326e-01 -1.81724966e-01 1.57561338e+01] [ 1.83010389e-01 1.76302118e-01 9.67173594e-01 -2.51202859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.689115933 meters Centerline goodness [0,1] 0.8167912984364378 Centerline is valid? [False, False] Translation: X:-29.74, Y:15.76, Z:-0.24 [[ 9.82526468e-01 -4.46959473e-02 -1.80676541e-01 -2.97367466e+01] [ 1.19953340e-02 9.83925972e-01 -1.78173492e-01 1.57569409e+01] [ 1.85735974e-01 1.72892897e-01 9.67269453e-01 -2.44324273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.719115933 meters Centerline goodness [0,1] 0.7926891182941276 Centerline is valid? [False, False] Translation: X:-29.74, Y:15.76, Z:-0.24 [[ 9.82360541e-01 -4.45646982e-02 -1.81608800e-01 -2.97444187e+01] [ 1.18689694e-02 9.84088494e-01 -1.77282156e-01 1.57575314e+01] [ 1.86619656e-01 1.71999485e-01 9.67258642e-01 -2.37248780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.749115933 meters Centerline goodness [0,1] 0.8007017543859649 Centerline is valid? [False, False] Translation: X:-29.75, Y:15.76, Z:-0.24 [[ 9.81557373e-01 -3.94165393e-02 -1.87060046e-01 -2.97518027e+01] [ 6.01919982e-03 9.84399596e-01 -1.75844261e-01 1.57594678e+01] [ 1.91073006e-01 1.71475279e-01 9.66481937e-01 -2.36533982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77911593299999 meters Centerline goodness [0,1] 0.8070824524312896 Centerline is valid? [False, False] Translation: X:-29.75, Y:15.76, Z:-0.23 [[ 9.80746310e-01 -3.55300179e-02 -1.92026804e-01 -2.97510079e+01] [ 2.34967646e-03 9.85385707e-01 -1.70321718e-01 1.57604432e+01] [ 1.95272002e-01 1.66591196e-01 9.66496880e-01 -2.31224566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.80911593299999 meters Centerline goodness [0,1] 0.814328253634612 Centerline is valid? [False, False] Translation: X:-29.75, Y:15.76, Z:-0.23 [[ 9.80290914e-01 -3.75818891e-02 -1.93951862e-01 -2.97487056e+01] [ 3.70580044e-03 9.85064664e-01 -1.72144923e-01 1.57627634e+01] [ 1.97524658e-01 1.68033357e-01 9.65789211e-01 -2.32995239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83911593299999 meters Centerline goodness [0,1] 0.8436728939020092 Centerline is valid? [False, False] Translation: X:-29.75, Y:15.76, Z:-0.22 [[ 9.79085272e-01 -3.58119622e-02 -2.00273646e-01 -2.97517119e+01] [ 2.05012636e-03 9.86072701e-01 -1.66302209e-01 1.57614246e+01] [ 2.03439983e-01 1.62413458e-01 9.65522678e-01 -2.22653599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.86911593299999 meters Centerline goodness [0,1] 0.838405036726128 Centerline is valid? [False, False] Translation: X:-29.75, Y:15.76, Z:-0.21 [[ 9.78137866e-01 -3.58006737e-02 -2.04852696e-01 -2.97536330e+01] [ 1.96393833e-03 9.86616419e-01 -1.63046573e-01 1.57623495e+01] [ 2.07948211e-01 1.59079709e-01 9.65117189e-01 -2.14594278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.89911593299999 meters Centerline goodness [0,1] 0.84169142058361 Centerline is valid? [False, False] Translation: X:-29.76, Y:15.76, Z:-0.21 [[ 9.77359654e-01 -3.85184889e-02 -2.08049111e-01 -2.97571138e+01] [ 4.43975351e-03 9.86806710e-01 -1.61841918e-01 1.57604928e+01] [ 2.11538165e-01 1.57254075e-01 9.64636077e-01 -2.06085318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.92911593299999 meters Centerline goodness [0,1] 0.8364715860899067 Centerline is valid? [False, False] Translation: X:-29.75, Y:15.76, Z:-0.20 [[ 9.76178509e-01 -4.47026778e-02 -2.12313892e-01 -2.97486189e+01] [ 9.70305496e-03 9.86560589e-01 -1.63107492e-01 1.57614452e+01] [ 2.16751860e-01 1.57161935e-01 9.63492998e-01 -2.03749530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95911593299999 meters Centerline goodness [0,1] 0.8689655172413793 Centerline is valid? [False, False] Translation: X:-29.74, Y:15.76, Z:-0.19 [[ 9.73861773e-01 -4.35602091e-02 -2.22925448e-01 -2.97430533e+01] [ 8.81865426e-03 9.87949805e-01 -1.54523183e-01 1.57609544e+01] [ 2.26970215e-01 1.48518319e-01 9.62510691e-01 -1.92143875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.989115933 meters Centerline goodness [0,1] 0.8776891047883414 Centerline is valid? [False, False] Translation: X:-29.74, Y:15.77, Z:-0.18 [[ 9.71422880e-01 -3.86365408e-02 -2.34189679e-01 -2.97401206e+01] [ 4.08243491e-03 9.89236298e-01 -1.46269887e-01 1.57663530e+01] [ 2.37320293e-01 1.41133851e-01 9.61124505e-01 -1.81205600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.019115933 meters Centerline goodness [0,1] 0.8848695652173914 Centerline is valid? [False, False] Translation: X:-29.74, Y:15.77, Z:-0.17 [[ 9.67984473e-01 -2.20413079e-02 -2.50040480e-01 -2.97404692e+01] [-1.35511125e-02 9.90095718e-01 -1.39738458e-01 1.57689319e+01] [ 2.50644027e-01 1.38652984e-01 9.58098597e-01 -1.69740796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.049115933 meters Centerline goodness [0,1] 0.9146995708154506 Centerline is valid? [False, False] Translation: X:-29.73, Y:15.77, Z:-0.16 [[ 9.65773993e-01 -2.61649633e-02 -2.58061988e-01 -2.97349365e+01] [-9.48547774e-03 9.90671259e-01 -1.35942938e-01 1.57715014e+01] [ 2.59211537e-01 1.33737995e-01 9.56516350e-01 -1.58877597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.079115933 meters Centerline goodness [0,1] 0.9125021320143272 Centerline is valid? [False, False] Translation: X:-29.72, Y:15.78, Z:-0.14 [[ 9.62224399e-01 -3.26383564e-02 -2.70294179e-01 -2.97199918e+01] [-3.11975226e-03 9.91401361e-01 -1.30818995e-01 1.57800375e+01] [ 2.72239734e-01 1.26720479e-01 9.53848755e-01 -1.44282792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.109115933 meters Centerline goodness [0,1] 0.9344432882414152 Centerline is valid? [False, False] Translation: X:-29.70, Y:15.78, Z:-0.13 [[ 9.58605806e-01 -3.72531425e-02 -2.82289057e-01 -2.96986542e+01] [ 3.45237146e-03 9.92852117e-01 -1.19301111e-01 1.57846135e+01] [ 2.84715629e-01 1.13388171e-01 9.51882416e-01 -1.27096432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13911593299999 meters Centerline goodness [0,1] 0.9505002632964719 Centerline is valid? [False, True] Translation: X:-29.68, Y:15.79, Z:-0.12 [[ 9.55753995e-01 -3.93870059e-02 -2.91518378e-01 -2.96818458e+01] [ 7.03995660e-03 9.93774460e-01 -1.11187960e-01 1.57907776e+01] [ 2.94082879e-01 1.04216061e-01 9.50081193e-01 -1.16090763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.16911593299999 meters Centerline goodness [0,1] 0.9651810584958217 Centerline is valid? [True, True] Translation: X:-29.75, Y:15.87, Z:-0.00 [[ 9.49296006e-01 -6.14132797e-03 -3.14323683e-01 -2.97501115e+01] [-3.70287738e-04 9.99786648e-01 -2.06523744e-02 1.58716415e+01] [ 3.14383455e-01 1.97216067e-02 9.49091198e-01 -4.19302086e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19911593299999 meters Centerline goodness [0,1] 0.9744658676393955 Centerline is valid? [True, True] Translation: X:-29.79, Y:15.89, Z:0.05 [[ 9.46487023e-01 5.79642144e-04 -3.22741351e-01 -2.97941686e+01] [-7.73449062e-03 9.99751925e-01 -2.08869939e-02 1.58946328e+01] [ 3.22649180e-01 2.22655087e-02 9.46256706e-01 4.68734618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.22911593299999 meters Centerline goodness [0,1] 0.9829345531315975 Centerline is valid? [True, True] Translation: X:-29.82, Y:15.89, Z:0.04 [[ 9.42824902e-01 1.02082702e-02 -3.33132099e-01 -2.98197658e+01] [-1.83060321e-02 9.99608111e-01 -2.11781250e-02 1.58937335e+01] [ 3.32785356e-01 2.60655905e-02 9.42642293e-01 4.36453178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.25911593299999 meters Centerline goodness [0,1] 0.9902464065708418 Centerline is valid? [True, True] Translation: X:-29.85, Y:15.90, Z:0.06 [[ 9.40942409e-01 5.11599899e-03 -3.38528003e-01 -2.98497354e+01] [-1.30324617e-02 9.99692086e-01 -2.11160441e-02 1.59000543e+01] [ 3.38315736e-01 2.42808346e-02 9.40719355e-01 5.63675568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.28911593299999 meters Centerline goodness [0,1] 0.9902464065708418 Centerline is valid? [True, True] Translation: X:-29.87, Y:15.90, Z:0.05 [[ 9.40925384e-01 6.35921655e-03 -3.38554253e-01 -2.98730977e+01] [-1.41998908e-02 9.99685147e-01 -2.06874477e-02 1.58990301e+01] [ 3.38316102e-01 2.42727781e-02 9.40719431e-01 4.95273560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31911593299999 meters Centerline goodness [0,1] 0.9992860967338926 Centerline is valid? [True, True] Translation: X:-29.92, Y:15.93, Z:0.12 [[ 9.40217861e-01 -3.41482243e-03 -3.40556475e-01 -2.99237902e+01] [-3.74053935e-03 9.99785879e-01 -2.03520228e-02 1.59319370e+01] [ 3.40553053e-01 2.04092003e-02 9.40003767e-01 1.23938825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.349115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-29.94, Y:15.92, Z:0.10 [[ 9.40038690e-01 -6.79941427e-03 -3.41000042e-01 -2.99411332e+01] [ 7.10178059e-05 9.99805145e-01 -1.97399679e-02 1.59194587e+01] [ 3.41067817e-01 1.85321165e-02 9.39856002e-01 9.86193289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.379115933 meters Centerline goodness [0,1] 0.9998319327731092 Centerline is valid? [True, True] Translation: X:-29.97, Y:15.92, Z:0.09 [[ 9.39602248e-01 -5.52228156e-03 -3.42223785e-01 -2.99652175e+01] [-1.12999352e-03 9.99814333e-01 -1.92359532e-02 1.59162517e+01] [ 3.42266472e-01 1.84608555e-02 9.39421555e-01 9.19510802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.409115933 meters Centerline goodness [0,1] 0.9998290890446078 Centerline is valid? [True, True] Translation: X:-29.98, Y:15.91, Z:0.06 [[ 9.39045936e-01 -6.64803499e-03 -3.43727411e-01 -2.99817699e+01] [ 1.71867174e-04 9.99821968e-01 -1.88680334e-02 1.59064864e+01] [ 3.43791651e-01 1.76588746e-02 9.38879899e-01 6.19075807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.439115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.01, Y:15.92, Z:0.08 [[ 9.39930430e-01 -1.11816849e-02 -3.41182878e-01 -3.00142835e+01] [ 5.27116462e-03 9.99819637e-01 -1.82457576e-02 1.59180039e+01] [ 3.41325359e-01 1.53513116e-02 9.39819842e-01 8.24191861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.469115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.04, Y:15.91, Z:0.07 [[ 9.39583364e-01 -9.85537251e-03 -3.42178278e-01 -3.00354517e+01] [ 4.03375991e-03 9.99834836e-01 -1.77208533e-02 1.59142073e+01] [ 3.42296409e-01 1.52699539e-02 9.39467933e-01 6.88794415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.499115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.06, Y:15.91, Z:0.06 [[ 9.39408125e-01 -1.10661227e-02 -3.42622117e-01 -3.00582724e+01] [ 5.53582127e-03 9.99838205e-01 -1.71148810e-02 1.59121439e+01] [ 3.42756078e-01 1.41811635e-02 9.39317393e-01 6.03219891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.52911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.09, Y:15.92, Z:0.07 [[ 9.39792880e-01 -8.02557772e-03 -3.41650307e-01 -3.00887050e+01] [ 2.50888538e-03 9.99859295e-01 -1.65860113e-02 1.59165018e+01] [ 3.41735348e-01 1.47302539e-02 9.39680782e-01 7.33714503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.10, Y:15.91, Z:0.04 [[ 9.40360123e-01 -1.77399186e-02 -3.39717726e-01 -3.01023611e+01] [ 1.30711298e-02 9.99786122e-01 -1.60267033e-02 1.59052279e+01] [ 3.39929381e-01 1.06303782e-02 9.40390882e-01 3.63934491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.58911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.13, Y:15.90, Z:0.03 [[ 9.38952512e-01 -6.71809510e-03 -3.43981173e-01 -3.01271428e+01] [ 1.40944435e-03 9.99876057e-01 -1.56806870e-02 1.59028319e+01] [ 3.44043884e-01 1.42385982e-02 9.38845604e-01 3.37874326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.15, Y:15.90, Z:0.02 [[ 9.40407896e-01 -7.98535525e-03 -3.39954736e-01 -3.01485252e+01] [ 3.06018880e-03 9.99882490e-01 -1.50213856e-02 1.58988984e+01] [ 3.40034739e-01 1.30859040e-02 9.40321826e-01 1.88574072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.64911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.16, Y:15.89, Z:-0.02 [[ 9.40522125e-01 -1.80228966e-02 -3.39254047e-01 -3.01630295e+01] [ 1.39631438e-02 9.99798757e-01 -1.44040256e-02 1.58880102e+01] [ 3.39445377e-01 8.81025171e-03 9.40584508e-01 -1.88893561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.19, Y:15.88, Z:-0.03 [[ 9.39048061e-01 -6.09521119e-03 -3.43731855e-01 -3.01851269e+01] [ 1.33470629e-03 9.99899919e-01 -1.40843735e-02 1.58843164e+01] [ 3.43783302e-01 1.27671225e-02 9.38962215e-01 -3.23187212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.70911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.22, Y:15.90, Z:-0.01 [[ 9.38854574e-01 -3.62536571e-03 -3.44294852e-01 -3.02175949e+01] [-1.15032799e-03 9.99905959e-01 -1.36656573e-02 1.58969072e+01] [ 3.44312017e-01 1.32261169e-02 9.38762113e-01 -1.24538207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.739115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.24, Y:15.89, Z:-0.04 [[ 9.38085470e-01 5.79720567e-03 -3.46355373e-01 -3.02361755e+01] [-1.10824679e-02 9.99850385e-01 -1.32810521e-02 1.58871069e+01] [ 3.46226560e-01 1.62972343e-02 9.38009365e-01 -3.65068282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.769115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.25, Y:15.88, Z:-0.06 [[ 9.37971170e-01 1.05364212e-02 -3.46553124e-01 -3.02548953e+01] [-1.59513662e-02 9.99791137e-01 -1.27763991e-02 1.58813769e+01] [ 3.46346125e-01 1.75118898e-02 9.37943333e-01 -5.85470114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.799115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.27, Y:15.87, Z:-0.10 [[ 9.37298864e-01 1.12263638e-02 -3.48345817e-01 -3.02678409e+01] [-1.65736231e-02 9.99786075e-01 -1.23741286e-02 1.58654108e+01] [ 3.48132381e-01 1.73716090e-02 9.37284414e-01 -9.90765604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.829115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.30, Y:15.88, Z:-0.07 [[ 9.37882613e-01 1.30686682e-02 -3.46706524e-01 -3.03040362e+01] [-1.83124718e-02 9.99762056e-01 -1.18526479e-02 1.58797306e+01] [ 3.46469129e-01 1.74654458e-02 9.37898769e-01 -6.88357199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.859115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.34, Y:15.89, Z:-0.05 [[ 9.39715158e-01 3.75968339e-04 -3.41958010e-01 -3.03351601e+01] [-4.46114697e-03 9.99927773e-01 -1.11600435e-02 1.58869962e+01] [ 3.41929116e-01 1.20127869e-02 9.39648963e-01 -4.97762930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.88911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.35, Y:15.87, Z:-0.10 [[ 9.39397901e-01 2.78328287e-03 -3.42817499e-01 -3.03456882e+01] [-6.83127715e-03 9.99920473e-01 -1.06010513e-02 1.58683559e+01] [ 3.42760730e-01 1.23004867e-02 9.39342206e-01 -9.84918210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.38, Y:15.89, Z:-0.06 [[ 9.42086604e-01 -6.93476840e-03 -3.35297985e-01 -3.03842910e+01] [ 3.89103298e-03 9.99944911e-01 -9.74863098e-03 1.58929631e+01] [ 3.35347118e-01 7.87939914e-03 9.42061689e-01 -5.62428005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.94911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.40, Y:15.87, Z:-0.10 [[ 9.40976503e-01 3.41841803e-03 -3.38454628e-01 -3.03968159e+01] [-6.93572021e-03 9.99933778e-01 -9.18338187e-03 1.58745425e+01] [ 3.38400822e-01 1.09887732e-02 9.40937899e-01 -9.94213892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.43, Y:15.88, Z:-0.09 [[ 9.41719081e-01 4.82808251e-03 -3.36365666e-01 -3.04267769e+01] [-8.21706200e-03 9.99928804e-01 -8.65256359e-03 1.58832158e+01] [ 3.36299943e-01 1.09122218e-02 9.41691707e-01 -8.76597754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.00911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.46, Y:15.89, Z:-0.07 [[ 9.42211013e-01 -1.01877232e-03 -3.35018460e-01 -3.04571092e+01] [-1.81759663e-03 9.99965115e-01 -8.15267417e-03 1.58906808e+01] [ 3.35015078e-01 8.29046781e-03 9.42176292e-01 -7.40706237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.48, Y:15.89, Z:-0.09 [[ 9.41884025e-01 -2.78057138e-03 -3.35926707e-01 -3.04787732e+01] [ 2.42539398e-04 9.99971113e-01 -7.59703536e-03 1.58858486e+01] [ 3.35938127e-01 7.07405078e-03 9.41857490e-01 -8.74011050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.06911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.50, Y:15.88, Z:-0.10 [[ 9.43008399e-01 -2.37146030e-03 -3.32760477e-01 -3.04998209e+01] [ 1.64160453e-05 9.99974937e-01 -7.07992853e-03 1.58835552e+01] [ 3.32768927e-01 6.67096946e-03 9.42984804e-01 -1.04581249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.099115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.51, Y:15.87, Z:-0.15 [[ 9.42173331e-01 7.93194154e-04 -3.35125029e-01 -3.05135458e+01] [-3.21801049e-03 9.99972508e-01 -6.68034650e-03 1.58662254e+01] [ 3.35110517e-01 7.37248018e-03 9.42149982e-01 -1.45776006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.129115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.54, Y:15.87, Z:-0.15 [[ 9.43140839e-01 -2.77605317e-03 -3.32381784e-01 -3.05379476e+01] [ 7.73031857e-04 9.99980738e-01 -6.15834524e-03 1.58671689e+01] [ 3.32392478e-01 5.55124519e-03 9.43124819e-01 -1.51594978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.159115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.56, Y:15.87, Z:-0.15 [[ 9.43885595e-01 -3.50967019e-03 -3.30253941e-01 -3.05640941e+01] [ 1.73064553e-03 9.99982367e-01 -5.68071017e-03 1.58686255e+01] [ 3.30268055e-01 4.79038799e-03 9.43875026e-01 -1.51411769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.189115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.60, Y:15.88, Z:-0.12 [[ 9.42231436e-01 6.15971839e-03 -3.34905925e-01 -3.05992404e+01] [-8.42342854e-03 9.99950439e-01 -5.30718011e-03 1.58837272e+01] [ 3.34856636e-01 7.82164806e-03 9.42236624e-01 -1.21949802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.219115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.62, Y:15.88, Z:-0.13 [[ 9.43134769e-01 -2.73822285e-03 -3.32399323e-01 -3.06218970e+01] [ 1.20199318e-03 9.99987627e-01 -4.82716812e-03 1.58830523e+01] [ 3.32408428e-01 4.15312837e-03 9.43126391e-01 -1.31325456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.249115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.63, Y:15.87, Z:-0.18 [[ 9.41998503e-01 4.22600405e-03 -3.35590466e-01 -3.06340271e+01] [-6.04988511e-03 9.99972065e-01 -4.38956666e-03 1.58664282e+01] [ 3.35562541e-01 6.16524898e-03 9.41997755e-01 -1.77330579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.66, Y:15.87, Z:-0.17 [[ 9.41582175e-01 1.20999768e-02 -3.36565890e-01 -3.06613446e+01] [-1.42644274e-02 9.99890420e-01 -3.95904565e-03 1.58701326e+01] [ 3.36481104e-01 8.52868653e-03 9.41651596e-01 -1.73514617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.30911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.67, Y:15.86, Z:-0.22 [[ 9.41087694e-01 1.84685329e-02 -3.37657912e-01 -3.06739607e+01] [-2.08742464e-02 9.99776000e-01 -3.49495847e-03 1.58558463e+01] [ 3.37517730e-01 1.03374169e-02 9.41262407e-01 -2.18640982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33911593299999 meters Centerline goodness [0,1] 0.9994942683749157 Centerline is valid? [True, True] Translation: X:-30.71, Y:15.87, Z:-0.20 [[ 9.40140822e-01 2.80800092e-02 -3.39627367e-01 -3.07066548e+01] [-3.09257093e-02 9.99517279e-01 -2.96815706e-03 1.58699480e+01] [ 3.39380076e-01 1.32937028e-02 9.40555390e-01 -1.96651659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.36911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.72, Y:15.86, Z:-0.23 [[ 9.41091248e-01 2.84026782e-02 -3.36957788e-01 -3.07229973e+01] [-3.10506441e-02 9.99514758e-01 -2.47091290e-03 1.58611143e+01] [ 3.36724101e-01 1.27881109e-02 9.41516513e-01 -2.29504658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39911593299999 meters Centerline goodness [0,1] 0.9998244073748902 Centerline is valid? [True, True] Translation: X:-30.74, Y:15.85, Z:-0.26 [[ 9.41234303e-01 3.41773788e-02 -3.36020675e-01 -3.07409873e+01] [-3.69689005e-02 9.99314588e-01 -1.91191829e-03 1.58548587e+01] [ 3.35725018e-01 1.42218780e-02 9.41852669e-01 -2.56983566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.42911593299999 meters Centerline goodness [0,1] 0.9996603260869565 Centerline is valid? [True, True] Translation: X:-30.76, Y:15.85, Z:-0.26 [[ 9.39659672e-01 4.67920017e-02 -3.38895574e-01 -3.07643401e+01] [-5.02586831e-02 9.98735173e-01 -1.45543285e-03 1.58538536e+01] [ 3.38398828e-01 1.84000568e-02 9.40822869e-01 -2.64851464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45911593299999 meters Centerline goodness [0,1] 0.9996595744680851 Centerline is valid? [True, True] Translation: X:-30.79, Y:15.86, Z:-0.26 [[ 9.40418634e-01 4.59324100e-02 -3.36902072e-01 -3.07904379e+01] [-4.90900906e-02 9.98793988e-01 -8.55503718e-04 1.58551179e+01] [ 3.36456469e-01 1.73430849e-02 9.41539304e-01 -2.63711408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.489115933 meters Centerline goodness [0,1] 0.9998282967032966 Centerline is valid? [True, True] Translation: X:-30.82, Y:15.86, Z:-0.26 [[ 9.42067245e-01 4.18541208e-02 -3.32802551e-01 -3.08179170e+01] [-4.44661884e-02 9.99010863e-01 -2.32625354e-04 1.58644830e+01] [ 3.32463627e-01 1.50176097e-02 9.42996505e-01 -2.57653535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.519115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.83, Y:15.86, Z:-0.28 [[ 9.40841603e-01 4.89771414e-02 -3.35288410e-01 -3.08337622e+01] [-5.18540708e-02 9.98654603e-01 3.72158937e-04 1.58579044e+01] [ 3.34855541e-01 1.70359263e-02 9.42115462e-01 -2.78325733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.549115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.86, Y:15.86, Z:-0.28 [[ 9.40710501e-01 4.58243416e-02 -3.36101000e-01 -3.08590279e+01] [-4.82371003e-02 9.98835226e-01 1.17173031e-03 1.58574436e+01] [ 3.35763212e-01 1.51102787e-02 9.41825220e-01 -2.80064943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.579115933 meters Centerline goodness [0,1] 0.9998285910181693 Centerline is valid? [True, True] Translation: X:-30.88, Y:15.86, Z:-0.28 [[ 9.39791525e-01 4.76650436e-02 -3.38407940e-01 -3.08838543e+01] [-5.00037736e-02 9.98747390e-01 1.80910439e-03 1.58567908e+01] [ 3.38070278e-01 1.52214930e-02 9.40997765e-01 -2.83593549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.609115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-30.91, Y:15.86, Z:-0.28 [[ 9.40406578e-01 4.78739221e-02 -3.36665347e-01 -3.09096602e+01] [-5.00309675e-02 9.98745086e-01 2.27048479e-03 1.58625394e+01] [ 3.36351558e-01 1.47085142e-02 9.41621627e-01 -2.82429252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63911593299999 meters Centerline goodness [0,1] 0.9998255103821323 Centerline is valid? [True, True] Translation: X:-30.93, Y:15.86, Z:-0.29 [[ 9.41310635e-01 4.61154533e-02 -3.34376513e-01 -3.09324563e+01] [-4.79080765e-02 9.98847572e-01 2.88873958e-03 1.58643742e+01] [ 3.34124384e-01 1.33001343e-02 9.42435145e-01 -2.89609122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.66911593299999 meters Centerline goodness [0,1] 0.9998266296809986 Centerline is valid? [True, True] Translation: X:-30.96, Y:15.86, Z:-0.29 [[ 9.39663507e-01 5.02908587e-02 -3.38383397e-01 -3.09573546e+01] [-5.21682429e-02 9.98631998e-01 3.55060748e-03 1.58624906e+01] [ 3.38099051e-01 1.43164910e-02 9.41001631e-01 -2.92771404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69911593299999 meters Centerline goodness [0,1] 0.9998313090418354 Centerline is valid? [True, True] Translation: X:-30.98, Y:15.87, Z:-0.29 [[ 9.40532629e-01 4.55177535e-02 -3.36640028e-01 -3.09841893e+01] [-4.68774577e-02 9.98892266e-01 4.09206672e-03 1.58685536e+01] [ 3.36453382e-01 1.19321064e-02 9.41624525e-01 -2.87004214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.72911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.00, Y:15.85, Z:-0.33 [[ 9.39037723e-01 5.23577156e-02 -3.39804098e-01 -3.09973518e+01] [-5.39470824e-02 9.98532379e-01 4.77489510e-03 1.58546817e+01] [ 3.39555398e-01 1.38476331e-02 9.40484117e-01 -3.26889822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.02, Y:15.86, Z:-0.33 [[ 9.38839776e-01 5.53321195e-02 -3.39879730e-01 -3.10223067e+01] [-5.68901914e-02 9.98365908e-01 5.38698544e-03 1.58574903e+01] [ 3.39622409e-01 1.42783067e-02 9.40453481e-01 -3.28619882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.78911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.04, Y:15.86, Z:-0.34 [[ 9.37238457e-01 6.63465074e-02 -3.42318881e-01 -3.10436566e+01] [-6.84041035e-02 9.97639212e-01 6.07305356e-03 1.58553229e+01] [ 3.41913664e-01 1.77241168e-02 9.39564208e-01 -3.40885297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.10, Y:15.90, Z:-0.25 [[ 9.35350002e-01 7.89718389e-02 -3.44795335e-01 -3.10950366e+01] [-8.16695514e-02 9.96636815e-01 6.71884670e-03 1.58974508e+01] [ 3.44166325e-01 2.18748071e-02 9.38653841e-01 -2.50217992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.849115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.08, Y:15.85, Z:-0.37 [[ 9.38113301e-01 7.13478389e-02 -3.38899571e-01 -3.10830090e+01] [-7.32131936e-02 9.97289634e-01 7.29475531e-03 1.58504889e+01] [ 3.38501495e-01 1.79686129e-02 9.40794275e-01 -3.73666582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.879115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.10, Y:15.85, Z:-0.38 [[ 9.37444116e-01 7.53099527e-02 -3.39892542e-01 -3.11047388e+01] [-7.71871637e-02 9.96984405e-01 8.01487403e-03 1.58499270e+01] [ 3.39471164e-01 1.87218448e-02 9.40430126e-01 -3.75000644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.909115933 meters Centerline goodness [0,1] 0.9996578272027374 Centerline is valid? [True, True] Translation: X:-31.13, Y:15.85, Z:-0.38 [[ 9.36055054e-01 8.32108897e-02 -3.41872612e-01 -3.11285169e+01] [-8.53229226e-02 9.96313742e-01 8.88401096e-03 1.58546463e+01] [ 3.41351628e-01 2.08536471e-02 9.39704311e-01 -3.80238319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.939115933 meters Centerline goodness [0,1] 0.9998270494638534 Centerline is valid? [True, True] Translation: X:-31.15, Y:15.86, Z:-0.38 [[ 9.35487670e-01 8.48857375e-02 -3.43011999e-01 -3.11547368e+01] [-8.68809573e-02 9.96172673e-01 9.57630561e-03 1.58588396e+01] [ 3.42512071e-01 2.08426950e-02 9.39282206e-01 -3.79163916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.969115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.18, Y:15.86, Z:-0.37 [[ 9.34704296e-01 8.79809700e-02 -3.44364963e-01 -3.11808799e+01] [-8.99552435e-02 9.95892813e-01 1.02741671e-02 1.58622361e+01] [ 3.43854523e-01 2.13741260e-02 9.38779641e-01 -3.73763376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.999115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.19, Y:15.84, Z:-0.42 [[ 9.35561554e-01 8.28002165e-02 -3.43320116e-01 -3.11875684e+01] [-8.41634952e-02 9.96391729e-01 1.09557242e-02 1.58397648e+01] [ 3.42988460e-01 1.86452666e-02 9.39154551e-01 -4.24947961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.02911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.22, Y:15.86, Z:-0.40 [[ 9.34054449e-01 9.08991639e-02 -3.45368828e-01 -3.12188457e+01] [-9.25031451e-02 9.95641621e-01 1.18714148e-02 1.58554078e+01] [ 3.44942682e-01 2.08591550e-02 9.38391945e-01 -3.97376063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.24, Y:15.85, Z:-0.40 [[ 9.33230440e-01 9.48942649e-02 -3.46519875e-01 -3.12418957e+01] [-9.65071483e-02 9.95252018e-01 1.26408340e-02 1.58549704e+01] [ 3.46074148e-01 2.16448339e-02 9.37957454e-01 -4.00500861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.08911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.26, Y:15.86, Z:-0.41 [[ 9.31913106e-01 1.02803287e-01 -3.47806623e-01 -3.12630422e+01] [-1.04695690e-01 9.94413981e-01 1.34032544e-02 1.58582577e+01] [ 3.47241667e-01 2.39231859e-02 9.37470483e-01 -4.09328256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.29, Y:15.86, Z:-0.41 [[ 9.31249374e-01 1.07304161e-01 -3.48224669e-01 -3.12868925e+01] [-1.09257625e-01 9.93913661e-01 1.40856678e-02 1.58627092e+01] [ 3.47616706e-01 2.49289309e-02 9.37305273e-01 -4.08815792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.14911593299999 meters Centerline goodness [0,1] 0.9998285322359396 Centerline is valid? [True, True] Translation: X:-31.32, Y:15.87, Z:-0.39 [[ 9.33890565e-01 9.97114431e-02 -3.43374490e-01 -3.13156580e+01] [-1.00846898e-01 9.94794859e-01 1.45976596e-02 1.58710886e+01] [ 3.43042731e-01 2.09956358e-02 9.39085123e-01 -3.92692909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17911593299999 meters Centerline goodness [0,1] 0.9998285322359396 Centerline is valid? [True, True] Translation: X:-31.34, Y:15.87, Z:-0.40 [[ 9.33677127e-01 1.01796410e-01 -3.43343142e-01 -3.13373352e+01] [-1.02808814e-01 9.94583386e-01 1.53047476e-02 1.58726907e+01] [ 3.43041354e-01 2.10090085e-02 9.39085327e-01 -3.98801058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.20911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.36, Y:15.87, Z:-0.41 [[ 9.32479619e-01 1.06431513e-01 -3.45187041e-01 -3.13581826e+01] [-1.07496310e-01 9.94074867e-01 1.61152445e-02 1.58716943e+01] [ 3.44856932e-01 2.20791963e-02 9.38395549e-01 -4.09204788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.239115933 meters Centerline goodness [0,1] 0.9991410410582374 Centerline is valid? [True, True] Translation: X:-31.37, Y:15.86, Z:-0.45 [[ 9.31925621e-01 1.04348835e-01 -3.47312479e-01 -3.13714908e+01] [-1.05022331e-01 9.94325562e-01 1.69406894e-02 1.58560903e+01] [ 3.47109417e-01 2.06881035e-02 9.37596424e-01 -4.47939400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.269115933 meters Centerline goodness [0,1] 0.9998268098372013 Centerline is valid? [True, True] Translation: X:-31.40, Y:15.86, Z:-0.45 [[ 9.33858102e-01 9.80959695e-02 -3.43927647e-01 -3.13955944e+01] [-9.80757619e-02 9.95025054e-01 1.75010719e-02 1.58587817e+01] [ 3.43933410e-01 1.73874482e-02 9.38833045e-01 -4.45447205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.299115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.41, Y:15.85, Z:-0.49 [[ 9.34329355e-01 9.48689833e-02 -3.43552808e-01 -3.14084474e+01] [-9.43601574e-02 9.95371019e-01 1.82399079e-02 1.58455377e+01] [ 3.43692910e-01 1.53756157e-02 9.38956215e-01 -4.86625437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.329115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.44, Y:15.87, Z:-0.45 [[ 9.33315299e-01 1.01696252e-01 -3.44355085e-01 -3.14435476e+01] [-1.01377529e-01 9.94666911e-01 1.89824364e-02 1.58685546e+01] [ 3.44449051e-01 1.71932693e-02 9.38647560e-01 -4.47703534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.359115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.47, Y:15.88, Z:-0.44 [[ 9.32571837e-01 1.07893485e-01 -3.44483331e-01 -3.14706924e+01] [-1.07722137e-01 9.93985861e-01 1.96989720e-02 1.58760330e+01] [ 3.44536951e-01 1.87377742e-02 9.38585737e-01 -4.35172754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.49, Y:15.88, Z:-0.45 [[ 9.34380144e-01 1.02591955e-01 -3.41187101e-01 -3.14913041e+01] [-1.01820877e-01 9.94597267e-01 2.02184434e-02 1.58752746e+01] [ 3.41418008e-01 1.58482579e-02 9.39777940e-01 -4.46192176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.50, Y:15.86, Z:-0.48 [[ 9.33519657e-01 1.11003889e-01 -3.40909354e-01 -3.15040948e+01] [-1.10504511e-01 9.93654834e-01 2.09481436e-02 1.58641400e+01] [ 3.41071552e-01 1.81165175e-02 9.39862750e-01 -4.83916838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.53, Y:15.87, Z:-0.48 [[ 9.35661346e-01 1.05748857e-01 -3.36682381e-01 -3.15294984e+01] [-1.04668656e-01 9.94276611e-01 2.14124654e-02 1.58702482e+01] [ 3.37019761e-01 1.52052761e-02 9.41374782e-01 -4.78444293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47911593299999 meters Centerline goodness [0,1] 0.999488839666042 Centerline is valid? [True, True] Translation: X:-31.55, Y:15.87, Z:-0.49 [[ 9.33409726e-01 1.11290816e-01 -3.41116752e-01 -3.15512841e+01] [-1.10277776e-01 9.93647792e-01 2.24249468e-02 1.58655463e+01] [ 3.41445598e-01 1.66859333e-02 9.39753416e-01 -4.86794532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.50911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.58, Y:15.88, Z:-0.47 [[ 9.33056125e-01 1.15398125e-01 -3.40719153e-01 -3.15803710e+01] [-1.14382733e-01 9.93167230e-01 2.31396630e-02 1.58778104e+01] [ 3.41061371e-01 1.73817837e-02 9.39880320e-01 -4.68591042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53911593299999 meters Centerline goodness [0,1] 0.9998277940416739 Centerline is valid? [True, True] Translation: X:-31.59, Y:15.87, Z:-0.50 [[ 9.33531305e-01 1.14358695e-01 -3.39766672e-01 -3.15947030e+01] [-1.13024969e-01 9.93307445e-01 2.37839592e-02 1.58675463e+01] [ 3.40212667e-01 1.61990470e-02 9.40208983e-01 -5.01469755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.56911593299999 meters Centerline goodness [0,1] 0.9998285910181693 Centerline is valid? [True, True] Translation: X:-31.63, Y:15.88, Z:-0.48 [[ 9.33163387e-01 1.14385281e-01 -3.40766929e-01 -3.16252694e+01] [-1.12777253e-01 9.93315853e-01 2.45948438e-02 1.58817167e+01] [ 3.41302481e-01 1.54797505e-02 9.39826044e-01 -4.78265817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.599115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.64, Y:15.88, Z:-0.50 [[ 9.32022462e-01 1.19495928e-01 -3.42132800e-01 -3.16437719e+01] [-1.17945232e-01 9.92694811e-01 2.54152243e-02 1.58756300e+01] [ 3.42670471e-01 1.66653726e-02 9.39307837e-01 -4.98895267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.629115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.67, Y:15.88, Z:-0.50 [[ 9.32755922e-01 1.15429749e-01 -3.41529446e-01 -3.16660871e+01] [-1.13357444e-01 9.93211596e-01 2.60924431e-02 1.58763404e+01] [ 3.42222850e-01 1.43770242e-02 9.39508820e-01 -5.03531172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.659115933 meters Centerline goodness [0,1] 0.9996561801615953 Centerline is valid? [True, True] Translation: X:-31.69, Y:15.88, Z:-0.51 [[ 9.32389269e-01 1.20773981e-01 -3.40681518e-01 -3.16874991e+01] [-1.18790772e-01 9.92558689e-01 2.67581971e-02 1.58814055e+01] [ 3.41378095e-01 1.55207647e-02 9.39797905e-01 -5.10984231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.689115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.72, Y:15.90, Z:-0.49 [[ 9.33163471e-01 1.22458641e-01 -3.37949429e-01 -3.17171943e+01] [-1.20357045e-01 9.92356541e-01 2.72521141e-02 1.58971438e+01] [ 3.38703584e-01 1.52439171e-02 9.40769635e-01 -4.88826517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.719115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.73, Y:15.89, Z:-0.52 [[ 9.32072814e-01 1.30841831e-01 -3.37817530e-01 -3.17340249e+01] [-1.29014658e-01 9.91248406e-01 2.79609550e-02 1.58876094e+01] [ 3.38519551e-01 1.75217672e-02 9.40796206e-01 -5.15723840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.749115933 meters Centerline goodness [0,1] 0.9994820441988951 Centerline is valid? [True, True] Translation: X:-31.76, Y:15.89, Z:-0.52 [[ 9.32211278e-01 1.33375384e-01 -3.36441881e-01 -3.17572585e+01] [-1.31469056e-01 9.90909025e-01 2.85515455e-02 1.58895021e+01] [ 3.37191370e-01 1.76156236e-02 9.41271305e-01 -5.19475631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77911593299999 meters Centerline goodness [0,1] 0.999486477233824 Centerline is valid? [True, True] Translation: X:-31.78, Y:15.89, Z:-0.54 [[ 9.32415310e-01 1.34702369e-01 -3.35346032e-01 -3.17756664e+01] [-1.32640029e-01 9.90735232e-01 2.91602942e-02 1.58906782e+01] [ 3.36167089e-01 1.72908026e-02 9.41643625e-01 -5.37807576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.80911593299999 meters Centerline goodness [0,1] 0.9993184528880559 Centerline is valid? [True, True] Translation: X:-31.80, Y:15.90, Z:-0.53 [[ 9.33041852e-01 1.33309639e-01 -3.34157811e-01 -3.18027135e+01] [-1.30922159e-01 9.90945677e-01 2.97666436e-02 1.59013401e+01] [ 3.35100418e-01 1.59751377e-02 9.42046976e-01 -5.26339625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.82, Y:15.90, Z:-0.53 [[ 9.32823530e-01 1.36091654e-01 -3.33645507e-01 -3.18240672e+01] [-1.33633260e-01 9.90563710e-01 3.04251179e-02 1.59017235e+01] [ 3.34637736e-01 1.62048710e-02 9.42207508e-01 -5.32700300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.86911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.85, Y:15.91, Z:-0.52 [[ 9.30154662e-01 1.46319196e-01 -3.36753616e-01 -3.18502343e+01] [-1.44190784e-01 9.89049413e-01 3.14686596e-02 1.59129600e+01] [ 3.37670435e-01 1.92860476e-02 9.41066802e-01 -5.21280951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.87, Y:15.90, Z:-0.55 [[ 9.31336180e-01 1.43722484e-01 -3.34599414e-01 -3.18664202e+01] [-1.41192753e-01 9.89464499e-01 3.20095498e-02 1.59018102e+01] [ 3.35674733e-01 1.74313606e-02 9.41816660e-01 -5.47684040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.92911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.89, Y:15.90, Z:-0.56 [[ 9.31532807e-01 1.42990415e-01 -3.34365624e-01 -3.18872721e+01] [-1.40156623e-01 9.89588490e-01 3.27221914e-02 1.59006566e+01] [ 3.35563333e-01 1.63817620e-02 9.41875198e-01 -5.55808470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.91, Y:15.92, Z:-0.54 [[ 9.30378016e-01 1.46736546e-01 -3.35954064e-01 -3.19148929e+01] [-1.43845378e-01 9.89028786e-01 3.36239147e-02 1.59163961e+01] [ 3.37202097e-01 1.70424882e-02 9.41278014e-01 -5.37489781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.989115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.94, Y:15.92, Z:-0.53 [[ 9.29538141e-01 1.51170502e-01 -3.36312836e-01 -3.19388056e+01] [-1.48278005e-01 9.88346252e-01 3.44284757e-02 1.59222873e+01] [ 3.37598101e-01 1.78652150e-02 9.41120798e-01 -5.30274124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.019115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.96, Y:15.92, Z:-0.54 [[ 9.30833211e-01 1.49695080e-01 -3.33378038e-01 -3.19571431e+01] [-1.46464884e-01 9.88598022e-01 3.49569546e-02 1.59228972e+01] [ 3.34809753e-01 1.62890816e-02 9.42144944e-01 -5.40754945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.049115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-31.98, Y:15.94, Z:-0.53 [[ 9.32073093e-01 1.48542333e-01 -3.30416290e-01 -3.19836080e+01] [-1.45015269e-01 9.88794181e-01 3.54491132e-02 1.59381314e+01] [ 3.31979399e-01 1.48742426e-02 9.43169357e-01 -5.26463467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.079115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.01, Y:15.94, Z:-0.52 [[ 9.27925873e-01 1.60818481e-01 -3.36290039e-01 -3.20078780e+01] [-1.57667537e-01 9.86804417e-01 3.68509310e-02 1.59443905e+01] [ 3.37778806e-01 1.88270898e-02 9.41037204e-01 -5.17661680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.109115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.02, Y:15.94, Z:-0.54 [[ 9.29663621e-01 1.57885205e-01 -3.32863055e-01 -3.20241472e+01] [-1.54343002e-01 9.87315306e-01 3.72387539e-02 1.59408425e+01] [ 3.34520237e-01 1.67555683e-02 9.42239599e-01 -5.40708145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.05, Y:15.94, Z:-0.55 [[ 9.29355930e-01 1.61322494e-01 -3.32073198e-01 -3.20452689e+01] [-1.57739251e-01 9.86752766e-01 3.79118464e-02 1.59411043e+01] [ 3.33790180e-01 1.71473783e-02 9.42491423e-01 -5.46839304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.07, Y:15.96, Z:-0.52 [[ 9.27854126e-01 1.68088860e-01 -3.32915689e-01 -3.20727208e+01] [-1.64643198e-01 9.85591539e-01 3.87548201e-02 1.59606650e+01] [ 3.34633140e-01 1.88534842e-02 9.42159863e-01 -5.22911629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.09, Y:15.96, Z:-0.54 [[ 9.26815013e-01 1.74845597e-01 -3.32329577e-01 -3.20899616e+01] [-1.71553556e-01 9.84383849e-01 3.94691653e-02 1.59598064e+01] [ 3.34040878e-01 2.04317058e-02 9.42337114e-01 -5.39661168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.22911593299999 meters Centerline goodness [0,1] 0.9994945240101095 Centerline is valid? [True, True] Translation: X:-32.11, Y:15.97, Z:-0.53 [[ 9.22442304e-01 1.90731185e-01 -3.35740690e-01 -3.21136207e+01] [-1.88087198e-01 9.81308442e-01 4.07056214e-02 1.59685165e+01] [ 3.37229005e-01 2.55999384e-02 9.41074514e-01 -5.31278713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.13, Y:15.97, Z:-0.55 [[ 9.21475561e-01 1.95556241e-01 -3.35619646e-01 -3.21298810e+01] [-1.92914945e-01 9.80335449e-01 4.15479497e-02 1.59693983e+01] [ 3.37144797e-01 2.64606253e-02 9.41080879e-01 -5.49512000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.28911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.14, Y:15.96, Z:-0.58 [[ 9.22023375e-01 2.00347699e-01 -3.31260766e-01 -3.21425956e+01] [-1.97790427e-01 9.79353079e-01 4.17910617e-02 1.59638968e+01] [ 3.32793995e-01 2.69878727e-02 9.42613289e-01 -5.82712746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.17, Y:15.99, Z:-0.55 [[ 9.18782692e-01 2.14300527e-01 -3.31532274e-01 -3.21720746e+01] [-2.12338222e-01 9.76267414e-01 4.25959669e-02 1.59870447e+01] [ 3.32792494e-01 3.12605364e-02 9.42481796e-01 -5.49732960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.349115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.18, Y:15.97, Z:-0.61 [[ 0.91613876 0.22433797 -0.33220814 -32.17773278] [ -0.22271741 0.9739128 0.04348347 15.97084046] [ 0.33329675 0.03415164 0.94220324 -0.60975917] [ 0. 0. 0. 1. ]] SLAMing on 78.379115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.20, Y:15.97, Z:-0.62 [[ 0.91182783 0.23682906 -0.33538338 -32.19739935] [ -0.23569922 0.97079693 0.04471244 15.97255442] [ 0.33617836 0.03827955 0.94102008 -0.61538065] [ 0. 0. 0. 1. ]] SLAMing on 78.409115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.22, Y:15.98, Z:-0.61 [[ 0.90973343 0.24534731 -0.33494744 -32.21859815] [ -0.24446001 0.96859023 0.04552226 15.98166193] [ 0.33559558 0.04046813 0.94113651 -0.61210253] [ 0. 0. 0. 1. ]] SLAMing on 78.439115933 meters Centerline goodness [0,1] 0.9998342175066313 Centerline is valid? [True, True] Translation: X:-32.24, Y:16.00, Z:-0.60 [[ 0.90228968 0.26365098 -0.34111801 -32.23836459] [ -0.26366072 0.96345751 0.04725098 16.00349833] [ 0.34111047 0.04730535 0.93883217 -0.60022938] [ 0. 0. 0. 1. ]] SLAMing on 78.469115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.25, Y:15.99, Z:-0.64 [[ 0.89857868 0.27732519 -0.34006925 -32.24741915] [ -0.27785275 0.95941287 0.04821605 15.99337746] [ 0.33963835 0.05116326 0.93916352 -0.64090176] [ 0. 0. 0. 1. ]] SLAMing on 78.499115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.26, Y:16.00, Z:-0.66 [[ 0.88826138 0.30279809 -0.34540562 -32.25937826] [ -0.3048334 0.95110003 0.04985309 15.99800718] [ 0.34361072 0.06100859 0.93712839 -0.66310401] [ 0. 0. 0. 1. ]] SLAMing on 78.52911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.28, Y:16.01, Z:-0.67 [[ 0.88195823 0.31831841 -0.34759614 -32.27590392] [ -0.32112623 0.94565116 0.05120383 16.011847 ] [ 0.34500381 0.0664626 0.93624521 -0.66896157] [ 0. 0. 0. 1. ]] SLAMing on 78.55911593299999 meters Centerline goodness [0,1] 0.9996706192358367 Centerline is valid? [True, True] Translation: X:-32.29, Y:16.02, Z:-0.68 [[ 0.87239269 0.33933977 -0.35182313 -32.29077474] [ -0.34342251 0.93769233 0.05285897 16.01565153] [ 0.347839 0.0747102 0.93457285 -0.67870945] [ 0. 0. 0. 1. ]] SLAMing on 78.58911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.30, Y:16.01, Z:-0.72 [[ 0.86418638 0.35793885 -0.35364061 -32.29517117] [ -0.36309871 0.93017406 0.05418065 16.01286579] [ 0.34834068 0.08158427 0.93381089 -0.72492315] [ 0. 0. 0. 1. ]] SLAMing on 78.61911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.31, Y:16.01, Z:-0.75 [[ 0.8579464 0.37228832 -0.35401891 -32.30763135] [ -0.37813468 0.924092 0.05539077 16.01304123] [ 0.34776738 0.08634451 0.93359653 -0.74636064] [ 0. 0. 0. 1. ]] SLAMing on 78.64911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.33, Y:16.04, Z:-0.73 [[ 0.85022844 0.38689886 -0.35696059 -32.32826726] [ -0.39360285 0.91751416 0.05696105 16.04077978] [ 0.34955456 0.0920708 0.93238113 -0.72623572] [ 0. 0. 0. 1. ]] SLAMing on 78.67911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.33, Y:16.07, Z:-0.78 [[ 0.84532924 0.39893045 -0.35534908 -32.32704966] [ -0.40609702 0.91200024 0.05779944 16.06580974] [ 0.3471364 0.09544665 0.93294494 -0.7787305 ] [ 0. 0. 0. 1. ]] SLAMing on 78.70911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.34, Y:16.03, Z:-0.81 [[ 0.83330439 0.42178716 -0.35735051 -32.34140123] [ -0.43049181 0.90065145 0.05919259 16.03252484] [ 0.34681493 0.10451103 0.93209273 -0.80801912] [ 0. 0. 0. 1. ]] SLAMing on 78.739115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.36, Y:16.04, Z:-0.81 [[ 0.83164409 0.42712007 -0.35487541 -32.35788044] [ -0.43569576 0.8980995 0.05988727 16.04226138] [ 0.34429248 0.10481282 0.93299355 -0.81092513] [ 0. 0. 0. 1. ]] SLAMing on 78.769115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.37, Y:16.06, Z:-0.82 [[ 0.82186363 0.44307802 -0.35808105 -32.3710368 ] [ -0.45272694 0.88952086 0.06157078 16.05866774] [ 0.34580122 0.11151015 0.9316582 -0.81558608] [ 0. 0. 0. 1. ]] SLAMing on 78.799115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.37, Y:16.05, Z:-0.86 [[ 0.81218096 0.45870011 -0.36049452 -32.37181722] [ -0.4693597 0.8807409 0.06322133 16.04936259] [ 0.3465019 0.11785444 0.93061634 -0.86257689] [ 0. 0. 0. 1. ]] SLAMing on 78.829115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.38, Y:16.06, Z:-0.88 [[ 0.81319532 0.46255202 -0.3532124 -32.38218941] [ -0.47253389 0.87904016 0.06324652 16.05626261] [ 0.33974269 0.11547305 0.93340285 -0.88445247] [ 0. 0. 0. 1. ]] SLAMing on 78.859115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.39, Y:16.06, Z:-0.91 [[ 0.80302386 0.4797129 -0.3535933 -32.39130499] [ -0.49070961 0.86893642 0.06444828 16.05964191] [ 0.33816677 0.12175813 0.9331764 -0.91059607] [ 0. 0. 0. 1. ]] SLAMing on 78.88911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.40, Y:16.07, Z:-0.94 [[ 0.79731351 0.48967274 -0.35286227 -32.39862519] [ -0.50101787 0.86295771 0.06546052 16.07005534] [ 0.33655945 0.12459775 0.93338263 -0.93899093] [ 0. 0. 0. 1. ]] SLAMing on 78.91911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.41, Y:16.07, Z:-0.94 [[ 0.79686265 0.49284297 -0.3494506 -32.41454892] [ -0.5037921 0.86130608 0.0659193 16.07394057] [ 0.33347179 0.12352182 0.93463304 -0.93977759] [ 0. 0. 0. 1. ]] SLAMing on 78.94911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.42, Y:16.09, Z:-0.96 [[ 0.78353119 0.51082922 -0.35374056 -32.42119012] [ -0.52320679 0.84950056 0.06784879 16.0889147 ] [ 0.33516195 0.13191782 0.9328795 -0.96357721] [ 0. 0. 0. 1. ]] SLAMing on 78.97911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.43, Y:16.09, Z:-1.00 [[ 0.78494039 0.51381012 -0.3462192 -32.4287135 ] [ -0.52543292 0.84815607 0.06746492 16.09023211] [ 0.32831208 0.12895903 0.93572472 -0.99621187] [ 0. 0. 0. 1. ]] SLAMing on 79.00911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.44, Y:16.10, Z:-1.02 [[ 0.7777119 0.52334824 -0.34823959 -32.43789978] [ -0.53551315 0.84170332 0.06900135 16.09836218] [ 0.32922616 0.13282371 0.93486256 -1.01720168] [ 0. 0. 0. 1. ]] SLAMing on 79.03911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.45, Y:16.11, Z:-1.03 [[ 0.77461585 0.52912383 -0.34640765 -32.45080564] [ -0.54122924 0.83798 0.06971682 16.10730137] [ 0.32717151 0.1334822 0.93548988 -1.02569906] [ 0. 0. 0. 1. ]] SLAMing on 79.06911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.46, Y:16.11, Z:-1.06 [[ 0.76989634 0.53721812 -0.34446527 -32.45853895] [ -0.54943879 0.8325614 0.07041683 16.10714531] [ 0.32461768 0.13504892 0.93615445 -1.05623509] [ 0. 0. 0. 1. ]] SLAMing on 79.099115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.47, Y:16.11, Z:-1.06 [[ 0.76820438 0.53977619 -0.34424366 -32.47276082] [ -0.55180002 0.83090702 0.0714861 16.11219708] [ 0.32462097 0.13503773 0.93615492 -1.06002701] [ 0. 0. 0. 1. ]] SLAMing on 79.129115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.48, Y:16.13, Z:-1.08 [[ 0.76696444 0.54452767 -0.33949251 -32.48003695] [ -0.55616716 0.8279826 0.07157448 16.12516384] [ 0.32006817 0.1339195 0.93788162 -1.08283105] [ 0. 0. 0. 1. ]] SLAMing on 79.159115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.50, Y:16.13, Z:-1.09 [[ 0.76557847 0.54749914 -0.33783768 -32.49534746] [ -0.55887372 0.8260952 0.07229721 16.13121612] [ 0.31866875 0.13345941 0.93842358 -1.08745811] [ 0. 0. 0. 1. ]] SLAMing on 79.189115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.50, Y:16.14, Z:-1.11 [[ 0.76604866 0.5497974 -0.3330049 -32.50496055] [ -0.56061589 0.82491364 0.0723002 16.13739928] [ 0.31445074 0.13130236 0.94014915 -1.10915239] [ 0. 0. 0. 1. ]] SLAMing on 79.219115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.52, Y:16.14, Z:-1.11 [[ 0.76375794 0.55439073 -0.33064291 -32.52204422] [ -0.56502846 0.82185056 0.07283194 16.14440839] [ 0.31211641 0.13119668 0.94094143 -1.10606665] [ 0. 0. 0. 1. ]] SLAMing on 79.249115933 meters Centerline goodness [0,1] 0.9992326580724371 Centerline is valid? [True, True] Translation: X:-32.53, Y:16.17, Z:-1.12 [[ 0.75976875 0.56064054 -0.32929261 -32.52835249] [ -0.57129164 0.81743932 0.07361261 16.16837711] [ 0.31044694 0.13219356 0.94135411 -1.1156033 ] [ 0. 0. 0. 1. ]] SLAMing on 79.27911593299999 meters Centerline goodness [0,1] 0.9998430387694239 Centerline is valid? [True, True] Translation: X:-32.54, Y:16.17, Z:-1.14 [[ 0.7637398 0.56125314 -0.31889876 -32.53726783] [ -0.57076463 0.8179027 0.0725459 16.16928689] [ 0.30154478 0.12660994 0.94500829 -1.1393521 ] [ 0. 0. 0. 1. ]] SLAMing on 79.30911593299999 meters Centerline goodness [0,1] 0.9995340891442771 Centerline is valid? [True, True] Translation: X:-32.55, Y:16.18, Z:-1.15 [[ 0.7657047 0.56114077 -0.31435226 -32.5511091 ] [ -0.56998923 0.81843998 0.07258291 16.17672384] [ 0.29800769 0.12360033 0.94652754 -1.14588617] [ 0. 0. 0. 1. ]] SLAMing on 79.33911593299999 meters Centerline goodness [0,1] 0.9998479318734793 Centerline is valid? [True, True] Translation: X:-32.56, Y:16.21, Z:-1.13 [[ 0.7625009 0.56600882 -0.3134109 -32.56491133] [ -0.57482064 0.81498555 0.07334703 16.20862155] [ 0.29694042 0.12422788 0.94678077 -1.13347198] [ 0. 0. 0. 1. ]] SLAMing on 79.36911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.58, Y:16.23, Z:-1.13 [[ 0.76148594 0.56833385 -0.31166617 -32.58111764] [ -0.57688457 0.8134748 0.07391169 16.22594441] [ 0.29553909 0.12351269 0.94731265 -1.12765761] [ 0. 0. 0. 1. ]] SLAMing on 79.39911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.59, Y:16.24, Z:-1.13 [[ 0.76181902 0.57049779 -0.30686163 -32.59332149] [ -0.57859713 0.81227681 0.07370042 16.24407225] [ 0.29130251 0.12140288 0.9488963 -1.13332536] [ 0. 0. 0. 1. ]] SLAMing on 79.42911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.59, Y:16.29, Z:-1.16 [[ 0.77172786 0.5636812 -0.29444798 -32.59038015] [ -0.57035683 0.81827021 0.07160273 16.29272979] [ 0.28129913 0.11268259 0.95298134 -1.16307347] [ 0. 0. 0. 1. ]] SLAMing on 79.45911593299999 meters Centerline goodness [0,1] 0.9990864799025578 Centerline is valid? [True, True] Translation: X:-32.62, Y:16.28, Z:-1.13 [[ 0.76890371 0.56745212 -0.29459325 -32.62130693] [ -0.57409669 0.81556765 0.07254246 16.27889209] [ 0.2814251 0.11334684 0.95286537 -1.13275406] [ 0. 0. 0. 1. ]] SLAMing on 79.489115933 meters Centerline goodness [0,1] 0.9998505901688332 Centerline is valid? [True, True] Translation: X:-32.64, Y:16.30, Z:-1.13 [[ 0.76359461 0.57351971 -0.29664525 -32.6361728 ] [ -0.58038414 0.81097902 0.07394103 16.29987871] [ 0.28297972 0.11570723 0.95212096 -1.12657299] [ 0. 0. 0. 1. ]] SLAMing on 79.519115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-32.64, Y:16.32, Z:-1.14 [[ 0.76594936 0.57369109 -0.29017255 -32.64439897] [ -0.57996065 0.81134843 0.07320775 16.32460805] [ 0.27742968 0.11221523 0.95417007 -1.13933082] [ 0. 0. 0. 1. ]] SLAMing on 79.549115933 meters Centerline goodness [0,1] 0.9995556872037915 Centerline is valid? [True, True] Translation: X:-32.66, Y:16.35, Z:-1.12 [[ 0.76122298 0.57892942 -0.29219909 -32.6633215 ] [ -0.5853533 0.80733641 0.07462863 16.35072713] [ 0.27910767 0.11423067 0.95344127 -1.11722798] [ 0. 0. 0. 1. ]] SLAMing on 79.579115933 meters Centerline goodness [0,1] 0.5811653734976419 Centerline is valid? [True, False] Translation: X:-32.64, Y:16.17, Z:-1.00 [[ 0.99536322 0.08179193 0.0506176 -32.63746239] [ -0.08557364 0.9932972 0.07770342 16.16951051] [ -0.04392281 -0.08167466 0.99569073 -0.99539327] [ 0. 0. 0. 1. ]] SLAMing on 79.609115933 meters Centerline goodness [0,1] 0.5781389800178944 Centerline is valid? [False, False] Translation: X:-32.70, Y:16.16, Z:-0.98 [[ 0.99673857 0.05397472 0.05999132 -32.7000308 ] [ -0.05929136 0.9941119 0.09069769 16.15525982] [ -0.0547427 -0.09395886 0.9940699 -0.97599618] [ 0. 0. 0. 1. ]] SLAMing on 79.63911593299999 meters Centerline goodness [0,1] 0.592553670620027 Centerline is valid? [False, False] Translation: X:-32.76, Y:16.14, Z:-0.97 [[ 0.99679298 0.0402889 0.06914153 -32.76184414] [ -0.04654928 0.99472 0.09146197 16.14486119] [ -0.06509157 -0.09438713 0.99340533 -0.97246957] [ 0. 0. 0. 1. ]] SLAMing on 79.66911593299999 meters Centerline goodness [0,1] 0.6035889070146818 Centerline is valid? [False, False] Translation: X:-32.81, Y:16.14, Z:-0.97 [[ 0.99692487 0.0489904 0.06116163 -32.81459408] [ -0.0542558 0.99467468 0.08762755 16.14171254] [ -0.05654302 -0.09067646 0.99427394 -0.96946494] [ 0. 0. 0. 1. ]] SLAMing on 79.69911593299999 meters Centerline goodness [0,1] 0.6032593019901933 Centerline is valid? [False, False] Translation: X:-32.87, Y:16.14, Z:-0.96 [[ 0.99755437 0.03567238 0.06010623 -32.86778386] [ -0.04151846 0.99422061 0.09900303 16.14033819] [ -0.05622718 -0.10125642 0.99327018 -0.95613041] [ 0. 0. 0. 1. ]] SLAMing on 79.72911593299999 meters Centerline goodness [0,1] 0.6069888475836431 Centerline is valid? [False, False] Translation: X:-32.93, Y:16.13, Z:-0.96 [[ 0.99762167 0.05025549 0.04717397 -32.92738242] [ -0.05430474 0.99455958 0.08889451 16.13343169] [ -0.04244989 -0.09124486 0.9949233 -0.95852832] [ 0. 0. 0. 1. ]] SLAMing on 79.75911593299999 meters Centerline goodness [0,1] 0.6183006535947713 Centerline is valid? [False, False] Translation: X:-32.98, Y:16.13, Z:-0.95 [[ 9.98004923e-01 3.18441261e-02 5.45171957e-02 -3.29783356e+01] [-3.70282171e-02 9.94606431e-01 9.68863181e-02 1.61268768e+01] [-5.11378933e-02 -9.87116970e-02 9.93801246e-01 -9.49509890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.78911593299999 meters Centerline goodness [0,1] 0.6291331546023236 Centerline is valid? [False, False] Translation: X:-33.04, Y:16.12, Z:-0.95 [[ 0.99802699 0.04874798 0.03956966 -33.03697813] [ -0.05192157 0.9951464 0.08359301 16.11653197] [ -0.03530261 -0.0854826 0.99571404 -0.95401285] [ 0. 0. 0. 1. ]] SLAMing on 79.81911593299999 meters Centerline goodness [0,1] 0.6256135653726016 Centerline is valid? [False, False] Translation: X:-33.08, Y:16.11, Z:-0.94 [[ 9.98642841e-01 3.14338370e-02 4.15257854e-02 -3.30846401e+01] [-3.52396487e-02 9.94915532e-01 9.43464440e-02 1.61132098e+01] [-3.83489781e-02 -9.56817549e-02 9.94672990e-01 -9.44179192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.849115933 meters SLAMing on 79.879115933 meters SLAMing on 79.909115933 meters SLAMing on 79.939115933 meters SLAMing on 79.969115933 meters SLAMing on 79.999115933 meters SLAMing on 80.02911593299999 meters SLAMing on 80.05911593299999 meters SLAMing on 80.08911593299999 meters SLAMing on 80.11911593299999 meters SLAMing on 80.14911593299999 meters SLAMing on 80.17911593299999 meters SLAMing on 80.20911593299999 meters Centerline goodness [0,1] 0.7700545989080219 Centerline is valid? [False, False] Translation: X:-33.32, Y:16.20, Z:-0.99 [[ 9.92615179e-01 1.03872063e-01 6.26554157e-02 -3.33240865e+01] [-1.04190525e-01 9.94555676e-01 1.82820451e-03 1.62046585e+01] [-6.21243999e-02 -8.34280423e-03 9.98033545e-01 -9.85291622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.239115933 meters Centerline goodness [0,1] 0.7548939641109298 Centerline is valid? [False, False] Translation: X:-33.35, Y:16.20, Z:-0.96 [[ 9.94432411e-01 6.66914247e-02 8.15869720e-02 -3.33537907e+01] [-6.93482973e-02 9.97136084e-01 3.01735476e-02 1.61990954e+01] [-7.93409969e-02 -3.56634712e-02 9.96209377e-01 -9.59487435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.269115933 meters Centerline goodness [0,1] 0.7866222129610335 Centerline is valid? [False, False] Translation: X:-33.40, Y:16.20, Z:-0.96 [[ 9.93565284e-01 5.37155878e-02 9.97128948e-02 -3.34013773e+01] [-5.67513411e-02 9.97999544e-01 2.78602909e-02 1.61994847e+01] [-9.80168917e-02 -3.33398584e-02 9.94626132e-01 -9.63347046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.299115933 meters Centerline goodness [0,1] 0.7798241942235244 Centerline is valid? [False, False] Translation: X:-33.44, Y:16.20, Z:-0.96 [[ 0.99140809 0.04336196 0.12340886 -33.44400222] [ -0.0488286 0.99793959 0.04162136 16.20099654] [ -0.12134981 -0.04728963 0.99148269 -0.95541511] [ 0. 0. 0. 1. ]] SLAMing on 80.329115933 meters Centerline goodness [0,1] 0.6195606252640473 Centerline is valid? [False, False] Translation: X:-33.48, Y:16.21, Z:-0.95 [[ 9.89735197e-01 2.99349687e-02 1.39743112e-01 -3.34849092e+01] [-3.67479664e-02 9.98245369e-01 4.64302802e-02 1.62069380e+01] [-1.38108025e-01 -5.10889577e-02 9.89098626e-01 -9.54723269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.359115933 meters Centerline goodness [0,1] 0.7686147186147186 Centerline is valid? [False, False] Translation: X:-33.48, Y:16.21, Z:-0.94 [[ 9.90275073e-01 1.05136593e-02 1.38725425e-01 -3.34778336e+01] [-1.75322485e-02 9.98621780e-01 4.94687939e-02 1.62055181e+01] [-1.38014133e-01 -5.14198821e-02 9.89094583e-01 -9.44503288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.38911593299999 meters Centerline goodness [0,1] 0.7697368421052632 Centerline is valid? [False, False] Translation: X:-33.48, Y:16.20, Z:-0.92 [[ 9.92138732e-01 1.55166314e-03 1.25133241e-01 -3.34783180e+01] [-9.22650586e-03 9.98108715e-01 6.07771783e-02 1.62028789e+01] [-1.24802273e-01 -6.14539352e-02 9.90276631e-01 -9.23990841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41911593299999 meters Centerline goodness [0,1] 0.7565294378043382 Centerline is valid? [False, False] Translation: X:-33.47, Y:16.21, Z:-0.92 [[ 9.93062747e-01 -1.05000516e-02 1.17115880e-01 -3.34694687e+01] [ 3.56539964e-03 9.98235923e-01 5.92649185e-02 1.62055219e+01] [-1.17531563e-01 -5.84362178e-02 9.91348344e-01 -9.22569369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.44911593299999 meters Centerline goodness [0,1] 0.7248653500897666 Centerline is valid? [False, False] Translation: X:-33.46, Y:16.21, Z:-0.91 [[ 9.93805989e-01 -2.52375570e-02 1.08225327e-01 -3.34607432e+01] [ 1.82022616e-02 9.97686003e-01 6.55081477e-02 1.62056045e+01] [-1.09628160e-01 -6.31324439e-02 9.91965706e-01 -9.10534051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47911593299999 meters Centerline goodness [0,1] 0.7015093489524667 Centerline is valid? [False, False] Translation: X:-33.45, Y:16.21, Z:-0.91 [[ 0.99439519 -0.04355386 0.09633934 -33.44666857] [ 0.03709269 0.99700438 0.06787041 16.20693997] [ -0.09900676 -0.06391653 0.99303189 -0.90501262] [ 0. 0. 0. 1. ]] SLAMing on 80.50911593299999 meters Centerline goodness [0,1] 0.6812917594654788 Centerline is valid? [False, False] Translation: X:-33.45, Y:16.20, Z:-0.90 [[ 0.99463589 -0.04639859 0.09244796 -33.44503085] [ 0.04007507 0.99680298 0.06912166 16.20488769] [ -0.09535955 -0.06504603 0.99331544 -0.90189977] [ 0. 0. 0. 1. ]] SLAMing on 80.53911593299999 meters Centerline goodness [0,1] 0.7195563603440471 Centerline is valid? [False, False] Translation: X:-33.43, Y:16.20, Z:-0.89 [[ 0.99484136 -0.06321243 0.07934013 -33.43272793] [ 0.05705555 0.99535016 0.07760622 16.20491674] [ -0.08387689 -0.07267908 0.99382213 -0.88846107] [ 0. 0. 0. 1. ]] SLAMing on 80.56911593299999 meters Centerline goodness [0,1] 0.6076477404403244 Centerline is valid? [False, False] Translation: X:-33.42, Y:16.20, Z:-0.89 [[ 0.99432539 -0.07704639 0.0733544 -33.42363403] [ 0.07162995 0.99469654 0.07381016 16.20250939] [ -0.07865217 -0.06813694 0.99457086 -0.88877895] [ 0. 0. 0. 1. ]] SLAMing on 80.599115933 meters Centerline goodness [0,1] 0.609919261822376 Centerline is valid? [False, False] Translation: X:-33.42, Y:16.20, Z:-0.89 [[ 0.99390964 -0.08681872 0.0678685 -33.41545569] [ 0.08191085 0.99403319 0.07203211 16.20063097] [ -0.07371728 -0.06603424 0.99509057 -0.88711864] [ 0. 0. 0. 1. ]] SLAMing on 80.629115933 meters Centerline goodness [0,1] 0.6173351775011526 Centerline is valid? [False, False] Translation: X:-33.41, Y:16.20, Z:-0.88 [[ 0.99417541 -0.08948053 0.06007076 -33.4094126 ] [ 0.08458966 0.99323574 0.07954464 16.20028093] [ -0.06678212 -0.07399996 0.99501968 -0.87921169] [ 0. 0. 0. 1. ]] SLAMing on 80.659115933 meters SLAMing on 80.689115933 meters Centerline goodness [0,1] 0.8306302131603336 Centerline is valid? [False, False] Translation: X:-33.42, Y:16.19, Z:-0.87 [[ 0.99377359 -0.09547274 0.05743696 -33.41731536] [ 0.09029032 0.992116 0.08691092 16.18592343] [ -0.06528175 -0.08118377 0.99455894 -0.86792762] [ 0. 0. 0. 1. ]] SLAMing on 80.719115933 meters Centerline goodness [0,1] 0.5747310597390707 Centerline is valid? [False, False] Translation: X:-33.42, Y:16.18, Z:-0.86 [[ 0.99415442 -0.09114374 0.05787755 -33.42252338] [ 0.08568155 0.99218374 0.09071988 16.17834308] [ -0.06569371 -0.08523053 0.99419319 -0.86132487] [ 0. 0. 0. 1. ]] SLAMing on 80.749115933 meters Centerline goodness [0,1] 0.602005926601322 Centerline is valid? [False, False] Translation: X:-33.44, Y:16.17, Z:-0.84 [[ 0.99595065 -0.0728435 0.05268891 -33.43867979] [ 0.06670666 0.99167983 0.11009697 16.17062499] [ -0.06027038 -0.10613645 0.99252332 -0.83797934] [ 0. 0. 0. 1. ]] SLAMing on 80.77911593299999 meters Centerline goodness [0,1] 0.6109123434704831 Centerline is valid? [False, False] Translation: X:-33.45, Y:16.16, Z:-0.83 [[ 0.99652673 -0.06677073 0.04976084 -33.44539154] [ 0.06058435 0.99129721 0.1168733 16.15630823] [ -0.0571315 -0.11345264 0.99189944 -0.82730718] [ 0. 0. 0. 1. ]] SLAMing on 80.80911593299999 meters Centerline goodness [0,1] 0.6343544857768053 Centerline is valid? [False, False] Translation: X:-33.45, Y:16.14, Z:-0.82 [[ 0.99698731 -0.06068077 0.04831293 -33.45413879] [ 0.0544066 0.99103765 0.1220012 16.14189534] [ -0.05528306 -0.11900511 0.9913534 -0.81727608] [ 0. 0. 0. 1. ]] SLAMing on 80.83911593299999 meters Centerline goodness [0,1] 0.6570397111913358 Centerline is valid? [False, False] Translation: X:-33.47, Y:16.13, Z:-0.80 [[ 0.99749316 -0.05098335 0.04907228 -33.46895146] [ 0.04420678 0.9904689 0.13044967 16.12908643] [ -0.05525533 -0.12795332 0.99023977 -0.80310274] [ 0. 0. 0. 1. ]] SLAMing on 80.86911593299999 meters Centerline goodness [0,1] 0.9186872909698997 Centerline is valid? [False, False] Translation: X:-33.48, Y:16.12, Z:-0.80 [[ 0.99761764 -0.04801486 0.04953397 -33.47957982] [ 0.04136198 0.99096987 0.12754568 16.11842044] [ -0.05521076 -0.12519299 0.99059502 -0.80028493] [ 0. 0. 0. 1. ]] SLAMing on 80.89911593299999 meters Centerline goodness [0,1] 0.9271189853029997 Centerline is valid? [False, False] Translation: X:-33.49, Y:16.11, Z:-0.79 [[ 0.99780096 -0.04214305 0.05115855 -33.49113197] [ 0.03512439 0.99074893 0.13108328 16.10932681] [ -0.05620953 -0.12899811 0.99005049 -0.79324596] [ 0. 0. 0. 1. ]] SLAMing on 80.92911593299999 meters Centerline goodness [0,1] 0.9433472970277279 Centerline is valid? [False, False] Translation: X:-33.50, Y:16.10, Z:-0.79 [[ 0.99765385 -0.04134435 0.05456596 -33.5000535 ] [ 0.03412544 0.991294 0.12716783 16.09900485] [ -0.05934858 -0.12500738 0.99037917 -0.79176025] [ 0. 0. 0. 1. ]] SLAMing on 80.95911593299999 meters Centerline goodness [0,1] 0.9589641434262948 Centerline is valid? [False, True] Translation: X:-33.51, Y:16.09, Z:-0.79 [[ 9.97857893e-01 -3.75745598e-02 5.35516453e-02 -3.35096598e+01] [ 3.04849646e-02 9.91363816e-01 1.27547836e-01 1.60888252e+01] [-5.78817173e-02 -1.25642095e-01 9.90385668e-01 -7.85359281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.989115933 meters Centerline goodness [0,1] 0.9589641434262948 Centerline is valid? [True, True] Translation: X:-33.58, Y:15.98, Z:-0.87 [[ 9.99369868e-01 -3.38579082e-02 1.06540141e-02 -3.35814821e+01] [ 3.38969047e-02 9.99419202e-01 -3.50117616e-03 1.59795160e+01] [-1.05292837e-02 3.86010806e-03 9.99937115e-01 -8.65304520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.019115933 meters Centerline goodness [0,1] 0.9629915188897455 Centerline is valid? [True, True] Translation: X:-33.61, Y:16.00, Z:-0.86 [[ 9.99527969e-01 -2.50722424e-02 1.77544735e-02 -3.36079297e+01] [ 2.51789788e-02 9.99666053e-01 -5.81396386e-03 1.59958576e+01] [-1.76027753e-02 6.25825900e-03 9.99825473e-01 -8.61214438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.049115933 meters Centerline goodness [0,1] 0.9741850386282269 Centerline is valid? [True, True] Translation: X:-33.64, Y:15.99, Z:-0.85 [[ 9.99472186e-01 -2.10073274e-02 2.47798493e-02 -3.36413230e+01] [ 2.12141238e-02 9.99742044e-01 -8.11216383e-03 1.59935343e+01] [-2.46030423e-02 8.63356491e-03 9.99660018e-01 -8.45566935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.079115933 meters Centerline goodness [0,1] 0.9824084149437795 Centerline is valid? [True, True] Translation: X:-33.67, Y:16.02, Z:-0.82 [[ 9.99801288e-01 -5.71581306e-03 1.90974856e-02 -3.36654711e+01] [ 5.83614058e-03 9.99963432e-01 -6.25091820e-03 1.60153028e+01] [-1.90610582e-02 6.36113168e-03 9.99798086e-01 -8.22531973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.109115933 meters Centerline goodness [0,1] 0.9874977350969378 Centerline is valid? [True, True] Translation: X:-33.71, Y:15.99, Z:-0.87 [[ 9.99744916e-01 1.09912760e-02 1.97305725e-02 -3.37056059e+01] [-1.08657598e-02 9.99920115e-01 -6.45748453e-03 1.59896113e+01] [-1.97999723e-02 6.24144966e-03 9.99784479e-01 -8.72583702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13911593299999 meters Centerline goodness [0,1] 0.9910410320731052 Centerline is valid? [True, True] Translation: X:-33.73, Y:16.00, Z:-0.86 [[ 9.99548421e-01 2.20336891e-02 2.04320917e-02 -3.37347067e+01] [-2.19011788e-02 9.99737779e-01 -6.68667192e-03 1.59996791e+01] [-2.05740660e-02 6.23616546e-03 9.99768882e-01 -8.56694461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16911593299999 meters Centerline goodness [0,1] 0.9924618496047067 Centerline is valid? [True, True] Translation: X:-33.77, Y:16.00, Z:-0.87 [[ 9.99533757e-01 1.69777126e-02 2.53776817e-02 -3.37663728e+01] [-1.67717984e-02 9.99824852e-01 -8.30494891e-03 1.60006137e+01] [-2.55142359e-02 7.87544742e-03 9.99643437e-01 -8.72150528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19911593299999 meters Centerline goodness [0,1] 0.9923987979494432 Centerline is valid? [True, True] Translation: X:-33.79, Y:16.01, Z:-0.84 [[ 9.98835547e-01 4.72055826e-02 9.95909877e-03 -3.37939719e+01] [-4.71752489e-02 9.98881311e-01 -3.25920540e-03 1.60094431e+01] [-1.01018103e-02 2.78558725e-03 9.99945095e-01 -8.35201093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22911593299999 meters Centerline goodness [0,1] 0.9933940367791466 Centerline is valid? [True, True] Translation: X:-33.83, Y:16.00, Z:-0.86 [[ 9.99055372e-01 3.98460679e-02 1.73393838e-02 -3.38277001e+01] [-3.97530919e-02 9.99193422e-01 -5.67429914e-03 1.60038168e+01] [-1.75514967e-02 4.97964492e-03 9.99833560e-01 -8.58108583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25911593299999 meters Centerline goodness [0,1] 0.9949477351916376 Centerline is valid? [True, True] Translation: X:-33.85, Y:16.04, Z:-0.79 [[ 9.99049195e-01 3.85670301e-02 2.03295184e-02 -3.38464105e+01] [-3.84389311e-02 9.99238791e-01 -6.65482292e-03 1.60401626e+01] [-2.05707002e-02 5.86705052e-03 9.99771186e-01 -7.94723304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.28911593299999 meters Centerline goodness [0,1] 0.9948141745894555 Centerline is valid? [True, True] Translation: X:-33.88, Y:16.05, Z:-0.78 [[ 9.98780021e-01 4.45909403e-02 2.12159715e-02 -3.38768456e+01] [-4.44526306e-02 9.98987339e-01 -6.94691142e-03 1.60456240e+01] [-2.15042562e-02 5.99533059e-03 9.99750780e-01 -7.81870702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31911593299999 meters Centerline goodness [0,1] 0.9975168499467897 Centerline is valid? [True, True] Translation: X:-33.92, Y:16.02, Z:-0.85 [[ 9.98536700e-01 5.05717719e-02 1.91560552e-02 -3.39190665e+01] [-5.04600363e-02 9.98706385e-01 -6.27234034e-03 1.60172000e+01] [-1.94484780e-02 5.29654678e-03 9.99796831e-01 -8.46063920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.349115933 meters Centerline goodness [0,1] 0.9943230689833132 Centerline is valid? [True, True] Translation: X:-33.94, Y:16.05, Z:-0.78 [[ 9.98703828e-01 4.51371765e-02 2.35223047e-02 -3.39412384e+01] [-4.49672933e-02 9.98958768e-01 -7.70206300e-03 1.60456391e+01] [-2.38454619e-02 6.63434543e-03 9.99693643e-01 -7.82404260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.379115933 meters Centerline goodness [0,1] 0.9933729821580289 Centerline is valid? [True, True] Translation: X:-33.96, Y:16.08, Z:-0.73 [[ 9.97877065e-01 6.20724557e-02 1.97071791e-02 -3.39621273e+01] [-6.19562680e-02 9.98058004e-01 -6.45309607e-03 1.60757342e+01] [-2.00694673e-02 5.21841331e-03 9.99784969e-01 -7.25343919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.409115933 meters Centerline goodness [0,1] 0.9940027416038383 Centerline is valid? [True, True] Translation: X:-33.99, Y:16.08, Z:-0.71 [[ 9.97468257e-01 6.76934154e-02 2.17871136e-02 -3.39921937e+01] [-6.75526414e-02 9.97690202e-01 -7.13457660e-03 1.60800197e+01] [-2.22197537e-02 5.64473661e-03 9.99737175e-01 -7.12255836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.439115933 meters Centerline goodness [0,1] 0.9968917285442929 Centerline is valid? [True, True] Translation: X:-34.02, Y:16.10, Z:-0.67 [[ 9.96775702e-01 7.60089466e-02 2.57067940e-02 -3.40176353e+01] [-7.58155129e-02 9.97086321e-01 -8.41877974e-03 1.60980949e+01] [-2.62717952e-02 6.44266132e-03 9.99634075e-01 -6.72873819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.469115933 meters Centerline goodness [0,1] 0.9969225508633954 Centerline is valid? [True, True] Translation: X:-34.05, Y:16.10, Z:-0.67 [[ 9.94892022e-01 9.95125854e-02 1.69443086e-02 -3.40482882e+01] [-9.94317628e-02 9.95028908e-01 -5.54945716e-03 1.60999612e+01] [-1.74123177e-02 3.83630818e-03 9.99841034e-01 -6.66194519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.499115933 meters Centerline goodness [0,1] 0.9982961322201397 Centerline is valid? [True, True] Translation: X:-34.07, Y:16.12, Z:-0.63 [[ 9.94224663e-01 1.04856844e-01 2.28552166e-02 -3.40742556e+01] [-1.04711115e-01 9.94474508e-01 -7.48561077e-03 1.61175846e+01] [-2.35138478e-02 5.04918364e-03 9.99710761e-01 -6.34003660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.52911593299999 meters Centerline goodness [0,1] 0.9984753515161782 Centerline is valid? [True, True] Translation: X:-34.11, Y:16.12, Z:-0.61 [[ 9.92397439e-01 1.22072022e-01 1.56762604e-02 -3.41050118e+01] [-1.22005518e-01 9.92516141e-01 -5.13444361e-03 1.61213088e+01] [-1.61857134e-02 3.18281842e-03 9.99863937e-01 -6.10139795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55911593299999 meters Centerline goodness [0,1] 0.9974734714502274 Centerline is valid? [True, True] Translation: X:-34.14, Y:16.11, Z:-0.63 [[ 9.90430552e-01 1.37642481e-01 1.00930627e-02 -3.41418869e+01] [-1.37615689e-01 9.90480183e-01 -3.30591816e-03 1.61074862e+01] [-1.04520133e-02 1.88531857e-03 9.99943599e-01 -6.25015871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58911593299999 meters Centerline goodness [0,1] 0.9996602683879735 Centerline is valid? [True, True] Translation: X:-34.17, Y:16.12, Z:-0.61 [[ 9.91255592e-01 1.30862268e-01 1.69534284e-02 -3.41679737e+01] [-1.30785678e-01 9.91395102e-01 -5.55501133e-03 1.61247217e+01] [-1.75344873e-02 3.28917040e-03 9.99840849e-01 -6.12563931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61911593299999 meters Centerline goodness [0,1] 0.9988165680473373 Centerline is valid? [True, True] Translation: X:-34.20, Y:16.13, Z:-0.60 [[ 9.88648201e-01 1.49673689e-01 1.31347469e-02 -3.41971763e+01] [-1.49629311e-01 9.88732796e-01 -4.30431662e-03 1.61292660e+01] [-1.36309979e-02 2.29011177e-03 9.99904471e-01 -5.97123549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.64911593299999 meters Centerline goodness [0,1] 0.9996607294317218 Centerline is valid? [True, True] Translation: X:-34.23, Y:16.14, Z:-0.58 [[ 9.86196988e-01 1.65112819e-01 1.23797701e-02 -3.42254842e+01] [-1.65074566e-01 9.86272743e-01 -4.05769245e-03 1.61399385e+01] [-1.28798069e-02 1.95809890e-03 9.99915135e-01 -5.84181655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67911593299999 meters Centerline goodness [0,1] 0.9994929006085193 Centerline is valid? [True, True] Translation: X:-34.25, Y:16.15, Z:-0.57 [[ 9.85916328e-01 1.66587706e-01 1.47489224e-02 -3.42529224e+01] [-1.66533525e-01 9.86023928e-01 -4.83715848e-03 1.61485870e+01] [-1.53486015e-02 2.31284349e-03 9.99879528e-01 -5.72705465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.70911593299999 meters Centerline goodness [0,1] 0.9998311096098632 Centerline is valid? [True, True] Translation: X:-34.28, Y:16.15, Z:-0.57 [[ 9.83992811e-01 1.77660192e-01 1.39643775e-02 -3.42834311e+01] [-1.77612573e-01 9.84089789e-01 -4.58923743e-03 1.61516823e+01] [-1.45575261e-02 2.03552763e-03 9.99891962e-01 -5.66209854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.739115933 meters Centerline goodness [0,1] 0.9989859726212608 Centerline is valid? [True, True] Translation: X:-34.31, Y:16.16, Z:-0.56 [[ 9.80897073e-01 1.94327563e-01 8.81645961e-03 -3.43130836e+01] [-1.94309242e-01 9.80936045e-01 -2.89740057e-03 1.61561353e+01] [-9.21142781e-03 1.12893216e-03 9.99956937e-01 -5.55307860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.769115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.34, Y:16.17, Z:-0.53 [[ 9.77763086e-01 2.09620147e-01 6.22425591e-03 -3.43394430e+01] [-2.09611319e-01 9.77782650e-01 -2.04553111e-03 1.61692725e+01] [-6.51475397e-03 6.95370320e-04 9.99978537e-01 -5.27108424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.799115933 meters Centerline goodness [0,1] 0.9998298741068391 Centerline is valid? [True, True] Translation: X:-34.37, Y:16.17, Z:-0.54 [[ 9.77563037e-01 2.10511352e-01 7.44851004e-03 -3.43697835e+01] [-2.10498722e-01 9.77591063e-01 -2.44970886e-03 1.61688695e+01] [-7.79728838e-03 8.26842984e-04 9.99969259e-01 -5.39407364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.829115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.39, Y:16.19, Z:-0.49 [[ 9.77852094e-01 2.09078832e-01 9.55635796e-03 -3.43926462e+01] [-2.09057954e-01 9.77898196e-01 -3.14496029e-03 1.61925408e+01] [-1.00026898e-02 1.07747336e-03 9.99949391e-01 -4.92847215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.859115933 meters Centerline goodness [0,1] 0.9998281491665234 Centerline is valid? [True, True] Translation: X:-34.42, Y:16.19, Z:-0.51 [[ 9.73520229e-01 2.28555022e-01 4.57875399e-03 -3.44241277e+01] [-2.28550427e-01 9.73530905e-01 -1.50994025e-03 1.61894922e+01] [-4.80266294e-03 4.23481198e-04 9.99988377e-01 -5.07311461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.88911593299999 meters Centerline goodness [0,1] 0.9994934999155833 Centerline is valid? [True, True] Translation: X:-34.46, Y:16.19, Z:-0.51 [[ 9.70778545e-01 2.39951952e-01 3.47527546e-03 -3.44550152e+01] [-2.39949397e-01 9.70784727e-01 -1.14073537e-03 1.61910482e+01] [-3.64746602e-03 2.73511174e-04 9.99993311e-01 -5.13759661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.48, Y:16.20, Z:-0.52 [[ 9.69123166e-01 2.46540860e-01 4.22996361e-03 -3.44841988e+01] [-2.46537115e-01 9.69132349e-01 -1.39333362e-03 1.61969540e+01] [-4.44290823e-03 3.07468867e-04 9.99990083e-01 -5.16419398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.94911593299999 meters Centerline goodness [0,1] 0.9996635262449529 Centerline is valid? [True, True] Translation: X:-34.51, Y:16.20, Z:-0.51 [[ 9.64806407e-01 2.62959083e-01 1.05727027e-03 -3.45121344e+01] [-2.62958865e-01 9.64806985e-01 -3.42695278e-04 1.62045768e+01] [-1.11017658e-03 5.26160093e-05 9.99999382e-01 -5.08772284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97911593299999 meters Centerline goodness [0,1] 0.9998308811094199 Centerline is valid? [True, True] Translation: X:-34.54, Y:16.20, Z:-0.53 [[ 9.59872142e-01 2.80429239e-01 -2.21641125e-03 -3.45426070e+01] [-2.80428262e-01 9.59874697e-01 7.45984443e-04 1.62022684e+01] [ 2.33667292e-03 -9.45053308e-05 9.99997266e-01 -5.28158367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.00911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.58, Y:16.19, Z:-0.57 [[ 9.57668057e-01 2.87869815e-01 -1.69193423e-03 -3.45768499e+01] [-2.87869246e-01 9.57669549e-01 5.76186629e-04 1.61917955e+01] [ 1.78618063e-03 -6.47396983e-05 9.99998403e-01 -5.72992044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.60, Y:16.21, Z:-0.53 [[ 9.52885940e-01 3.03248865e-01 -6.96501626e-03 -3.45994459e+01] [-3.03239851e-01 9.52911387e-01 2.34110973e-03 1.62124493e+01] [ 7.34698218e-03 -1.18740054e-04 9.99973004e-01 -5.30567635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.06911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.63, Y:16.21, Z:-0.55 [[ 9.49477880e-01 3.13703450e-01 -9.04985736e-03 -3.46307717e+01] [-3.13688631e-01 9.49521007e-01 3.04968995e-03 1.62063018e+01] [ 9.54972793e-03 -5.67757888e-05 9.99954399e-01 -5.53639047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.099115933 meters Centerline goodness [0,1] 0.9996642041638684 Centerline is valid? [True, True] Translation: X:-34.65, Y:16.22, Z:-0.52 [[ 9.47040879e-01 3.20764840e-01 -1.49495775e-02 -3.46528790e+01] [-3.20725129e-01 9.47158866e-01 5.04721590e-03 1.62227091e+01] [ 1.57785943e-02 1.47853863e-05 9.99875510e-01 -5.18597361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.129115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.68, Y:16.22, Z:-0.54 [[ 9.44134774e-01 3.29055175e-01 -1.82269208e-02 -3.46806823e+01] [-3.28997296e-01 9.44310682e-01 6.17377384e-03 1.62222773e+01] [ 1.92433882e-02 1.67733082e-04 9.99814815e-01 -5.39761619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.159115933 meters Centerline goodness [0,1] 0.9996668332500417 Centerline is valid? [True, True] Translation: X:-34.70, Y:16.23, Z:-0.52 [[ 9.42364054e-01 3.34087627e-01 -1.83152107e-02 -3.47043525e+01] [-3.34029712e-01 9.42541985e-01 6.22554181e-03 1.62347206e+01] [ 1.93427315e-02 2.51097723e-04 9.99812880e-01 -5.19528557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.189115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.73, Y:16.25, Z:-0.49 [[ 9.42854813e-01 3.32772536e-01 -1.69481821e-02 -3.47254011e+01] [-3.32722352e-01 9.43007107e-01 5.78203865e-03 1.62534892e+01] [ 1.79063598e-02 1.87416039e-04 9.99839651e-01 -4.87521221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.219115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.76, Y:16.25, Z:-0.51 [[ 9.37221407e-01 3.47862039e-01 -2.46583793e-02 -3.47556707e+01] [-3.47760477e-01 9.37545492e-01 8.43214737e-03 1.62469560e+01] [ 2.60515763e-02 6.72420732e-04 9.99660374e-01 -5.06698068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.249115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.78, Y:16.26, Z:-0.51 [[ 9.38257015e-01 3.45167530e-01 -2.30900628e-02 -3.47807174e+01] [-3.45076902e-01 9.38540939e-01 7.92694146e-03 1.62551315e+01] [ 2.44070920e-02 5.30338905e-04 9.99701962e-01 -5.09747226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.81, Y:16.25, Z:-0.52 [[ 9.34484736e-01 3.54920789e-01 -2.77400673e-02 -3.48087555e+01] [-3.54793342e-01 9.34895929e-01 9.55434756e-03 1.62536538e+01] [ 2.93251126e-02 9.13599248e-04 9.99569509e-01 -5.22516252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.30911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.84, Y:16.26, Z:-0.54 [[ 9.33394256e-01 3.57649111e-01 -2.93645400e-02 -3.48360249e+01] [-3.57506421e-01 9.33855487e-01 1.01532432e-02 1.62551069e+01] [ 3.10535352e-02 1.02103274e-03 9.99517201e-01 -5.38441395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.86, Y:16.26, Z:-0.54 [[ 9.33344265e-01 3.57958829e-01 -2.70917028e-02 -3.48614125e+01] [-3.57836475e-01 9.33736919e-01 9.40336066e-03 1.62594439e+01] [ 2.86625391e-02 9.17826680e-04 9.99588724e-01 -5.40455229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.36911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.89, Y:16.27, Z:-0.53 [[ 9.29637279e-01 3.67153370e-01 -3.11918587e-02 -3.48852699e+01] [-3.66994930e-01 9.30159448e-01 1.08684795e-02 1.62659472e+01] [ 3.30038009e-02 1.34351023e-03 9.99454323e-01 -5.29943143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.91, Y:16.27, Z:-0.54 [[ 9.29679096e-01 3.67027141e-01 -3.14301768e-02 -3.49112973e+01] [-3.66864707e-01 9.30209314e-01 1.09962983e-02 1.62664159e+01] [ 3.32725832e-02 1.30759397e-03 9.99445459e-01 -5.40885828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.42911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.94, Y:16.27, Z:-0.55 [[ 9.31587882e-01 3.62222590e-01 -3.06400613e-02 -3.49365651e+01] [-3.62064244e-01 9.32091013e-01 1.07623305e-02 1.62711491e+01] [ 3.24576850e-02 1.06761395e-03 9.99472540e-01 -5.47624699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.96, Y:16.27, Z:-0.56 [[ 9.30809288e-01 3.64117652e-01 -3.18182975e-02 -3.49648291e+01] [-3.63946511e-01 9.31352266e-01 1.12202171e-02 1.62669893e+01] [ 3.37195226e-02 1.13627606e-03 9.99430689e-01 -5.64809599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.489115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-34.99, Y:16.27, Z:-0.58 [[ 9.27726746e-01 3.71539732e-01 -3.57954169e-02 -3.49916490e+01] [-3.71326386e-01 9.28415799e-01 1.26814521e-02 1.62674639e+01] [ 3.79446939e-02 1.52686044e-03 9.99278674e-01 -5.75049321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.519115933 meters Centerline goodness [0,1] 0.9998385794995964 Centerline is valid? [True, True] Translation: X:-35.02, Y:16.28, Z:-0.58 [[ 9.29201550e-01 3.67969969e-01 -3.43886812e-02 -3.50153393e+01] [-3.67768114e-01 9.29836818e-01 1.22518067e-02 1.62753533e+01] [ 3.64841588e-02 1.26266261e-03 9.99333434e-01 -5.77498422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.549115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.04, Y:16.28, Z:-0.58 [[ 9.30468900e-01 3.64803837e-01 -3.38494694e-02 -3.50407929e+01] [-3.64603926e-01 9.31083794e-01 1.21220940e-02 1.62796402e+01] [ 3.59388788e-02 1.06241797e-03 9.99353425e-01 -5.80911139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.579115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.06, Y:16.29, Z:-0.57 [[ 9.28158550e-01 3.70513671e-01 -3.52324467e-02 -3.50626536e+01] [-3.70299458e-01 9.28826113e-01 1.26634657e-02 1.62901489e+01] [ 3.74168037e-02 1.29285201e-03 9.99298910e-01 -5.71566294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.609115933 meters Centerline goodness [0,1] 0.9998367879875959 Centerline is valid? [True, True] Translation: X:-35.08, Y:16.29, Z:-0.57 [[ 9.26275036e-01 3.75238978e-01 -3.47888838e-02 -3.50773650e+01] [-3.75025527e-01 9.26927239e-01 1.27180278e-02 1.62937971e+01] [ 3.70190638e-02 1.26632778e-03 9.99313757e-01 -5.65008342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63911593299999 meters Centerline goodness [0,1] 0.9998389434691577 Centerline is valid? [True, True] Translation: X:-35.10, Y:16.30, Z:-0.58 [[ 9.24023907e-01 3.80781083e-01 -3.44323504e-02 -3.51016327e+01] [-3.80574431e-01 9.24664101e-01 1.26255037e-02 1.62957204e+01] [ 3.66459113e-02 1.43780494e-03 9.99327279e-01 -5.82591508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.66911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.13, Y:16.30, Z:-0.59 [[ 9.23276348e-01 3.82602062e-01 -3.42993756e-02 -3.51255319e+01] [-3.82396814e-01 9.23912067e-01 1.26161993e-02 1.63027729e+01] [ 3.65165909e-02 1.46773360e-03 9.99331969e-01 -5.86043533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.15, Y:16.31, Z:-0.60 [[ 9.22022968e-01 3.85586135e-01 -3.45973943e-02 -3.51506852e+01] [-3.85377584e-01 9.22670535e-01 1.27750001e-02 1.63066537e+01] [ 3.68478593e-02 1.55421669e-03 9.99319678e-01 -6.00116454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.72911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.18, Y:16.31, Z:-0.61 [[ 9.20173051e-01 3.89748644e-01 -3.71153691e-02 -3.51752705e+01] [-3.89508922e-01 9.20919565e-01 1.37823933e-02 1.63113608e+01] [ 3.95519387e-02 1.77458052e-03 9.99215940e-01 -6.09629790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75911593299999 meters Centerline goodness [0,1] 0.9998401789995205 Centerline is valid? [True, True] Translation: X:-35.20, Y:16.32, Z:-0.61 [[ 9.19566168e-01 3.91289843e-01 -3.59210382e-02 -3.52002169e+01] [-3.91063638e-01 9.20265898e-01 1.34129678e-02 1.63150008e+01] [ 3.83052645e-02 1.71330044e-03 9.99264615e-01 -6.08027783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.78911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.23, Y:16.32, Z:-0.62 [[ 9.15381842e-01 4.00494363e-01 -4.09920396e-02 -3.52255517e+01] [-4.00205426e-01 9.16296283e-01 1.53863163e-02 1.63182123e+01] [ 4.37229865e-02 2.32088210e-03 9.99040997e-01 -6.21857100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.25, Y:16.33, Z:-0.62 [[ 9.12522516e-01 4.06862447e-01 -4.20191374e-02 -3.52487065e+01] [-4.06561672e-01 9.13485700e-01 1.58581777e-02 1.63252687e+01] [ 4.48359782e-02 2.61242656e-03 9.98990946e-01 -6.21507805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.849115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.27, Y:16.33, Z:-0.62 [[ 9.10198021e-01 4.12170224e-01 -4.06849855e-02 -3.52712459e+01] [-4.11889837e-01 9.11102843e-01 1.54393123e-02 1.63313157e+01] [ 4.34318308e-02 2.70490055e-03 9.99052731e-01 -6.23003046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.879115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.29, Y:16.34, Z:-0.62 [[ 9.09119859e-01 4.14538955e-01 -4.07251468e-02 -3.52921346e+01] [-4.14256603e-01 9.10027438e-01 1.55412348e-02 1.63423246e+01] [ 4.35034482e-02 2.74181576e-03 9.99049515e-01 -6.24863112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.909115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.31, Y:16.35, Z:-0.62 [[ 9.08350700e-01 4.16224482e-01 -4.06962696e-02 -3.53138110e+01] [-4.15940444e-01 9.09257754e-01 1.56167629e-02 1.63506915e+01] [ 4.35034777e-02 2.74172695e-03 9.99049513e-01 -6.24562186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.939115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.34, Y:16.35, Z:-0.64 [[ 9.05774776e-01 4.21770596e-01 -4.10075569e-02 -3.53388063e+01] [-4.21483819e-01 9.06697786e-01 1.58276532e-02 1.63517406e+01] [ 4.38570998e-02 2.94773267e-03 9.99033466e-01 -6.39182949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.969115933 meters Centerline goodness [0,1] 0.9996879875195008 Centerline is valid? [True, True] Translation: X:-35.36, Y:16.36, Z:-0.65 [[ 9.02839983e-01 4.27762223e-01 -4.35826351e-02 -3.53619534e+01] [-4.27440982e-01 9.03885054e-01 1.69120292e-02 1.63576970e+01] [ 4.66280196e-02 3.36014820e-03 9.98906671e-01 -6.52791619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.999115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.38, Y:16.37, Z:-0.65 [[ 9.00130145e-01 4.33542376e-01 -4.25056536e-02 -3.53831842e+01] [-4.33238646e-01 9.01126468e-01 1.65941343e-02 1.63650195e+01] [ 4.54972299e-02 3.47821134e-03 9.98958410e-01 -6.46441973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.02911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.40, Y:16.37, Z:-0.64 [[ 9.00199449e-01 4.33463507e-01 -4.18370581e-02 -3.54016401e+01] [-4.33164030e-01 9.01165020e-01 1.64478223e-02 1.63739466e+01] [ 4.48316240e-02 3.31598808e-03 9.98989054e-01 -6.40464953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.42, Y:16.38, Z:-0.66 [[ 8.98940686e-01 4.35673429e-01 -4.57635958e-02 -3.54239788e+01] [-4.35312596e-01 9.00097403e-01 1.80999539e-02 1.63758190e+01] [ 4.90773627e-02 3.65068472e-03 9.98788308e-01 -6.62481006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.08911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.44, Y:16.40, Z:-0.61 [[ 8.99395388e-01 4.34982473e-01 -4.33380131e-02 -3.54383341e+01] [-4.34653567e-01 9.00432749e-01 1.72377557e-02 1.63994465e+01] [ 4.65210879e-02 3.33346398e-03 9.98911746e-01 -6.10974134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.47, Y:16.40, Z:-0.64 [[ 8.98723996e-01 4.36416554e-01 -4.28458966e-02 -3.54650952e+01] [-4.36092186e-01 8.99738756e-01 1.71399246e-02 1.63961143e+01] [ 4.60302606e-02 3.28069922e-03 9.98934659e-01 -6.40071046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.14911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.48, Y:16.41, Z:-0.63 [[ 8.96372084e-01 4.41114956e-01 -4.39850237e-02 -3.54832409e+01] [-4.40772783e-01 8.97443773e-01 1.77208495e-02 1.64064466e+01] [ 4.72910173e-02 3.50292650e-03 9.98875012e-01 -6.29903276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.50, Y:16.42, Z:-0.63 [[ 8.95371869e-01 4.43105595e-01 -4.43469027e-02 -3.55041173e+01] [-4.42755604e-01 8.96462391e-01 1.79626684e-02 1.64168849e+01] [ 4.77146893e-02 3.55157175e-03 9.98854692e-01 -6.28420889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.20911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.53, Y:16.43, Z:-0.63 [[ 8.96654683e-01 4.40588699e-01 -4.34968756e-02 -3.55256102e+01] [-4.40244311e-01 8.97703161e-01 1.77195526e-02 1.64250740e+01] [ 4.68543173e-02 3.26093215e-03 9.98896411e-01 -6.25588768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.239115933 meters Centerline goodness [0,1] 0.9996844430419691 Centerline is valid? [True, True] Translation: X:-35.55, Y:16.42, Z:-0.65 [[ 8.98328005e-01 4.37279318e-01 -4.23508343e-02 -3.55512785e+01] [-4.36944627e-01 8.99321016e-01 1.73523247e-02 1.64237256e+01] [ 4.56748080e-02 2.91689030e-03 9.98952103e-01 -6.52024657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.269115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.57, Y:16.43, Z:-0.64 [[ 8.97282905e-01 4.39271794e-01 -4.38597744e-02 -3.55718225e+01] [-4.38909816e-01 8.98349122e-01 1.80838965e-02 1.64306302e+01] [ 4.73451355e-02 3.02411433e-03 9.98874013e-01 -6.44806197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.299115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.60, Y:16.43, Z:-0.66 [[ 8.97310263e-01 4.39318246e-01 -4.28225616e-02 -3.55951882e+01] [-4.38968743e-01 8.98326921e-01 1.77534624e-02 1.64339686e+01] [ 4.62680799e-02 2.86740205e-03 9.98924944e-01 -6.63072889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.329115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.62, Y:16.44, Z:-0.68 [[ 8.94100321e-01 4.45639961e-01 -4.46053892e-02 -3.56192368e+01] [-4.45263630e-01 8.95206430e-01 1.85942566e-02 1.64361541e+01] [ 4.82173750e-02 3.23602677e-03 9.98831624e-01 -6.79729366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.359115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.64, Y:16.45, Z:-0.67 [[ 8.95028096e-01 4.44045233e-01 -4.18155232e-02 -3.56378235e+01] [-4.43708219e-01 8.95999799e-01 1.75321654e-02 1.64504859e+01] [ 4.52517749e-02 2.86211069e-03 9.98971514e-01 -6.69989412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.38911593299999 meters Centerline goodness [0,1] 0.9996815793663429 Centerline is valid? [True, True] Translation: X:-35.66, Y:16.45, Z:-0.68 [[ 8.94030156e-01 4.46041693e-01 -4.19152577e-02 -3.56616264e+01] [-4.45700222e-01 8.95007578e-01 1.76846595e-02 1.64503234e+01] [ 4.54025687e-02 2.87102072e-03 9.98964646e-01 -6.81391432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41911593299999 meters Centerline goodness [0,1] 0.9998425692695214 Centerline is valid? [True, True] Translation: X:-35.68, Y:16.46, Z:-0.68 [[ 8.95563429e-01 4.43200134e-01 -3.92401135e-02 -3.56803344e+01] [-4.42894211e-01 8.96419290e-01 1.66485459e-02 1.64633540e+01] [ 4.25542325e-02 2.46939032e-03 9.99091107e-01 -6.75034695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.71, Y:16.46, Z:-0.71 [[ 8.91333167e-01 4.51329303e-01 -4.27439623e-02 -3.57065492e+01] [-4.50970979e-01 8.92352349e-01 1.82335066e-02 1.64602419e+01] [ 4.63719910e-02 3.02415739e-03 9.98919663e-01 -7.05885237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.73, Y:16.47, Z:-0.69 [[ 8.87765417e-01 4.58289748e-01 -4.29310196e-02 -3.57254049e+01] [-4.57931447e-01 8.88796693e-01 1.84181597e-02 1.64717243e+01] [ 4.65978020e-02 3.30845873e-03 9.98908254e-01 -6.92560509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.50911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.75, Y:16.48, Z:-0.70 [[ 8.88397443e-01 4.57074772e-01 -4.28093070e-02 -3.57461526e+01] [-4.56712192e-01 8.89422725e-01 1.84713512e-02 1.64800449e+01] [ 4.65183591e-02 3.14163127e-03 9.98912495e-01 -6.98805818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.77, Y:16.49, Z:-0.69 [[ 8.90364064e-01 4.53368584e-01 -4.13371528e-02 -3.57662601e+01] [-4.53021780e-01 8.91318885e-01 1.79419214e-02 1.64895905e+01] [ 4.49788885e-02 2.75178847e-03 9.98984148e-01 -6.93600268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.56911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.79, Y:16.50, Z:-0.69 [[ 8.89797850e-01 4.54362782e-01 -4.25939934e-02 -3.57880202e+01] [-4.53990930e-01 8.90812351e-01 1.85900590e-02 1.64963246e+01] [ 4.63898863e-02 2.79589218e-03 9.98919497e-01 -6.94115813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.599115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.81, Y:16.51, Z:-0.68 [[ 8.91976641e-01 4.50400954e-01 -3.89442227e-02 -3.58050454e+01] [-4.50082015e-01 8.92823499e-01 1.70991052e-02 1.65123791e+01] [ 4.24717704e-02 2.27609183e-03 9.99095075e-01 -6.80817172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.629115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.83, Y:16.51, Z:-0.71 [[ 8.89654223e-01 4.54910791e-01 -3.96425985e-02 -3.58298993e+01] [-4.54580484e-01 8.90533649e-01 1.75043806e-02 1.65119729e+01] [ 4.32659995e-02 2.44790546e-03 9.99060589e-01 -7.05968148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.659115933 meters Centerline goodness [0,1] 0.9998457742134484 Centerline is valid? [True, True] Translation: X:-35.85, Y:16.52, Z:-0.69 [[ 8.87646524e-01 4.58732820e-01 -4.05936934e-02 -3.58481917e+01] [-4.58385978e-01 8.88570424e-01 1.80248667e-02 1.65244058e+01] [ 4.43389533e-02 2.60786961e-03 9.99013141e-01 -6.90075178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.689115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.87, Y:16.53, Z:-0.70 [[ 8.87098037e-01 4.59736552e-01 -4.12234855e-02 -3.58694595e+01] [-4.59375358e-01 8.88051517e-01 1.84061044e-02 1.65313120e+01] [ 4.50705378e-02 2.60903437e-03 9.98980400e-01 -7.00120481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.719115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.89, Y:16.54, Z:-0.71 [[ 8.87824237e-01 4.58379322e-01 -4.07003924e-02 -3.58911921e+01] [-4.58020828e-01 8.88753395e-01 1.82845135e-02 1.65368340e+01] [ 4.45538548e-02 2.40819317e-03 9.99004081e-01 -7.14018906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.749115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.90, Y:16.55, Z:-0.70 [[ 8.83532909e-01 4.66539427e-01 -4.13589233e-02 -3.59046052e+01] [-4.66168755e-01 8.84496337e-01 1.87862168e-02 1.65486164e+01] [ 4.53463270e-02 2.68199704e-03 9.98967726e-01 -6.95280291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77911593299999 meters Centerline goodness [0,1] 0.999844985273601 Centerline is valid? [True, True] Translation: X:-35.93, Y:16.55, Z:-0.72 [[ 8.85501454e-01 4.62923511e-01 -3.98622344e-02 -3.59275816e+01] [-4.62571803e-01 8.86395167e-01 1.81916280e-02 1.65515015e+01] [ 4.37550243e-02 2.33043255e-03 9.99039572e-01 -7.17080784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.80911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.95, Y:16.56, Z:-0.72 [[ 8.85598722e-01 4.62790400e-01 -3.92421744e-02 -3.59479458e+01] [-4.62445194e-01 8.86465004e-01 1.80066584e-02 1.65596312e+01] [ 4.31201229e-02 2.20068126e-03 9.99067471e-01 -7.15844217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83911593299999 meters Centerline goodness [0,1] 0.9998461538461538 Centerline is valid? [True, True] Translation: X:-35.97, Y:16.56, Z:-0.74 [[ 8.80075314e-01 4.72855904e-01 -4.32982119e-02 -3.59708846e+01] [-4.72442281e-01 8.81135092e-01 1.99810001e-02 1.65644714e+01] [ 4.75997078e-02 2.87112105e-03 9.98862365e-01 -7.36911654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.86911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-35.99, Y:16.57, Z:-0.73 [[ 8.84894836e-01 4.64151263e-01 -3.90478334e-02 -3.59908109e+01] [-4.63801679e-01 8.85753537e-01 1.81293580e-02 1.65727661e+01] [ 4.30015210e-02 2.06787547e-03 9.99072867e-01 -7.32088084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89911593299999 meters Centerline goodness [0,1] 0.9998497370398197 Centerline is valid? [True, True] Translation: X:-36.01, Y:16.58, Z:-0.74 [[ 8.82393442e-01 4.68844505e-01 -3.95808508e-02 -3.60126055e+01] [-4.68485764e-01 8.83277875e-01 1.84738775e-02 1.65790326e+01] [ 4.36222658e-02 2.24183680e-03 9.99045581e-01 -7.35035667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.92911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-36.03, Y:16.58, Z:-0.75 [[ 8.83039208e-01 4.67586701e-01 -4.00553821e-02 -3.60348248e+01] [-4.67213499e-01 8.83944682e-01 1.87974575e-02 1.65844469e+01] [ 4.41961832e-02 2.11552327e-03 9.99020631e-01 -7.47316438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95911593299999 meters Centerline goodness [0,1] 0.9992301770592764 Centerline is valid? [True, True] Translation: X:-36.05, Y:16.60, Z:-0.75 [[ 8.85246396e-01 4.63668294e-01 -3.67495758e-02 -3.60538180e+01] [-4.63346644e-01 8.86007293e-01 1.73483139e-02 1.65952845e+01] [ 4.06042553e-02 1.67026030e-03 9.99173911e-01 -7.46845377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.989115933 meters Centerline goodness [0,1] 0.9996974739071245 Centerline is valid? [True, True] Translation: X:-36.07, Y:16.61, Z:-0.75 [[ 8.84621840e-01 4.64767095e-01 -3.78912568e-02 -3.60733709e+01] [-4.64422181e-01 8.85431358e-01 1.79818651e-02 1.66052079e+01] [ 4.19074862e-02 1.69038954e-03 9.99120065e-01 -7.46028420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.019115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-36.09, Y:16.61, Z:-0.76 [[ 8.84460994e-01 4.65168592e-01 -3.67005691e-02 -3.60948562e+01] [-4.64841249e-01 8.85220723e-01 1.75181068e-02 1.66102715e+01] [ 4.06369774e-02 1.56585620e-03 9.99172750e-01 -7.59639625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.049115933 meters Centerline goodness [0,1] 0.9996991123815255 Centerline is valid? [True, True] Translation: X:-36.11, Y:16.62, Z:-0.75 [[ 8.82512110e-01 4.68610971e-01 -3.97005505e-02 -3.61132958e+01] [-4.68227074e-01 8.83402849e-01 1.90476926e-02 1.66225638e+01] [ 4.39975372e-02 1.77905318e-03 9.99030055e-01 -7.54295289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.079115933 meters Centerline goodness [0,1] 0.9996852871754524 Centerline is valid? [True, True] Translation: X:-36.14, Y:16.63, Z:-0.77 [[ 8.85087347e-01 4.63966928e-01 -3.68113896e-02 -3.61358648e+01] [-4.63628667e-01 8.85851502e-01 1.77644302e-02 1.66280293e+01] [ 4.08515329e-02 1.34374304e-03 9.99164324e-01 -7.65842296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.109115933 meters Centerline goodness [0,1] 0.9996970614965162 Centerline is valid? [True, True] Translation: X:-36.15, Y:16.64, Z:-0.75 [[ 8.82631763e-01 4.68642565e-01 -3.65419944e-02 -3.61525371e+01] [-4.68307656e-01 8.83386727e-01 1.77716073e-02 1.66405070e+01] [ 4.06092445e-02 1.42711063e-03 9.99174085e-01 -7.54149298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13911593299999 meters Centerline goodness [0,1] 0.9996874023132228 Centerline is valid? [True, True] Translation: X:-36.17, Y:16.65, Z:-0.76 [[ 8.82133742e-01 4.69552208e-01 -3.68888077e-02 -3.61732387e+01] [-4.69208184e-01 8.82903587e-01 1.80259993e-02 1.66489552e+01] [ 4.10334084e-02 1.40718822e-03 9.99156784e-01 -7.63351690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.16911593299999 meters Centerline goodness [0,1] 0.9993610223642172 Centerline is valid? [True, True] Translation: X:-36.19, Y:16.66, Z:-0.75 [[ 8.81411158e-01 4.71073092e-01 -3.47060737e-02 -3.61916081e+01] [-4.70766072e-01 8.82093213e-01 1.70548978e-02 1.66610340e+01] [ 3.86480955e-02 1.30606480e-03 9.99252030e-01 -7.52644474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19911593299999 meters Centerline goodness [0,1] 0.9993691846711875 Centerline is valid? [True, True] Translation: X:-36.21, Y:16.67, Z:-0.77 [[ 8.79100528e-01 4.75242044e-01 -3.64316075e-02 -3.62108823e+01] [-4.74902087e-01 8.79853906e-01 1.80308627e-02 1.66679494e+01] [ 4.06235162e-02 1.45050548e-03 9.99173471e-01 -7.71193517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.22911593299999 meters Centerline goodness [0,1] 0.9987100935182199 Centerline is valid? [True, True] Translation: X:-36.23, Y:16.68, Z:-0.75 [[ 8.76261846e-01 4.80290430e-01 -3.85523062e-02 -3.62274914e+01] [-4.79910451e-01 8.77107873e-01 1.91765111e-02 1.66830973e+01] [ 4.30248260e-02 1.69800961e-03 9.99072560e-01 -7.53913789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25911593299999 meters Centerline goodness [0,1] 0.9982108002602472 Centerline is valid? [True, True] Translation: X:-36.25, Y:16.69, Z:-0.75 [[ 8.75311397e-01 4.82149578e-01 -3.69017843e-02 -3.62461017e+01] [-4.81799019e-01 8.76087405e-01 1.84543985e-02 1.66946229e+01] [ 4.12269689e-02 1.62589809e-03 9.99148484e-01 -7.50146352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.28911593299999 meters Centerline goodness [0,1] 0.9988143631436315 Centerline is valid? [True, True] Translation: X:-36.27, Y:16.70, Z:-0.78 [[ 8.76659250e-01 4.79808363e-01 -3.53906017e-02 -3.62689108e+01] [-4.79480124e-01 8.77372251e-01 1.77973021e-02 1.66985091e+01] [ 3.95900263e-02 1.36692057e-03 9.99215073e-01 -7.75338125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31911593299999 meters Centerline goodness [0,1] 0.9890350877192983 Centerline is valid? [True, True] Translation: X:-36.29, Y:16.70, Z:-0.80 [[ 8.77747106e-01 4.77590444e-01 -3.83064770e-02 -3.62914741e+01] [-4.77199142e-01 8.78581662e-01 1.93711482e-02 1.67015166e+01] [ 4.29068436e-02 1.27684869e-03 9.99078261e-01 -7.97686890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.349115933 meters Centerline goodness [0,1] 0.9789633120161562 Centerline is valid? [True, True] Translation: X:-36.31, Y:16.70, Z:-0.82 [[ 8.79919085e-01 4.73615116e-01 -3.78302332e-02 -3.63149878e+01] [-4.73225237e-01 8.80731385e-01 1.92380505e-02 1.67034436e+01] [ 4.24297052e-02 9.74293270e-04 9.99098980e-01 -8.17442927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.379115933 meters Centerline goodness [0,1] 0.9640901771336554 Centerline is valid? [True, True] Translation: X:-36.33, Y:16.72, Z:-0.82 [[ 8.80808131e-01 4.71772869e-01 -4.00923486e-02 -3.63335542e+01] [-4.71327786e-01 8.81719718e-01 2.05050336e-02 1.67159869e+01] [ 4.50239329e-02 8.35637590e-04 9.98985559e-01 -8.19060951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.409115933 meters Centerline goodness [0,1] 0.9643146796431468 Centerline is valid? [True, True] Translation: X:-36.35, Y:16.72, Z:-0.83 [[ 8.78400980e-01 4.76328221e-01 -3.90274915e-02 -3.63542270e+01] [-4.75906182e-01 8.79267043e-01 2.00691885e-02 1.67228874e+01] [ 4.38751079e-02 9.44629620e-04 9.99036577e-01 -8.29142899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.439115933 meters Centerline goodness [0,1] 0.9694971145919209 Centerline is valid? [True, True] Translation: X:-36.37, Y:16.74, Z:-0.81 [[ 8.75008307e-01 4.82519356e-01 -3.91858858e-02 -3.63680078e+01] [-4.82095196e-01 8.75884535e-01 2.02608803e-02 1.67425141e+01] [ 4.40985783e-02 1.16288875e-03 9.99026508e-01 -8.07515984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.469115933 meters Centerline goodness [0,1] 0.9649094173331157 Centerline is valid? [True, True] Translation: X:-36.39, Y:16.75, Z:-0.82 [[ 8.74107450e-01 4.84224738e-01 -3.82435360e-02 -3.63852717e+01] [-4.83814900e-01 8.74943006e-01 1.99468984e-02 1.67503448e+01] [ 4.31196960e-02 1.06706004e-03 9.99069344e-01 -8.17506634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49911593299998 meters Centerline goodness [0,1] 0.9662536680795566 Centerline is valid? [True, True] Translation: X:-36.40, Y:16.77, Z:-0.80 [[ 8.70281872e-01 4.91204368e-01 -3.64380491e-02 -3.63998042e+01] [-4.90835016e-01 8.71043424e-01 1.90876800e-02 1.67694104e+01] [ 4.11150748e-02 1.27340855e-03 9.99153606e-01 -7.99246486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.52911593299999 meters Centerline goodness [0,1] 0.9795227618886444 Centerline is valid? [True, True] Translation: X:-36.42, Y:16.78, Z:-0.80 [[ 8.65153924e-01 5.00047763e-01 -3.82220094e-02 -3.64171842e+01] [-4.99644699e-01 8.65996214e-01 2.01427845e-02 1.67814010e+01] [ 4.31724698e-02 1.67081541e-03 9.99066237e-01 -8.03000204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55911593299999 meters Centerline goodness [0,1] 0.9782572614107884 Centerline is valid? [True, True] Translation: X:-36.43, Y:16.81, Z:-0.78 [[ 8.63481813e-01 5.02933678e-01 -3.81690124e-02 -3.64285888e+01] [-5.02530037e-01 8.64323290e-01 2.02191260e-02 1.68055985e+01] [ 4.31592458e-02 1.72222759e-03 9.99066721e-01 -7.75724118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.58911593299999 meters Centerline goodness [0,1] 0.9728350345735923 Centerline is valid? [True, True] Translation: X:-36.45, Y:16.82, Z:-0.77 [[ 8.62471951e-01 5.04925857e-01 -3.45255241e-02 -3.64471918e+01] [-5.04593161e-01 8.63161312e-01 1.83927028e-02 1.68157623e+01] [ 3.90880479e-02 1.55815307e-03 9.99234555e-01 -7.74717611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61911593299999 meters Centerline goodness [0,1] 0.9647456535737282 Centerline is valid? [True, True] Translation: X:-36.47, Y:16.83, Z:-0.77 [[ 8.61729856e-01 5.06355289e-01 -3.20308722e-02 -3.64660987e+01] [-5.06066393e-01 8.62323780e-01 1.71611394e-02 1.68253184e+01] [ 3.63106165e-02 1.42148178e-03 9.99339541e-01 -7.73288205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.64911593299999 meters Centerline goodness [0,1] 0.9680180907769342 Centerline is valid? [True, True] Translation: X:-36.48, Y:16.84, Z:-0.77 [[ 8.60714690e-01 5.08154404e-01 -3.08111128e-02 -3.64815469e+01] [-5.07885171e-01 8.61264907e-01 1.65955688e-02 1.68420109e+01] [ 3.49696416e-02 1.36445742e-03 9.99387444e-01 -7.66512015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67911593299999 meters Centerline goodness [0,1] 0.9713134568896051 Centerline is valid? [True, True] Translation: X:-36.50, Y:16.85, Z:-0.78 [[ 8.59626039e-01 5.10052135e-01 -2.98310580e-02 -3.65013454e+01] [-5.09798002e-01 8.60142472e-01 1.61532095e-02 1.68516018e+01] [ 3.38979389e-02 1.32209427e-03 9.99424425e-01 -7.75421258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.70911593299999 meters Centerline goodness [0,1] 0.9813847158719791 Centerline is valid? [True, True] Translation: X:-36.52, Y:16.87, Z:-0.77 [[ 8.56933694e-01 5.14611052e-01 -2.89846418e-02 -3.65178975e+01] [-5.14370987e-01 8.57422614e-01 1.57781279e-02 1.68652891e+01] [ 3.29716864e-02 1.38804941e-03 9.99455322e-01 -7.71528165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.739115933 meters Centerline goodness [0,1] 0.9750991276764472 Centerline is valid? [True, True] Translation: X:-36.53, Y:16.88, Z:-0.76 [[ 8.59603666e-01 5.10258323e-01 -2.67951734e-02 -3.65338859e+01] [-5.10048560e-01 8.60020537e-01 1.46677333e-02 1.68797292e+01] [ 3.05287324e-02 1.05840228e-03 9.99533329e-01 -7.57829774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.769115933 meters Centerline goodness [0,1] 0.973264540337711 Centerline is valid? [True, True] Translation: X:-36.56, Y:16.89, Z:-0.78 [[ 8.53983904e-01 5.19488261e-01 -2.90420166e-02 -3.65564312e+01] [-5.19244618e-01 8.54476376e-01 1.59734114e-02 1.68851516e+01] [ 3.31137168e-02 1.43887461e-03 9.99450555e-01 -7.75933484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.799115933 meters Centerline goodness [0,1] 0.973264540337711 Centerline is valid? [True, True] Translation: X:-36.57, Y:16.90, Z:-0.78 [[ 8.52847427e-01 5.21353888e-01 -2.90067240e-02 -3.65748428e+01] [-5.21109148e-01 8.53339355e-01 1.60374812e-02 1.68953063e+01] [ 3.31137823e-02 1.43814470e-03 9.99450554e-01 -7.75667698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.829115933 meters Centerline goodness [0,1] 0.9787498061113696 Centerline is valid? [True, True] Translation: X:-36.59, Y:16.91, Z:-0.77 [[ 8.51050206e-01 5.24355686e-01 -2.76525076e-02 -3.65922321e+01] [-5.24132292e-01 8.51498160e-01 1.53695626e-02 1.69075308e+01] [ 3.16051769e-02 1.41330280e-03 9.99499432e-01 -7.70880182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.859115933 meters Centerline goodness [0,1] 0.9822476072861994 Centerline is valid? [True, True] Translation: X:-36.61, Y:16.92, Z:-0.77 [[ 8.52287413e-01 5.22458538e-01 -2.53622197e-02 -3.66110202e+01] [-5.22267574e-01 8.52663894e-01 1.41727242e-02 1.69180464e+01] [ 2.90301097e-02 1.16663053e-03 9.99577857e-01 -7.74655033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.88911593299999 meters Centerline goodness [0,1] 0.9785401239232281 Centerline is valid? [True, True] Translation: X:-36.63, Y:16.93, Z:-0.78 [[ 8.50255408e-01 5.25833832e-01 -2.37596930e-02 -3.66297670e+01] [-5.25665650e-01 8.50586550e-01 1.33471293e-02 1.69281286e+01] [ 2.72280474e-02 1.14118561e-03 9.99628597e-01 -7.77629181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91911593299999 meters Centerline goodness [0,1] 0.9866098600121729 Centerline is valid? [True, True] Translation: X:-36.65, Y:16.93, Z:-0.80 [[ 8.48908324e-01 5.27896797e-01 -2.60697013e-02 -3.66512343e+01] [-5.27692999e-01 8.49307591e-01 1.47212184e-02 1.69342882e+01] [ 2.99124792e-02 1.25983403e-03 9.99551728e-01 -7.98622591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.94911593299999 meters Centerline goodness [0,1] 0.9832660989093083 Centerline is valid? [True, True] Translation: X:-36.67, Y:16.95, Z:-0.78 [[ 8.49437747e-01 5.27164574e-01 -2.35165124e-02 -3.66663536e+01] [-5.26996523e-01 8.49762558e-01 1.33513489e-02 1.69502628e+01] [ 2.70218099e-02 1.05198052e-03 9.99634291e-01 -7.78747430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97911593299999 meters Centerline goodness [0,1] 0.9817100371747212 Centerline is valid? [True, True] Translation: X:-36.68, Y:16.96, Z:-0.78 [[ 8.49123594e-01 5.27689849e-01 -2.30769613e-02 -3.66841157e+01] [-5.27526370e-01 8.49436545e-01 1.31713615e-02 1.69629494e+01] [ 2.65528080e-02 9.89591804e-04 9.99646922e-01 -7.78889256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.00911593299999 meters Centerline goodness [0,1] 0.9815005138746146 Centerline is valid? [True, True] Translation: X:-36.70, Y:16.98, Z:-0.77 [[ 8.48105639e-01 5.29379541e-01 -2.17744592e-02 -3.67010269e+01] [-5.29232923e-01 8.48384606e-01 1.24929577e-02 1.69768555e+01] [ 2.50866322e-02 9.28412852e-04 9.99684850e-01 -7.71885873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03911593299999 meters Centerline goodness [0,1] 0.9790721498609688 Centerline is valid? [True, True] Translation: X:-36.72, Y:16.98, Z:-0.78 [[ 8.47680992e-01 5.30058271e-01 -2.17982673e-02 -3.67218585e+01] [-5.29909839e-01 8.47960750e-01 1.25749044e-02 1.69836040e+01] [ 2.51495072e-02 8.91608924e-04 9.99683304e-01 -7.84254737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.06911593299999 meters Centerline goodness [0,1] 0.9769319492502884 Centerline is valid? [True, True] Translation: X:-36.74, Y:17.00, Z:-0.77 [[ 8.44203336e-01 5.35666760e-01 -1.95409988e-02 -3.67379015e+01] [-5.35547610e-01 8.44428989e-01 1.13331707e-02 1.69978946e+01] [ 2.25717887e-02 8.97634647e-04 9.99744822e-01 -7.74066299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.099115933 meters Centerline goodness [0,1] 0.9803350327749454 Centerline is valid? [True, True] Translation: X:-36.76, Y:17.01, Z:-0.79 [[ 8.42236983e-01 5.38747643e-01 -1.96936657e-02 -3.67571444e+01] [-5.38626121e-01 8.42466674e-01 1.14806354e-02 1.70071645e+01] [ 2.27764224e-02 9.38107043e-04 9.99740144e-01 -7.91758831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.129115933 meters Centerline goodness [0,1] 0.9841133533705453 Centerline is valid? [True, True] Translation: X:-36.77, Y:17.02, Z:-0.78 [[ 8.38306399e-01 5.44812907e-01 -2.05250354e-02 -3.67743395e+01] [-5.44681116e-01 8.38556917e-01 1.20324336e-02 1.70201311e+01] [ 2.37668355e-02 1.09273311e-03 9.99716932e-01 -7.82405465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.159115933 meters Centerline goodness [0,1] 0.9783876013081189 Centerline is valid? [True, True] Translation: X:-36.80, Y:17.03, Z:-0.80 [[ 8.36697301e-01 5.47233582e-01 -2.17493109e-02 -3.67951753e+01] [-5.47084877e-01 8.36979100e-01 1.28110488e-02 1.70271529e+01] [ 2.52143548e-02 1.17974906e-03 9.99681371e-01 -7.96633131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.189115933 meters Centerline goodness [0,1] 0.9835996041283755 Centerline is valid? [True, True] Translation: X:-36.81, Y:17.04, Z:-0.78 [[ 8.37744922e-01 5.45742602e-01 -1.86670433e-02 -3.68099018e+01] [-5.45631336e-01 8.37952363e-01 1.10581295e-02 1.70441488e+01] [ 2.16769855e-02 9.21431920e-04 9.99764602e-01 -7.82099846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.219115933 meters Centerline goodness [0,1] 0.9778211745013251 Centerline is valid? [True, True] Translation: X:-36.83, Y:17.05, Z:-0.80 [[ 8.32745292e-01 5.53375421e-01 -1.76330047e-02 -3.68319381e+01] [-5.53276550e-01 8.32931350e-01 1.05083803e-02 1.70487184e+01] [ 2.05021618e-02 1.00512377e-03 9.99789303e-01 -8.04280744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.24911593299998 meters Centerline goodness [0,1] 0.9840079252759695 Centerline is valid? [True, True] Translation: X:-36.85, Y:17.06, Z:-0.81 [[ 8.32539091e-01 5.53716819e-01 -1.66236487e-02 -3.68483340e+01] [-5.53627202e-01 8.32704578e-01 1.00003452e-02 1.70571891e+01] [ 1.93799477e-02 8.77625826e-04 9.99811806e-01 -8.10985283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27911593299999 meters Centerline goodness [0,1] 0.9761673825689344 Centerline is valid? [True, True] Translation: X:-36.87, Y:17.06, Z:-0.82 [[ 8.28980518e-01 5.59007901e-01 -1.73628159e-02 -3.68687169e+01] [-5.58910374e-01 8.29161715e-01 1.04901899e-02 1.70646409e+01] [ 2.02606812e-02 1.00809486e-03 9.99794223e-01 -8.17676753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.30911593299999 meters Centerline goodness [0,1] 0.980060924951537 Centerline is valid? [True, True] Translation: X:-36.89, Y:17.08, Z:-0.81 [[ 8.23688077e-01 5.66645575e-01 -2.12307321e-02 -3.68852770e+01] [-5.66500981e-01 8.23960422e-01 1.28786804e-02 1.70781429e+01] [ 2.47909303e-02 1.41921503e-03 9.99691650e-01 -8.08711975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33911593299999 meters Centerline goodness [0,1] 0.9788300835654596 Centerline is valid? [True, True] Translation: X:-36.90, Y:17.09, Z:-0.81 [[ 8.22812768e-01 5.67918884e-01 -2.11492347e-02 -3.69039449e+01] [-5.67774211e-01 8.23083340e-01 1.28941983e-02 1.70874161e+01] [ 2.47304415e-02 1.39847903e-03 9.99693178e-01 -8.13482678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.36911593299999 meters Centerline goodness [0,1] 0.9750968456004427 Centerline is valid? [True, True] Translation: X:-36.92, Y:17.09, Z:-0.83 [[ 8.20517454e-01 5.71226259e-01 -2.12524908e-02 -3.69243325e+01] [-5.71079571e-01 8.20791363e-01 1.30254558e-02 1.70941808e+01] [ 2.48843433e-02 1.44924949e-03 9.99689286e-01 -8.25926435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39911593299999 meters Centerline goodness [0,1] 0.9820073095305032 Centerline is valid? [True, True] Translation: X:-36.94, Y:17.11, Z:-0.81 [[ 8.17896809e-01 5.74779808e-01 -2.59418924e-02 -3.69375027e+01] [-5.74560673e-01 8.18306051e-01 1.59762353e-02 1.71113588e+01] [ 3.04112250e-02 1.83827932e-03 9.99535781e-01 -8.05487135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.42911593299999 meters Centerline goodness [0,1] 0.9830365904948829 Centerline is valid? [True, True] Translation: X:-36.95, Y:17.12, Z:-0.80 [[ 8.16146377e-01 5.77215590e-01 -2.69676539e-02 -3.69544442e+01] [-5.76976383e-01 8.16589565e-01 1.67253181e-02 1.71213434e+01] [ 3.16756191e-02 1.90939165e-03 9.99496378e-01 -8.04792004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45911593299999 meters Centerline goodness [0,1] 0.9678972712680578 Centerline is valid? [True, True] Translation: X:-36.97, Y:17.13, Z:-0.81 [[ 8.07082633e-01 5.89860834e-01 -2.61116819e-02 -3.69729686e+01] [-5.89639753e-01 8.07501817e-01 1.63026762e-02 1.71277325e+01] [ 3.07015408e-02 2.23887878e-03 9.99526089e-01 -8.13846297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.489115933 meters Centerline goodness [0,1] 0.990360435875943 Centerline is valid? [True, True] Translation: X:-36.99, Y:17.14, Z:-0.81 [[ 8.10345114e-01 5.85241467e-01 -2.88655686e-02 -3.69869839e+01] [-5.84965054e-01 8.10856075e-01 1.81193644e-02 1.71419278e+01] [ 3.40100250e-02 2.20241049e-03 9.99419065e-01 -8.06667605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.519115933 meters Centerline goodness [0,1] 0.997334081661288 Centerline is valid? [True, True] Translation: X:-37.00, Y:17.16, Z:-0.78 [[ 8.10870617e-01 5.84448601e-01 -3.01442570e-02 -3.70001364e+01] [-5.84143567e-01 8.11427760e-01 1.90074315e-02 1.71585640e+01] [ 3.55687537e-02 2.19600613e-03 9.99364819e-01 -7.84344369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.549115933 meters Centerline goodness [0,1] 0.9982051636062405 Centerline is valid? [True, True] Translation: X:-37.02, Y:17.17, Z:-0.78 [[ 8.04673202e-01 5.92822045e-01 -3.26046101e-02 -3.70152159e+01] [-5.92468042e-01 8.05328985e-01 2.06602383e-02 1.71732654e+01] [ 3.85052823e-02 2.69244946e-03 9.99254769e-01 -7.81438152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.579115933 meters Centerline goodness [0,1] 0.9997228381374723 Centerline is valid? [True, True] Translation: X:-37.03, Y:17.19, Z:-0.78 [[ 8.04676946e-01 5.92829565e-01 -3.23746681e-02 -3.70315102e+01] [-5.92476264e-01 8.05323805e-01 2.06263296e-02 1.71857989e+01] [ 3.82999889e-02 2.58369050e-03 9.99262946e-01 -7.84884943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.609115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.05, Y:17.20, Z:-0.78 [[ 7.97571474e-01 6.02168027e-01 -3.56848882e-02 -3.70480871e+01] [-6.01741976e-01 7.98362857e-01 2.28766828e-02 1.71980978e+01] [ 4.22650962e-02 3.22730555e-03 9.99101219e-01 -7.81024016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.07, Y:17.21, Z:-0.79 [[ 7.91788906e-01 6.09662368e-01 -3.71769503e-02 -3.70669854e+01] [-6.09202935e-01 7.92652644e-01 2.39493289e-02 1.72068232e+01] [ 4.40694125e-02 3.68549431e-03 9.99021673e-01 -7.90246447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.66911593299999 meters Centerline goodness [0,1] 0.999430280586811 Centerline is valid? [True, True] Translation: X:-37.08, Y:17.23, Z:-0.76 [[ 7.90572720e-01 6.11290544e-01 -3.63131545e-02 -3.70762589e+01] [-6.10847159e-01 7.91398236e-01 2.35495393e-02 1.72291677e+01] [ 4.31337771e-02 3.56416392e-03 9.99062948e-01 -7.58582292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.10, Y:17.23, Z:-0.80 [[ 7.90977360e-01 6.10896302e-01 -3.40664676e-02 -3.71020591e+01] [-6.10500760e-01 7.91704050e-01 2.22152989e-02 1.72254036e+01] [ 4.05418043e-02 3.22580592e-03 9.99172636e-01 -7.98941363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.72911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.12, Y:17.24, Z:-0.81 [[ 7.85180371e-01 6.18315352e-01 -3.43206937e-02 -3.71190710e+01] [-6.17915028e-01 7.85922208e-01 2.25233271e-02 1.72368943e+01] [ 4.08999143e-02 3.52239812e-03 9.99157040e-01 -8.06130408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.14, Y:17.25, Z:-0.81 [[ 7.87334641e-01 6.15656143e-01 -3.27364572e-02 -3.71379734e+01] [-6.15284235e-01 7.88008749e-01 2.16222312e-02 1.72453063e+01] [ 3.91084742e-02 3.11829433e-03 9.99230105e-01 -8.09963765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.78911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.16, Y:17.25, Z:-0.82 [[ 7.84860129e-01 6.18781179e-01 -3.32329821e-02 -3.71568070e+01] [-6.18395806e-01 7.85556769e-01 2.20723783e-02 1.72531202e+01] [ 3.97643663e-02 3.22740705e-03 9.99203873e-01 -8.21655268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.18, Y:17.26, Z:-0.83 [[ 7.77543725e-01 6.27796813e-01 -3.60127360e-02 -3.71759361e+01] [-6.27347622e-01 7.78367568e-01 2.40601428e-02 1.72601359e+01] [ 4.31360267e-02 3.88469122e-03 9.99061656e-01 -8.27405340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.849115933 meters Centerline goodness [0,1] 0.9993931118191474 Centerline is valid? [True, True] Translation: X:-37.19, Y:17.27, Z:-0.84 [[ 7.73473280e-01 6.32759772e-01 -3.67988446e-02 -3.71936399e+01] [-6.32290690e-01 7.74337018e-01 2.47116785e-02 1.72699845e+01] [ 4.41312636e-02 4.15374381e-03 9.99017106e-01 -8.44109662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.879115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.21, Y:17.28, Z:-0.84 [[ 7.74068417e-01 6.32095154e-01 -3.56903605e-02 -3.72097476e+01] [-6.31646201e-01 7.74881139e-01 2.41308351e-02 1.72813144e+01] [ 4.29087711e-02 3.86476330e-03 9.99071519e-01 -8.40769549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.909115933 meters Centerline goodness [0,1] 0.9998496692723993 Centerline is valid? [True, True] Translation: X:-37.23, Y:17.29, Z:-0.84 [[ 7.69271336e-01 6.37873049e-01 -3.66003509e-02 -3.72253739e+01] [-6.37400608e-01 7.70130209e-01 2.48983113e-02 1.72931108e+01] [ 4.40689976e-02 4.17552876e-03 9.99019764e-01 -8.36993989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.939115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.24, Y:17.30, Z:-0.84 [[ 7.63109200e-01 6.45117608e-01 -3.85696884e-02 -3.72436776e+01] [-6.44594442e-01 7.64068737e-01 2.64001827e-02 1.73018057e+01] [ 4.65011158e-02 4.71558448e-03 9.98907108e-01 -8.40694989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.969115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.26, Y:17.31, Z:-0.85 [[ 7.61444150e-01 6.47170696e-01 -3.70526233e-02 -3.72590322e+01] [-6.46682860e-01 7.62331705e-01 2.55274559e-02 1.73143564e+01] [ 4.47670109e-02 4.52356442e-03 9.98987213e-01 -8.46449256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99911593299998 meters Centerline goodness [0,1] 0.9996873534469283 Centerline is valid? [True, True] Translation: X:-37.27, Y:17.33, Z:-0.84 [[ 7.58935658e-01 6.50115735e-01 -3.69621045e-02 -3.72736839e+01] [-6.49626374e-01 7.59821512e-01 2.56289833e-02 1.73278924e+01] [ 4.47464074e-02 4.56080858e-03 9.98987967e-01 -8.37263752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.02911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.29, Y:17.33, Z:-0.85 [[ 7.60505379e-01 6.48380882e-01 -3.51255048e-02 -3.72947175e+01] [-6.47930751e-01 7.61304956e-01 2.45052161e-02 1.73322327e+01] [ 4.26299346e-02 4.12254606e-03 9.99082426e-01 -8.53267524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05911593299999 meters Centerline goodness [0,1] 0.9996863237139272 Centerline is valid? [True, True] Translation: X:-37.32, Y:17.33, Z:-0.88 [[ 7.56524940e-01 6.53050424e-01 -3.45710743e-02 -3.73177126e+01] [-6.52612701e-01 7.57302789e-01 2.42723976e-02 1.73336922e+01] [ 4.20318705e-02 4.19884797e-03 9.99107447e-01 -8.81296738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.08911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.33, Y:17.35, Z:-0.87 [[ 7.53338851e-01 6.56725953e-01 -3.45195396e-02 -3.73292779e+01] [-6.56286920e-01 7.54117158e-01 2.43883368e-02 1.73512070e+01] [ 4.20482308e-02 4.28204071e-03 9.99106406e-01 -8.69304692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.35, Y:17.36, Z:-0.87 [[ 7.54379980e-01 6.55756332e-01 -2.99078321e-02 -3.73458925e+01] [-6.55421143e-01 7.54964207e-01 2.12643242e-02 1.73605669e+01] [ 3.65235580e-02 3.56084502e-03 9.99326448e-01 -8.65912619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.14911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.36, Y:17.37, Z:-0.85 [[ 7.55594676e-01 6.54556420e-01 -2.51510963e-02 -3.73598155e+01] [-6.54315114e-01 7.56007761e-01 1.79999020e-02 1.73732280e+01] [ 3.07963754e-02 2.85611227e-03 9.99521599e-01 -8.53258440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.38, Y:17.38, Z:-0.86 [[ 7.51748709e-01 6.59056845e-01 -2.27586028e-02 -3.73773386e+01] [-6.58858349e-01 7.52088386e-01 1.63931425e-02 1.73821903e+01] [ 2.79204937e-02 2.67117175e-03 9.99606578e-01 -8.57952210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.20911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.38, Y:17.40, Z:-0.82 [[ 7.55437826e-01 6.55056891e-01 -1.46342272e-02 -3.73847079e+01] [-6.54972566e-01 7.55577952e-01 1.06252751e-02 1.74045075e+01] [ 1.80174591e-02 1.55828263e-03 9.99836458e-01 -8.19273980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.239115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.41, Y:17.40, Z:-0.85 [[ 7.53864726e-01 6.56905301e-01 -1.27828326e-02 -3.74110563e+01] [-6.56840245e-01 7.53971880e-01 9.34330118e-03 1.74025411e+01] [ 1.57755604e-02 1.35269371e-03 9.99874643e-01 -8.49291605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.269115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.42, Y:17.42, Z:-0.83 [[ 7.55002704e-01 6.55668985e-01 -8.31256510e-03 -3.74205230e+01] [-6.55640820e-01 7.55048018e-01 6.13231323e-03 1.74218836e+01] [ 1.02971534e-02 8.20143928e-04 9.99946647e-01 -8.25826482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.299115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.44, Y:17.43, Z:-0.83 [[ 7.52393887e-01 6.58688617e-01 -5.72237964e-03 -3.74383281e+01] [-6.58675073e-01 7.52415437e-01 4.26128828e-03 1.74313434e+01] [ 7.11246886e-03 5.63021572e-04 9.99974548e-01 -8.29483005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.329115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.46, Y:17.44, Z:-0.83 [[ 7.54337456e-01 6.56485920e-01 -1.11349758e-03 -3.74565763e+01] [-6.56485343e-01 7.54338274e-01 8.73426715e-04 1.74399993e+01] [ 1.41334619e-03 7.21363568e-05 9.99998999e-01 -8.30065881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.359115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.47, Y:17.45, Z:-0.83 [[ 7.51132903e-01 6.60149841e-01 1.24483682e-03 -3.74731111e+01] [-6.60149280e-01 7.51133917e-01 -8.76030403e-04 1.74507867e+01] [-1.51335048e-03 -1.63762869e-04 9.99998841e-01 -8.29497143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.38911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.48, Y:17.47, Z:-0.81 [[ 7.51094430e-01 6.60189438e-01 2.65761074e-03 -3.74843438e+01] [-6.60186653e-01 7.51099073e-01 -1.94030642e-03 1.74675373e+01] [-3.27709877e-03 -2.97165796e-04 9.99994586e-01 -8.07004538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.50, Y:17.48, Z:-0.79 [[ 7.46916279e-01 6.64893554e-01 5.71257987e-03 -3.74969845e+01] [-6.64880201e-01 7.46937869e-01 -4.25881067e-03 1.74837105e+01] [-7.09859800e-03 -6.17206236e-04 9.99974614e-01 -7.91224375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.44911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.52, Y:17.49, Z:-0.80 [[ 7.44558864e-01 6.67526096e-01 6.40387525e-03 -3.75172408e+01] [-6.67509150e-01 7.44586078e-01 -4.80694716e-03 1.74885078e+01] [-7.97699902e-03 -6.95590209e-04 9.99967941e-01 -8.01192292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47911593299999 meters Centerline goodness [0,1] 0.9998401789995205 Centerline is valid? [True, True] Translation: X:-37.53, Y:17.50, Z:-0.79 [[ 7.51931063e-01 6.59117471e-01 1.27998465e-02 -3.75325164e+01] [-6.59046758e-01 7.52039154e-01 -9.72018605e-03 1.75009767e+01] [-1.60327302e-02 -1.12678754e-03 9.99870833e-01 -7.87564407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.50911593299999 meters Centerline goodness [0,1] 0.9998389175257731 Centerline is valid? [True, True] Translation: X:-37.55, Y:17.51, Z:-0.80 [[ 7.45663894e-01 6.66160658e-01 1.46742768e-02 -3.75521058e+01] [-6.66067654e-01 7.45806943e-01 -1.12198112e-02 1.75078496e+01] [-1.84183743e-02 -1.40785303e-03 9.99829376e-01 -8.02077271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.56, Y:17.53, Z:-0.78 [[ 7.45825608e-01 6.65981005e-01 1.46103766e-02 -3.75632202e+01] [-6.65887511e-01 7.45967485e-01 -1.12397949e-02 1.75265187e+01] [-1.83843558e-02 -1.34594045e-03 9.99830088e-01 -7.76154450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.56911593299999 meters Centerline goodness [0,1] 0.999840230068701 Centerline is valid? [True, True] Translation: X:-37.57, Y:17.54, Z:-0.75 [[ 7.46829778e-01 6.64785743e-01 1.74699712e-02 -3.75743193e+01] [-6.64649720e-01 7.47032562e-01 -1.35314385e-02 1.75437847e+01] [-2.20461447e-02 -1.50573028e-03 9.99755820e-01 -7.51721669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.599115933 meters Centerline goodness [0,1] 0.9993559813234584 Centerline is valid? [True, True] Translation: X:-37.59, Y:17.56, Z:-0.74 [[ 7.43867552e-01 6.68017627e-01 2.03350644e-02 -3.75893189e+01] [-6.67831945e-01 7.44143298e-01 -1.58507232e-02 1.75564109e+01] [-2.57207644e-02 -1.78956691e-03 9.99667565e-01 -7.41004756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.629115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.61, Y:17.56, Z:-0.76 [[ 7.47574595e-01 6.63797287e-01 2.24808112e-02 -3.76124654e+01] [-6.63565474e-01 7.47910513e-01 -1.76274258e-02 1.75598808e+01] [-2.85146725e-02 -1.73967444e-03 9.99591860e-01 -7.59820022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.659115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.63, Y:17.57, Z:-0.74 [[ 7.45032126e-01 6.66654167e-01 2.23462063e-02 -3.76261942e+01] [-6.66423438e-01 7.45365094e-01 -1.76260598e-02 1.75747718e+01] [-2.84065684e-02 -1.76005478e-03 9.99594902e-01 -7.39696487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.689115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.64, Y:17.59, Z:-0.74 [[ 7.46617622e-01 6.64779392e-01 2.51095114e-02 -3.76430830e+01] [-6.64483161e-01 7.47037544e-01 -1.99257809e-02 1.75855083e+01] [-3.20039962e-02 -1.80790833e-03 9.99486106e-01 -7.39459715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.719115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.66, Y:17.60, Z:-0.74 [[ 7.44680263e-01 6.66951012e-01 2.50530190e-02 -3.76586133e+01] [-6.66653631e-01 7.45099369e-01 -1.99966744e-02 1.75981135e+01] [-3.20037909e-02 -1.81055729e-03 9.99486108e-01 -7.39216142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.74911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.67, Y:17.62, Z:-0.72 [[ 7.44148065e-01 6.67453757e-01 2.73704166e-02 -3.76688894e+01] [-6.67094414e-01 7.44648821e-01 -2.19812654e-02 1.76181412e+01] [-3.50528267e-02 -1.90133592e-03 9.99383652e-01 -7.15455348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.68, Y:17.63, Z:-0.70 [[ 7.40994888e-01 6.70906709e-01 2.84739188e-02 -3.76829790e+01] [-6.70515581e-01 7.41538927e-01 -2.29973116e-02 1.76327209e+01] [-3.65435698e-02 -2.05131586e-03 9.99329955e-01 -7.02963712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.80911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.70, Y:17.65, Z:-0.69 [[ 7.41849706e-01 6.69898151e-01 2.99245914e-02 -3.76985101e+01] [-6.69459887e-01 7.42450317e-01 -2.43102312e-02 1.76459802e+01] [-3.85029012e-02 -1.99877568e-03 9.99256489e-01 -6.92542870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.71, Y:17.66, Z:-0.67 [[ 7.43276924e-01 6.68216974e-01 3.20232737e-02 -3.77089671e+01] [-6.67706398e-01 7.43963976e-01 -2.61871890e-02 1.76618981e+01] [-4.13228862e-02 -1.91781141e-03 9.99144004e-01 -6.72770989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.86911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.72, Y:17.68, Z:-0.65 [[ 7.37957647e-01 6.74285075e-01 2.75345005e-02 -3.77180988e+01] [-6.73907647e-01 7.38468824e-01 -2.26335839e-02 1.76825289e+01] [-3.55948580e-02 -1.85308414e-03 9.99364584e-01 -6.49780157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.74, Y:17.69, Z:-0.66 [[ 7.37838614e-01 6.74305050e-01 3.01144144e-02 -3.77375204e+01] [-6.73848154e-01 7.38450399e-01 -2.48932513e-02 1.76912269e+01] [-3.90236465e-02 -1.92534050e-03 9.99236433e-01 -6.64919243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.92911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.75, Y:17.71, Z:-0.62 [[ 7.39499911e-01 6.72300846e-01 3.39330780e-02 -3.77456594e+01] [-6.71710944e-01 7.40275541e-01 -2.82228840e-02 1.77127545e+01] [-4.40940965e-02 -1.92239965e-03 9.99025533e-01 -6.24146218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.76, Y:17.73, Z:-0.61 [[ 7.33158034e-01 6.79209105e-01 3.39748151e-02 -3.77574988e+01] [-6.78618146e-01 7.33941446e-01 -2.84141755e-02 1.77292495e+01] [-4.42346916e-02 -2.22384503e-03 9.99018692e-01 -6.13804538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.989115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.77, Y:17.74, Z:-0.62 [[ 7.30897753e-01 6.81684205e-01 3.30925876e-02 -3.77743637e+01] [-6.81119272e-01 7.31643233e-01 -2.78337392e-02 1.77406922e+01] [-4.31857882e-02 -2.19638178e-03 9.99064644e-01 -6.17900736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.019115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.78, Y:17.76, Z:-0.60 [[ 7.26023949e-01 6.87035101e-01 2.95295715e-02 -3.77820588e+01] [-6.86584524e-01 7.26621062e-01 -2.49704692e-02 1.77621154e+01] [-3.86123974e-02 -2.14538808e-03 9.99251960e-01 -6.02810437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.049115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.80, Y:17.77, Z:-0.61 [[ 7.25050557e-01 6.88001985e-01 3.09024015e-02 -3.78006642e+01] [-6.87503278e-01 7.25705502e-01 -2.62824589e-02 1.77723203e+01] [-4.05084267e-02 -2.18939089e-03 9.99176798e-01 -6.09246902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.079115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.82, Y:17.79, Z:-0.60 [[ 7.22466159e-01 6.90723086e-01 3.07289195e-02 -3.78161486e+01] [-6.90226969e-01 7.23115925e-01 -2.62695798e-02 1.77857440e+01] [-4.03655763e-02 -2.23104649e-03 9.99182487e-01 -6.02099331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.109115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.82, Y:17.81, Z:-0.57 [[ 7.19411424e-01 6.93928081e-01 3.01831373e-02 -3.78221804e+01] [-6.93446663e-01 7.20040750e-01 -2.59431100e-02 1.78095072e+01] [-3.97357414e-02 -2.26662612e-03 9.99207653e-01 -5.66762625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.84, Y:17.82, Z:-0.57 [[ 7.12649330e-01 7.00990839e-01 2.72539178e-02 -3.78387798e+01] [-7.00599057e-01 7.13166525e-01 -2.35471755e-02 1.78204343e+01] [-3.59429362e-02 -2.31319030e-03 9.99351167e-01 -5.66291673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.16911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.86, Y:17.83, Z:-0.58 [[ 7.08608062e-01 7.05099797e-01 2.66250004e-02 -3.78556973e+01] [-7.04724180e-01 7.09104123e-01 -2.31338115e-02 1.78310058e+01] [-3.51915433e-02 -2.37047625e-03 9.99377774e-01 -5.80470099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.86, Y:17.85, Z:-0.55 [[ 7.06898988e-01 7.06852754e-01 2.55539673e-02 -3.78617678e+01] [-7.06503494e-01 7.07357085e-01 -2.23330822e-02 1.78547453e+01] [-3.38619805e-02 -2.26673396e-03 9.99423948e-01 -5.51353986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.22911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.87, Y:17.87, Z:-0.53 [[ 7.00828417e-01 7.12988507e-01 2.20662551e-02 -3.78729812e+01] [-7.12728055e-01 7.01172456e-01 -1.93883276e-02 1.78717188e+01] [-2.92959050e-02 -2.13934812e-03 9.99568493e-01 -5.32264328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.89, Y:17.89, Z:-0.51 [[ 6.98317273e-01 7.15495419e-01 2.04766237e-02 -3.78853085e+01] [-7.15269473e-01 6.98614527e-01 -1.80920875e-02 1.78871354e+01] [-2.72500725e-02 -2.01228665e-03 9.99626622e-01 -5.11610112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.28911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.91, Y:17.90, Z:-0.54 [[ 6.91661579e-01 7.22003268e-01 1.77634877e-02 -3.79056787e+01] [-7.21833323e-01 6.91887015e-01 -1.57800942e-02 1.78951203e+01] [-2.36836060e-02 -1.90779252e-03 9.99717684e-01 -5.37191008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.92, Y:17.91, Z:-0.54 [[ 6.93201873e-01 7.20535490e-01 1.73139226e-02 -3.79220560e+01] [-7.20371536e-01 6.93415856e-01 -1.54693814e-02 1.79062311e+01] [-2.31519867e-02 -1.74905283e-03 9.99730427e-01 -5.42182455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.349115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.93, Y:17.93, Z:-0.49 [[ 6.92946843e-01 7.20816355e-01 1.57624628e-02 -3.79255018e+01] [-7.20678923e-01 6.93124367e-01 -1.41598643e-02 1.79306689e+01] [-2.11320089e-02 -1.54764142e-03 9.99775496e-01 -4.94821515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.379115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.94, Y:17.95, Z:-0.48 [[ 6.88132456e-01 7.25448081e-01 1.40998235e-02 -3.79371667e+01] [-7.25337889e-01 6.88275328e-01 -1.27287032e-02 1.79474108e+01] [-1.89385740e-02 -1.46810244e-03 9.99819571e-01 -4.84703124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.409115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.96, Y:17.96, Z:-0.50 [[ 6.85312241e-01 7.28164195e-01 1.11372348e-02 -3.79571792e+01] [-7.28095180e-01 6.85401699e-01 -1.00955887e-02 1.79551611e+01] [-1.49847259e-02 -1.19033641e-03 9.99887014e-01 -5.00017959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.439115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.96, Y:17.98, Z:-0.46 [[ 6.82843944e-01 7.30507364e-01 9.11803689e-03 -3.79569460e+01] [-7.30460883e-01 6.82904097e-01 -8.30017312e-03 1.79760444e+01] [-1.22900823e-02 -9.92646323e-04 9.99923981e-01 -4.64177926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.469115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.96, Y:18.00, Z:-0.41 [[ 6.86912328e-01 7.26694153e-01 8.18910986e-03 -3.79594530e+01] [-7.26655705e-01 6.86960689e-01 -7.51648836e-03 1.80006527e+01] [-1.10877847e-02 -7.87494880e-04 9.99938219e-01 -4.09471890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.97, Y:18.02, Z:-0.39 [[ 6.88818997e-01 7.24906986e-01 6.18480428e-03 -3.79691926e+01] [-7.24884803e-01 6.88846536e-01 -5.69839178e-03 1.80193837e+01] [-8.39118501e-03 -5.58110120e-04 9.99964638e-01 -3.87849691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.52911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.97, Y:18.04, Z:-0.35 [[ 6.99419201e-01 7.14650788e-01 9.32914706e-03 -3.79735879e+01] [-7.14598589e-01 6.99481150e-01 -8.65896508e-03 1.80431627e+01] [-1.27136987e-02 -6.10348889e-04 9.99918991e-01 -3.49034184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.00, Y:18.05, Z:-0.38 [[ 6.96384375e-01 7.17641488e-01 6.28463022e-03 -3.79957389e+01] [-7.17617780e-01 6.96412596e-01 -5.84953905e-03 1.80507474e+01] [-8.57456755e-03 -4.36434795e-04 9.99963142e-01 -3.80762635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.58911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.01, Y:18.07, Z:-0.37 [[ 6.92781063e-01 7.21129470e-01 5.16590065e-03 -3.80093651e+01] [-7.21113436e-01 6.92800217e-01 -4.82403820e-03 1.80656252e+01] [-7.05769320e-03 -3.83198054e-04 9.99975021e-01 -3.67623544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.01, Y:18.09, Z:-0.33 [[ 6.95151502e-01 7.18834353e-01 6.44687715e-03 -3.80125926e+01] [-7.18808952e-01 6.95181267e-01 -6.05776060e-03 1.80911871e+01] [-8.83627464e-03 -4.23011629e-04 9.99960870e-01 -3.25991165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.64911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.04, Y:18.10, Z:-0.36 [[ 6.97247184e-01 7.16789071e-01 7.73260974e-03 -3.80378489e+01] [-7.16751881e-01 6.97289920e-01 -7.31492185e-03 1.80950072e+01] [-1.06351269e-02 -4.42053916e-04 9.99943348e-01 -3.59624276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.05, Y:18.11, Z:-0.36 [[ 6.95443978e-01 7.18555657e-01 5.95324655e-03 -3.80515436e+01] [-7.18533557e-01 6.95469370e-01 -5.64645886e-03 1.81103253e+01] [-8.19759558e-03 -3.50811599e-04 9.99966338e-01 -3.56920563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.70911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.06, Y:18.13, Z:-0.33 [[ 6.96580942e-01 7.17440314e-01 7.37472721e-03 -3.80608583e+01] [-7.17405750e-01 6.96619877e-01 -7.05246804e-03 1.81300472e+01] [-1.01971064e-02 -3.78056866e-04 9.99947937e-01 -3.33272874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.739115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.08, Y:18.14, Z:-0.36 [[ 6.99409455e-01 7.14677285e-01 7.92417036e-03 -3.80828353e+01] [-7.14636731e-01 6.99454264e-01 -7.62072480e-03 1.81375162e+01] [-1.09889537e-02 -3.32896225e-04 9.99939564e-01 -3.58620825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.769115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.10, Y:18.15, Z:-0.36 [[ 6.95248159e-01 7.18736800e-01 6.88546357e-03 -3.80987684e+01] [-7.18706109e-01 6.95282178e-01 -6.64990993e-03 1.81516141e+01] [-9.56687509e-03 -3.25287100e-04 9.99954183e-01 -3.58732949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.799115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.12, Y:18.16, Z:-0.37 [[ 6.96223097e-01 7.17810712e-01 4.60230845e-03 -3.81171890e+01] [-7.17796929e-01 6.96238279e-01 -4.45293604e-03 1.81629606e+01] [-6.40066850e-03 -2.03285953e-04 9.99979495e-01 -3.65070373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.829115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.13, Y:18.18, Z:-0.34 [[ 6.88752571e-01 7.24988367e-01 3.42970329e-03 -3.81279851e+01] [-7.24980778e-01 6.88761082e-01 -3.32322841e-03 1.81802163e+01] [-4.77154809e-03 -1.97586845e-04 9.99988597e-01 -3.39113580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.859115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.13, Y:18.21, Z:-0.30 [[ 6.96606403e-01 7.17425432e-01 6.34576336e-03 -3.81303788e+01] [-7.17398516e-01 6.96635271e-01 -6.21838073e-03 1.82061052e+01] [-8.88190706e-03 -2.20677380e-04 9.99960531e-01 -3.01536861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.88911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.13, Y:18.23, Z:-0.27 [[ 6.93645609e-01 7.20292963e-01 5.81525856e-03 -3.81343363e+01] [-7.20270258e-01 6.93669950e-01 -5.72326167e-03 1.82309909e+01] [-8.15629522e-03 -2.18642454e-04 9.99966713e-01 -2.66109913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.16, Y:18.23, Z:-0.30 [[ 6.86495492e-01 7.27130241e-01 2.35653883e-03 -3.81598140e+01] [-7.27126621e-01 6.86499523e-01 -2.29822896e-03 1.82338980e+01] [-3.28887456e-03 -1.35778301e-04 9.99994582e-01 -2.95425388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.94911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.17, Y:18.25, Z:-0.29 [[ 6.82302028e-01 7.31068281e-01 1.76350787e-03 -3.81690312e+01] [-7.31066293e-01 6.82304296e-01 -1.70933986e-03 1.82517458e+01] [-2.45289315e-03 -1.22955108e-04 9.99996984e-01 -2.87123292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.11, Y:19.31, Z:-3.09 [[ 7.84913488e-01 -6.19280843e-01 -2.00512676e-02 -3.71054629e+01] [-6.19005889e-01 -7.85166558e-01 1.85791950e-02 1.93133951e+01] [-2.72493243e-02 -2.17120801e-03 -9.99626310e-01 -3.08588394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.00911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.08, Y:18.16, Z:-0.26 [[ 7.38160838e-01 6.74624767e-01 4.95716619e-06 -3.80771832e+01] [-6.74624767e-01 7.38160838e-01 8.78302049e-06 1.81586459e+01] [ 2.26605717e-06 -9.82750886e-06 1.00000000e+00 -2.61171771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.10, Y:18.17, Z:-0.28 [[ 7.30888232e-01 6.82480829e-01 -4.72337465e-03 -3.80988146e+01] [-6.82468589e-01 7.30903458e-01 4.09381747e-03 1.81660171e+01] [ 6.24628280e-03 2.31431823e-04 9.99980465e-01 -2.84772376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.06911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.12, Y:18.18, Z:-0.29 [[ 7.32526286e-01 6.80723132e-01 -4.61066586e-03 -3.81164258e+01] [-6.80711296e-01 7.32540770e-01 4.01888036e-03 1.81772020e+01] [ 6.11324555e-03 1.94596824e-04 9.99981295e-01 -2.89209468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.099115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.11, Y:18.18, Z:-0.27 [[ 7.22162391e-01 6.91690658e-01 -6.74645262e-03 -3.81125528e+01] [-6.91663289e-01 7.22193869e-01 6.15705819e-03 1.81763601e+01] [ 9.13102635e-03 2.19877749e-04 9.99958287e-01 -2.72521441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.129115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.12, Y:18.19, Z:-0.27 [[ 7.21967512e-01 6.91905542e-01 -5.44352196e-03 -3.81237699e+01] [-6.91888378e-01 7.21987993e-01 4.87959838e-03 1.81931679e+01] [ 7.30637866e-03 2.43398074e-04 9.99973278e-01 -2.69353413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.159115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.14, Y:18.21, Z:-0.27 [[ 7.18932606e-01 6.95044291e-01 -7.02437647e-03 -3.81406483e+01] [-6.95015811e-01 7.18966836e-01 6.30173446e-03 1.82050512e+01] [ 9.43027828e-03 3.51530328e-04 9.99955472e-01 -2.73230672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.189115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.14, Y:18.23, Z:-0.22 [[ 7.27494574e-01 6.86098243e-01 -4.56584032e-03 -3.81420240e+01] [-6.86085807e-01 7.27508890e-01 4.13271277e-03 1.82342226e+01] [ 6.15713639e-03 1.26032133e-04 9.99981037e-01 -2.17384116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.219115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.16, Y:18.24, Z:-0.24 [[ 7.20792562e-01 6.93117733e-01 -6.77421184e-03 -3.81620425e+01] [-6.93090539e-01 7.20824346e-01 6.14555757e-03 1.82437690e+01] [ 9.14261175e-03 2.65469946e-04 9.99958170e-01 -2.38724095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.24911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.18, Y:18.25, Z:-0.26 [[ 7.15818660e-01 6.98250621e-01 -7.05101100e-03 -3.81823516e+01] [-6.98221180e-01 7.15853312e-01 6.42032870e-03 1.82524684e+01] [ 9.53048808e-03 3.27374134e-04 9.99954530e-01 -2.55524438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.20, Y:18.26, Z:-0.27 [[ 7.17537959e-01 6.96473066e-01 -8.03404541e-03 -3.82020431e+01] [-6.96434415e-01 7.17582861e-01 7.34457834e-03 1.82627681e+01] [ 1.08803943e-02 3.25171967e-04 9.99940754e-01 -2.74239592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.30911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.21, Y:18.29, Z:-0.23 [[ 7.21676661e-01 6.92212760e-01 -4.92863347e-03 -3.82053165e+01] [-6.92197832e-01 7.21693480e-01 4.54779951e-03 1.82880983e+01] [ 6.70500749e-03 1.29548637e-04 9.99977513e-01 -2.25057545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.23, Y:18.30, Z:-0.26 [[ 7.14465506e-01 6.99637161e-01 -6.84714809e-03 -3.82257891e+01] [-6.99608607e-01 7.14498265e-01 6.32665784e-03 1.82968512e+01] [ 9.31864036e-03 2.70144940e-04 9.99956544e-01 -2.60288713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.36911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.24, Y:18.31, Z:-0.24 [[ 7.19510249e-01 6.94461796e-01 -5.27407647e-03 -3.82391527e+01] [-6.94444454e-01 7.19529567e-01 4.90949446e-03 1.83123274e+01] [ 7.20431030e-03 1.30121574e-04 9.99974040e-01 -2.44929014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.26, Y:18.32, Z:-0.26 [[ 7.09610117e-01 7.04551066e-01 -7.82797841e-03 -3.82604962e+01] [-7.04513322e-01 7.09653213e-01 7.30037404e-03 1.83203758e+01] [ 1.06986364e-02 3.34495800e-04 9.99942712e-01 -2.61822258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.42911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.28, Y:18.33, Z:-0.27 [[ 7.04916436e-01 7.09255730e-01 -7.00918846e-03 -3.82756352e+01] [-7.09225204e-01 7.04951206e-01 6.58837138e-03 1.83337405e+01] [ 9.61397601e-03 3.26841854e-04 9.99953731e-01 -2.72085517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.30, Y:18.34, Z:-0.29 [[ 6.96428072e-01 7.17560022e-01 -9.77521445e-03 -3.82973094e+01] [-7.17501280e-01 6.96496409e-01 9.20134174e-03 1.83412787e+01] [ 1.34109167e-02 6.05656196e-04 9.99909886e-01 -2.92771401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.489115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.30, Y:18.37, Z:-0.24 [[ 6.94511235e-01 7.19425248e-01 -9.02538422e-03 -3.82957876e+01] [-7.19374783e-01 6.94569649e-01 8.53960109e-03 1.83717924e+01] [ 1.24123626e-02 5.61784915e-04 9.99922806e-01 -2.36523403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.519115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.31, Y:18.38, Z:-0.25 [[ 6.91919149e-01 7.21925269e-01 -8.47329919e-03 -3.83127213e+01] [-7.21880487e-01 6.91970819e-01 8.05911002e-03 1.83845435e+01] [ 1.16813509e-02 5.40456790e-04 9.99931625e-01 -2.46697160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.549115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.33, Y:18.39, Z:-0.26 [[ 6.85397737e-01 7.28116515e-01 -8.73399934e-03 -3.83319824e+01] [-7.28068720e-01 6.85453098e-01 8.36596958e-03 1.83931572e+01] [ 1.20781475e-02 6.24935102e-04 9.99926861e-01 -2.60389084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.579115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.35, Y:18.41, Z:-0.27 [[ 6.81022778e-01 7.32209654e-01 -8.77484281e-03 -3.83479660e+01] [-7.32161303e-01 6.81078972e-01 8.44155681e-03 1.84052525e+01] [ 1.21573503e-02 6.75707875e-04 9.99925868e-01 -2.69740858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.609115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.36, Y:18.42, Z:-0.27 [[ 6.79288426e-01 7.33819151e-01 -8.75718385e-03 -3.83624199e+01] [-7.33770698e-01 6.79344531e-01 8.45991677e-03 1.84191033e+01] [ 1.21571939e-02 6.79041362e-04 9.99925868e-01 -2.69491111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63911593299999 meters Centerline goodness [0,1] 0.9976589231046281 Centerline is valid? [True, True] Translation: X:-38.37, Y:18.44, Z:-0.24 [[ 6.69898981e-01 7.42387056e-01 -9.83943831e-03 -3.83692231e+01] [-7.42326214e-01 6.69970622e-01 9.54764920e-03 1.84406349e+01] [ 1.36801858e-02 9.08112519e-04 9.99906010e-01 -2.40089825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.66911593299999 meters Centerline goodness [0,1] 0.9998194293968942 Centerline is valid? [True, True] Translation: X:-38.38, Y:18.46, Z:-0.23 [[ 6.67998645e-01 7.44121114e-01 -7.84724400e-03 -3.83807325e+01] [-7.44081802e-01 6.68044360e-01 7.68140388e-03 1.84559755e+01] [ 1.09582019e-02 7.07824075e-04 9.99939707e-01 -2.31902245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.39, Y:18.47, Z:-0.22 [[ 6.62756998e-01 7.48768933e-01 -9.91192885e-03 -3.83910495e+01] [-7.48706469e-01 6.62830391e-01 9.72089696e-03 1.84740128e+01] [ 1.38486333e-02 9.78532762e-04 9.99903624e-01 -2.19475336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.41, Y:18.49, Z:-0.22 [[ 6.64201154e-01 7.47502920e-01 -8.72997189e-03 -3.84074750e+01] [-7.47453641e-01 6.64258041e-01 8.62031075e-03 1.84851879e+01] [ 1.22426615e-02 7.99628924e-04 9.99924736e-01 -2.20285267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75911593299999 meters Centerline goodness [0,1] 0.9992896465991831 Centerline is valid? [True, True] Translation: X:-38.42, Y:18.50, Z:-0.22 [[ 6.60776348e-01 7.50517733e-01 -9.88688437e-03 -3.84202294e+01] [-7.50454193e-01 6.60849646e-01 9.81064798e-03 1.85001055e+01] [ 1.38968093e-02 9.37009691e-04 9.99902996e-01 -2.16993302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.78911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.46, Y:18.49, Z:-0.29 [[ 6.55305524e-01 7.55287101e-01 -1.07733142e-02 -3.84552308e+01] [-7.55211317e-01 6.55393172e-01 1.07544323e-02 1.84939830e+01] [ 1.51834406e-02 1.08868992e-03 9.99884132e-01 -2.87813930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81911593299999 meters Centerline goodness [0,1] 0.99893257427504 Centerline is valid? [True, True] Translation: X:-38.47, Y:18.51, Z:-0.29 [[ 6.57427441e-01 7.53450489e-01 -1.00757634e-02 -3.84697828e+01] [-7.53383152e-01 6.57503975e-01 1.01167970e-02 1.85070459e+01] [ 1.42473602e-02 9.39850464e-04 9.99898060e-01 -2.94348245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.849115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.47, Y:18.53, Z:-0.24 [[ 6.56999776e-01 7.53827128e-01 -9.79571342e-03 -3.84725932e+01] [-7.53762695e-01 6.57072205e-01 9.89531108e-03 1.85314064e+01] [ 1.38958449e-02 8.82426186e-04 9.99903059e-01 -2.41801186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.879115933 meters Centerline goodness [0,1] 0.9994523548740416 Centerline is valid? [True, True] Translation: X:-37.42, Y:19.58, Z:-3.10 [[ 7.95029100e-01 -6.05955787e-01 -2.73187512e-02 -3.74190467e+01] [-6.05457009e-01 -7.95492034e-01 2.47837290e-02 1.95804135e+01] [-3.67496929e-02 -3.16345638e-03 -9.99319495e-01 -3.09716812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.909115933 meters Centerline goodness [0,1] 0.9989344698987747 Centerline is valid? [True, True] Translation: X:-38.38, Y:18.44, Z:-0.22 [[ 7.21804369e-01 6.92067980e-01 -6.35322444e-03 -3.83808636e+01] [-6.92046740e-01 7.21832177e-01 5.44224989e-03 1.84362324e+01] [ 8.35236871e-03 4.68488514e-04 9.99965009e-01 -2.18953457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.939115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.40, Y:18.44, Z:-0.24 [[ 7.25516742e-01 6.88182579e-01 -5.49497905e-03 -3.83998721e+01] [-6.88165982e-01 7.25537486e-01 4.78933625e-03 1.84414091e+01] [ 7.28275106e-03 3.06714029e-04 9.99973433e-01 -2.35088844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.969115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.42, Y:18.45, Z:-0.25 [[ 7.20836679e-01 6.93071478e-01 -6.81243096e-03 -3.84213056e+01] [-6.93046215e-01 7.20868733e-01 5.93415001e-03 1.84483854e+01] [ 9.02365859e-03 4.43776507e-04 9.99959187e-01 -2.53313341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99911593299998 meters Centerline goodness [0,1] 0.9989090909090909 Centerline is valid? [True, True] Translation: X:-38.44, Y:18.46, Z:-0.25 [[ 7.21973243e-01 6.91876757e-01 -7.82233591e-03 -3.84378772e+01] [-6.91843126e-01 7.22015462e-01 6.83822593e-03 1.84613205e+01] [ 1.03790571e-02 4.74813181e-04 9.99946023e-01 -2.48096116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.02911593299999 meters Centerline goodness [0,1] 0.9985693848354793 Centerline is valid? [True, True] Translation: X:-38.45, Y:18.48, Z:-0.23 [[ 7.25971507e-01 6.87688911e-01 -7.02378061e-03 -3.84519028e+01] [-6.87661220e-01 7.26005402e-01 6.18084216e-03 1.84765697e+01] [ 9.34979928e-03 3.42866238e-04 9.99956231e-01 -2.28980999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05911593299999 meters Centerline goodness [0,1] 0.999816883354697 Centerline is valid? [True, True] Translation: X:-38.47, Y:18.49, Z:-0.24 [[ 7.24702126e-01 6.89024296e-01 -7.23517276e-03 -3.84711384e+01] [-6.88994748e-01 7.24738155e-01 6.39084069e-03 1.84863723e+01] [ 9.64705027e-03 3.53540207e-04 9.99953404e-01 -2.37109086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.08911593299999 meters Centerline goodness [0,1] 0.9992917847025495 Centerline is valid? [True, True] Translation: X:-38.48, Y:18.50, Z:-0.22 [[ 7.20140062e-01 6.93784319e-01 -7.84922645e-03 -3.84837459e+01] [-6.93749460e-01 7.20182710e-01 6.96782650e-03 1.85037115e+01] [ 1.04870459e-02 4.27585601e-04 9.99944918e-01 -2.17837497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.50, Y:18.52, Z:-0.21 [[ 7.24405847e-01 6.89347817e-01 -5.97967840e-03 -3.84986064e+01] [-6.89327155e-01 7.24430483e-01 5.34310220e-03 1.85174811e+01] [ 8.01511714e-03 2.51380225e-04 9.99967847e-01 -2.11890916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.14911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.52, Y:18.52, Z:-0.23 [[ 7.16131339e-01 6.97919138e-01 -8.04876546e-03 -3.85203337e+01] [-6.97882035e-01 7.16176425e-01 7.21065564e-03 1.85241770e+01] [ 1.07967906e-02 4.53312340e-04 9.99941610e-01 -2.31478082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.53, Y:18.54, Z:-0.23 [[ 7.11902291e-01 7.02242820e-01 -7.08166220e-03 -3.85334758e+01] [-7.02213771e-01 7.11937391e-01 6.40089383e-03 1.85384493e+01] [ 9.53668185e-03 4.16029735e-04 9.99954438e-01 -2.29133554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.20911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.55, Y:18.55, Z:-0.24 [[ 7.07671533e-01 7.06496734e-01 -7.96028538e-03 -3.85511208e+01] [-7.06460057e-01 7.07716114e-01 7.21727055e-03 1.85486812e+01] [ 1.07326003e-02 5.16166753e-04 9.99942271e-01 -2.40574018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.239115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.56, Y:18.57, Z:-0.21 [[ 7.16680723e-01 6.97386167e-01 -4.61246286e-03 -3.85596435e+01] [-6.97373430e-01 7.16695540e-01 4.21929204e-03 1.85693612e+01] [ 6.24820746e-03 1.92723768e-04 9.99980461e-01 -2.07292337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.269115933 meters Centerline goodness [0,1] 0.9992760180995475 Centerline is valid? [True, True] Translation: X:-38.58, Y:18.58, Z:-0.22 [[ 7.09729152e-01 7.04419527e-01 -8.81256987e-03 -3.85784517e+01] [-7.04373609e-01 7.09783694e-01 8.05772237e-03 1.85797708e+01] [ 1.19310354e-02 4.88541184e-04 9.99928703e-01 -2.16621689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.299115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.60, Y:18.58, Z:-0.23 [[ 7.11483342e-01 7.02654787e-01 -8.22834303e-03 -3.85988304e+01] [-7.02613827e-01 7.11530821e-01 7.59611029e-03 1.85830039e+01] [ 1.11921629e-02 3.76841653e-04 9.99937295e-01 -2.32391483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.329115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.63, Y:18.58, Z:-0.28 [[ 7.02514102e-01 7.11608341e-01 -9.35444411e-03 -3.86260659e+01] [-7.11555984e-01 7.02576142e-01 8.65138469e-03 1.85842320e+01] [ 1.27286068e-02 5.78490939e-04 9.99918821e-01 -2.83695137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.359115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.64, Y:18.60, Z:-0.26 [[ 7.02261494e-01 7.11831012e-01 -1.11984396e-02 -3.86371342e+01] [-7.11755090e-01 7.02350469e-01 1.04168091e-02 1.86008220e+01] [ 1.52802371e-02 6.55222477e-04 9.99883036e-01 -2.59797592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.38911593299999 meters Centerline goodness [0,1] 0.9990793592340269 Centerline is valid? [True, True] Translation: X:-38.66, Y:18.61, Z:-0.28 [[ 6.97863627e-01 7.16136650e-01 -1.16041749e-02 -3.86555342e+01] [-7.16054879e-01 6.97959706e-01 1.08470909e-02 1.86112986e+01] [ 1.58672458e-02 7.39435814e-04 9.99873834e-01 -2.80520823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.66, Y:18.64, Z:-0.22 [[ 7.00890699e-01 7.13219526e-01 -8.37471941e-03 -3.86579823e+01] [-7.13176165e-01 7.00940585e-01 7.87740450e-03 1.86367790e+01] [ 1.14884994e-02 4.51450729e-04 9.99933903e-01 -2.21097659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.44911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.68, Y:18.65, Z:-0.23 [[ 6.99953823e-01 7.14144239e-01 -7.91530782e-03 -3.86758619e+01] [-7.14105171e-01 6.99998452e-01 7.48137482e-03 1.86480510e+01] [ 1.08834840e-02 4.15745345e-04 9.99940687e-01 -2.25630989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.69, Y:18.66, Z:-0.23 [[ 6.89630021e-01 7.24097811e-01 -9.63297606e-03 -3.86935278e+01] [-7.24040240e-01 6.89696979e-01 9.15471047e-03 1.86579763e+01] [ 1.32727403e-02 6.61299126e-04 9.99911695e-01 -2.30210429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.50911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.71, Y:18.67, Z:-0.23 [[ 6.87142341e-01 7.26462583e-01 -9.35513504e-03 -3.87080527e+01] [-7.26407799e-01 6.87205714e-01 8.94518711e-03 1.86721756e+01] [ 1.29272460e-02 6.49026236e-04 9.99916229e-01 -2.27976293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.72, Y:18.69, Z:-0.23 [[ 6.88157418e-01 7.25517522e-01 -7.98079751e-03 -3.87228091e+01] [-7.25477001e-01 6.88203512e-01 7.68418295e-03 1.86857021e+01] [ 1.10674222e-02 5.01957544e-04 9.99938628e-01 -2.25107891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.56911593299999 meters Centerline goodness [0,1] 0.9998216833095578 Centerline is valid? [True, True] Translation: X:-38.73, Y:18.70, Z:-0.22 [[ 6.89363998e-01 7.24371176e-01 -7.97978110e-03 -3.87336104e+01] [-7.24330133e-01 6.89410032e-01 7.72438912e-03 1.87025562e+01] [ 1.10966660e-02 4.55080144e-04 9.99938327e-01 -2.19430138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.599115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.75, Y:18.71, Z:-0.23 [[ 6.76659035e-01 7.36227473e-01 -1.00825953e-02 -3.87523208e+01] [-7.36162794e-01 6.76733679e-01 9.79118361e-03 1.87121443e+01] [ 1.40317702e-02 7.97138710e-04 9.99901232e-01 -2.25702067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.629115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.76, Y:18.72, Z:-0.22 [[ 6.80957946e-01 7.32279638e-01 -7.92516692e-03 -3.87628620e+01] [-7.32238251e-01 6.81003885e-01 7.80085656e-03 1.87244383e+01] [ 1.11094779e-02 4.91055105e-04 9.99938167e-01 -2.17517308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.659115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.78, Y:18.73, Z:-0.23 [[ 6.81277295e-01 7.31975715e-01 -8.53227345e-03 -3.87837751e+01] [-7.31927468e-01 6.81330531e-01 8.41954807e-03 1.87323794e+01] [ 1.19762031e-02 5.08958373e-04 9.99928153e-01 -2.31516392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.689115933 meters Centerline goodness [0,1] 0.9998234774933804 Centerline is valid? [True, True] Translation: X:-38.80, Y:18.75, Z:-0.23 [[ 6.78281965e-01 7.34737006e-01 -9.75231945e-03 -3.87972794e+01] [-7.34673655e-01 6.78351799e-01 9.66739942e-03 1.87477073e+01] [ 1.37184996e-02 6.07549498e-04 9.99905712e-01 -2.31705551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.719115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.81, Y:18.76, Z:-0.24 [[ 6.83288506e-01 7.30097674e-01 -8.61423873e-03 -3.88132216e+01] [-7.30047145e-01 6.83342679e-01 8.59935906e-03 1.87600425e+01] [ 1.21648490e-02 4.12957189e-04 9.99925920e-01 -2.36913198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.74911593299998 meters Centerline goodness [0,1] 0.9970946068639913 Centerline is valid? [True, True] Translation: X:-38.82, Y:18.78, Z:-0.21 [[ 6.71135194e-01 7.41228117e-01 -1.25869167e-02 -3.88233160e+01] [-7.41121402e-01 6.71252655e-01 1.26071860e-02 1.87771484e+01] [ 1.77938020e-02 8.67307107e-04 9.99841302e-01 -2.09970172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77911593299999 meters Centerline goodness [0,1] 0.9987328023171614 Centerline is valid? [True, True] Translation: X:-38.84, Y:18.79, Z:-0.21 [[ 6.73740250e-01 7.38883214e-01 -1.12103280e-02 -3.88371189e+01] [-7.38797026e-01 6.73833179e-01 1.13049619e-02 1.87917980e+01] [ 1.59069376e-02 6.65549113e-04 9.99873255e-01 -2.11533127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.80911593299999 meters Centerline goodness [0,1] 0.9991203377902885 Centerline is valid? [True, True] Translation: X:-37.74, Y:19.92, Z:-3.12 [[ 7.84849905e-01 -6.18949107e-01 -3.02097553e-02 -3.77447846e+01] [-6.18356911e-01 -7.85426564e-01 2.72000712e-02 1.99181443e+01] [-4.05630041e-02 -2.66756234e-03 -9.99173422e-01 -3.11888021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83911593299999 meters Centerline goodness [0,1] 0.9996472040924326 Centerline is valid? [True, True] Translation: X:-38.77, Y:18.70, Z:-0.21 [[ 7.30332106e-01 6.82991259e-01 -1.17454404e-02 -3.87663548e+01] [-6.82917935e-01 7.30426216e-01 1.00317641e-02 1.86999678e+01] [ 1.54307848e-02 6.94652522e-04 9.99880697e-01 -2.09102286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.86911593299999 meters Centerline goodness [0,1] 0.9998171512159444 Centerline is valid? [True, True] Translation: X:-38.78, Y:18.72, Z:-0.20 [[ 7.33599274e-01 6.79502827e-01 -1.03929927e-02 -3.87764314e+01] [-6.79443900e-01 7.33672728e-01 8.96185380e-03 1.87196254e+01] [ 1.37146603e-02 4.87046070e-04 9.99905831e-01 -1.96248801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.80, Y:18.72, Z:-0.23 [[ 7.26099059e-01 6.87459302e-01 -1.34114066e-02 -3.87998022e+01] [-6.87361547e-01 7.26222485e-01 1.16192310e-02 1.87236090e+01] [ 1.77274135e-02 7.81772482e-04 9.99842551e-01 -2.28859541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.92911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.81, Y:18.74, Z:-0.21 [[ 7.20313697e-01 6.93524290e-01 -1.31239446e-02 -3.88120215e+01] [-6.93430543e-01 7.20432727e-01 1.14353905e-02 1.87402600e+01] [ 1.73856403e-02 8.63475661e-04 9.99848485e-01 -2.10262352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95911593299999 meters Centerline goodness [0,1] 0.9983636363636363 Centerline is valid? [True, True] Translation: X:-38.83, Y:18.75, Z:-0.23 [[ 7.14149538e-01 6.99864302e-01 -1.34311544e-02 -3.88285513e+01] [-6.99766264e-01 7.14275125e-01 1.17568214e-02 1.87514972e+01] [ 1.78217190e-02 1.00254016e-03 9.99840678e-01 -2.30197047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.989115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.83, Y:18.77, Z:-0.18 [[ 7.17998475e-01 6.95958295e-01 -1.09654475e-02 -3.88300431e+01] [-6.95891179e-01 7.18081887e-01 9.68862319e-03 1.87741049e+01] [ 1.46169669e-02 6.74341536e-04 9.99892939e-01 -1.76571279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.019115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.86, Y:18.77, Z:-0.24 [[ 7.09934823e-01 7.04168554e-01 -1.17981204e-02 -3.88593341e+01] [-7.04091329e-01 7.10032308e-01 1.04652865e-02 1.87717386e+01] [ 1.57463723e-02 8.77282985e-04 9.99875633e-01 -2.40179121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.049115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.88, Y:18.78, Z:-0.26 [[ 6.96875695e-01 7.17060600e-01 -1.37244956e-02 -3.88770830e+01] [-7.16957334e-01 6.97009597e-01 1.22394086e-02 1.87825077e+01] [ 1.83425028e-02 1.31053138e-03 9.99830903e-01 -2.60781118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.079115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.88, Y:18.81, Z:-0.21 [[ 6.95460713e-01 7.18467711e-01 -1.17704699e-02 -3.88803717e+01] [-7.18390872e-01 6.95559430e-01 1.05657202e-02 1.88076307e+01] [ 1.57781902e-02 1.10775480e-03 9.99874903e-01 -2.14563401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.109115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.89, Y:18.82, Z:-0.21 [[ 6.97745769e-01 7.16274213e-01 -1.01041410e-02 -3.88939241e+01] [-7.16216548e-01 6.97818387e-01 9.12988953e-03 1.88212010e+01] [ 1.35903598e-02 8.66411202e-04 9.99907271e-01 -2.11615632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13911593299999 meters Centerline goodness [0,1] 0.9983701557406737 Centerline is valid? [True, True] Translation: X:-38.91, Y:18.84, Z:-0.22 [[ 6.92706446e-01 7.21128533e-01 -1.14637966e-02 -3.89079609e+01] [-7.21054381e-01 6.92800481e-01 1.03958293e-02 1.88350399e+01] [ 1.54388529e-02 1.06476279e-03 9.99880247e-01 -2.16284536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16911593299999 meters Centerline goodness [0,1] 0.9994610132950054 Centerline is valid? [True, True] Translation: X:-38.93, Y:18.84, Z:-0.25 [[ 6.83772708e-01 7.29568106e-01 -1.36111298e-02 -3.89313073e+01] [-7.29463844e-01 6.83906653e-01 1.24173474e-02 1.88385683e+01] [ 1.83680429e-02 1.43818378e-03 9.99830259e-01 -2.50489673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19911593299999 meters Centerline goodness [0,1] 0.9984065155807366 Centerline is valid? [True, True] Translation: X:-38.94, Y:18.85, Z:-0.24 [[ 6.83480056e-01 7.29834759e-01 -1.40085217e-02 -3.89446335e+01] [-7.29723191e-01 6.83622072e-01 1.28423945e-02 1.88526265e+01] [ 1.89493605e-02 1.44482264e-03 9.99819401e-01 -2.43342639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22911593299999 meters Centerline goodness [0,1] 0.9985792931983661 Centerline is valid? [True, True] Translation: X:-38.95, Y:18.88, Z:-0.20 [[ 6.84929024e-01 7.28518508e-01 -1.15332168e-02 -3.89475451e+01] [-7.28441634e-01 6.85025215e-01 1.06414736e-02 1.88773575e+01] [ 1.56530547e-02 1.11262116e-03 9.99876864e-01 -2.00135758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.96, Y:18.89, Z:-0.21 [[ 6.81752865e-01 7.31481630e-01 -1.21514287e-02 -3.89627339e+01] [-7.31395645e-01 6.81860096e-01 1.12791814e-02 1.88900729e+01] [ 1.65360884e-02 1.19788777e-03 9.99862552e-01 -2.10017481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.28911593299999 meters Centerline goodness [0,1] 0.9980745667775249 Centerline is valid? [True, True] Translation: X:-38.98, Y:18.90, Z:-0.21 [[ 6.76409497e-01 7.36395163e-01 -1.38692759e-02 -3.89763966e+01] [-7.36283315e-01 6.76550067e-01 1.29184669e-02 1.89041057e+01] [ 1.88963561e-02 1.47354276e-03 9.99820362e-01 -2.14520839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.98, Y:18.90, Z:-0.22 [[ 6.70674403e-01 7.41639266e-01 -1.29245285e-02 -3.89804838e+01] [-7.41536926e-01 6.70797710e-01 1.23862200e-02 1.89005694e+01] [ 1.78558512e-02 1.27689440e-03 9.99839756e-01 -2.15915473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.349115933 meters Centerline goodness [0,1] 0.999819233550253 Centerline is valid? [True, True] Translation: X:-38.98, Y:18.93, Z:-0.18 [[ 6.68954200e-01 7.43202230e-01 -1.22769661e-02 -3.89833233e+01] [-7.43110878e-01 6.69065620e-01 1.17225755e-02 1.89261255e+01] [ 1.69263401e-02 1.28128094e-03 9.99855918e-01 -1.76763157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.379115933 meters Centerline goodness [0,1] 0.9994673295454546 Centerline is valid? [True, True] Translation: X:-39.01, Y:18.93, Z:-0.22 [[ 6.65285545e-01 7.46472290e-01 -1.32009334e-02 -3.90083743e+01] [-7.46365968e-01 6.65414990e-01 1.26780556e-02 1.89287838e+01] [ 1.82479162e-02 1.41820027e-03 9.99832487e-01 -2.23544667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.409115933 meters Centerline goodness [0,1] 0.9998220640569395 Centerline is valid? [True, True] Translation: X:-39.03, Y:18.94, Z:-0.25 [[ 6.60927371e-01 7.50303514e-01 -1.48204838e-02 -3.90276458e+01] [-7.50168944e-01 6.61091426e-01 1.43067214e-02 1.89360719e+01] [ 2.05320781e-02 1.66216287e-03 9.99787813e-01 -2.50567275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.439115933 meters Centerline goodness [0,1] 0.9996508379888268 Centerline is valid? [True, True] Translation: X:-39.03, Y:18.96, Z:-0.18 [[ 6.55986246e-01 7.54612601e-01 -1.55520913e-02 -3.90264593e+01] [-7.54463761e-01 6.56168025e-01 1.50982447e-02 1.89635277e+01] [ 2.15981108e-02 1.82924841e-03 9.99765060e-01 -1.81832715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.469115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.04, Y:18.97, Z:-0.19 [[ 6.58120125e-01 7.52790735e-01 -1.35650659e-02 -3.90438883e+01] [-7.52675459e-01 6.58258235e-01 1.32570710e-02 1.89732360e+01] [ 1.89091165e-02 1.48534695e-03 9.99820103e-01 -1.88374377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49911593299998 meters Centerline goodness [0,1] 0.9989434759640782 Centerline is valid? [True, True] Translation: X:-39.07, Y:18.98, Z:-0.24 [[ 6.49484143e-01 7.60199473e-01 -1.63434503e-02 -3.90679577e+01] [-7.60032532e-01 6.49686682e-01 1.60551042e-02 1.89763339e+01] [ 2.28232037e-02 1.99401829e-03 9.99737528e-01 -2.35407720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52911593299999 meters Centerline goodness [0,1] 0.9989434759640782 Centerline is valid? [True, True] Translation: X:-39.08, Y:18.99, Z:-0.24 [[ 6.47212283e-01 7.62135633e-01 -1.62953490e-02 -3.90807405e+01] [-7.61968082e-01 6.47414320e-01 1.61040106e-02 1.89891636e+01] [ 2.28232826e-02 1.99382234e-03 9.99737527e-01 -2.35191495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.09, Y:19.00, Z:-0.24 [[ 6.51168235e-01 7.58807590e-01 -1.38192113e-02 -3.90937124e+01] [-7.58684583e-01 6.51313054e-01 1.37480875e-02 1.90033979e+01] [ 1.94327859e-02 1.53210468e-03 9.99809992e-01 -2.39015245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.58911593299999 meters Centerline goodness [0,1] 0.9987535612535613 Centerline is valid? [True, True] Translation: X:-39.10, Y:19.03, Z:-0.19 [[ 6.40742476e-01 7.67619478e-01 -1.44712539e-02 -3.90970146e+01] [-7.67485171e-01 6.40903255e-01 1.44751591e-02 1.90260735e+01] [ 2.03860878e-02 1.83162347e-03 9.99790504e-01 -1.94418605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61911593299999 meters Centerline goodness [0,1] 0.9980935875216638 Centerline is valid? [True, True] Translation: X:-39.11, Y:19.04, Z:-0.21 [[ 6.43064020e-01 7.65681422e-01 -1.41642338e-02 -3.91104273e+01] [-7.65550546e-01 6.43217808e-01 1.42552464e-02 1.90393518e+01] [ 2.00256647e-02 1.67640086e-03 9.99798061e-01 -2.06962043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.64911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-37.98, Y:20.11, Z:-3.11 [[ 8.09818744e-01 -5.85683029e-01 -3.41905337e-02 -3.79811669e+01] [-5.84903967e-01 -8.10526212e-01 3.05713561e-02 2.01104523e+01] [-4.56174482e-02 -4.75907836e-03 -9.98947646e-01 -3.10768340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67911593299999 meters Centerline goodness [0,1] 0.999649982499125 Centerline is valid? [True, True] Translation: X:-39.00, Y:18.89, Z:-0.24 [[ 7.08448096e-01 7.05624471e-01 -1.39785716e-02 -3.90004933e+01] [-7.05524874e-01 7.08584598e-01 1.19381350e-02 1.88937506e+01] [ 1.83288408e-02 1.40468095e-03 9.99831026e-01 -2.38414743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.70911593299999 meters Centerline goodness [0,1] 0.9992921606795258 Centerline is valid? [True, True] Translation: X:-39.01, Y:18.91, Z:-0.23 [[ 7.03831776e-01 7.10216193e-01 -1.46215678e-02 -3.90118493e+01] [-7.10106120e-01 7.03981999e-01 1.25953703e-02 1.89092563e+01] [ 1.92387565e-02 1.51784298e-03 9.99813766e-01 -2.29812927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.739115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.02, Y:18.93, Z:-0.19 [[ 7.06580490e-01 7.07509922e-01 -1.31803361e-02 -3.90195981e+01] [-7.07418756e-01 7.06702304e-01 1.14261323e-02 1.89291185e+01] [ 1.73986759e-02 1.25053483e-03 9.99847850e-01 -1.93293395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.769115933 meters Centerline goodness [0,1] 0.9992966414629858 Centerline is valid? [True, True] Translation: X:-39.03, Y:18.95, Z:-0.17 [[ 7.04372030e-01 7.09699702e-01 -1.36519883e-02 -3.90305145e+01] [-7.09601517e-01 7.04503080e-01 1.18784800e-02 1.89477703e+01] [ 1.80480215e-02 1.32060258e-03 9.99836249e-01 -1.71554738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.799115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.05, Y:18.95, Z:-0.20 [[ 7.05644324e-01 7.08439321e-01 -1.34095618e-02 -3.90524182e+01] [-7.08343026e-01 7.05770684e-01 1.17430443e-02 1.89541451e+01] [ 1.77833099e-02 1.21215704e-03 9.99841130e-01 -2.03081020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.829115933 meters Centerline goodness [0,1] 0.9987649964714185 Centerline is valid? [True, True] Translation: X:-39.05, Y:18.98, Z:-0.13 [[ 7.11278363e-01 7.02832779e-01 -1.04487158e-02 -3.90541286e+01] [-7.02772815e-01 7.11354667e-01 9.21457924e-03 1.89815648e+01] [ 1.39090511e-02 7.88942597e-04 9.99902953e-01 -1.34729317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.859115933 meters Centerline goodness [0,1] 0.9992887624466572 Centerline is valid? [True, True] Translation: X:-39.08, Y:18.98, Z:-0.18 [[ 7.13435330e-01 7.00660866e-01 -9.18589305e-03 -3.90807011e+01] [-7.00613881e-01 7.13494187e-01 8.13852952e-03 1.89823521e+01] [ 1.22564304e-02 6.29449687e-04 9.99924689e-01 -1.80434889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.88911593299999 meters Centerline goodness [0,1] 0.9996510207642645 Centerline is valid? [True, True] Translation: X:-39.10, Y:18.99, Z:-0.18 [[ 7.09398426e-01 7.04684409e-01 -1.31817007e-02 -3.91007584e+01] [-7.04587578e-01 7.09520217e-01 1.17220185e-02 1.89894977e+01] [ 1.76130069e-02 9.72081123e-04 9.99844406e-01 -1.83484890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91911593299999 meters Centerline goodness [0,1] 0.9984011369692662 Centerline is valid? [True, True] Translation: X:-39.12, Y:19.00, Z:-0.21 [[ 7.08833262e-01 7.05254843e-01 -1.30771714e-02 -3.91200983e+01] [-7.05158287e-01 7.08953280e-01 1.17062691e-02 1.89990290e+01] [ 1.75270065e-02 9.23682929e-04 9.99845964e-01 -2.05106053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.94911593299999 meters Centerline goodness [0,1] 0.9982319660537482 Centerline is valid? [True, True] Translation: X:-39.13, Y:19.01, Z:-0.20 [[ 7.11051457e-01 7.03054429e-01 -1.09678649e-02 -3.91335880e+01] [-7.02985298e-01 7.11135713e-01 9.88273451e-03 1.90140110e+01] [ 1.47477407e-02 6.83114979e-04 9.99891013e-01 -1.97877483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97911593299999 meters Centerline goodness [0,1] 0.9992957746478873 Centerline is valid? [True, True] Translation: X:-39.14, Y:19.03, Z:-0.18 [[ 7.03530100e-01 7.10531327e-01 -1.38069063e-02 -3.91408813e+01] [-7.10421845e-01 7.03664851e-01 1.25132027e-02 1.90320334e+01] [ 1.86064572e-02 1.00531309e-03 9.99826379e-01 -1.77703080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.00911593299999 meters Centerline goodness [0,1] 0.99982397465235 Centerline is valid? [True, True] Translation: X:-39.16, Y:19.04, Z:-0.18 [[ 7.01243841e-01 7.12768899e-01 -1.47503261e-02 -3.91593349e+01] [-7.12643098e-01 7.01398109e-01 1.34352999e-02 1.90414990e+01] [ 1.99221147e-02 1.09029683e-03 9.99800940e-01 -1.81123398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03911593299999 meters Centerline goodness [0,1] 0.9998222854096321 Centerline is valid? [True, True] Translation: X:-39.17, Y:19.06, Z:-0.18 [[ 7.02374384e-01 7.11676327e-01 -1.36758750e-02 -3.91739922e+01] [-7.11566512e-01 7.02506902e-01 1.25359902e-02 1.90556848e+01] [ 1.85289640e-02 9.26336277e-04 9.99827895e-01 -1.77494863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.06911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.19, Y:19.07, Z:-0.18 [[ 7.03670659e-01 7.10422480e-01 -1.21450941e-02 -3.91886486e+01] [-7.10334271e-01 7.03775080e-01 1.12187932e-02 1.90661681e+01] [ 1.65174974e-02 7.32740971e-04 9.99863308e-01 -1.78423518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.099115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.21, Y:19.07, Z:-0.21 [[ 6.95246070e-01 7.18657059e-01 -1.28426503e-02 -3.92089812e+01] [-7.18558416e-01 6.95364060e-01 1.19426573e-02 1.90693365e+01] [ 1.75129925e-02 9.25108931e-04 9.99846208e-01 -2.07683720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.129115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.23, Y:19.08, Z:-0.24 [[ 6.92005554e-01 7.21734317e-01 -1.50959816e-02 -3.92299701e+01] [-7.21597724e-01 6.92169246e-01 1.40875764e-02 1.90769070e+01] [ 2.06164615e-02 1.14454490e-03 9.99786803e-01 -2.38879512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.159115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.24, Y:19.10, Z:-0.22 [[ 6.90496197e-01 7.23210848e-01 -1.34562537e-02 -3.92402924e+01] [-7.23101065e-01 6.90626574e-01 1.26406143e-02 1.90952381e+01] [ 1.84350758e-02 1.00193528e-03 9.99829558e-01 -2.18202981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.189115933 meters Centerline goodness [0,1] 0.9998265093684942 Centerline is valid? [True, True] Translation: X:-39.26, Y:19.10, Z:-0.24 [[ 6.94062170e-01 7.19765980e-01 -1.46505362e-02 -3.92608222e+01] [-7.19633411e-01 6.94216150e-01 1.38452547e-02 1.91026094e+01] [ 2.01359822e-02 9.33547803e-04 9.99796815e-01 -2.40979309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.219115933 meters Centerline goodness [0,1] 0.9989704873026767 Centerline is valid? [True, True] Translation: X:-39.27, Y:19.12, Z:-0.21 [[ 6.91070604e-01 7.22628995e-01 -1.51246832e-02 -3.92687510e+01] [-7.22486603e-01 6.91235383e-01 1.43789229e-02 1.91204130e+01] [ 2.08453428e-02 9.90530049e-04 9.99782222e-01 -2.05370615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.24911593299998 meters Centerline goodness [0,1] 0.997775876817793 Centerline is valid? [True, True] Translation: X:-39.29, Y:19.13, Z:-0.22 [[ 6.91671866e-01 7.22059337e-01 -1.48439759e-02 -3.92886739e+01] [-7.21920293e-01 6.91830551e-01 1.41978980e-02 1.91285035e+01] [ 2.05212409e-02 8.95880837e-04 9.99789016e-01 -2.23757214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27911593299999 meters Centerline goodness [0,1] 0.9987951807228915 Centerline is valid? [True, True] Translation: X:-39.30, Y:19.14, Z:-0.20 [[ 6.93706347e-01 7.20079262e-01 -1.60424568e-02 -3.93006323e+01] [-7.19914473e-01 6.93891302e-01 1.54276446e-02 1.91448915e+01] [ 2.22408482e-02 8.46941862e-04 9.99752283e-01 -2.02754893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.30911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.32, Y:19.15, Z:-0.23 [[ 6.96818215e-01 7.17086841e-01 -1.51933457e-02 -3.93229576e+01] [-7.16936596e-01 6.96983526e-01 1.46929527e-02 1.91506710e+01] [ 2.11256346e-02 6.54348460e-04 9.99776615e-01 -2.30304465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.33, Y:19.17, Z:-0.20 [[ 6.98498530e-01 7.15471808e-01 -1.41384428e-02 -3.93329911e+01] [-7.15339754e-01 6.98641422e-01 1.37550000e-02 1.91682632e+01] [ 1.97190165e-02 5.05942873e-04 9.99805433e-01 -2.03439194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.36911593299999 meters Centerline goodness [0,1] 0.9987851440472059 Centerline is valid? [True, True] Translation: X:-39.35, Y:19.18, Z:-0.23 [[ 6.95216805e-01 7.18631484e-01 -1.55687337e-02 -3.93549191e+01] [-7.18470353e-01 6.95390849e-01 1.52289071e-02 1.91757253e+01] [ 2.17703271e-02 5.98281436e-04 9.99762819e-01 -2.27439090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39911593299999 meters Centerline goodness [0,1] 0.9998255103821323 Centerline is valid? [True, True] Translation: X:-39.37, Y:19.19, Z:-0.24 [[ 6.94059129e-01 7.19757962e-01 -1.51789659e-02 -3.93723817e+01] [-7.19603044e-01 6.94224871e-01 1.49428094e-02 1.91854890e+01] [ 2.12928217e-02 5.51636798e-04 9.99773130e-01 -2.44521499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.42911593299999 meters Centerline goodness [0,1] 0.9998271092669433 Centerline is valid? [True, True] Translation: X:-39.38, Y:19.20, Z:-0.23 [[ 6.91088622e-01 7.22581037e-01 -1.65275995e-02 -3.93845567e+01] [-7.22395806e-01 6.91285943e-01 1.63720710e-02 1.92001675e+01] [ 2.32554452e-02 6.24916549e-04 9.99729360e-01 -2.34164764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45911593299999 meters Centerline goodness [0,1] 0.9982809008079766 Centerline is valid? [True, True] Translation: X:-39.39, Y:19.22, Z:-0.21 [[ 6.83308597e-01 7.29916393e-01 -1.76471165e-02 -3.93914547e+01] [-7.29705222e-01 6.83535887e-01 1.75778427e-02 1.92203916e+01] [ 2.48927929e-02 8.66102031e-04 9.99689751e-01 -2.05414295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.489115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.41, Y:19.23, Z:-0.22 [[ 6.89913517e-01 7.23743612e-01 -1.46466211e-02 -3.94084561e+01] [-7.23594740e-01 6.90068813e-01 1.46862260e-02 1.92309924e+01] [ 2.07362387e-02 4.65992153e-04 9.99784872e-01 -2.19153461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.519115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.43, Y:19.24, Z:-0.22 [[ 6.84719561e-01 7.28621715e-01 -1.64170519e-02 -3.94253114e+01] [-7.28433547e-01 6.84916068e-01 1.65694649e-02 1.92405386e+01] [ 2.33171746e-02 6.13294585e-04 9.99727930e-01 -2.22880806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.549115933 meters Centerline goodness [0,1] 0.9994747899159664 Centerline is valid? [True, True] Translation: X:-38.25, Y:20.40, Z:-3.09 [[ 7.72664886e-01 -6.33795005e-01 -3.59564464e-02 -3.82529390e+01] [-6.32982835e-01 -7.73498276e-01 3.21426102e-02 2.04002952e+01] [-4.81840751e-02 -2.07565283e-03 -9.98836316e-01 -3.08997232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.579115933 meters Centerline goodness [0,1] 0.9998262380538662 Centerline is valid? [True, True] Translation: X:-39.32, Y:19.13, Z:-0.23 [[ 7.43312076e-01 6.68749750e-01 -1.61533022e-02 -3.93227684e+01] [-6.68607064e-01 7.43487388e-01 1.38238293e-02 1.91281274e+01] [ 2.12544589e-02 5.24792689e-04 9.99773961e-01 -2.30938789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.609115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.34, Y:19.14, Z:-0.23 [[ 7.38703443e-01 6.73819515e-01 -1.68666888e-02 -3.93357255e+01] [-6.73662445e-01 7.38895726e-01 1.45607736e-02 1.91436236e+01] [ 2.22740577e-02 6.06361218e-04 9.99751719e-01 -2.25025854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63911593299999 meters Centerline goodness [0,1] 0.9985959985959986 Centerline is valid? [True, True] Translation: X:-39.35, Y:19.16, Z:-0.19 [[ 7.37773087e-01 6.74862369e-01 -1.58636304e-02 -3.93460017e+01] [-6.74722426e-01 7.37943408e-01 1.37540608e-02 1.91623940e+01] [ 2.09885595e-02 5.56171309e-04 9.99779561e-01 -1.94893539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.66911593299999 meters Centerline goodness [0,1] 0.9991289198606271 Centerline is valid? [True, True] Translation: X:-39.35, Y:19.18, Z:-0.17 [[ 7.37462582e-01 6.75252492e-01 -1.35282247e-02 -3.93529903e+01] [-6.75149131e-01 7.37586537e-01 1.18216320e-02 1.91841155e+01] [ 1.79608229e-02 4.15557841e-04 9.99838605e-01 -1.66966708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.38, Y:19.19, Z:-0.22 [[ 7.36166572e-01 6.76653899e-01 -1.40811650e-02 -3.93806586e+01] [-6.76541338e-01 7.36301101e-01 1.23493552e-02 1.91854198e+01] [ 1.87242166e-02 4.35307705e-04 9.99824592e-01 -2.21281723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.40, Y:19.20, Z:-0.22 [[ 7.30423853e-01 6.82839961e-01 -1.45114948e-02 -3.93954700e+01] [-6.82720215e-01 7.30567777e-01 1.27996586e-02 1.91991133e+01] [ 1.93417488e-02 5.58114906e-04 9.99812775e-01 -2.20405511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75911593299999 meters Centerline goodness [0,1] 0.9994814174589456 Centerline is valid? [True, True] Translation: X:-39.40, Y:19.22, Z:-0.20 [[ 7.25824424e-01 6.87729586e-01 -1.43847666e-02 -3.94020545e+01] [-6.87611480e-01 7.25966680e-01 1.27605739e-02 1.92212931e+01] [ 1.92186854e-02 6.29194393e-04 9.99815106e-01 -2.01807413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.78911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.42, Y:19.23, Z:-0.21 [[ 7.18992430e-01 6.94863598e-01 -1.46446216e-02 -3.94196409e+01] [-6.94741413e-01 7.19141125e-01 1.30541381e-02 1.92319587e+01] [ 1.96023950e-02 7.88398630e-04 9.99807544e-01 -2.13354192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81911593299999 meters Centerline goodness [0,1] 0.9998255712541427 Centerline is valid? [True, True] Translation: X:-39.43, Y:19.25, Z:-0.20 [[ 7.19992372e-01 6.93852697e-01 -1.33947026e-02 -3.94305703e+01] [-6.93748707e-01 7.20116682e-01 1.20289618e-02 1.92489417e+01] [ 1.79920764e-02 6.31796910e-04 9.99837930e-01 -2.02133378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.849115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.44, Y:19.26, Z:-0.20 [[ 7.15979213e-01 6.97979136e-01 -1.41029112e-02 -3.94442269e+01] [-6.97863442e-01 7.16117724e-01 1.27287832e-02 1.92634786e+01] [ 1.89837698e-02 7.28361997e-04 9.99819527e-01 -2.03044066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.879115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.47, Y:19.27, Z:-0.23 [[ 7.06104878e-01 7.07948243e-01 -1.50062103e-02 -3.94660824e+01] [-7.07817850e-01 7.06263606e-01 1.36238473e-02 1.92700224e+01] [ 2.02433190e-02 1.00179849e-03 9.99794581e-01 -2.25816966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.909115933 meters Centerline goodness [0,1] 0.9994736842105263 Centerline is valid? [True, True] Translation: X:-39.48, Y:19.29, Z:-0.21 [[ 7.13885108e-01 7.00145550e-01 -1.28164734e-02 -3.94752088e+01] [-7.00047831e-01 7.13999885e-01 1.17131821e-02 1.92894742e+01] [ 1.73518929e-02 6.10278104e-04 9.99849258e-01 -2.14903558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.939115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.49, Y:19.31, Z:-0.19 [[ 7.10073205e-01 7.03951317e-01 -1.57666324e-02 -3.94860914e+01] [-7.03802704e-01 7.10247765e-01 1.44867551e-02 1.93065977e+01] [ 2.13961857e-02 8.09941913e-04 9.99770747e-01 -1.86661835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.969115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.50, Y:19.32, Z:-0.18 [[ 7.05994571e-01 7.08038825e-01 -1.58961787e-02 -3.94989789e+01] [-7.07887173e-01 7.06172949e-01 1.46805082e-02 1.93220707e+01] [ 2.16198212e-02 8.88341926e-04 9.99765870e-01 -1.84801176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.51, Y:19.34, Z:-0.17 [[ 7.06463508e-01 7.07515692e-01 -1.81894896e-02 -3.95127912e+01] [-7.07314598e-01 7.06697021e-01 1.68932156e-02 1.93364050e+01] [ 2.48066732e-02 9.31251171e-04 9.99691833e-01 -1.70730012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.02911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.53, Y:19.35, Z:-0.19 [[ 7.01754227e-01 7.12157171e-01 -1.93175842e-02 -3.95312168e+01] [-7.11929235e-01 7.02019219e-01 1.80493923e-02 1.93456662e+01] [ 2.64153195e-02 1.08651564e-03 9.99650464e-01 -1.88544198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05911593299999 meters Centerline goodness [0,1] 0.9996490612388138 Centerline is valid? [True, True] Translation: X:-39.55, Y:19.36, Z:-0.19 [[ 7.04537481e-01 7.09443827e-01 -1.77874795e-02 -3.95459648e+01] [-7.09247248e-01 7.04761490e-01 1.67207217e-02 1.93589218e+01] [ 2.43983434e-02 8.35345789e-04 9.99701967e-01 -1.94613445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.57, Y:19.36, Z:-0.23 [[ 7.04005760e-01 7.09948554e-01 -1.86799626e-02 -3.95698473e+01] [-7.09729118e-01 7.04253066e-01 1.76691064e-02 1.93618727e+01] [ 2.56995775e-02 8.18560747e-04 9.99669376e-01 -2.26252444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.58, Y:19.38, Z:-0.22 [[ 7.01202660e-01 7.12727642e-01 -1.82794718e-02 -3.95783724e+01] [-7.12515948e-01 7.01440389e-01 1.73897926e-02 1.93827765e+01] [ 2.52161456e-02 8.30646368e-04 9.99681677e-01 -2.22503616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.14911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.59, Y:19.40, Z:-0.22 [[ 6.99501569e-01 7.14454586e-01 -1.58807923e-02 -3.95915806e+01] [-7.14293125e-01 6.99681459e-01 1.52048704e-02 1.93984601e+01] [ 2.19746853e-02 7.07710108e-04 9.99758277e-01 -2.15139602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.60, Y:19.42, Z:-0.18 [[ 6.96012116e-01 7.17905024e-01 -1.33981620e-02 -3.95984356e+01] [-7.17789173e-01 6.96140775e-01 1.29121713e-02 1.94203086e+01] [ 1.85967195e-02 6.30027955e-04 9.99826868e-01 -1.83994155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.20911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.61, Y:19.44, Z:-0.18 [[ 6.91402334e-01 7.22302178e-01 -1.55684054e-02 -3.96095680e+01] [-7.22145015e-01 6.91577115e-01 1.50887452e-02 1.94374228e+01] [ 2.16653864e-02 8.10252734e-04 9.99764950e-01 -1.82460686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.239115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.63, Y:19.45, Z:-0.20 [[ 6.85971298e-01 7.27442952e-01 -1.64356143e-02 -3.96266899e+01] [-7.27267110e-01 6.86167491e-01 1.60226533e-02 1.94486712e+01] [ 2.29331505e-02 9.62001472e-04 9.99736538e-01 -2.04424310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.269115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.64, Y:19.47, Z:-0.19 [[ 6.82498502e-01 7.30727607e-01 -1.52629793e-02 -3.96360179e+01] [-7.30574851e-01 6.82668508e-01 1.49698031e-02 1.94679646e+01] [ 2.13584037e-02 9.33880673e-04 9.99771447e-01 -1.93439809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.299115933 meters Centerline goodness [0,1] 0.9994812381117067 Centerline is valid? [True, True] Translation: X:-39.65, Y:19.48, Z:-0.18 [[ 6.71829895e-01 7.40475996e-01 -1.84361480e-02 -3.96465119e+01] [-7.40254195e-01 6.72081277e-01 1.81792303e-02 1.94842407e+01] [ 2.58518736e-02 1.43408547e-03 9.99664756e-01 -1.83318968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.329115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.66, Y:19.50, Z:-0.20 [[ 6.68846831e-01 7.43172108e-01 -1.84155899e-02 -3.96619283e+01] [-7.42948822e-01 6.69098714e-01 1.82745376e-02 1.94955124e+01] [ 2.59029742e-02 1.45897430e-03 9.99663397e-01 -2.03185733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.359115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.68, Y:19.51, Z:-0.21 [[ 6.76370867e-01 7.36342798e-01 -1.79369566e-02 -3.96779040e+01] [-7.36125841e-01 6.76607782e-01 1.79068202e-02 1.95073946e+01] [ 2.53218425e-02 1.09220579e-03 9.99678754e-01 -2.05485377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.38911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.68, Y:19.53, Z:-0.18 [[ 6.75968917e-01 7.36721687e-01 -1.75265193e-02 -3.96845098e+01] [-7.36512081e-01 6.76195338e-01 1.76016947e-02 1.95286275e+01] [ 2.48189009e-02 1.01029467e-03 9.99691453e-01 -1.78108202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.59, Y:20.63, Z:-3.11 [[ 7.87753500e-01 -6.14758013e-01 -3.89487878e-02 -3.85897385e+01] [-6.13795153e-01 -7.88708826e-01 3.45528235e-02 2.06306008e+01] [-5.19608779e-02 -3.31253051e-03 -9.98643627e-01 -3.11364444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.44911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.61, Y:19.41, Z:-0.24 [[ 7.31168391e-01 6.81906505e-01 -1.99073387e-02 -3.96088889e+01] [-6.81696510e-01 7.31438414e-01 1.69621648e-02 1.94134272e+01] [ 2.61276028e-02 1.16856452e-03 9.99657933e-01 -2.40815303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.63, Y:19.42, Z:-0.26 [[ 7.36204645e-01 6.76490937e-01 -1.90455552e-02 -3.96292595e+01] [-6.76293576e-01 7.36450483e-01 1.63610634e-02 1.94208797e+01] [ 2.50942195e-02 8.35295769e-04 9.99684742e-01 -2.59474462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.50911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.65, Y:19.42, Z:-0.29 [[ 7.34635054e-01 6.78160280e-01 -2.02477771e-02 -3.96533475e+01] [-6.77935110e-01 7.34913513e-01 1.74961307e-02 1.94245041e+01] [ 2.67455459e-02 8.73408055e-04 9.99641892e-01 -2.93996106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53911593299999 meters Centerline goodness [0,1] 0.9992966414629858 Centerline is valid? [True, True] Translation: X:-39.66, Y:19.44, Z:-0.27 [[ 7.34499553e-01 6.78254014e-01 -2.19522047e-02 -3.96631867e+01] [-6.77986198e-01 7.34827010e-01 1.90782819e-02 1.94432088e+01] [ 2.90709942e-02 8.70302236e-04 9.99576970e-01 -2.69933843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.56911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.68, Y:19.46, Z:-0.27 [[ 7.37053590e-01 6.75472101e-01 -2.21234416e-02 -3.96772684e+01] [-6.75195693e-01 7.37385224e-01 1.93340969e-02 1.94569620e+01] [ 2.93731420e-02 6.87386997e-04 9.99568280e-01 -2.66770405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.599115933 meters Centerline goodness [0,1] 0.9998270195467912 Centerline is valid? [True, True] Translation: X:-39.70, Y:19.46, Z:-0.28 [[ 7.37651688e-01 6.74839212e-01 -2.14947658e-02 -3.96978712e+01] [-6.74574683e-01 7.37964584e-01 1.89015805e-02 1.94639596e+01] [ 2.86179036e-02 5.57042071e-04 9.99590269e-01 -2.84619421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.629115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.72, Y:19.47, Z:-0.31 [[ 7.38849886e-01 6.73548648e-01 -2.08102046e-02 -3.97179533e+01] [-6.73296786e-01 7.39142786e-01 1.84222504e-02 1.94708918e+01] [ 2.77899944e-02 4.00166239e-04 9.99613703e-01 -3.09666784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.659115933 meters Centerline goodness [0,1] 0.9987851440472059 Centerline is valid? [True, True] Translation: X:-39.73, Y:19.48, Z:-0.31 [[ 7.37931494e-01 6.74560188e-01 -2.06315726e-02 -3.97333328e+01] [-6.74309984e-01 7.38219769e-01 1.83743697e-02 1.94844786e+01] [ 2.76252530e-02 3.53049306e-04 9.99618288e-01 -3.10634196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.689115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.75, Y:19.50, Z:-0.31 [[ 7.41944556e-01 6.70198094e-01 -1.87827454e-02 -3.97494167e+01] [-6.69986607e-01 7.42182260e-01 1.68356726e-02 1.94975399e+01] [ 2.52234561e-02 9.30522054e-05 9.99681834e-01 -3.08523153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.719115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.77, Y:19.51, Z:-0.30 [[ 7.40059046e-01 6.72283539e-01 -1.86400411e-02 -3.97655510e+01] [-6.72074048e-01 7.40293746e-01 1.67822288e-02 1.95110478e+01] [ 2.50815221e-02 1.07647689e-04 9.99685403e-01 -3.00455135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.74911593299998 meters Centerline goodness [0,1] 0.9993095114793716 Centerline is valid? [True, True] Translation: X:-39.79, Y:19.52, Z:-0.33 [[ 7.40566663e-01 6.71702075e-01 -1.94252428e-02 -3.97863566e+01] [-6.71471299e-01 7.40821383e-01 1.76060489e-02 1.95188011e+01] [ 2.62166548e-02 5.04013806e-06 9.99656284e-01 -3.29624689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.80, Y:19.54, Z:-0.33 [[ 7.45399869e-01 6.66419180e-01 -1.62637953e-02 -3.97985750e+01] [-6.66254198e-01 7.45577245e-01 1.48295107e-02 1.95357777e+01] [ 2.20085860e-02 -2.18093435e-04 9.99757758e-01 -3.25901068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.80911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.81, Y:19.55, Z:-0.32 [[ 7.46406654e-01 6.65299673e-01 -1.59201356e-02 -3.98142549e+01] [-6.65139230e-01 7.46576348e-01 1.46137456e-02 1.95495795e+01] [ 2.16081169e-02 -3.18690167e-04 9.99766467e-01 -3.21405484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83911593299999 meters Centerline goodness [0,1] 0.998811544991511 Centerline is valid? [True, True] Translation: X:-39.82, Y:19.57, Z:-0.30 [[ 7.44403151e-01 6.67533030e-01 -1.62358794e-02 -3.98245655e+01] [-6.67365089e-01 7.44580121e-01 1.49760222e-02 1.95687832e+01] [ 2.20859025e-02 -3.12939012e-04 9.99756028e-01 -3.01183210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.86911593299999 meters Centerline goodness [0,1] 0.9996504107673484 Centerline is valid? [True, True] Translation: X:-39.85, Y:19.58, Z:-0.34 [[ 7.45401537e-01 6.66447014e-01 -1.49975523e-02 -3.98459991e+01] [-6.66302045e-01 7.45552305e-01 1.39048601e-02 1.95762859e+01] [ 2.04483121e-02 -3.71804325e-04 9.99790842e-01 -3.35277712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.86, Y:19.59, Z:-0.32 [[ 7.49066400e-01 6.62393489e-01 -1.15928142e-02 -3.98585346e+01] [-6.62305347e-01 7.49155983e-01 1.08138526e-02 1.95933081e+01] [ 1.58478517e-02 -4.22310837e-04 9.99874326e-01 -3.21205028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.92911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.88, Y:19.60, Z:-0.33 [[ 7.46624523e-01 6.65144307e-01 -1.16135136e-02 -3.98778212e+01] [-6.65055344e-01 7.46714730e-01 1.08858348e-02 1.96033669e+01] [ 1.59126327e-02 -4.04001952e-04 9.99873304e-01 -3.33742005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95911593299999 meters Centerline goodness [0,1] 0.9991252624212736 Centerline is valid? [True, True] Translation: X:-39.89, Y:19.62, Z:-0.32 [[ 7.50024433e-01 6.61338145e-01 -9.75744581e-03 -3.98871641e+01] [-6.61274290e-01 7.50087766e-01 9.20086568e-03 1.96232061e+01] [ 1.34038242e-02 -4.48526014e-04 9.99910064e-01 -3.23644664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.989115933 meters Centerline goodness [0,1] 0.9987834549878345 Centerline is valid? [True, True] Translation: X:-39.91, Y:19.63, Z:-0.34 [[ 7.48730213e-01 6.62804152e-01 -9.68109300e-03 -3.99070662e+01] [-6.62740793e-01 7.48792661e-01 9.17563810e-03 1.96322715e+01] [ 1.33307824e-02 -4.54022226e-04 9.99911038e-01 -3.40108887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.019115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.92, Y:19.65, Z:-0.31 [[ 7.50058578e-01 6.61320816e-01 -8.17978885e-03 -3.99174115e+01] [-6.61274987e-01 7.50103050e-01 7.79779708e-03 1.96509448e+01] [ 1.12925301e-02 -4.39714823e-04 9.99936141e-01 -3.11880167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.049115933 meters Centerline goodness [0,1] 0.9991238829507623 Centerline is valid? [True, True] Translation: X:-39.94, Y:19.66, Z:-0.34 [[ 7.46228543e-01 6.65635943e-01 -8.47077488e-03 -3.99402580e+01] [-6.65586635e-01 7.46276503e-01 8.11246582e-03 1.96587062e+01] [ 1.17214891e-02 -4.15718995e-04 9.99931215e-01 -3.41469448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.079115933 meters Centerline goodness [0,1] 0.999645452933877 Centerline is valid? [True, True] Translation: X:-39.96, Y:19.67, Z:-0.34 [[ 7.50886822e-01 6.60399808e-01 -6.40892855e-03 -3.99552276e+01] [-6.60370933e-01 7.50914057e-01 6.18952076e-03 1.96737006e+01] [ 8.90011286e-03 -4.15359447e-04 9.99960307e-01 -3.35614971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.109115933 meters Centerline goodness [0,1] 0.9998231027772864 Centerline is valid? [True, True] Translation: X:-39.97, Y:19.68, Z:-0.35 [[ 7.48852532e-01 6.62722341e-01 -4.35702568e-03 -3.99700575e+01] [-6.62708651e-01 7.48865143e-01 4.27110444e-03 1.96839521e+01] [ 6.09338099e-03 -3.10988767e-04 9.99981387e-01 -3.48173231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13911593299999 meters Centerline goodness [0,1] 0.9984509466437177 Centerline is valid? [True, True] Translation: X:-39.98, Y:19.70, Z:-0.34 [[ 7.47256369e-01 6.64518184e-01 -4.84797544e-03 -3.99847011e+01] [-6.64501313e-01 7.47272024e-01 4.74637228e-03 1.96989280e+01] [ 6.77680711e-03 -3.25270868e-04 9.99976984e-01 -3.39791419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.16911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.00, Y:19.71, Z:-0.35 [[ 7.49487228e-01 6.62012686e-01 -2.84559116e-03 -4.00013354e+01] [-6.62006716e-01 7.49492595e-01 2.82094365e-03 1.97119360e+01] [ 4.00024998e-03 -2.30460778e-04 9.99991972e-01 -3.49614103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.02, Y:19.73, Z:-0.35 [[ 7.48869595e-01 6.62714752e-01 -1.86739273e-03 -4.00164554e+01] [-6.62712123e-01 7.48871905e-01 1.87424328e-03 1.97263143e+01] [ 2.64052662e-03 -1.66020012e-04 9.99996500e-01 -3.49065602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22911593299999 meters Centerline goodness [0,1] 0.9996547557396859 Centerline is valid? [True, True] Translation: X:-40.03, Y:19.74, Z:-0.35 [[ 7.45942339e-01 6.65999361e-01 -3.85720730e-03 -4.00340762e+01] [-6.65988351e-01 7.45952252e-01 3.84100940e-03 1.97389755e+01] [ 5.43540228e-03 -2.96316403e-04 9.99985184e-01 -3.49980661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.05, Y:19.76, Z:-0.34 [[ 7.49855757e-01 6.61601177e-01 -4.76426736e-04 -4.00463492e+01] [-6.61600977e-01 7.49855904e-01 5.19214235e-04 1.97569604e+01] [ 7.00764150e-04 -7.41313886e-05 9.99999752e-01 -3.40109140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.28911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.07, Y:19.77, Z:-0.36 [[ 7.51604432e-01 6.59609406e-01 2.49169027e-03 -4.00668710e+01] [-6.59604961e-01 7.51608541e-01 -2.42838524e-03 1.97670214e+01] [-3.47456143e-03 1.81653845e-04 9.99993947e-01 -3.61389554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.08, Y:19.78, Z:-0.35 [[ 7.55541178e-01 6.55099448e-01 1.49710687e-03 -4.00798106e+01] [-6.55097865e-01 7.55542653e-01 -1.44448946e-03 1.97840348e+01] [-2.07741234e-03 1.10619755e-04 9.99997836e-01 -3.48249836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.349115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.10, Y:19.79, Z:-0.38 [[ 7.46067042e-01 6.65870273e-01 8.65271204e-04 -4.00998865e+01] [-6.65869766e-01 7.46067543e-01 -8.22139613e-04 1.97939049e+01] [-1.19298909e-03 3.72133353e-05 9.99999288e-01 -3.75256243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.379115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-38.92, Y:21.00, Z:-2.92 [[ 7.21162421e-01 -6.92494583e-01 -1.93910951e-02 -3.89194356e+01] [-6.92261642e-01 -7.21422923e-01 1.79662314e-02 2.10018412e+01] [-2.64306984e-02 4.67140372e-04 -9.99650539e-01 -2.92417508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.409115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.02, Y:19.71, Z:-0.35 [[ 7.97191988e-01 6.03725346e-01 -8.00409427e-04 -4.00153091e+01] [-6.03724951e-01 7.97192387e-01 6.94042050e-04 1.97054406e+01] [ 1.05709108e-03 -7.00576197e-05 9.99999439e-01 -3.54937529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.439115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.03, Y:19.72, Z:-0.35 [[ 7.93546652e-01 6.08508889e-01 8.01160091e-04 -4.00321135e+01] [-6.08508550e-01 7.93547057e-01 -6.43051059e-04 1.97190362e+01] [-1.02706052e-03 2.27782495e-05 9.99999472e-01 -3.54040117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.469115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.05, Y:19.73, Z:-0.37 [[ 7.90146780e-01 6.12917632e-01 -2.07845842e-04 -4.00513280e+01] [-6.12917593e-01 7.90146806e-01 2.22384607e-04 1.97295221e+01] [ 3.00532175e-04 -4.83241076e-05 9.99999954e-01 -3.68724369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.07, Y:19.74, Z:-0.39 [[ 7.91328890e-01 6.11389061e-01 1.41549963e-03 -4.00704489e+01] [-6.11387944e-01 7.91330154e-01 -1.16994550e-03 1.97399205e+01] [-1.83541942e-03 6.03922643e-05 9.99998314e-01 -3.86567656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.52911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.09, Y:19.75, Z:-0.38 [[ 7.83781233e-01 6.21033971e-01 1.94568876e-03 -4.00876027e+01] [-6.21031785e-01 7.83783644e-01 -1.64989747e-03 1.97528056e+01] [-2.54964141e-03 8.48241126e-05 9.99996746e-01 -3.83324522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.11, Y:19.76, Z:-0.39 [[ 7.86732530e-01 6.17292134e-01 1.53187754e-03 -4.01087432e+01] [-6.17290794e-01 7.86734019e-01 -1.28789634e-03 1.97600608e+01] [-2.00018845e-03 6.76160449e-05 9.99997997e-01 -3.90841269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.13, Y:19.77, Z:-0.41 [[ 7.82150826e-01 6.23089083e-01 -2.83480474e-04 -4.01276370e+01] [-6.23089016e-01 7.82150876e-01 2.93901676e-04 1.97706949e+01] [ 4.04851427e-04 -5.32418692e-05 9.99999917e-01 -4.06045560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.14, Y:19.79, Z:-0.39 [[ 7.73988485e-01 6.33196375e-01 -2.04337993e-03 -4.01422664e+01] [-6.33193689e-01 7.73991170e-01 1.84968856e-03 1.97859923e+01] [ 2.75277411e-03 -1.37782371e-04 9.99996202e-01 -3.94764816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.64911593299999 meters Centerline goodness [0,1] 0.9996266567108456 Centerline is valid? [True, True] Translation: X:-40.16, Y:19.80, Z:-0.39 [[ 7.71364412e-01 6.36380751e-01 -4.06004167e-03 -4.01576080e+01] [-6.36370306e-01 7.71375061e-01 3.65360147e-03 1.98004065e+01] [ 5.45689653e-03 -2.34568187e-04 9.99985084e-01 -3.91747912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.18, Y:19.81, Z:-0.42 [[ 7.67465075e-01 6.41083262e-01 -3.09987355e-03 -4.01798981e+01] [-6.41077050e-01 7.67471314e-01 2.82822641e-03 1.98070652e+01] [ 4.19219263e-03 -1.83307204e-04 9.99991196e-01 -4.23647009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.70911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.19, Y:19.82, Z:-0.39 [[ 7.65906172e-01 6.42949622e-01 -1.87576320e-03 -4.01916937e+01] [-6.42947303e-01 7.65908460e-01 1.73102049e-03 1.98248916e+01] [ 2.54962187e-03 -1.19782380e-04 9.99996743e-01 -3.86384178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.739115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.21, Y:19.84, Z:-0.38 [[ 7.59478529e-01 6.50525346e-01 -3.02293331e-03 -4.02076202e+01] [-6.50519409e-01 7.59484531e-01 2.78322385e-03 1.98390746e+01] [ 4.10642875e-03 -1.47321966e-04 9.99991558e-01 -3.82997000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.769115933 meters Centerline goodness [0,1] 0.9998076923076923 Centerline is valid? [True, True] Translation: X:-40.22, Y:19.85, Z:-0.37 [[ 7.56557927e-01 6.53922148e-01 -2.43455482e-03 -4.02218913e+01] [-6.53918262e-01 7.56561836e-01 2.25715279e-03 1.98542631e+01] [ 3.31789347e-03 -1.15666980e-04 9.99994489e-01 -3.71841899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.799115933 meters Centerline goodness [0,1] 0.9966031326665409 Centerline is valid? [True, True] Translation: X:-40.23, Y:19.87, Z:-0.33 [[ 7.74109730e-01 6.33051399e-01 2.28613456e-04 -4.02327624e+01] [-6.33051379e-01 7.74109763e-01 -1.60707147e-04 1.98723654e+01] [-2.78707793e-04 -2.03190974e-05 9.99999961e-01 -3.26731044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.829115933 meters Centerline goodness [0,1] 0.9961531063666089 Centerline is valid? [True, True] Translation: X:-40.25, Y:19.88, Z:-0.34 [[ 7.71859170e-01 6.35791348e-01 -1.66829413e-03 -4.02522503e+01] [-6.35789383e-01 7.71860955e-01 1.58931289e-03 1.98814400e+01] [ 2.29816248e-03 -1.66042036e-04 9.99997345e-01 -3.39666577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.859115933 meters Centerline goodness [0,1] 0.9978731631863882 Centerline is valid? [True, True] Translation: X:-40.26, Y:19.90, Z:-0.31 [[ 7.66414332e-01 6.42345019e-01 -1.39588564e-03 -4.02649350e+01] [-6.42343647e-01 7.66415592e-01 1.33369573e-03 1.98989216e+01] [ 1.92652133e-03 -1.25525251e-04 9.99998136e-01 -3.10115201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.88911593299999 meters Centerline goodness [0,1] 0.9883073496659243 Centerline is valid? [True, True] Translation: X:-40.27, Y:19.92, Z:-0.19 [[ 7.93561612e-01 6.08486554e-01 2.02029466e-03 -4.02719303e+01] [-6.08483860e-01 7.93564154e-01 -1.82363885e-03 1.99209122e+01] [-2.71289314e-03 2.17853091e-04 9.99996296e-01 -1.89675623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91911593299999 meters Centerline goodness [0,1] 0.9942944085203499 Centerline is valid? [True, True] Translation: X:-40.31, Y:19.92, Z:-0.34 [[ 7.54036056e-01 6.56823334e-01 -3.56841830e-03 -4.03072599e+01] [-6.56814694e-01 7.54044473e-01 3.37505321e-03 1.99172163e+01] [ 4.90755980e-03 -2.01122235e-04 9.99987938e-01 -3.36263476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.94911593299999 meters Centerline goodness [0,1] 0.9902639955064595 Centerline is valid? [True, True] Translation: X:-40.32, Y:19.94, Z:-0.29 [[ 7.61638363e-01 6.47999278e-01 -1.98480772e-03 -4.03180340e+01] [-6.47996453e-01 7.61640929e-01 1.92161929e-03 1.99358909e+01] [ 2.75691870e-03 -1.77430610e-04 9.99996184e-01 -2.93014860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97911593299999 meters Centerline goodness [0,1] 0.990634950365237 Centerline is valid? [True, True] Translation: X:-40.32, Y:19.96, Z:-0.25 [[ 7.62850852e-01 6.46574343e-01 4.42568056e-04 -4.03249551e+01] [-6.46574236e-01 7.62850981e-01 -3.71695023e-04 1.99588666e+01] [-5.77941941e-04 -2.60523751e-06 9.99999833e-01 -2.46841389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.00911593299999 meters Centerline goodness [0,1] 0.9958364875094625 Centerline is valid? [True, True] Translation: X:-40.35, Y:19.96, Z:-0.33 [[ 7.38418541e-01 6.74326956e-01 -4.60599420e-03 -4.03530494e+01] [-6.74312531e-01 7.38432890e-01 4.41334318e-03 1.99599913e+01] [ 6.37725388e-03 -1.53014820e-04 9.99979653e-01 -3.27444443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03911593299999 meters Centerline goodness [0,1] 0.994833524684271 Centerline is valid? [True, True] Translation: X:-40.37, Y:19.97, Z:-0.33 [[ 7.41352857e-01 6.71111706e-01 -2.24018061e-03 -4.03679852e+01] [-6.71108126e-01 7.41356232e-01 2.19586911e-03 1.99737452e+01] [ 3.13444533e-03 -1.24510431e-04 9.99995080e-01 -3.30319273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.06911593299999 meters Centerline goodness [0,1] 0.9969691229399508 Centerline is valid? [True, True] Translation: X:-40.38, Y:19.99, Z:-0.32 [[ 7.26407003e-01 6.87234348e-01 -6.46665037e-03 -4.03805486e+01] [-6.87205772e-01 7.26435778e-01 6.26795057e-03 1.99878644e+01] [ 9.00515711e-03 -1.09163728e-04 9.99959447e-01 -3.21805146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.099115933 meters Centerline goodness [0,1] 0.9930568586976919 Centerline is valid? [True, True] Translation: X:-40.39, Y:20.00, Z:-0.27 [[ 7.34573627e-01 6.78525737e-01 -2.09996582e-03 -4.03924560e+01] [-6.78522535e-01 7.34576621e-01 2.08741502e-03 2.00047355e+01] [ 2.95895061e-03 -1.08485891e-04 9.99995616e-01 -2.73503858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.129115933 meters Centerline goodness [0,1] 0.9941398865784499 Centerline is valid? [True, True] Translation: X:-40.42, Y:20.01, Z:-0.32 [[ 7.28194720e-01 6.85345028e-01 -5.88574334e-03 -4.04176112e+01] [-6.85320814e-01 7.28218488e-01 5.76334790e-03 2.00089516e+01] [ 8.23598894e-03 -1.63217102e-04 9.99966070e-01 -3.16384115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.159115933 meters Centerline goodness [0,1] 0.9922333775336238 Centerline is valid? [True, True] Translation: X:-40.43, Y:20.02, Z:-0.31 [[ 7.31922563e-01 6.81379768e-01 -3.31260958e-03 -4.04314319e+01] [-6.81371814e-01 7.31930043e-01 3.29605701e-03 2.00236622e+01] [ 4.67046504e-03 -1.55339697e-04 9.99989081e-01 -3.11331206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.189115933 meters Centerline goodness [0,1] 0.9874696091266131 Centerline is valid? [True, True] Translation: X:-40.43, Y:20.05, Z:-0.23 [[ 7.33394609e-01 6.79802294e-01 -1.09036395e-03 -4.04337993e+01] [-6.79801361e-01 7.33395414e-01 1.12952906e-03 2.00495101e+01] [ 1.56752437e-03 -8.71596253e-05 9.99998768e-01 -2.25315116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.219115933 meters Centerline goodness [0,1] 0.9873039581777446 Centerline is valid? [True, True] Translation: X:-40.45, Y:20.06, Z:-0.21 [[ 7.32446228e-01 6.80818179e-01 -3.02165217e-03 -4.04482002e+01] [-6.80811442e-01 7.32452442e-01 3.03324258e-03 2.00647187e+01] [ 4.27830320e-03 -1.64511711e-04 9.99990834e-01 -2.06361622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.24911593299998 meters Centerline goodness [0,1] 0.9920814479638009 Centerline is valid? [True, True] Translation: X:-40.47, Y:20.07, Z:-0.25 [[ 7.23681400e-01 6.90129436e-01 -2.56788215e-03 -4.04723690e+01] [-6.90124510e-01 7.23685946e-01 2.61014787e-03 2.00702769e+01] [ 3.65968010e-03 -1.16757060e-04 9.99993297e-01 -2.52375551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27911593299999 meters Centerline goodness [0,1] 0.9858709797360105 Centerline is valid? [True, True] Translation: X:-40.48, Y:20.09, Z:-0.19 [[ 7.25850241e-01 6.87852733e-01 -2.13367312e-04 -4.04790722e+01] [-6.87852680e-01 7.25850271e-01 2.72565671e-04 2.00913784e+01] [ 3.42357763e-04 -5.10765803e-05 9.99999940e-01 -1.91310634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.30911593299999 meters Centerline goodness [0,1] 0.9844685628742516 Centerline is valid? [True, True] Translation: X:-39.30, Y:21.36, Z:-3.04 [[ 7.56997646e-01 -6.52952136e-01 -2.46591114e-02 -3.93018764e+01] [-6.52569259e-01 -7.57398703e-01 2.23733749e-02 2.13633006e+01] [-3.32855219e-02 -8.44814096e-04 -9.99445526e-01 -3.03946789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33911593299999 meters Centerline goodness [0,1] 0.9844685628742516 Centerline is valid? [True, True] Translation: X:-40.43, Y:20.02, Z:-0.23 [[ 7.67157104e-01 6.41441441e-01 -4.78074523e-03 -4.04317931e+01] [-6.41428494e-01 7.67171998e-01 4.07579767e-03 2.00162088e+01] [ 6.28203940e-03 -6.02709257e-05 9.99980266e-01 -2.25591077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.36911593299999 meters Centerline goodness [0,1] 0.9838010924844603 Centerline is valid? [True, True] Translation: X:-40.45, Y:20.03, Z:-0.23 [[ 7.65224337e-01 6.43747117e-01 -4.62193951e-03 -4.04489290e+01] [-6.43734752e-01 7.65238291e-01 3.99074355e-03 2.00281285e+01] [ 6.10591475e-03 -7.85110038e-05 9.99981356e-01 -2.29358651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39911593299999 meters Centerline goodness [0,1] 0.9838376245066717 Centerline is valid? [True, True] Translation: X:-40.46, Y:20.05, Z:-0.19 [[ 7.64876260e-01 6.44169471e-01 -3.16218441e-03 -4.04597062e+01] [-6.44163571e-01 7.64882793e-01 2.75815121e-03 2.00464585e+01] [ 4.19541725e-03 -7.26803776e-05 9.99991197e-01 -1.87106474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.42911593299999 meters Centerline goodness [0,1] 0.9936623775686576 Centerline is valid? [True, True] Translation: X:-40.49, Y:20.04, Z:-0.31 [[ 7.53261659e-01 6.57688001e-01 -6.58527996e-03 -4.04900007e+01] [-6.57663021e-01 7.53290444e-01 5.73220702e-03 2.00441930e+01] [ 8.73063224e-03 1.30433389e-05 9.99961887e-01 -3.08214566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45911593299999 meters Centerline goodness [0,1] 0.987752025626531 Centerline is valid? [True, True] Translation: X:-40.50, Y:20.06, Z:-0.25 [[ 7.49177778e-01 6.62342876e-01 -5.87975034e-03 -4.05002607e+01] [-6.62322789e-01 7.49200850e-01 5.15845307e-03 2.00631182e+01] [ 7.82177859e-03 2.96942336e-05 9.99969409e-01 -2.46090809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.489115933 meters Centerline goodness [0,1] 0.981610058172265 Centerline is valid? [True, True] Translation: X:-40.51, Y:20.08, Z:-0.15 [[ 7.43849624e-01 6.68326877e-01 -5.18865157e-03 -4.05076420e+01] [-6.68311155e-01 7.43867718e-01 4.58457737e-03 2.00840914e+01] [ 6.92366668e-03 5.73975652e-05 9.99976029e-01 -1.47999673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.519115933 meters Centerline goodness [0,1] 0.9798632218844985 Centerline is valid? [True, True] Translation: X:-40.53, Y:20.09, Z:-0.15 [[ 7.36271309e-01 6.76648612e-01 -7.15644785e-03 -4.05262757e+01] [-6.76618909e-01 7.36306068e-01 6.34240673e-03 2.00934425e+01] [ 9.56091669e-03 1.72455827e-04 9.99954279e-01 -1.51888550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.549115933 meters Centerline goodness [0,1] 0.9711574246371418 Centerline is valid? [True, True] Translation: X:-40.52, Y:20.12, Z:0.05 [[ 7.30696215e-01 6.82662964e-01 -7.37006770e-03 -4.05227925e+01] [-6.82631410e-01 7.30733346e-01 6.56775476e-03 2.01230502e+01] [ 9.86911717e-03 2.32006157e-04 9.99951272e-01 5.20459711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.579115933 meters Centerline goodness [0,1] 0.9759378552482001 Centerline is valid? [True, True] Translation: X:-40.56, Y:20.11, Z:-0.12 [[ 7.19314585e-01 6.94618752e-01 -9.55595341e-03 -4.05592393e+01] [-6.94566377e-01 7.19377889e-01 8.54406564e-03 2.01149224e+01] [ 1.28092098e-02 4.91372903e-04 9.99917838e-01 -1.23473337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.609115933 meters Centerline goodness [0,1] 0.9951333463110765 Centerline is valid? [True, True] Translation: X:-40.58, Y:20.12, Z:-0.24 [[ 7.29097738e-01 6.84354165e-01 -8.71008219e-03 -4.05803849e+01] [-6.84309220e-01 7.29149724e-01 7.84677358e-03 2.01235073e+01] [ 1.17209262e-02 2.39324680e-04 9.99931279e-01 -2.41028050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63911593299999 meters Centerline goodness [0,1] 0.9906994768455726 Centerline is valid? [True, True] Translation: X:-40.60, Y:20.13, Z:-0.21 [[ 7.15155497e-01 6.98878875e-01 -1.09969434e-02 -4.05975704e+01] [-6.98808258e-01 7.15239817e-01 9.95103673e-03 2.01331743e+01] [ 1.48200212e-02 5.68216276e-04 9.99890016e-01 -2.13672784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.66911593299999 meters Centerline goodness [0,1] 0.9930110658124636 Centerline is valid? [True, True] Translation: X:-40.61, Y:20.15, Z:-0.23 [[ 7.18568414e-01 6.95374460e-01 -1.06674815e-02 -4.06134108e+01] [-6.95306699e-01 7.18647460e-01 9.71713911e-03 2.01450073e+01] [ 1.44232089e-02 4.34742126e-04 9.99895886e-01 -2.28887214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69911593299999 meters Centerline goodness [0,1] 0.9878846153846154 Centerline is valid? [True, True] Translation: X:-40.63, Y:20.15, Z:-0.19 [[ 6.96643045e-01 7.17319627e-01 -1.18752290e-02 -4.06309574e+01] [-7.17237789e-01 6.96743617e-01 1.08759745e-02 2.01540318e+01] [ 1.60755399e-02 9.40690979e-04 9.99870338e-01 -1.93836124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72911593299999 meters Centerline goodness [0,1] 0.9910592808551992 Centerline is valid? [True, True] Translation: X:-40.65, Y:20.16, Z:-0.22 [[ 7.02701901e-01 7.11383577e-01 -1.19768839e-02 -4.06474365e+01] [-7.11298233e-01 7.02803552e-01 1.10449460e-02 2.01637250e+01] [ 1.62745897e-02 7.57831772e-04 9.99867273e-01 -2.23539681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75911593299999 meters Centerline goodness [0,1] 0.9904334244435767 Centerline is valid? [True, True] Translation: X:-40.66, Y:20.18, Z:-0.21 [[ 6.93301847e-01 7.20557193e-01 -1.13965202e-02 -4.06605563e+01] [-7.20480047e-01 6.93394956e-01 1.05799869e-02 2.01762164e+01] [ 1.55257753e-02 8.75840954e-04 9.99879084e-01 -2.05803653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.78911593299999 meters Centerline goodness [0,1] 0.9962158932483569 Centerline is valid? [True, True] Translation: X:-40.67, Y:20.19, Z:-0.23 [[ 7.11484659e-01 7.02605362e-01 -1.16312167e-02 -4.06728967e+01] [-7.02521420e-01 7.11579591e-01 1.08692720e-02 2.01901588e+01] [ 1.59133452e-02 4.37858528e-04 9.99873279e-01 -2.31525667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81911593299999 meters Centerline goodness [0,1] 0.9928158052284973 Centerline is valid? [True, True] Translation: X:-40.69, Y:20.20, Z:-0.22 [[ 6.86317549e-01 7.27182484e-01 -1.31854431e-02 -4.06921898e+01] [-7.27077822e-01 6.86443336e-01 1.23849524e-02 2.01974270e+01] [ 1.80571800e-02 1.08683313e-03 9.99836365e-01 -2.24410698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.849115933 meters Centerline goodness [0,1] 0.9938308457711443 Centerline is valid? [True, True] Translation: X:-40.71, Y:20.21, Z:-0.27 [[ 6.92581439e-01 7.21224220e-01 -1.29063970e-02 -4.07082775e+01] [-7.21121437e-01 6.92701159e-01 1.22056189e-02 2.02082121e+01] [ 1.77432641e-02 8.53694404e-04 9.99842211e-01 -2.69716780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.879115933 meters Centerline goodness [0,1] 0.9922217790187475 Centerline is valid? [True, True] Translation: X:-40.72, Y:20.22, Z:-0.25 [[ 6.78820905e-01 7.34173923e-01 -1.38140827e-02 -4.07237090e+01] [-7.34057291e-01 6.78960356e-01 1.31426363e-02 2.02184929e+01] [ 1.90281953e-02 1.21883183e-03 9.99818205e-01 -2.53972131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.909115933 meters Centerline goodness [0,1] 0.9923303834808259 Centerline is valid? [True, True] Translation: X:-40.73, Y:20.23, Z:-0.25 [[ 6.64174780e-01 7.47423451e-01 -1.51672920e-02 -4.07346686e+01] [-7.47284415e-01 6.64345781e-01 1.45150390e-02 2.02335197e+01] [ 2.09252070e-02 1.69375816e-03 9.99779609e-01 -2.45832946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.939115933 meters Centerline goodness [0,1] 0.9910412104320128 Centerline is valid? [True, True] Translation: X:-40.75, Y:20.24, Z:-0.26 [[ 6.59697689e-01 7.51383620e-01 -1.48867212e-02 -4.07510862e+01] [-7.51248826e-01 6.59863377e-01 1.43361375e-02 2.02426970e+01] [ 2.05951410e-02 1.72611509e-03 9.99786408e-01 -2.59834436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.969115933 meters Centerline goodness [0,1] 0.9965986394557823 Centerline is valid? [True, True] Translation: X:-40.76, Y:20.26, Z:-0.29 [[ 6.82511969e-01 7.30728838e-01 -1.45869085e-02 -4.07616365e+01] [-7.30592718e-01 6.82667087e-01 1.41395997e-02 2.02587720e+01] [ 2.02902156e-02 1.00664308e-03 9.99793626e-01 -2.93956539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99911593299998 meters Centerline goodness [0,1] 0.9972413793103448 Centerline is valid? [True, True] Translation: X:-40.77, Y:20.27, Z:-0.29 [[ 6.84285760e-01 7.29087076e-01 -1.36026905e-02 -4.07725747e+01] [-7.28966803e-01 6.84420438e-01 1.32689143e-02 2.02738127e+01] [ 1.89841533e-02 8.36180673e-04 9.99819435e-01 -2.94701872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02911593299999 meters Centerline goodness [0,1] 0.9976630963972736 Centerline is valid? [True, True] Translation: X:-40.78, Y:20.29, Z:-0.29 [[ 6.84948858e-01 7.28485103e-01 -1.24304880e-02 -4.07830976e+01] [-7.28383144e-01 6.85061293e-01 1.22073994e-02 2.02885943e+01] [ 1.74085548e-02 6.92713660e-04 9.99848220e-01 -2.91345376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.79, Y:20.31, Z:-0.30 [[ 6.92286909e-01 7.21508903e-01 -1.27960259e-02 -4.07947423e+01] [-7.21398097e-01 6.92404997e-01 1.26532786e-02 2.03053877e+01] [ 1.79894854e-02 4.71329629e-04 9.99838065e-01 -2.99291470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.81, Y:20.32, Z:-0.30 [[ 6.86923058e-01 7.26601983e-01 -1.36480630e-02 -4.08070128e+01] [-7.26475227e-01 6.87058379e-01 1.35840917e-02 2.03188160e+01] [ 1.92472440e-02 5.83753837e-04 9.99814584e-01 -3.01889623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.82, Y:20.33, Z:-0.31 [[ 6.89966604e-01 7.23761066e-01 -1.07706118e-02 -4.08225041e+01] [-7.23680516e-01 6.90050581e-01 1.08031171e-02 2.03308996e+01] [ 1.52511424e-02 3.40691879e-04 9.99883637e-01 -3.07074479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.14911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.84, Y:20.34, Z:-0.31 [[ 6.90739695e-01 7.23030747e-01 -1.02573626e-02 -4.08382166e+01] [-7.22956632e-01 6.90815801e-01 1.03555908e-02 2.03427840e+01] [ 1.45733586e-02 2.62610691e-04 9.99893768e-01 -3.06641600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.57, Y:21.64, Z:-2.95 [[ 7.81356865e-01 -6.23268338e-01 -3.19065651e-02 -3.95689621e+01] [-6.22616448e-01 -7.82004089e-01 2.86070623e-02 2.16421056e+01] [-4.27809406e-02 -2.48677233e-03 -9.99081382e-01 -2.94612344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.20911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.75, Y:20.24, Z:-0.29 [[ 7.38767707e-01 6.73846390e-01 -1.23821901e-02 -4.07485344e+01] [-6.73763572e-01 7.38871277e-01 1.05775808e-02 2.02424166e+01] [ 1.62765093e-02 5.28293522e-04 9.99867389e-01 -2.93705770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.239115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.77, Y:20.25, Z:-0.31 [[ 7.36517411e-01 6.76260484e-01 -1.46239750e-02 -4.07675589e+01] [-6.76143300e-01 7.36662332e-01 1.26034261e-02 2.02517677e+01] [ 1.92961306e-02 6.05259907e-04 9.99813629e-01 -3.08189387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.269115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.78, Y:20.27, Z:-0.28 [[ 7.40142215e-01 6.72374857e-01 -1.00773085e-02 -4.07782864e+01] [-6.72317927e-01 7.40210756e-01 8.75448548e-03 2.02688032e+01] [ 1.33456281e-02 2.95590886e-04 9.99910899e-01 -2.84011671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.299115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.79, Y:20.28, Z:-0.25 [[ 7.41492538e-01 6.70882541e-01 -1.02679746e-02 -4.07898880e+01] [-6.70822452e-01 7.41563594e-01 8.98184516e-03 2.02838546e+01] [ 1.36401192e-02 2.28016718e-04 9.99906943e-01 -2.54599524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.329115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.81, Y:20.29, Z:-0.29 [[ 7.40818409e-01 6.71632633e-01 -9.88388547e-03 -4.08144619e+01] [-6.71576317e-01 7.40884315e-01 8.69953007e-03 2.02865184e+01] [ 1.31657040e-02 1.93011380e-04 9.99913310e-01 -2.92654474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.359115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.83, Y:20.30, Z:-0.27 [[ 7.37763319e-01 6.74987255e-01 -9.87370264e-03 -4.08250416e+01] [-6.74930519e-01 7.37829359e-01 8.75393390e-03 2.03018894e+01] [ 1.31939015e-02 2.05731914e-04 9.99912936e-01 -2.69334323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.38911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.85, Y:20.31, Z:-0.28 [[ 7.37392582e-01 6.75391030e-01 -9.95670900e-03 -4.08459613e+01] [-6.75332692e-01 7.37459779e-01 8.87858786e-03 2.03088132e+01] [ 1.33391910e-02 1.77086262e-04 9.99911013e-01 -2.82842813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.86, Y:20.32, Z:-0.29 [[ 7.32425301e-01 6.80710809e-01 -1.36372152e-02 -4.08593068e+01] [-6.80601155e-01 7.32552173e-01 1.22221987e-02 2.03232787e+01] [ 1.83097544e-02 3.29656903e-04 9.99832308e-01 -2.91887787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.87, Y:20.34, Z:-0.30 [[ 7.23115652e-01 6.90504350e-01 -1.75355826e-02 -4.08732409e+01] [-6.90323764e-01 7.23327924e-01 1.58055451e-02 2.03364883e+01] [ 2.35977741e-02 6.75992342e-04 9.99721305e-01 -2.99151291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.89, Y:20.34, Z:-0.32 [[ 7.21087070e-01 6.92726318e-01 -1.27940227e-02 -4.08920193e+01] [-6.92629001e-01 7.21200400e-01 1.16210803e-02 2.03448014e+01] [ 1.72772824e-02 4.81700421e-04 9.99850621e-01 -3.18826959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.50911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.90, Y:20.36, Z:-0.30 [[ 7.15554326e-01 6.98423094e-01 -1.36817038e-02 -4.09037944e+01] [-6.98311549e-01 7.15684852e-01 1.24969188e-02 2.03610826e+01] [ 1.85199249e-02 6.11867460e-04 9.99828304e-01 -3.01219631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.92, Y:20.37, Z:-0.32 [[ 7.14529595e-01 6.99505588e-01 -1.18063245e-02 -4.09171289e+01] [-6.99420737e-01 7.14626976e-01 1.09049416e-02 2.03706604e+01] [ 1.60651856e-02 4.65684661e-04 9.99870838e-01 -3.15669704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.56911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.91, Y:20.40, Z:-0.24 [[ 7.17422042e-01 6.96587307e-01 -8.46982479e-03 -4.09115382e+01] [-6.96542580e-01 7.17471999e-01 7.89719980e-03 2.04006947e+01] [ 1.15779513e-02 2.33968405e-04 9.99932946e-01 -2.42452489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.599115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.93, Y:20.42, Z:-0.25 [[ 7.12392860e-01 7.01696850e-01 -1.08602171e-02 -4.09250864e+01] [-7.01623457e-01 7.12475532e-01 1.01558520e-02 2.04156309e+01] [ 1.48639683e-02 3.84826606e-04 9.99889451e-01 -2.52444565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.629115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.95, Y:20.41, Z:-0.31 [[ 7.06382452e-01 7.07723488e-01 -1.23002708e-02 -4.09532628e+01] [-7.07629112e-01 7.06489337e-01 1.15696862e-02 2.04142571e+01] [ 1.68781488e-02 5.31406356e-04 9.99857413e-01 -3.14654179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.659115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.96, Y:20.43, Z:-0.28 [[ 7.04232509e-01 7.09874953e-01 -1.15811636e-02 -4.09610982e+01] [-7.09790485e-01 7.04327552e-01 1.09620565e-02 2.04337861e+01] [ 1.59386219e-02 5.00363211e-04 9.99872847e-01 -2.81822501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.689115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.97, Y:20.45, Z:-0.25 [[ 7.07373398e-01 7.06777371e-01 -9.41406497e-03 -4.09704879e+01] [-7.06720331e-01 7.07435976e-01 8.98408051e-03 2.04511410e+01] [ 1.30095930e-02 2.98011564e-04 9.99915327e-01 -2.52324751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.719115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.98, Y:20.47, Z:-0.25 [[ 7.03421784e-01 7.10702496e-01 -9.98780711e-03 -4.09846495e+01] [-7.10637967e-01 7.03492598e-01 9.58351154e-03 2.04654898e+01] [ 1.38373739e-02 3.56464154e-04 9.99904195e-01 -2.51107371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.00, Y:20.48, Z:-0.24 [[ 7.00290537e-01 7.13773610e-01 -1.09725767e-02 -4.09995371e+01] [-7.13695149e-01 7.00376372e-01 1.05910881e-02 2.04779934e+01] [ 1.52445727e-02 4.14236035e-04 9.99883709e-01 -2.43109136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.02, Y:20.48, Z:-0.27 [[ 6.99431885e-01 7.14604183e-01 -1.16575864e-02 -4.10203898e+01] [-7.14514674e-01 6.99528906e-01 1.13176564e-02 2.04848996e+01] [ 1.62424633e-02 4.13586821e-04 9.99867997e-01 -2.70865835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.80911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.03, Y:20.50, Z:-0.24 [[ 6.97341096e-01 7.16644014e-01 -1.16941247e-02 -4.10262356e+01] [-7.16552926e-01 6.97439023e-01 1.14330063e-02 2.05043146e+01] [ 1.63493345e-02 4.06754137e-04 9.99866258e-01 -2.41872818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.04, Y:20.52, Z:-0.23 [[ 6.98363783e-01 7.15666773e-01 -1.04449375e-02 -4.10377673e+01] [-7.15592958e-01 6.98441826e-01 1.02827496e-02 2.05193909e+01] [ 1.46542034e-02 2.93223838e-04 9.99892578e-01 -2.30659501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.86911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.05, Y:20.53, Z:-0.21 [[ 6.97027219e-01 7.16968653e-01 -1.04406009e-02 -4.10499078e+01] [-7.16894144e-01 6.97105353e-01 1.03398577e-02 2.05342053e+01] [ 1.46915527e-02 2.77643392e-04 9.99892035e-01 -2.07669107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.07, Y:20.54, Z:-0.26 [[ 6.89879099e-01 7.23814063e-01 -1.26503758e-02 -4.10747450e+01] [-7.23704598e-01 6.89994918e-01 1.25963416e-02 2.05376902e+01] [ 1.78461041e-02 4.65182348e-04 9.99840637e-01 -2.57332144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.92911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.09, Y:20.55, Z:-0.27 [[ 6.80192766e-01 7.32851897e-01 -1.63063907e-02 -4.10913286e+01] [-7.32670582e-01 6.80387672e-01 1.63228200e-02 2.05476430e+01] [ 2.30568768e-02 8.44548647e-04 9.99733798e-01 -2.68915288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.10, Y:20.56, Z:-0.27 [[ 6.78723315e-01 7.34233674e-01 -1.53484085e-02 -4.11036361e+01] [-7.34070228e-01 6.78896431e-01 1.55092108e-02 2.05589216e+01] [ 2.18073646e-02 7.40346765e-04 9.99761917e-01 -2.65109740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.989115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-39.81, Y:21.85, Z:-2.99 [[ 7.80388250e-01 -6.24310290e-01 -3.50833343e-02 -3.98114660e+01] [-6.23526993e-01 -7.81172109e-01 3.13723638e-02 2.18475154e+01] [-4.69922118e-02 -2.60721822e-03 -9.98891853e-01 -2.98694943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.019115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.99, Y:20.45, Z:-0.23 [[ 7.35573379e-01 6.77170815e-01 -1.92741136e-02 -4.09929308e+01] [-6.76970519e-01 7.35825284e-01 1.64944574e-02 2.04463372e+01] [ 2.53519453e-02 9.15122944e-04 9.99678169e-01 -2.31204538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.049115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.01, Y:20.45, Z:-0.26 [[ 7.34422290e-01 6.78419538e-01 -1.92569750e-02 -4.10140080e+01] [-6.78216574e-01 7.34674211e-01 1.66157399e-02 2.04530891e+01] [ 2.54200455e-02 8.57429814e-04 9.99676491e-01 -2.61325669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.079115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.03, Y:20.46, Z:-0.29 [[ 7.30184465e-01 6.83007486e-01 -1.82049526e-02 -4.10337693e+01] [-6.82825081e-01 7.30410834e-01 1.58089394e-02 2.04614399e+01] [ 2.40947186e-02 8.87356208e-04 9.99709286e-01 -2.87933193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.109115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.04, Y:20.48, Z:-0.24 [[ 7.29830270e-01 6.83402297e-01 -1.75805985e-02 -4.10392250e+01] [-6.83229871e-01 7.30041555e-01 1.53711115e-02 2.04831003e+01] [ 2.33392203e-02 7.93287618e-04 9.99727289e-01 -2.44576569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.05, Y:20.49, Z:-0.25 [[ 7.24852411e-01 6.88643273e-01 -1.89585039e-02 -4.10544134e+01] [-6.88441815e-01 7.25099665e-01 1.66836028e-02 2.04941272e+01] [ 2.52358557e-02 9.58677110e-04 9.99681065e-01 -2.47466328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.07, Y:20.50, Z:-0.25 [[ 7.23606490e-01 6.89952915e-01 -1.89373467e-02 -4.10714603e+01] [-6.89749666e-01 7.23853658e-01 1.67714080e-02 2.05039175e+01] [ 2.52793495e-02 9.26128896e-04 9.99679997e-01 -2.54281840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.09, Y:20.51, Z:-0.30 [[ 7.20647816e-01 6.93046283e-01 -1.88036068e-02 -4.10921388e+01] [-6.92844220e-01 7.20892467e-01 1.67611968e-02 2.05108068e+01] [ 2.51716636e-02 9.49050436e-04 9.99682693e-01 -2.97488651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.11, Y:20.52, Z:-0.30 [[ 7.18475416e-01 6.95299537e-01 -1.87518090e-02 -4.11066677e+01] [-6.95096729e-01 7.18719452e-01 1.68192218e-02 2.05237044e+01] [ 2.51716870e-02 9.50123693e-04 9.99682691e-01 -2.97268191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.11, Y:20.54, Z:-0.27 [[ 7.13219131e-01 7.00719310e-01 -1.76329146e-02 -4.11138062e+01] [-7.00538971e-01 7.13436376e-01 1.59275704e-02 2.05428750e+01] [ 2.37407188e-02 9.92695969e-04 9.99717657e-01 -2.70968462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.28911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.12, Y:20.56, Z:-0.24 [[ 7.14734260e-01 6.99195337e-01 -1.67575981e-02 -4.11228413e+01] [-6.99029904e-01 7.14930203e-01 1.52314640e-02 2.05613965e+01] [ 2.26302817e-02 8.27613052e-04 9.99743560e-01 -2.42160532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.14, Y:20.57, Z:-0.26 [[ 7.05558722e-01 7.08434564e-01 -1.75316541e-02 -4.11383043e+01] [-7.08253839e-01 7.05775642e-01 1.60387509e-02 2.05723800e+01] [ 2.37358199e-02 1.10058078e-03 9.99717660e-01 -2.61528357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.349115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.15, Y:20.58, Z:-0.27 [[ 7.02808684e-01 7.11166374e-01 -1.73879766e-02 -4.11522003e+01] [-7.10986019e-01 7.03022915e-01 1.60518327e-02 2.05824253e+01] [ 2.36396696e-02 1.08124082e-03 9.99719959e-01 -2.65847587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.379115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.17, Y:20.59, Z:-0.28 [[ 7.00136707e-01 7.13809850e-01 -1.68549855e-02 -4.11698898e+01] [-7.13639162e-01 7.00338736e-01 1.56461188e-02 2.05914529e+01] [ 2.29725530e-02 1.07395561e-03 9.99735519e-01 -2.77142943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.409115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.18, Y:20.61, Z:-0.25 [[ 7.01065466e-01 7.12902447e-01 -1.66527406e-02 -4.11789239e+01] [-7.12733364e-01 7.01262557e-01 1.55556391e-02 2.06089184e+01] [ 2.27675966e-02 9.63442515e-04 9.99740320e-01 -2.51223109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.439115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.19, Y:20.62, Z:-0.25 [[ 6.95850638e-01 7.17989307e-01 -1.68298837e-02 -4.11917648e+01] [-7.17815740e-01 6.96053309e-01 1.58226186e-02 2.06213393e+01] [ 2.30749672e-02 1.07057621e-03 9.99733164e-01 -2.51759908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.469115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.21, Y:20.63, Z:-0.26 [[ 6.98180894e-01 7.15731595e-01 -1.64840176e-02 -4.12073526e+01] [-7.15562249e-01 6.98374871e-01 1.55951037e-02 2.06332133e+01] [ 2.26739321e-02 9.07137256e-04 9.99742502e-01 -2.56184803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.22, Y:20.64, Z:-0.25 [[ 6.93195484e-01 7.20556897e-01 -1.66667319e-02 -4.12169221e+01] [-7.20380822e-01 6.93395172e-01 1.59564087e-02 2.06439893e+01] [ 2.30541318e-02 9.45483562e-04 9.99733771e-01 -2.53485816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.52911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.23, Y:20.66, Z:-0.24 [[ 6.94259769e-01 7.19556215e-01 -1.55636169e-02 -4.12282167e+01] [-7.19400817e-01 6.94433736e-01 1.49750292e-02 2.06583741e+01] [ 2.15832759e-02 7.99918404e-04 9.99766734e-01 -2.40488921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.24, Y:20.67, Z:-0.24 [[ 6.92791508e-01 7.20975268e-01 -1.53163070e-02 -4.12404360e+01] [-7.20823098e-01 6.92960373e-01 1.48318362e-02 2.06723771e+01] [ 2.13069809e-02 7.64977678e-04 9.99772688e-01 -2.37331337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.25, Y:20.69, Z:-0.22 [[ 6.86842563e-01 7.26631794e-01 -1.59226245e-02 -4.12516719e+01] [-7.26466788e-01 6.87026493e-01 1.55114317e-02 2.06873194e+01] [ 2.22103643e-02 9.13346396e-04 9.99752902e-01 -2.22552636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.26, Y:20.70, Z:-0.22 [[ 6.84709308e-01 7.28666945e-01 -1.47528849e-02 -4.12607461e+01] [-7.28523795e-01 6.84867706e-01 1.44673690e-02 2.07046326e+01] [ 2.06456680e-02 8.41885526e-04 9.99786501e-01 -2.21106529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.64911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.27, Y:20.72, Z:-0.23 [[ 6.85296481e-01 7.28147439e-01 -1.30399358e-02 -4.12734782e+01] [-7.28033757e-01 6.85420211e-01 1.28834447e-02 2.07180392e+01] [ 1.83188828e-02 6.64534107e-04 9.99831974e-01 -2.29183320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.28, Y:20.73, Z:-0.22 [[ 6.80788383e-01 7.32379145e-01 -1.21641025e-02 -4.12835744e+01] [-7.32279389e-01 6.80896721e-01 1.21058827e-02 2.07326790e+01] [ 1.71485936e-02 6.65977255e-04 9.99852730e-01 -2.20476701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.70911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.30, Y:20.75, Z:-0.21 [[ 6.76029701e-01 7.36773264e-01 -1.22065988e-02 -4.12958875e+01] [-7.36672261e-01 6.76139501e-01 1.22211065e-02 2.07468320e+01] [ 1.72575482e-02 7.30431716e-04 9.99850811e-01 -2.13262425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.739115933 meters Centerline goodness [0,1] 0.9996138250627534 Centerline is valid? [True, True] Translation: X:-41.31, Y:20.76, Z:-0.22 [[ 6.67722419e-01 7.44268043e-01 -1.45551394e-02 -4.13087703e+01] [-7.44124531e-01 6.67880217e-01 1.46525518e-02 2.07606872e+01] [ 2.06265157e-02 1.04699897e-03 9.99786703e-01 -2.15159848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.769115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.02, Y:21.99, Z:-3.02 [[ 7.85110354e-01 -6.18477840e-01 -3.29680768e-02 -4.00189096e+01] [-6.17781082e-01 -7.85797329e-01 2.94803630e-02 2.19885742e+01] [-4.41391779e-02 -2.77828406e-03 -9.99021528e-01 -3.02048879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.799115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.17, Y:20.62, Z:-0.20 [[ 7.34493813e-01 6.78455026e-01 -1.47518188e-02 -4.11663876e+01] [-6.78338574e-01 7.34641548e-01 1.25926676e-02 2.06223801e+01] [ 1.93808576e-02 7.57491260e-04 9.99811887e-01 -2.02505913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.829115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.18, Y:20.63, Z:-0.21 [[ 7.40817722e-01 6.71572742e-01 -1.33848523e-02 -4.11835737e+01] [-6.71473785e-01 7.40938498e-01 1.15368744e-02 2.06331919e+01] [ 1.76652028e-02 4.40856434e-04 9.99843861e-01 -2.11687680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.859115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.20, Y:20.65, Z:-0.20 [[ 7.33219834e-01 6.79828084e-01 -1.49148042e-02 -4.11982423e+01] [-6.79705486e-01 7.33371217e-01 1.29271492e-02 2.06462963e+01] [ 1.97263272e-02 6.59232073e-04 9.99805200e-01 -1.99237459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.88911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.21, Y:20.66, Z:-0.20 [[ 7.39243986e-01 6.73336307e-01 -1.16853293e-02 -4.12103947e+01] [-6.73259061e-01 7.39336265e-01 1.02041451e-02 2.06632316e+01] [ 1.55102091e-02 3.23900929e-04 9.99879657e-01 -2.02855244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.22, Y:20.68, Z:-0.19 [[ 7.29720824e-01 6.83587529e-01 -1.46836824e-02 -4.12208110e+01] [-6.83466422e-01 7.29868267e-01 1.28826410e-02 2.06811569e+01] [ 1.95235665e-02 6.35072463e-04 9.99809195e-01 -1.87046750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.24, Y:20.69, Z:-0.20 [[ 7.32719144e-01 6.80372411e-01 -1.46982554e-02 -4.12390732e+01] [-6.80249054e-01 7.32866382e-01 1.29649859e-02 2.06908162e+01] [ 1.95928760e-02 4.98780927e-04 9.99807917e-01 -1.98857210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.25, Y:20.71, Z:-0.19 [[ 7.23768961e-01 6.89787199e-01 -1.87646153e-02 -4.12508488e+01] [-6.89587156e-01 7.24011609e-01 1.66356365e-02 2.07075425e+01] [ 2.50608485e-02 8.99480334e-04 9.99685523e-01 -1.89377859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.00911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.27, Y:20.71, Z:-0.21 [[ 7.17831580e-01 6.95937636e-01 -1.97136807e-02 -4.12707324e+01] [-6.95716330e-01 7.18101393e-01 1.75834335e-02 2.07146354e+01] [ 2.63933948e-02 1.09318574e-03 9.99651036e-01 -2.11900716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.27, Y:20.74, Z:-0.17 [[ 7.18112055e-01 6.95677404e-01 -1.86554816e-02 -4.12741535e+01] [-6.95476452e-01 7.18353709e-01 1.67467525e-02 2.07391795e+01] [ 2.50515717e-02 9.48403273e-04 9.99685710e-01 -1.70427812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.06911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.29, Y:20.75, Z:-0.18 [[ 7.14411959e-01 6.99481935e-01 -1.84546884e-02 -4.12900370e+01] [-6.99284060e-01 7.14649583e-01 1.66666410e-02 2.07517103e+01] [ 2.48466497e-02 9.98221734e-04 9.99690776e-01 -1.82799638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.099115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.30, Y:20.77, Z:-0.17 [[ 7.10451545e-01 7.03481037e-01 -1.93140674e-02 -4.13020245e+01] [-7.03263068e-01 7.10713151e-01 1.75463564e-02 2.07677907e+01] [ 2.60702907e-02 1.11703429e-03 9.99659488e-01 -1.73481528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.129115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.31, Y:20.78, Z:-0.16 [[ 7.11419449e-01 7.02526802e-01 -1.83972726e-02 -4.13113145e+01] [-7.02325658e-01 7.11656661e-01 1.68364808e-02 2.07845888e+01] [ 2.49206206e-02 9.43076654e-04 9.99688988e-01 -1.55785721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.159115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.33, Y:20.79, Z:-0.18 [[ 7.07010939e-01 7.06967074e-01 -1.82507054e-02 -4.13287591e+01] [-7.06768148e-01 7.07245725e-01 1.68008885e-02 2.07942153e+01] [ 2.47854084e-02 1.02060532e-03 9.99692274e-01 -1.79244051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.189115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.34, Y:20.81, Z:-0.18 [[ 7.02192418e-01 7.11747714e-01 -1.84661561e-02 -4.13432684e+01] [-7.11543137e-01 7.02434276e-01 1.71012417e-02 2.08074185e+01] [ 2.51430307e-02 1.13110438e-03 9.99683224e-01 -1.76007884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.219115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.36, Y:20.82, Z:-0.19 [[ 7.01929529e-01 7.12015682e-01 -1.81274689e-02 -4.13563045e+01] [-7.11816092e-01 7.02162781e-01 1.68902272e-02 2.08225183e+01] [ 2.47545406e-02 1.04767482e-03 9.99693010e-01 -1.86794668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.37, Y:20.84, Z:-0.17 [[ 6.92454376e-01 7.21187142e-01 -1.99008094e-02 -4.13662882e+01] [-7.20947144e-01 6.92738817e-01 1.86587005e-02 2.08384306e+01] [ 2.72424781e-02 1.42713287e-03 9.99627836e-01 -1.73669486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.38, Y:20.85, Z:-0.16 [[ 6.90212230e-01 7.23335036e-01 -1.98369299e-02 -4.13793012e+01] [-7.23094478e-01 6.90495748e-01 1.87082307e-02 2.08534873e+01] [ 2.72296345e-02 1.43132484e-03 9.99628180e-01 -1.64464804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.30911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.39, Y:20.87, Z:-0.18 [[ 6.87160642e-01 7.26196651e-01 -2.11819801e-02 -4.13934563e+01] [-7.25920275e-01 6.87485247e-01 2.00944972e-02 2.08672265e+01] [ 2.91548554e-02 1.56828125e-03 9.99573677e-01 -1.75811342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.40, Y:20.88, Z:-0.17 [[ 6.84904903e-01 7.28382697e-01 -1.90766761e-02 -4.14038185e+01] [-7.28153407e-01 6.85169212e-01 1.83239605e-02 2.08750944e+01] [ 2.64176069e-02 1.34057631e-03 9.99650095e-01 -1.74610654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.36911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.42, Y:20.89, Z:-0.18 [[ 6.87490174e-01 7.25950100e-01 -1.88072610e-02 -4.14163524e+01] [-7.25724236e-01 6.87746373e-01 1.81455124e-02 2.08899704e+01] [ 2.61073621e-02 1.17402371e-03 9.99658455e-01 -1.75749540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.43, Y:20.90, Z:-0.18 [[ 6.82632794e-01 7.30492835e-01 -1.98163210e-02 -4.14276248e+01] [-7.30240318e-01 6.82919067e-01 1.92516676e-02 2.09040063e+01] [ 2.75961487e-02 1.32885690e-03 9.99618270e-01 -1.81232874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.42911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.44, Y:20.91, Z:-0.18 [[ 6.79784428e-01 7.33162379e-01 -1.91326226e-02 -4.14435234e+01] [-7.32925008e-01 6.80052358e-01 1.87008770e-02 2.09143981e+01] [ 2.67219646e-02 1.31021262e-03 9.99642046e-01 -1.84139319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.45911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.45, Y:20.93, Z:-0.15 [[ 6.77674792e-01 7.35086049e-01 -2.01340015e-02 -4.14500806e+01] [-7.34820574e-01 6.77972425e-01 1.98018889e-02 2.09340893e+01] [ 2.82063901e-02 1.37563764e-03 9.99601174e-01 -1.51288913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.489115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.46, Y:20.95, Z:-0.15 [[ 6.75861335e-01 7.36734518e-01 -2.08256230e-02 -4.14611544e+01] [-7.36447576e-01 6.76180646e-01 2.06082797e-02 2.09501445e+01] [ 2.92647142e-02 1.40864018e-03 9.99570704e-01 -1.49737198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.519115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.48, Y:20.96, Z:-0.16 [[ 6.68804283e-01 7.43073720e-01 -2.32868736e-02 -4.14755687e+01] [-7.42714332e-01 6.69207163e-01 2.31774307e-02 2.09624632e+01] [ 3.28062823e-02 1.79432983e-03 9.99460118e-01 -1.61682990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.549115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.49, Y:20.98, Z:-0.16 [[ 6.67421339e-01 7.44303272e-01 -2.36937816e-02 -4.14885943e+01] [-7.43927366e-01 6.67839365e-01 2.37203849e-02 2.09763542e+01] [ 3.34788001e-02 1.79496146e-03 9.99437816e-01 -1.63697520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.579115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.50, Y:20.99, Z:-0.16 [[ 6.67800887e-01 7.43978003e-01 -2.32100478e-02 -4.15007251e+01] [-7.43612286e-01 6.68202085e-01 2.33824976e-02 2.09911304e+01] [ 3.29050662e-02 1.64442402e-03 9.99457129e-01 -1.60609723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.609115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.32, Y:22.18, Z:-3.06 [[ 7.93135931e-01 -6.07339736e-01 -4.55394273e-02 -4.03228049e+01] [-6.06018738e-01 -7.94430356e-01 4.02703086e-02 2.21753542e+01] [-6.06356621e-02 -4.34208245e-03 -9.98150521e-01 -3.06164413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.41, Y:20.89, Z:-0.17 [[ 7.18026440e-01 6.95483395e-01 -2.72190711e-02 -4.14061321e+01] [-6.95096961e-01 7.18538799e-01 2.32853964e-02 2.08853422e+01] [ 3.57525652e-02 2.20036337e-03 9.99358250e-01 -1.71149026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.66911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.42, Y:20.90, Z:-0.17 [[ 7.17079219e-01 6.96450469e-01 -2.74615635e-02 -4.14213761e+01] [-6.96051629e-01 7.17601659e-01 2.36640924e-02 2.08977363e+01] [ 3.61873318e-02 2.14563711e-03 9.99342721e-01 -1.67550097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.43, Y:20.92, Z:-0.13 [[ 7.25263176e-01 6.88046287e-01 -2.41998517e-02 -4.14278792e+01] [-6.87727701e-01 7.25665405e-01 2.09840415e-02 2.09195401e+01] [ 3.19989870e-02 1.42395576e-03 9.99486887e-01 -1.28964555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.44, Y:20.94, Z:-0.11 [[ 7.18197148e-01 6.95280067e-01 -2.79013566e-02 -4.14398913e+01] [-6.94856986e-01 7.18736362e-01 2.43271476e-02 2.09352973e+01] [ 3.69679003e-02 1.91576451e-03 9.99314617e-01 -1.08575499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.46, Y:20.95, Z:-0.12 [[ 7.14228682e-01 6.99385562e-01 -2.71518882e-02 -4.14550976e+01] [-6.98982483e-01 7.14741896e-01 2.38224953e-02 2.09480849e+01] [ 3.60677013e-02 1.96398485e-03 9.99347419e-01 -1.17424774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.78911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.47, Y:20.96, Z:-0.12 [[ 7.14372483e-01 6.99180258e-01 -2.86168140e-02 -4.14712444e+01] [-6.98726630e-01 7.14942764e-01 2.52574764e-02 2.09596808e+01] [ 3.81189130e-02 1.95208385e-03 9.99271303e-01 -1.22327827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.49, Y:20.96, Z:-0.17 [[ 7.09930356e-01 7.03701979e-01 -2.83269248e-02 -4.14942699e+01] [-7.03254719e-01 7.10492302e-01 2.51691982e-02 2.09622077e+01] [ 3.78376766e-02 2.05266567e-03 9.99281790e-01 -1.69214022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.849115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.51, Y:20.98, Z:-0.16 [[ 7.11274400e-01 7.02336124e-01 -2.85078436e-02 -4.15064716e+01] [-7.01875723e-01 7.11842999e-01 2.54954024e-02 2.09750965e+01] [ 3.81994510e-02 1.87473632e-03 9.99268376e-01 -1.56903575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.879115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.51, Y:21.00, Z:-0.11 [[ 7.08811943e-01 7.04826744e-01 -2.83705918e-02 -4.15092449e+01] [-7.04367040e-01 7.09376965e-01 2.55224207e-02 2.10001493e+01] [ 3.81143290e-02 1.89271321e-03 9.99271592e-01 -1.11741181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.909115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.53, Y:21.01, Z:-0.15 [[ 7.09710078e-01 7.03933126e-01 -2.81026646e-02 -4.15312324e+01] [-7.03475519e-01 7.10264180e-01 2.54359654e-02 2.10058342e+01] [ 3.78655347e-02 1.71737560e-03 9.99281368e-01 -1.48415035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.939115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.54, Y:21.02, Z:-0.12 [[ 7.08637890e-01 7.05007024e-01 -2.82389329e-02 -4.15389656e+01] [-7.04539141e-01 7.09198381e-01 2.57343240e-02 2.10240021e+01] [ 3.81698846e-02 1.65911646e-03 9.99269887e-01 -1.16678665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.969115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.55, Y:21.04, Z:-0.11 [[ 7.04401871e-01 7.09244146e-01 -2.81201958e-02 -4.15488958e+01] [-7.08775000e-01 7.04960832e-01 2.58500200e-02 2.10375358e+01] [ 3.81576120e-02 1.72208931e-03 9.99270249e-01 -1.11411882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.56, Y:21.05, Z:-0.12 [[ 7.01379764e-01 7.12123938e-01 -3.07558615e-02 -4.15646542e+01] [-7.11559434e-01 7.02051051e-01 2.84164350e-02 2.10497118e+01] [ 4.18282085e-02 1.95391092e-03 9.99122907e-01 -1.18749221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.02911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.58, Y:21.07, Z:-0.10 [[ 6.98238401e-01 7.15153308e-01 -3.19199069e-02 -4.15756401e+01] [-7.14540650e-01 6.98964499e-01 2.96696664e-02 2.10663835e+01] [ 4.35292418e-02 2.09157063e-03 9.99049964e-01 -9.98246537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.60, Y:21.07, Z:-0.13 [[ 6.90404630e-01 7.22639493e-01 -3.36691296e-02 -4.15956009e+01] [-7.21957924e-01 6.91220334e-01 3.14834042e-02 2.10732277e+01] [ 4.60239383e-02 2.57140694e-03 9.98937028e-01 -1.30672909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.61, Y:21.09, Z:-0.12 [[ 6.94202589e-01 7.19069948e-01 -3.19558180e-02 -4.16053015e+01] [-7.18444055e-01 6.94934573e-01 3.00678993e-02 2.10901731e+01] [ 4.38281255e-02 2.08525396e-03 9.99036910e-01 -1.20811700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.62, Y:21.10, Z:-0.13 [[ 6.90506415e-01 7.22587045e-01 -3.26933129e-02 -4.16228053e+01] [-7.21927423e-01 6.91276341e-01 3.09485888e-02 2.10987846e+01] [ 4.49631631e-02 2.23200003e-03 9.98986152e-01 -1.28461615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.14911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.64, Y:21.11, Z:-0.13 [[ 6.88235583e-01 7.24754676e-01 -3.25951362e-02 -4.16354307e+01] [-7.24092594e-01 6.89003399e-01 3.10520686e-02 2.11108351e+01] [ 4.49632915e-02 2.23075818e-03 9.98986149e-01 -1.28262840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.65, Y:21.12, Z:-0.14 [[ 6.84416971e-01 7.28326103e-01 -3.33840994e-02 -4.16500511e+01] [-7.27626720e-01 6.85226514e-01 3.19996962e-02 2.11234331e+01] [ 4.61818841e-02 2.39002762e-03 9.98930188e-01 -1.44143058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.20911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.66, Y:21.14, Z:-0.10 [[ 6.83255000e-01 7.29408816e-01 -3.35467590e-02 -4.16566812e+01] [-7.28694284e-01 6.84074070e-01 3.23621210e-02 2.11425099e+01] [ 4.65536843e-02 2.33375058e-03 9.98913063e-01 -1.04142548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.239115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.67, Y:21.15, Z:-0.12 [[ 6.84384275e-01 7.28364239e-01 -3.32219542e-02 -4.16718200e+01] [-7.27652751e-01 6.85186928e-01 3.22544137e-02 2.11532920e+01] [ 4.62562102e-02 2.09963281e-03 9.98927402e-01 -1.19936937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.269115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.69, Y:21.17, Z:-0.12 [[ 6.85881565e-01 7.27025534e-01 -3.16283316e-02 -4.16859986e+01] [-7.26370782e-01 6.86608114e-01 3.08995799e-02 2.11666587e+01] [ 4.41810527e-02 1.78044370e-03 9.99021954e-01 -1.15475719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.299115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.70, Y:21.18, Z:-0.11 [[ 6.86035815e-01 7.26904322e-01 -3.10639227e-02 -4.17000013e+01] [-7.26264509e-01 6.86736853e-01 3.05345492e-02 2.11795252e+01] [ 4.35284363e-02 1.61283020e-03 9.99050887e-01 -1.14690632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.329115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.71, Y:21.19, Z:-0.11 [[ 6.80151430e-01 7.32345131e-01 -3.26288539e-02 -4.17127327e+01] [-7.31636548e-01 6.80930904e-01 3.22655523e-02 2.11942884e+01] [ 4.58475151e-02 1.92700047e-03 9.98946591e-01 -1.13739979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.359115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.73, Y:21.20, Z:-0.13 [[ 6.76676460e-01 7.35488973e-01 -3.41312027e-02 -4.17291294e+01] [-7.34707318e-01 6.77533458e-01 3.39642447e-02 2.12041774e+01] [ 4.81053592e-02 2.09363958e-03 9.98840073e-01 -1.27440905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.38911593299999 meters Centerline goodness [0,1] 0.9998243765367053 Centerline is valid? [True, True] Translation: X:-41.74, Y:21.22, Z:-0.11 [[ 6.76461600e-01 7.35741080e-01 -3.29358037e-02 -4.17395252e+01] [-7.35003735e-01 6.77260271e-01 3.29853695e-02 2.12196452e+01] [ 4.65748027e-02 1.89460292e-03 9.98913008e-01 -1.09801996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.75, Y:21.24, Z:-0.09 [[ 6.75128977e-01 7.37039374e-01 -3.12061824e-02 -4.17502655e+01] [-7.36369927e-01 6.75847559e-01 3.14548435e-02 2.12354490e+01] [ 4.42740804e-02 1.74321789e-03 9.99017901e-01 -9.13793461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-40.62, Y:22.40, Z:-3.13 [[ 7.81420566e-01 -6.21811836e-01 -5.22679543e-02 -4.06204516e+01] [-6.20114692e-01 -7.83158532e-01 4.60486933e-02 2.24007101e+01] [-6.95677169e-02 -3.57126959e-03 -9.97570839e-01 -3.12893833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.67, Y:21.14, Z:-0.10 [[ 7.35904817e-01 6.76275395e-01 -3.31012114e-02 -4.16742673e+01] [-6.75682751e-01 7.36647353e-01 2.83460181e-02 2.11441547e+01] [ 4.35536343e-02 1.50594632e-03 9.99049955e-01 -9.72599520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.50911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.68, Y:21.16, Z:-0.07 [[ 7.34053730e-01 6.78301837e-01 -3.27374228e-02 -4.16832032e+01] [-6.77715226e-01 7.34781939e-01 2.82413724e-02 2.11632029e+01] [ 4.32110418e-02 1.45596516e-03 9.99064906e-01 -7.18412425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53911593299999 meters Centerline goodness [0,1] 0.9996488147497805 Centerline is valid? [True, True] Translation: X:-41.70, Y:21.17, Z:-0.08 [[ 7.33521181e-01 6.78804550e-01 -3.42207599e-02 -4.17028815e+01] [-6.78156209e-01 7.34317610e-01 2.96951812e-02 2.11720948e+01] [ 4.52861307e-02 1.42497646e-03 9.98973041e-01 -8.27293989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.56911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.73, Y:21.18, Z:-0.12 [[ 7.31496833e-01 6.80994306e-01 -3.40461256e-02 -4.17251475e+01] [-6.80346493e-01 7.32287342e-01 2.97304342e-02 2.11762467e+01] [ 4.51778032e-02 1.41544368e-03 9.98977959e-01 -1.18140705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.599115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.73, Y:21.20, Z:-0.08 [[ 7.32485359e-01 6.79988981e-01 -3.28661602e-02 -4.17319320e+01] [-6.79376700e-01 7.33221382e-01 2.88739189e-02 2.11985030e+01] [ 4.37321181e-02 1.17878065e-03 9.99042598e-01 -7.68404156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.629115933 meters Centerline goodness [0,1] 0.9994669509594882 Centerline is valid? [True, True] Translation: X:-41.75, Y:21.21, Z:-0.10 [[ 7.30534755e-01 6.82082668e-01 -3.28969094e-02 -4.17518559e+01] [-6.81463262e-01 7.31274138e-01 2.90853507e-02 2.12060733e+01] [ 4.38952727e-02 1.17017570e-03 9.99035453e-01 -1.00429452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.659115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.76, Y:21.22, Z:-0.09 [[ 7.32210356e-01 6.80308607e-01 -3.23758276e-02 -4.17629852e+01] [-6.79698937e-01 7.32925214e-01 2.88094793e-02 2.12223957e+01] [ 4.33283971e-02 9.11216546e-04 9.99060468e-01 -9.29050064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.689115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.78, Y:21.23, Z:-0.11 [[ 7.27483107e-01 6.85461195e-01 -3.01873906e-02 -4.17847436e+01] [-6.84928563e-01 7.28108463e-01 2.70357199e-02 2.12281226e+01] [ 4.05116314e-02 1.00817653e-03 9.99178558e-01 -1.14568670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.719115933 meters Centerline goodness [0,1] 0.9998242839571253 Centerline is valid? [True, True] Translation: X:-41.80, Y:21.24, Z:-0.09 [[ 7.26156819e-01 6.86923669e-01 -2.88469592e-02 -4.17977162e+01] [-6.86432474e-01 7.26728980e-01 2.59893986e-02 2.12437256e+01] [ 3.88166542e-02 9.29110548e-04 9.99245918e-01 -9.16468491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.74911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.81, Y:21.26, Z:-0.09 [[ 7.28906618e-01 6.84027643e-01 -2.83076859e-02 -4.18123529e+01] [-6.83546341e-01 7.29455804e-01 2.56638037e-02 2.12581843e+01] [ 3.82039569e-02 6.43098790e-04 9.99269755e-01 -8.55041446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.84, Y:21.26, Z:-0.13 [[ 7.26187138e-01 6.86857174e-01 -2.96557350e-02 -4.18362860e+01] [-6.86324618e-01 7.26792074e-01 2.70517938e-02 2.12618174e+01] [ 4.01342718e-02 7.08796254e-04 9.99194044e-01 -1.29294213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80911593299999 meters Centerline goodness [0,1] 0.9993160054719562 Centerline is valid? [True, True] Translation: X:-41.86, Y:21.27, Z:-0.18 [[ 7.33156308e-01 6.79519805e-01 -2.71046519e-02 -4.18603004e+01] [-6.79064251e-01 7.33657145e-01 2.48784174e-02 2.12661525e+01] [ 3.67908989e-02 1.66031486e-04 9.99322972e-01 -1.75828504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.88, Y:21.27, Z:-0.21 [[ 7.31815307e-01 6.80953505e-01 -2.73620273e-02 -4.18831072e+01] [-6.80484109e-01 7.32326641e-01 2.52797928e-02 2.12708897e+01] [ 3.72523051e-02 1.19285403e-04 9.99305885e-01 -2.09451229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.86911593299999 meters Centerline goodness [0,1] 0.9981161157732489 Centerline is valid? [True, True] Translation: X:-41.90, Y:21.29, Z:-0.22 [[ 7.27354980e-01 6.85795393e-01 -2.52865845e-02 -4.18966680e+01] [-6.85392278e-01 7.27794357e-01 2.35116982e-02 2.12856912e+01] [ 3.45276478e-02 2.29878928e-04 9.99403717e-01 -2.24425958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89911593299999 meters Centerline goodness [0,1] 0.9981212638770282 Centerline is valid? [True, True] Translation: X:-41.91, Y:21.30, Z:-0.23 [[ 7.18758570e-01 6.94775499e-01 -2.59446331e-02 -4.19131347e+01] [-6.94351693e-01 7.19226446e-01 2.42702544e-02 2.12965559e+01] [ 3.55224444e-02 5.70246620e-04 9.99368716e-01 -2.26987438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.92911593299999 meters Centerline goodness [0,1] 0.9977551372819893 Centerline is valid? [True, True] Translation: X:-41.93, Y:21.31, Z:-0.22 [[ 7.12080784e-01 7.01587084e-01 -2.67679117e-02 -4.19261720e+01] [-7.01135200e-01 7.12583240e-01 2.51904230e-02 2.13115286e+01] [ 3.67476407e-02 8.30309004e-04 9.99324232e-01 -2.21648001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95911593299999 meters Centerline goodness [0,1] 0.9994724810972393 Centerline is valid? [True, True] Translation: X:-41.95, Y:21.32, Z:-0.27 [[ 7.02409709e-01 7.11165443e-01 -2.93992084e-02 -4.19489491e+01] [-7.10621240e-01 7.03023429e-01 2.78480248e-02 2.13157055e+01] [ 4.04728852e-02 1.33097892e-03 9.99179751e-01 -2.68972008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.989115933 meters Centerline goodness [0,1] 0.9989414255469301 Centerline is valid? [True, True] Translation: X:-41.96, Y:21.33, Z:-0.27 [[ 6.96101751e-01 7.17312494e-01 -3.00855143e-02 -4.19611378e+01] [-7.16740955e-01 6.96749750e-01 2.86738331e-02 2.13300925e+01] [ 4.15301733e-02 1.60361487e-03 9.99135963e-01 -2.72421869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.019115933 meters Centerline goodness [0,1] 0.9976868327402135 Centerline is valid? [True, True] Translation: X:-41.97, Y:21.35, Z:-0.28 [[ 6.82415943e-01 7.30203724e-01 -3.33316981e-02 -4.19715264e+01] [-7.29508450e-01 6.83224874e-01 3.19561033e-02 2.13475947e+01] [ 4.61075109e-02 2.50840103e-03 9.98933334e-01 -2.84471862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.049115933 meters Centerline goodness [0,1] 0.996648438878109 Centerline is valid? [True, True] Translation: X:-41.98, Y:21.36, Z:-0.29 [[ 6.65509378e-01 7.45557114e-01 -3.52400039e-02 -4.19842064e+01] [-7.44790424e-01 6.66431898e-01 3.39963196e-02 2.13611155e+01] [ 4.88312606e-02 3.62154794e-03 9.98800477e-01 -2.88799106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.079115933 meters Centerline goodness [0,1] 0.9982431482782853 Centerline is valid? [True, True] Translation: X:-42.00, Y:21.37, Z:-0.30 [[ 6.66535754e-01 7.44715119e-01 -3.36077427e-02 -4.19977606e+01] [-7.44006942e-01 6.67374561e-01 3.26322692e-02 2.13733878e+01] [ 4.67306968e-02 3.25381971e-03 9.98902225e-01 -3.01236008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.109115933 meters Centerline goodness [0,1] 0.9983736899168775 Centerline is valid? [True, True] Translation: X:-42.01, Y:21.39, Z:-0.30 [[ 6.53151985e-01 7.56388175e-01 -3.56288334e-02 -4.20092286e+01] [-7.55598747e-01 6.54109602e-01 3.48017571e-02 2.13880124e+01] [ 4.96287995e-02 4.19026513e-03 9.98758942e-01 -3.02983561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13911593299999 meters Centerline goodness [0,1] 0.9971910112359551 Centerline is valid? [True, True] Translation: X:-42.03, Y:21.39, Z:-0.35 [[ 6.40013736e-01 7.67295160e-01 -4.05037688e-02 -4.20313013e+01] [-7.66281828e-01 6.41270028e-01 3.98109362e-02 2.13918586e+01] [ 5.65205916e-02 5.55775596e-03 9.98385964e-01 -3.52132003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.16911593299999 meters Centerline goodness [0,1] 0.9970159733192908 Centerline is valid? [True, True] Translation: X:-42.04, Y:21.41, Z:-0.34 [[ 6.40914481e-01 7.66581936e-01 -3.97588173e-02 -4.20366600e+01] [-7.65590121e-01 6.42125203e-01 3.93318030e-02 2.14120518e+01] [ 5.56811883e-02 5.23063569e-03 9.98434898e-01 -3.37056480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19911593299999 meters Centerline goodness [0,1] 0.9960979070592408 Centerline is valid? [True, True] Translation: X:-42.06, Y:21.42, Z:-0.38 [[ 6.32681984e-01 7.73353624e-01 -4.04682512e-02 -4.20579296e+01] [-7.72324672e-01 6.33948720e-01 4.02941822e-02 2.14152148e+01] [ 5.68164479e-02 5.76122569e-03 9.98368018e-01 -3.80080839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22911593299999 meters Centerline goodness [0,1] 0.9971756398940865 Centerline is valid? [True, True] Translation: X:-42.08, Y:21.42, Z:-0.40 [[ 6.30772769e-01 7.74923365e-01 -4.02429222e-02 -4.20752480e+01] [-7.73894379e-01 6.32029441e-01 4.03271158e-02 2.14229279e+01] [ 5.66851359e-02 5.70652479e-03 9.98375796e-01 -3.98062358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25911593299999 meters Centerline goodness [0,1] 0.9973427812223207 Centerline is valid? [True, True] Translation: X:-40.80, Y:22.65, Z:-2.79 [[ 8.22041792e-01 -5.66268699e-01 -5.98920169e-02 -4.07998104e+01] [-5.63925040e-01 -8.24169306e-01 5.22829265e-02 2.26453131e+01] [-7.89673467e-02 -9.20414253e-03 -9.96834711e-01 -2.78622677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.28911593299999 meters Centerline goodness [0,1] 0.996398991717681 Centerline is valid? [True, True] Translation: X:-41.95, Y:21.28, Z:-0.44 [[ 6.87243086e-01 7.25289650e-01 -4.06431329e-02 -4.19506739e+01] [-7.24481919e-01 6.88420957e-01 3.46775809e-02 2.12780046e+01] [ 5.31308750e-02 5.61328717e-03 9.98571781e-01 -4.41749355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31911593299999 meters Centerline goodness [0,1] 0.9978393950306086 Centerline is valid? [True, True] Translation: X:-41.95, Y:21.30, Z:-0.41 [[ 6.85008517e-01 7.27502245e-01 -3.87790576e-02 -4.19548170e+01] [-7.26758787e-01 6.86084351e-01 3.33155950e-02 2.13007837e+01] [ 5.08428747e-02 5.36155453e-03 9.98692273e-01 -4.13667568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.349115933 meters Centerline goodness [0,1] 0.9980283204875425 Centerline is valid? [True, True] Translation: X:-41.97, Y:21.31, Z:-0.45 [[ 6.76556675e-01 7.35282568e-01 -4.03808204e-02 -4.19739722e+01] [-7.34478512e-01 6.77733733e-01 3.49042013e-02 2.13071435e+01] [ 5.30318949e-02 6.04417445e-03 9.98574527e-01 -4.53463823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.379115933 meters Centerline goodness [0,1] 0.9973872147709458 Centerline is valid? [True, True] Translation: X:-42.00, Y:21.31, Z:-0.51 [[ 6.69464276e-01 7.41710703e-01 -4.10221473e-02 -4.19999558e+01] [-7.40880049e-01 6.70688445e-01 3.56898177e-02 2.13058373e+01] [ 5.39846000e-02 6.49943252e-03 9.98520616e-01 -5.11699493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.409115933 meters Centerline goodness [0,1] 0.9971459150909739 Centerline is valid? [True, True] Translation: X:-42.01, Y:21.32, Z:-0.51 [[ 6.68029039e-01 7.43135550e-01 -3.85584817e-02 -4.20101050e+01] [-7.42392613e-01 6.69113413e-01 3.37705289e-02 2.13200177e+01] [ 5.08960779e-02 6.06583804e-03 9.98685534e-01 -5.14539715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.439115933 meters Centerline goodness [0,1] 0.9982049901274457 Centerline is valid? [True, True] Translation: X:-42.01, Y:21.34, Z:-0.50 [[ 6.59993061e-01 7.50283892e-01 -3.85128747e-02 -4.20139590e+01] [-7.49543361e-01 6.61084204e-01 3.39474006e-02 2.13410119e+01] [ 5.09304409e-02 6.46202066e-03 9.98681297e-01 -4.97704990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.469115933 meters Centerline goodness [0,1] 0.9983985765124556 Centerline is valid? [True, True] Translation: X:-42.02, Y:21.36, Z:-0.47 [[ 6.50318293e-01 7.58657725e-01 -3.90457967e-02 -4.20156082e+01] [-7.57898629e-01 6.51451205e-01 3.46553876e-02 2.13640522e+01] [ 5.17280088e-02 7.05572326e-03 9.98636285e-01 -4.73373873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49911593299998 meters Centerline goodness [0,1] 0.9987522281639929 Centerline is valid? [True, True] Translation: X:-42.04, Y:21.36, Z:-0.54 [[ 6.53226978e-01 7.56263242e-01 -3.68839431e-02 -4.20417643e+01] [-7.55572482e-01 6.54236599e-01 3.29347219e-02 2.13614288e+01] [ 4.90381451e-02 6.35464365e-03 9.98776691e-01 -5.36434653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.52911593299999 meters Centerline goodness [0,1] 0.9983982915109451 Centerline is valid? [True, True] Translation: X:-42.04, Y:21.39, Z:-0.48 [[ 6.52700062e-01 7.56812491e-01 -3.48924276e-02 -4.20393095e+01] [-7.56186052e-01 6.53605215e-01 3.13508712e-02 2.13896678e+01] [ 4.65326036e-02 5.92245148e-03 9.98899215e-01 -4.75121058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55911593299999 meters Centerline goodness [0,1] 0.9991080984659294 Centerline is valid? [True, True] Translation: X:-42.06, Y:21.39, Z:-0.52 [[ 6.51545199e-01 7.57880801e-01 -3.32497474e-02 -4.20602801e+01] [-7.57305010e-01 6.52369070e-01 3.00618909e-02 2.13939971e+01] [ 4.44744367e-02 5.59351963e-03 9.98994863e-01 -5.20189560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58911593299999 meters Centerline goodness [0,1] 0.9968476357267951 Centerline is valid? [True, True] Translation: X:-42.06, Y:21.42, Z:-0.49 [[ 6.46590140e-01 7.62135611e-01 -3.27185160e-02 -4.20613507e+01] [-7.61575122e-01 6.47392591e-01 2.97685473e-02 2.14185084e+01] [ 4.38693948e-02 5.66955865e-03 9.99021187e-01 -4.85750370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61911593299999 meters Centerline goodness [0,1] 0.9975347772495158 Centerline is valid? [True, True] Translation: X:-42.07, Y:21.43, Z:-0.48 [[ 6.41088683e-01 7.66723668e-01 -3.37656364e-02 -4.20695158e+01] [-7.66124448e-01 6.41948714e-01 3.09059736e-02 2.14348794e+01] [ 4.53721483e-02 6.05520968e-03 9.98951802e-01 -4.80165793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.64911593299999 meters Centerline goodness [0,1] 0.9987475398103417 Centerline is valid? [True, True] Translation: X:-42.09, Y:21.44, Z:-0.51 [[ 6.47080651e-01 7.61826639e-01 -3.01131670e-02 -4.20888771e+01] [-7.61337982e-01 6.47761810e-01 2.77329119e-02 2.14384207e+01] [ 4.06338306e-02 4.98086713e-03 9.99161690e-01 -5.05377420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67911593299999 meters Centerline goodness [0,1] 0.9973300106799573 Centerline is valid? [True, True] Translation: X:-42.10, Y:21.45, Z:-0.52 [[ 6.44621573e-01 7.63941816e-01 -2.92562529e-02 -4.21033669e+01] [-7.63476075e-01 6.45266828e-01 2.71109285e-02 2.14485503e+01] [ 3.95892615e-02 4.86015980e-03 9.99204218e-01 -5.21447430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.70911593299999 meters Centerline goodness [0,1] 0.9976843605272533 Centerline is valid? [True, True] Translation: X:-42.11, Y:21.46, Z:-0.51 [[ 6.50431917e-01 7.59118777e-01 -2.60192887e-02 -4.21125164e+01] [-7.58740938e-01 6.50940124e-01 2.42722813e-02 2.14646560e+01] [ 3.53625435e-02 3.95443310e-03 9.99366726e-01 -5.10535585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.739115933 meters Centerline goodness [0,1] 0.9989285714285714 Centerline is valid? [True, True] Translation: X:-42.11, Y:21.49, Z:-0.47 [[ 6.51565192e-01 7.58265120e-01 -2.22892053e-02 -4.21083198e+01] [-7.57981730e-01 6.51938342e-01 2.09784385e-02 2.14921736e+01] [ 3.04384058e-02 3.22599010e-03 9.99531438e-01 -4.70816492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.769115933 meters Centerline goodness [0,1] 0.9983812949640288 Centerline is valid? [True, True] Translation: X:-42.13, Y:21.50, Z:-0.49 [[ 6.56861347e-01 7.53781885e-01 -1.86021632e-02 -4.21275190e+01] [-7.53579820e-01 6.57120159e-01 1.76224868e-02 2.14951467e+01] [ 2.55073677e-02 2.44268434e-03 9.99671650e-01 -4.93805351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.799115933 meters Centerline goodness [0,1] 0.9984048209854661 Centerline is valid? [True, True] Translation: X:-42.14, Y:21.51, Z:-0.51 [[ 6.64816267e-01 7.46859736e-01 -1.48278543e-02 -4.21410661e+01] [-7.46727556e-01 6.64979518e-01 1.41491163e-02 2.15066468e+01] [ 2.04276247e-02 1.66580471e-03 9.99789947e-01 -5.08253143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.829115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.13, Y:21.54, Z:-0.43 [[ 6.65164549e-01 7.46573980e-01 -1.35430984e-02 -4.21347742e+01] [-7.46462180e-01 6.65300803e-01 1.30021047e-02 2.15394026e+01] [ 1.87172673e-02 1.46087169e-03 9.99823749e-01 -4.30550528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.859115933 meters Centerline goodness [0,1] 0.9982209571250668 Centerline is valid? [True, True] Translation: X:-42.16, Y:21.54, Z:-0.50 [[ 6.67837192e-01 7.44216951e-01 -1.16023389e-02 -4.21584219e+01] [-7.44133167e-01 6.67937000e-01 1.12247147e-02 2.15396549e+01] [ 1.61032544e-02 1.13740321e-03 9.99869687e-01 -5.01238336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.88911593299999 meters Centerline goodness [0,1] 0.9991111111111111 Centerline is valid? [True, True] Translation: X:-42.16, Y:21.56, Z:-0.46 [[ 6.72062473e-01 7.40420602e-01 -1.04577396e-02 -4.21636033e+01] [-7.40351165e-01 6.72143229e-01 1.01800079e-02 2.15615678e+01] [ 1.45665865e-02 9.00798409e-04 9.99893496e-01 -4.60963765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.17, Y:21.58, Z:-0.46 [[ 6.74443524e-01 7.38267734e-01 -9.31050987e-03 -4.21746120e+01] [-7.38211692e-01 6.74507402e-01 9.12482200e-03 2.15776913e+01] [ 1.30165695e-02 7.18950137e-04 9.99915022e-01 -4.60664753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.18, Y:21.59, Z:-0.46 [[ 6.73821494e-01 7.38830620e-01 -9.69067843e-03 -4.21848767e+01] [-7.38769213e-01 6.73890788e-01 9.55280060e-03 2.15949881e+01] [ 1.35883605e-02 7.22292504e-04 9.99907413e-01 -4.56203780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.18, Y:21.62, Z:-0.41 [[ 6.74867572e-01 7.37900510e-01 -7.52306426e-03 -4.21840643e+01] [-7.37862851e-01 6.74909311e-01 7.47224465e-03 2.16236066e+01] [ 1.05911593e-02 5.08214036e-04 9.99943783e-01 -4.07673091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.00911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.20, Y:21.64, Z:-0.41 [[ 6.68146875e-01 7.43949572e-01 -1.08990043e-02 -4.21969213e+01] [-7.43870807e-01 6.68235219e-01 1.08588158e-02 2.16385538e+01] [ 1.53615099e-02 8.52167263e-04 9.99881642e-01 -4.13177229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.21, Y:21.65, Z:-0.41 [[ 6.66057772e-01 7.45820965e-01 -1.08688433e-02 -4.22108194e+01] [-7.45741957e-01 6.66145901e-01 1.08890765e-02 2.16524218e+01] [ 1.53615370e-02 8.52598405e-04 9.99881641e-01 -4.12947658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.06911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.22, Y:21.67, Z:-0.40 [[ 6.63214556e-01 7.48364909e-01 -9.81919960e-03 -4.22213025e+01] [-7.48300097e-01 6.63286765e-01 9.88095846e-03 2.16690257e+01] [ 1.39075077e-02 7.94512537e-04 9.99902970e-01 -4.03958786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.099115933 meters Centerline goodness [0,1] 0.9998280309544282 Centerline is valid? [True, True] Translation: X:-41.09, Y:22.77, Z:-2.80 [[ 7.92407470e-01 -6.09241956e-01 -3.02430157e-02 -4.10889454e+01] [-6.08645200e-01 -7.92978345e-01 2.71360392e-02 2.27702682e+01] [-4.05144702e-02 -3.09553389e-03 -9.99174157e-01 -2.79658682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.129115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.12, Y:21.55, Z:-0.41 [[ 7.19338185e-01 6.94554964e-01 -1.20821531e-02 -4.21182721e+01] [-6.94479248e-01 7.19438977e-01 1.03020536e-02 2.15533113e+01] [ 1.58477143e-02 9.80144076e-04 9.99873937e-01 -4.12893511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.159115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.13, Y:21.57, Z:-0.41 [[ 7.20886986e-01 6.92933282e-01 -1.28615561e-02 -4.21331540e+01] [-6.92845811e-01 7.21001091e-01 1.10502839e-02 2.15668576e+01] [ 1.69303055e-02 9.45069438e-04 9.99856225e-01 -4.09471567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.189115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.15, Y:21.58, Z:-0.41 [[ 7.17971115e-01 6.95953701e-01 -1.28811883e-02 -4.21483522e+01] [-6.95865337e-01 7.18086000e-01 1.11323142e-02 2.15805846e+01] [ 1.69973762e-02 9.70892363e-04 9.99855063e-01 -4.14652942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.219115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.17, Y:21.59, Z:-0.43 [[ 7.13950907e-01 7.00062394e-01 -1.36655359e-02 -4.21658994e+01] [-6.99962631e-01 7.14080844e-01 1.18686051e-02 2.15910582e+01] [ 1.80670615e-02 1.09176306e-03 9.99836181e-01 -4.29124685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.24911593299998 meters Centerline goodness [0,1] 0.9994929863106304 Centerline is valid? [True, True] Translation: X:-42.18, Y:21.61, Z:-0.41 [[ 7.10894046e-01 7.03149828e-01 -1.44904827e-02 -4.21764426e+01] [-7.03036758e-01 7.11040728e-01 1.26649131e-02 2.16075060e+01] [ 1.92086549e-02 1.18393065e-03 9.99814796e-01 -4.14180033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27911593299999 meters Centerline goodness [0,1] 0.9994815070860699 Centerline is valid? [True, True] Translation: X:-42.19, Y:21.62, Z:-0.43 [[ 7.10961618e-01 7.03049461e-01 -1.59697953e-02 -4.21940061e+01] [-7.02910495e-01 7.11139858e-01 1.40334253e-02 2.16180632e+01] [ 2.12229500e-02 1.24810997e-03 9.99773989e-01 -4.25410255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.22, Y:21.62, Z:-0.45 [[ 7.10225476e-01 7.03798977e-01 -1.57089890e-02 -4.22155901e+01] [-7.03662975e-01 7.10398185e-01 1.38865726e-02 2.16244581e+01] [ 2.09329928e-02 1.19123629e-03 9.99780171e-01 -4.47472751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.22, Y:21.65, Z:-0.41 [[ 7.12482072e-01 7.01547785e-01 -1.41421858e-02 -4.22189336e+01] [-7.01436004e-01 7.12621753e-01 1.25606167e-02 2.16504849e+01] [ 1.88899021e-02 9.70624080e-04 9.99821099e-01 -4.09626977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.36911593299999 meters Centerline goodness [0,1] 0.9996595165134491 Centerline is valid? [True, True] Translation: X:-42.23, Y:21.66, Z:-0.41 [[ 7.08608560e-01 7.05443553e-01 -1.49433147e-02 -4.22341899e+01] [-7.05318150e-01 7.08765278e-01 1.33449284e-02 2.16635815e+01] [ 2.00053963e-02 1.08346057e-03 9.99799285e-01 -4.13104293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.26, Y:21.67, Z:-0.45 [[ 7.09818684e-01 7.04215444e-01 -1.54286681e-02 -4.22586294e+01] [-7.04079705e-01 7.09985608e-01 1.38638292e-02 2.16670825e+01] [ 2.07172549e-02 1.02220713e-03 9.99784852e-01 -4.49626700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.42911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.27, Y:21.68, Z:-0.45 [[ 7.01782928e-01 7.12155835e-01 -1.82972187e-02 -4.22746518e+01] [-7.11965634e-01 7.02019951e-01 1.65204321e-02 2.16793365e+01] [ 2.46101347e-02 1.43323373e-03 9.99696097e-01 -4.46439105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45911593299999 meters Centerline goodness [0,1] 0.9994780793319415 Centerline is valid? [True, True] Translation: X:-42.28, Y:21.70, Z:-0.44 [[ 7.02246406e-01 7.11715865e-01 -1.76213418e-02 -4.22837724e+01] [-7.11536939e-01 7.02466263e-01 1.60104612e-02 2.16991206e+01] [ 2.37732974e-02 1.29494674e-03 9.99716537e-01 -4.36888535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.489115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.29, Y:21.72, Z:-0.40 [[ 7.00105265e-01 7.13826103e-01 -1.74617559e-02 -4.22916421e+01] [-7.13648833e-01 7.00321809e-01 1.59595516e-02 2.17195412e+01] [ 2.36211930e-02 1.28819564e-03 9.99720151e-01 -4.01510261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.519115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.30, Y:21.73, Z:-0.40 [[ 6.93542453e-01 7.20108083e-01 -2.10526714e-02 -4.23044945e+01] [-7.19850295e-01 6.93859732e-01 1.93448938e-02 2.17345268e+01] [ 2.85380153e-02 1.73826666e-03 9.99591196e-01 -3.99219315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.549115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.32, Y:21.74, Z:-0.41 [[ 6.95623577e-01 7.18145859e-01 -1.93484818e-02 -4.23232499e+01] [-7.17924319e-01 6.95891115e-01 1.78949438e-02 2.17426212e+01] [ 2.63156164e-02 1.44260077e-03 9.99652643e-01 -4.14515354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.579115933 meters Centerline goodness [0,1] 0.9994821336095288 Centerline is valid? [True, True] Translation: X:-42.34, Y:21.76, Z:-0.41 [[ 6.97439540e-01 7.16360313e-01 -2.01492086e-02 -4.23381501e+01] [-7.16116382e-01 6.97729216e-01 1.87421630e-02 2.17562295e+01] [ 2.74848333e-02 1.35765284e-03 9.99621299e-01 -4.12678607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.60911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.35, Y:21.78, Z:-0.40 [[ 6.98121320e-01 7.15697203e-01 -2.01031307e-02 -4.23476685e+01] [-7.15451052e-01 6.98409585e-01 1.88107217e-02 2.17754611e+01] [ 2.75030001e-02 1.25064015e-03 9.99620939e-01 -4.00643283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63911593299999 meters Centerline goodness [0,1] 0.9996552318565765 Centerline is valid? [True, True] Translation: X:-42.36, Y:21.79, Z:-0.38 [[ 6.95270231e-01 7.18485173e-01 -1.94515167e-02 -4.23568382e+01] [-7.18253673e-01 6.95541132e-01 1.82810313e-02 2.17946623e+01] [ 2.66639799e-02 1.26086648e-03 9.99643658e-01 -3.79123791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.66911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.37, Y:21.81, Z:-0.36 [[ 6.96817747e-01 7.17002527e-01 -1.87724309e-02 -4.23663332e+01] [-7.16783379e-01 6.97069729e-01 1.77589473e-02 2.18134612e+01] [ 2.58189034e-02 1.08101686e-03 9.99666052e-01 -3.62170763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.37, Y:21.84, Z:-0.32 [[ 7.06361738e-01 7.07635293e-01 -1.74752996e-02 -4.23704448e+01] [-7.07440593e-01 7.06577593e-01 1.66106022e-02 2.18377301e+01] [ 2.41019035e-02 6.29642520e-04 9.99709309e-01 -3.21212011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.40, Y:21.84, Z:-0.36 [[ 7.06220578e-01 7.07794478e-01 -1.67173925e-02 -4.23978678e+01] [-7.07613890e-01 7.06418214e-01 1.59965424e-02 2.18388067e+01] [ 2.31317349e-02 5.32371683e-04 9.99732284e-01 -3.61295669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75911593299999 meters Centerline goodness [0,1] 0.9998281786941581 Centerline is valid? [True, True] Translation: X:-42.42, Y:21.85, Z:-0.37 [[ 7.04365665e-01 7.09628445e-01 -1.72185924e-02 -4.24153069e+01] [-7.09435056e-01 7.04575885e-01 1.65747706e-02 2.18498000e+01] [ 2.38937337e-02 5.40773726e-04 9.99714358e-01 -3.69352537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.78911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.44, Y:21.86, Z:-0.40 [[ 7.10078317e-01 7.03925105e-01 -1.66802238e-02 -4.24386027e+01] [-7.03739672e-01 7.10274156e-01 1.61584990e-02 2.18551200e+01] [ 2.32219050e-02 2.64735394e-04 9.99730300e-01 -3.99698725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.44, Y:21.88, Z:-0.34 [[ 7.11133923e-01 7.02874181e-01 -1.60134029e-02 -4.24392400e+01] [-7.02700818e-01 7.11314180e-01 1.56107952e-02 2.18825794e+01] [ 2.23629855e-02 1.51265246e-04 9.99749906e-01 -3.39932145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.849115933 meters Centerline goodness [0,1] 0.9993005770239552 Centerline is valid? [True, True] Translation: X:-42.47, Y:21.88, Z:-0.40 [[ 7.12760580e-01 7.01193217e-01 -1.73328412e-02 -4.24697177e+01] [-7.00987921e-01 7.12971296e-01 1.69666266e-02 2.18825790e+01] [ 2.42547017e-02 5.69696730e-05 9.99705810e-01 -4.00498654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.879115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.49, Y:21.90, Z:-0.40 [[ 7.13234509e-01 7.00739190e-01 -1.61592885e-02 -4.24855145e+01] [-7.00558124e-01 7.13417540e-01 1.59288653e-02 2.18954297e+01] [ 2.26903000e-02 -4.04955758e-05 9.99742541e-01 -3.99864776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.909115933 meters Centerline goodness [0,1] 0.9998229148220295 Centerline is valid? [True, True] Translation: X:-42.49, Y:21.92, Z:-0.35 [[ 7.19226355e-01 6.94619199e-01 -1.47519207e-02 -4.24884860e+01] [-6.94464750e-01 7.19377567e-01 1.46501611e-02 2.19185018e+01] [ 2.07884840e-02 -2.92092988e-04 9.99783853e-01 -3.51434761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.939115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.51, Y:21.93, Z:-0.39 [[ 7.16300794e-01 6.97585369e-01 -1.69654337e-02 -4.25113060e+01] [-6.97380562e-01 7.16501624e-01 1.69048792e-02 2.19263294e+01] [ 2.39483572e-02 -2.77614690e-04 9.99713158e-01 -3.94046526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.969115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.52, Y:21.94, Z:-0.37 [[ 7.15216478e-01 6.98688568e-01 -1.73111113e-02 -4.25226848e+01] [-6.98473472e-01 7.15425880e-01 1.73383838e-02 2.19440367e+01] [ 2.44989476e-02 -3.09345831e-04 9.99699808e-01 -3.67295258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.54, Y:21.96, Z:-0.38 [[ 7.20290628e-01 6.93514090e-01 -1.48195068e-02 -4.25373970e+01] [-6.93353612e-01 7.20442906e-01 1.49261053e-02 2.19584801e+01] [ 2.10280729e-02 -4.75975187e-04 9.99778772e-01 -3.83809524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.02911593299999 meters Centerline goodness [0,1] 0.9991229608840554 Centerline is valid? [True, True] Translation: X:-41.44, Y:23.06, Z:-2.81 [[ 7.47971368e-01 -6.62601358e-01 -3.87075380e-02 -4.14415464e+01] [-6.61708619e-01 -7.48972249e-01 3.43842049e-02 2.30592867e+01] [-5.17738926e-02 -1.05289268e-04 -9.98658827e-01 -2.80638568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.44, Y:21.88, Z:-0.35 [[ 7.74939393e-01 6.31732034e-01 -1.95850500e-02 -4.24429657e+01] [-6.31510971e-01 7.75186616e-01 1.67213570e-02 2.18775431e+01] [ 2.57454855e-02 -5.89864312e-04 9.99668356e-01 -3.46019823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.46, Y:21.89, Z:-0.36 [[ 7.71097740e-01 6.36411462e-01 -1.97161484e-02 -4.24623424e+01] [-6.36186019e-01 7.71349581e-01 1.69461738e-02 2.18870141e+01] [ 2.59927821e-02 -5.24018408e-04 9.99661993e-01 -3.57615225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.47, Y:21.91, Z:-0.32 [[ 7.73555476e-01 6.33453200e-01 -1.86806882e-02 -4.24678553e+01] [-6.33247977e-01 7.73780729e-01 1.61363694e-02 2.19121733e+01] [ 2.46763914e-02 -6.52868917e-04 9.99695278e-01 -3.17502104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.14911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.48, Y:21.93, Z:-0.31 [[ 7.66948314e-01 6.41406210e-01 -1.97067934e-02 -4.24793970e+01] [-6.41178357e-01 7.67201305e-01 1.71017899e-02 2.19305955e+01] [ 2.60882719e-02 -4.80619452e-04 9.99659528e-01 -3.06188078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17911593299999 meters Centerline goodness [0,1] 0.998949027850762 Centerline is valid? [True, True] Translation: X:-42.50, Y:21.94, Z:-0.34 [[ 7.69895659e-01 6.37886316e-01 -1.90189880e-02 -4.25018624e+01] [-6.37670920e-01 7.70130271e-01 1.65880533e-02 2.19383325e+01] [ 2.52283906e-02 -6.43214701e-04 9.99681507e-01 -3.38498616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.20911593299999 meters Centerline goodness [0,1] 0.9980929264909847 Centerline is valid? [True, True] Translation: X:-42.51, Y:21.96, Z:-0.33 [[ 7.63065763e-01 6.45959058e-01 -2.16226066e-02 -4.25131107e+01] [-6.45681323e-01 7.63371894e-01 1.89467780e-02 2.19575747e+01] [ 2.87449330e-02 -4.96324353e-04 9.99586656e-01 -3.26235723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.239115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.53, Y:21.97, Z:-0.34 [[ 7.60194612e-01 6.49362556e-01 -2.07947970e-02 -4.25323514e+01] [-6.49104384e-01 7.60478856e-01 1.83141277e-02 2.19674641e+01] [ 2.77065122e-02 -4.24307271e-04 9.99616011e-01 -3.35979148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.269115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.55, Y:21.97, Z:-0.37 [[ 7.61435694e-01 6.47926215e-01 -2.01817664e-02 -4.25539239e+01] [-6.47680056e-01 7.61702919e-01 1.78664112e-02 2.19745127e+01] [ 2.69486265e-02 -5.32795613e-04 9.99636678e-01 -3.66372601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.299115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.55, Y:22.01, Z:-0.30 [[ 7.59395218e-01 6.50359650e-01 -1.87411013e-02 -4.25489865e+01] [-6.50146063e-01 7.59626288e-01 1.66733070e-02 2.20105163e+01] [ 2.50798794e-02 -4.77176422e-04 9.99685336e-01 -3.03791713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.329115933 meters Centerline goodness [0,1] 0.9998270494638534 Centerline is valid? [True, True] Translation: X:-42.56, Y:22.03, Z:-0.29 [[ 7.54565093e-01 6.55918884e-01 -2.00483740e-02 -4.25637045e+01] [-6.55674155e-01 7.54831289e-01 1.79200039e-02 2.20263499e+01] [ 2.68872090e-02 -3.76608724e-04 9.99638403e-01 -2.89345036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35911593299998 meters Centerline goodness [0,1] 0.9993036211699164 Centerline is valid? [True, True] Translation: X:-42.59, Y:22.03, Z:-0.33 [[ 7.53045944e-01 6.57683166e-01 -1.93561056e-02 -4.25879994e+01] [-6.57453282e-01 7.53294574e-01 1.73915750e-02 2.20317660e+01] [ 2.60189954e-02 -3.70919791e-04 9.99661380e-01 -3.32494228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.38911593299999 meters Centerline goodness [0,1] 0.999650471862985 Centerline is valid? [True, True] Translation: X:-42.60, Y:22.05, Z:-0.31 [[ 7.52107962e-01 6.58760368e-01 -1.91935131e-02 -4.25959714e+01] [-6.58532385e-01 7.52352722e-01 1.73343195e-02 2.20535180e+01] [ 2.58594546e-02 -3.97729736e-04 9.99665509e-01 -3.10699661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41911593299999 meters Centerline goodness [0,1] 0.999475982532751 Centerline is valid? [True, True] Translation: X:-42.62, Y:22.06, Z:-0.34 [[ 7.43283155e-01 6.68681547e-01 -1.98781431e-02 -4.26160559e+01] [-6.68437102e-01 7.43548900e-01 1.80796741e-02 2.20605670e+01] [ 2.68699159e-02 -1.51028838e-04 9.99638927e-01 -3.36919071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44911593299999 meters Centerline goodness [0,1] 0.99930301446245 Centerline is valid? [True, True] Translation: X:-42.62, Y:22.09, Z:-0.30 [[ 7.38305855e-01 6.74090507e-01 -2.25044819e-02 -4.26193620e+01] [-6.73777388e-01 7.38648758e-01 2.05436920e-02 2.20875159e+01] [ 3.04712153e-02 -4.51708985e-06 9.99535645e-01 -3.03602448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.64, Y:22.10, Z:-0.31 [[ 7.36613010e-01 6.75970477e-01 -2.15682000e-02 -4.26351027e+01] [-6.75680708e-01 7.36928703e-01 1.97905794e-02 2.21011847e+01] [ 2.92720731e-02 -4.78162590e-06 9.99571481e-01 -3.06239762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.50911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.65, Y:22.12, Z:-0.30 [[ 7.34729303e-01 6.77966176e-01 -2.31239097e-02 -4.26481244e+01] [-6.77630545e-01 7.35093099e-01 2.13302713e-02 2.21184512e+01] [ 3.14594289e-02 -2.50780552e-06 9.99505030e-01 -2.99070493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.66, Y:22.14, Z:-0.29 [[ 7.32706132e-01 6.80206200e-01 -2.14767125e-02 -4.26591100e+01] [-6.79914760e-01 7.33020822e-01 1.99096690e-02 2.21376154e+01] [ 2.92855578e-02 1.43972565e-05 9.99571086e-01 -2.94915496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.56911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.67, Y:22.15, Z:-0.30 [[ 7.29342823e-01 6.83797839e-01 -2.18988902e-02 -4.26742217e+01] [-6.83493404e-01 7.29671507e-01 2.04024291e-02 2.21521479e+01] [ 2.99301332e-02 8.73818165e-05 9.99551989e-01 -2.97430815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.599115933 meters Centerline goodness [0,1] 0.9998274672187716 Centerline is valid? [True, True] Translation: X:-42.68, Y:22.17, Z:-0.28 [[ 7.24792598e-01 6.88583032e-01 -2.30021190e-02 -4.26833884e+01] [-6.88246433e-01 7.25157470e-01 2.15288396e-02 2.21727090e+01] [ 3.15045521e-02 2.27182747e-04 9.99503583e-01 -2.83132169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.629115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.70, Y:22.19, Z:-0.29 [[ 7.24151887e-01 6.89306965e-01 -2.14464903e-02 -4.27005422e+01] [-6.89011651e-01 7.24469378e-01 2.01758467e-02 2.21854313e+01] [ 2.94446772e-02 1.66504235e-04 9.99566398e-01 -2.87007044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.659115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.71, Y:22.21, Z:-0.26 [[ 7.18344573e-01 6.95336235e-01 -2.21041769e-02 -4.27060717e+01] [-6.95022392e-01 7.18684489e-01 2.08921080e-02 2.22095530e+01] [ 3.04129688e-02 3.55165484e-04 9.99537356e-01 -2.63012517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.689115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.72, Y:22.23, Z:-0.26 [[ 7.15299659e-01 6.98490400e-01 -2.13906441e-02 -4.27180716e+01] [-6.98195065e-01 7.15619311e-01 2.03138534e-02 2.22272843e+01] [ 2.94965895e-02 4.04349703e-04 9.99564799e-01 -2.58056800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.719115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.73, Y:22.24, Z:-0.26 [[ 7.08767721e-01 7.05108009e-01 -2.17028227e-02 -4.27345669e+01] [-7.04804205e-01 7.09099648e-01 2.07056169e-02 2.22403549e+01] [ 2.99891603e-02 6.20767788e-04 9.99550031e-01 -2.64735285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.74911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.74, Y:22.26, Z:-0.26 [[ 7.09983626e-01 7.03908274e-01 -2.08899938e-02 -4.27442490e+01] [-7.03623408e-01 7.10290724e-01 2.00296317e-02 2.22603393e+01] [ 2.89369923e-02 4.77978062e-04 9.99581123e-01 -2.55387346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.75, Y:22.29, Z:-0.21 [[ 7.00998908e-01 7.12814525e-01 -2.22706874e-02 -4.27461712e+01] [-7.12492232e-01 7.01352095e-01 2.14489909e-02 2.22882644e+01] [ 3.09087456e-02 8.31972545e-04 9.99521864e-01 -2.07191191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.77, Y:22.30, Z:-0.24 [[ 6.98145618e-01 7.15639774e-01 -2.12699469e-02 -4.27656960e+01] [-7.15344032e-01 6.98469045e-01 2.05890417e-02 2.22984244e+01] [ 2.95907367e-02 8.41180382e-04 9.99561744e-01 -2.42118179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.78, Y:22.31, Z:-0.23 [[ 7.00069111e-01 7.13840527e-01 -1.83014206e-02 -4.27794667e+01] [-7.13618623e-01 7.00308039e-01 1.78076240e-02 2.23140835e+01] [ 2.55284357e-02 5.93667011e-04 9.99673920e-01 -2.27016315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.86911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.80, Y:22.33, Z:-0.24 [[ 6.86538641e-01 7.26741026e-01 -2.26312980e-02 -4.27953893e+01] [-7.26405551e-01 6.86910403e-01 2.21149852e-02 2.23280543e+01] [ 3.16175410e-02 1.25670861e-03 9.99499251e-01 -2.41990563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.81, Y:22.35, Z:-0.23 [[ 6.84638008e-01 7.28592972e-01 -2.05689075e-02 -4.28070778e+01] [-7.28313885e-01 6.84945949e-01 2.01973245e-02 2.23451943e+01] [ 2.88042185e-02 1.15276489e-03 9.99584408e-01 -2.33956913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.92911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.82, Y:22.36, Z:-0.23 [[ 6.84594208e-01 7.28706800e-01 -1.78092941e-02 -4.28197150e+01] [-7.28495416e-01 6.84825170e-01 1.75760017e-02 2.23620235e+01] [ 2.50040048e-02 9.41560126e-04 9.99686908e-01 -2.28895018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.95911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.83, Y:22.38, Z:-0.23 [[ 6.82900424e-01 7.30295340e-01 -1.77687506e-02 -4.28344542e+01] [-7.30083427e-01 6.83130902e-01 1.76170383e-02 2.23764281e+01] [ 2.50040236e-02 9.41987462e-04 9.99686907e-01 -2.28644719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.989115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.85, Y:22.40, Z:-0.22 [[ 6.74277073e-01 7.38190697e-01 -2.06137067e-02 -4.28459339e+01] [-7.37906465e-01 6.74590707e-01 2.05286850e-02 2.23951150e+01] [ 2.90598992e-02 1.36896583e-03 9.99576735e-01 -2.15432175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.019115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.85, Y:22.42, Z:-0.19 [[ 6.72088691e-01 7.40223155e-01 -1.91434447e-02 -4.28532914e+01] [-7.39976317e-01 6.72360035e-01 1.91581007e-02 2.24159714e+01] [ 2.70525569e-02 1.28975289e-03 9.99633181e-01 -1.93774057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.049115933 meters Centerline goodness [0,1] 0.9998362802881466 Centerline is valid? [True, True] Translation: X:-42.86, Y:22.44, Z:-0.18 [[ 6.66164761e-01 7.45538261e-01 -1.99302277e-02 -4.28604937e+01] [-7.45270513e-01 6.66461126e-01 2.00357001e-02 2.24375912e+01] [ 2.82201030e-02 1.50633361e-03 9.99600599e-01 -1.75863927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.079115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-41.96, Y:23.31, Z:-2.98 [[ 7.93410040e-01 -6.07443056e-01 -3.89029890e-02 -4.19563586e+01] [-6.06471374e-01 -7.94354021e-01 3.45566512e-02 2.33095997e+01] [-5.18939436e-02 -3.82404477e-03 -9.98645280e-01 -2.97613358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.10911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.77, Y:22.34, Z:-0.17 [[ 7.21449235e-01 6.92127000e-01 -2.17075312e-02 -4.27665474e+01] [-6.91881126e-01 7.21773836e-01 1.85212833e-02 2.23444168e+01] [ 2.84870083e-02 1.65686539e-03 9.99592790e-01 -1.70112554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.78, Y:22.36, Z:-0.16 [[ 7.20022784e-01 6.93609484e-01 -2.17502550e-02 -4.27836804e+01] [-6.93360076e-01 7.20349362e-01 1.86708941e-02 2.23576396e+01] [ 2.86180915e-02 1.63728937e-03 9.99589078e-01 -1.62701558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.16911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.81, Y:22.36, Z:-0.20 [[ 7.10632096e-01 7.03156624e-01 -2.39329655e-02 -4.28076827e+01] [-7.02857280e-01 7.11031707e-01 2.06290073e-02 2.23626336e+01] [ 3.15225205e-02 2.16182435e-03 9.99500704e-01 -1.99786298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.82, Y:22.38, Z:-0.22 [[ 7.15508996e-01 6.98305632e-01 -2.03990385e-02 -4.28236672e+01] [-6.98083393e-01 7.15797970e-01 1.76873552e-02 2.23763175e+01] [ 2.69527701e-02 1.58476822e-03 9.99635452e-01 -2.15732046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22911593299999 meters Centerline goodness [0,1] 0.9998369476601989 Centerline is valid? [True, True] Translation: X:-42.83, Y:22.40, Z:-0.17 [[ 7.04306022e-01 7.09515274e-01 -2.32616247e-02 -4.28304054e+01] [-7.09230052e-01 7.04686490e-01 2.02406696e-02 2.23997646e+01] [ 3.07532169e-02 2.24221777e-03 9.99524493e-01 -1.72834804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.83, Y:22.43, Z:-0.10 [[ 7.07838514e-01 7.06076201e-01 -2.05191784e-02 -4.28276308e+01] [-7.05850580e-01 7.08133608e-01 1.79374448e-02 2.24348537e+01] [ 2.71955227e-02 1.78665967e-03 9.99628537e-01 -1.02938070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.28911593299999 meters Centerline goodness [0,1] 0.9996714848883048 Centerline is valid? [True, True] Translation: X:-42.85, Y:22.45, Z:-0.11 [[ 6.99129696e-01 7.14602410e-01 -2.36867891e-02 -4.28464379e+01] [-7.14303866e-01 6.99526778e-01 2.07911922e-02 2.24471159e+01] [ 3.14269793e-02 2.38382521e-03 9.99503208e-01 -1.14461722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.87, Y:22.45, Z:-0.14 [[ 6.92837954e-01 7.20688925e-01 -2.41462814e-02 -4.28680536e+01] [-7.20379214e-01 6.93253551e-01 2.12908712e-02 2.24545687e+01] [ 3.20835904e-02 2.64335555e-03 9.99481694e-01 -1.37035854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.349115933 meters Centerline goodness [0,1] 0.9998328318288198 Centerline is valid? [True, True] Translation: X:-42.87, Y:22.49, Z:-0.08 [[ 6.86091740e-01 7.27073498e-01 -2.53427012e-02 -4.28683912e+01] [-7.26733330e-01 6.86552990e-01 2.24423434e-02 2.24855835e+01] [ 3.37163404e-02 3.01987917e-03 9.99426880e-01 -7.59561167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.379115933 meters Centerline goodness [0,1] 0.9990180032733225 Centerline is valid? [True, True] Translation: X:-42.89, Y:22.49, Z:-0.11 [[ 6.86669123e-01 7.26560096e-01 -2.44119336e-02 -4.28913259e+01] [-7.26241056e-01 6.87097139e-01 2.17128927e-02 2.24924940e+01] [ 3.25490912e-02 2.81937545e-03 9.99466161e-01 -1.09316731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.409115933 meters Centerline goodness [0,1] 0.999836494440811 Centerline is valid? [True, True] Translation: X:-42.90, Y:22.51, Z:-0.09 [[ 6.80403570e-01 7.32421097e-01 -2.47046263e-02 -4.29025976e+01] [-7.32095089e-01 6.80844987e-01 2.20654606e-02 2.25116591e+01] [ 3.29812298e-02 3.07271747e-03 9.99451248e-01 -9.31785839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.439115933 meters Centerline goodness [0,1] 0.9998378991732858 Centerline is valid? [True, True] Translation: X:-42.92, Y:22.53, Z:-0.08 [[ 6.80278395e-01 7.32607302e-01 -2.25354463e-02 -4.29171270e+01] [-7.32333347e-01 6.80646010e-01 2.02207284e-02 2.25267956e+01] [ 3.01525149e-02 2.74773413e-03 9.99541533e-01 -7.81183020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.469115933 meters Centerline goodness [0,1] 0.9996778350515464 Centerline is valid? [True, True] Translation: X:-42.95, Y:22.52, Z:-0.14 [[ 6.80803366e-01 7.32185225e-01 -2.02872583e-02 -4.29499712e+01] [-7.31960671e-01 6.81101349e-01 1.82901033e-02 2.25228175e+01] [ 2.72094224e-02 2.39751130e-03 9.99626880e-01 -1.44662846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49911593299998 meters Centerline goodness [0,1] 0.9995179948586118 Centerline is valid? [True, True] Translation: X:-42.96, Y:22.54, Z:-0.14 [[ 6.78331298e-01 7.34517184e-01 -1.87391814e-02 -4.29606177e+01] [-7.34322987e-01 6.78586499e-01 1.70327321e-02 2.25357775e+01] [ 2.52269900e-02 2.20677640e-03 9.99679313e-01 -1.36597731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.52911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.98, Y:22.55, Z:-0.15 [[ 6.78549766e-01 7.34373055e-01 -1.63226992e-02 -4.29794246e+01] [-7.34224535e-01 6.78743452e-01 1.48882304e-02 2.25470538e+01] [ 2.20124405e-02 1.88212098e-03 9.99755925e-01 -1.45399735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.01, Y:22.54, Z:-0.22 [[ 6.72212007e-01 7.40173244e-01 -1.65706765e-02 -4.30108660e+01] [-7.40019527e-01 6.72413149e-01 1.52202642e-02 2.25408123e+01] [ 2.24079731e-02 2.03137980e-03 9.99746846e-01 -2.15031530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58911593299999 meters Centerline goodness [0,1] 0.9995267392333176 Centerline is valid? [True, True] Translation: X:-43.02, Y:22.57, Z:-0.16 [[ 6.68839514e-01 7.43231386e-01 -1.61496524e-02 -4.30150860e+01] [-7.43085115e-01 6.69031335e-01 1.48857193e-02 2.25661233e+01] [ 2.18681573e-02 2.04440907e-03 9.99758773e-01 -1.63659584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61911593299999 meters Centerline goodness [0,1] 0.9992160551897147 Centerline is valid? [True, True] Translation: X:-43.03, Y:22.58, Z:-0.15 [[ 6.77775176e-01 7.35187001e-01 -1.09947162e-02 -4.30291568e+01] [-7.35117240e-01 6.77863333e-01 1.01953212e-02 2.25819793e+01] [ 1.49483826e-02 1.17226977e-03 9.99887580e-01 -1.53909183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.64911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.07, Y:22.57, Z:-0.23 [[ 6.67834389e-01 7.44205954e-01 -1.24388970e-02 -4.30660078e+01] [-7.44117344e-01 6.67948492e-01 1.15840412e-02 2.25744857e+01] [ 1.69294550e-02 1.51977791e-03 9.99855531e-01 -2.31141387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67911593299999 meters Centerline goodness [0,1] 0.9998373719303952 Centerline is valid? [True, True] Translation: X:-43.08, Y:22.59, Z:-0.20 [[ 6.69055205e-01 7.43135334e-01 -1.07241900e-02 -4.30754405e+01] [-7.43068528e-01 6.69139980e-01 1.00423727e-02 2.25935552e+01] [ 1.46388262e-02 1.24990637e-03 9.99892065e-01 -2.03629776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.70911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.12, Y:22.58, Z:-0.30 [[ 6.60705128e-01 7.50525317e-01 -1.34343688e-02 -4.31170965e+01] [-7.50421046e-01 6.60839415e-01 1.26301672e-02 2.25809565e+01] [ 1.83572207e-02 1.73661681e-03 9.99829984e-01 -2.95192008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.739115933 meters Centerline goodness [0,1] 0.9996887159533074 Centerline is valid? [True, True] Translation: X:-43.12, Y:22.61, Z:-0.24 [[ 6.56929276e-01 7.53843406e-01 -1.28080363e-02 -4.31206051e+01] [-7.53748285e-01 6.57051903e-01 1.20962896e-02 2.26058264e+01] [ 1.75342528e-02 1.70762864e-03 9.99844805e-01 -2.43336409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.769115933 meters Centerline goodness [0,1] 0.999529854254819 Centerline is valid? [True, True] Translation: X:-43.14, Y:22.62, Z:-0.25 [[ 6.49773621e-01 7.59993556e-01 -1.42841082e-02 -4.31381608e+01] [-7.59875203e-01 6.49927408e-01 1.35661137e-02 2.26168101e+01] [ 1.95937924e-02 2.03923680e-03 9.99805944e-01 -2.52995010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.799115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.15, Y:22.63, Z:-0.26 [[ 6.50204575e-01 7.59677230e-01 -1.11587140e-02 -4.31533709e+01] [-7.59603817e-01 6.50298504e-01 1.06722822e-02 2.26290629e+01] [ 1.53639848e-02 1.53703503e-03 9.99880786e-01 -2.63211432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.829115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.18, Y:22.63, Z:-0.29 [[ 6.49536532e-01 7.60260818e-01 -1.02850517e-02 -4.31776887e+01] [-7.60197882e-01 6.49616448e-01 9.88189006e-03 2.26333748e+01] [ 1.41941526e-02 1.40002589e-03 9.99898278e-01 -2.89534075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85911593299998 meters Centerline goodness [0,1] 0.9993766557581424 Centerline is valid? [True, True] Translation: X:-43.19, Y:22.65, Z:-0.27 [[ 6.35979338e-01 7.71570959e-01 -1.44407917e-02 -4.31868868e+01] [-7.71448607e-01 6.36139172e-01 1.39284037e-02 2.26521993e+01] [ 1.99331051e-02 2.28215169e-03 9.99798711e-01 -2.72516800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.88911593299999 meters Centerline goodness [0,1] 0.999844985273601 Centerline is valid? [True, True] Translation: X:-43.20, Y:22.67, Z:-0.25 [[ 6.40501975e-01 7.67872131e-01 -1.13846225e-02 -4.31961417e+01] [-7.67794317e-01 6.40600997e-01 1.10566900e-02 2.26705804e+01] [ 1.57831246e-02 1.65921670e-03 9.99874062e-01 -2.45748403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.21, Y:22.68, Z:-0.25 [[ 6.36343058e-01 7.71339127e-01 -1.01717149e-02 -4.32141908e+01] [-7.71276836e-01 6.36422506e-01 9.92154812e-03 2.26812017e+01] [ 1.41263865e-02 1.53169980e-03 9.99899044e-01 -2.51893490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.94911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.22, Y:22.70, Z:-0.23 [[ 6.31683896e-01 7.75150154e-01 -1.08487086e-02 -4.32249003e+01] [-7.75079141e-01 6.31774775e-01 1.06281928e-02 2.26983892e+01] [ 1.50923857e-02 1.69494952e-03 9.99884667e-01 -2.25792419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.24, Y:22.71, Z:-0.22 [[ 6.26775465e-01 7.79123354e-01 -1.09231510e-02 -4.32367458e+01] [-7.79051131e-01 6.26868144e-01 1.07548266e-02 2.27139206e+01] [ 1.52267120e-02 1.76883176e-03 9.99882502e-01 -2.16906378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.00911593299999 meters Centerline goodness [0,1] 0.9995388162951576 Centerline is valid? [True, True] Translation: X:-43.25, Y:22.73, Z:-0.20 [[ 6.24326230e-01 7.81097117e-01 -1.02006035e-02 -4.32473812e+01] [-7.81033452e-01 6.24407361e-01 1.01091156e-02 2.27300074e+01] [ 1.42655329e-02 1.65562656e-03 9.99896871e-01 -1.95115192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03911593299999 meters Centerline goodness [0,1] 0.9992307692307693 Centerline is valid? [True, True] Translation: X:-43.26, Y:22.75, Z:-0.17 [[ 6.19489996e-01 7.84938256e-01 -1.02019033e-02 -4.32576165e+01] [-7.84874445e-01 6.19571616e-01 1.01547516e-02 2.27476986e+01] [ 1.42916627e-02 1.71644613e-03 9.99896396e-01 -1.69535822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.06911593299999 meters Centerline goodness [0,1] 0.9981487195310089 Centerline is valid? [True, True] Translation: X:-43.28, Y:22.76, Z:-0.19 [[ 6.11848218e-01 7.90881789e-01 -1.21553581e-02 -4.32771654e+01] [-7.90791425e-01 6.11965076e-01 1.21518240e-02 2.27561212e+01] [ 1.70493110e-02 2.17728107e-03 9.99852279e-01 -1.94166467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.099115933 meters Centerline goodness [0,1] 0.9995358192789726 Centerline is valid? [True, True] Translation: X:-43.29, Y:22.77, Z:-0.18 [[ 6.21906132e-01 7.83058024e-01 -7.27291253e-03 -4.32908969e+01] [-7.83024470e-01 6.21947627e-01 7.33685219e-03 2.27699863e+01] [ 1.02685517e-02 1.13203511e-03 9.99946636e-01 -1.79605090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.129115933 meters Centerline goodness [0,1] 0.9981501464467396 Centerline is valid? [True, True] Translation: X:-42.35, Y:23.70, Z:-2.97 [[ 8.39487822e-01 -5.42463101e-01 -3.15274598e-02 -4.23466393e+01] [-5.41768300e-01 -8.40053532e-01 2.82342250e-02 2.36980810e+01] [-4.18007792e-02 -6.62170977e-03 -9.99104023e-01 -2.97422731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.159115933 meters Centerline goodness [0,1] 0.997061098221191 Centerline is valid? [True, True] Translation: X:-43.21, Y:22.67, Z:-0.17 [[ 6.70889615e-01 7.41437741e-01 -1.33116315e-02 -4.32073550e+01] [-7.41353955e-01 6.71017923e-01 1.13692973e-02 2.26733105e+01] [ 1.73619695e-02 2.24108716e-03 9.99846758e-01 -1.66940622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.189115933 meters Centerline goodness [0,1] 0.9962709757613425 Centerline is valid? [True, True] Translation: X:-43.22, Y:22.69, Z:-0.16 [[ 6.69261009e-01 7.42928932e-01 -1.20956278e-02 -4.32227701e+01] [-7.42858845e-01 6.69367246e-01 1.04032101e-02 2.26866461e+01] [ 1.58252628e-02 2.02288126e-03 9.99872726e-01 -1.61451963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.219115933 meters Centerline goodness [0,1] 0.9985439249312409 Centerline is valid? [True, True] Translation: X:-43.25, Y:22.69, Z:-0.21 [[ 6.75222716e-01 7.37560371e-01 -8.88721633e-03 -4.32472819e+01] [-7.37521513e-01 6.75279830e-01 7.69220968e-03 2.26904123e+01] [ 1.16748270e-02 1.36055851e-03 9.99930921e-01 -2.05739741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.24911593299998 meters Centerline goodness [0,1] 0.9998367613450865 Centerline is valid? [True, True] Translation: X:-43.27, Y:22.70, Z:-0.20 [[ 6.70876552e-01 7.41530882e-01 -7.52348039e-03 -4.32665034e+01] [-7.41502925e-01 6.70917688e-01 6.54741089e-03 2.26975431e+01] [ 9.90274344e-03 1.18617827e-03 9.99950263e-01 -1.96510173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27911593299999 meters Centerline goodness [0,1] 0.9995125121871953 Centerline is valid? [True, True] Translation: X:-43.29, Y:22.70, Z:-0.21 [[ 6.66741999e-01 7.45219534e-01 -1.01465377e-02 -4.32899407e+01] [-7.45168542e-01 6.66817169e-01 8.87170605e-03 2.26999725e+01] [ 1.33772542e-02 1.64574169e-03 9.99909166e-01 -2.13898135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.30, Y:22.71, Z:-0.22 [[ 6.70872270e-01 7.41535812e-01 -7.41869456e-03 -4.33042776e+01] [-7.41507963e-01 6.70912346e-01 6.52417509e-03 2.27132700e+01] [ 9.81520324e-03 1.12413294e-03 9.99951198e-01 -2.23683072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33911593299999 meters Centerline goodness [0,1] 0.999677575366758 Centerline is valid? [True, True] Translation: X:-43.30, Y:22.75, Z:-0.13 [[ 6.64501524e-01 7.47217645e-01 -1.01742113e-02 -4.32999255e+01] [-7.47165617e-01 6.64577381e-01 8.96919138e-03 2.27457128e+01] [ 1.34634887e-02 1.64177950e-03 9.99908015e-01 -1.26729274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.36911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.31, Y:22.76, Z:-0.11 [[ 6.70633961e-01 7.41734806e-01 -8.92011747e-03 -4.33129291e+01] [-7.41693754e-01 6.70692003e-01 7.91276190e-03 2.27606716e+01] [ 1.18518224e-02 1.30942856e-03 9.99928907e-01 -1.13984356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.33, Y:22.78, Z:-0.10 [[ 6.72550197e-01 7.40008413e-01 -7.98634485e-03 -4.33272288e+01] [-7.39974968e-01 6.72596683e-01 7.12384939e-03 2.27755807e+01] [ 1.06432975e-02 1.11854896e-03 9.99942733e-01 -1.01178048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.42911593299999 meters Centerline goodness [0,1] 0.9996727213222059 Centerline is valid? [True, True] Translation: X:-43.35, Y:22.78, Z:-0.13 [[ 6.69165860e-01 7.43069050e-01 -8.08939835e-03 -4.33522719e+01] [-7.43034623e-01 6.69213746e-01 7.24651772e-03 2.27781685e+01] [ 1.07981996e-02 1.16158079e-03 9.99941023e-01 -1.31105505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.37, Y:22.78, Z:-0.13 [[ 6.69831549e-01 7.42458185e-01 -9.02986376e-03 -4.33734672e+01] [-7.42414774e-01 6.69891226e-01 8.12701860e-03 2.27849759e+01] [ 1.20829980e-02 1.26017080e-03 9.99926204e-01 -1.33782449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.489115933 meters Centerline goodness [0,1] 0.9993604093380236 Centerline is valid? [True, True] Translation: X:-43.38, Y:22.80, Z:-0.11 [[ 6.67600209e-01 7.44452199e-01 -1.00441468e-02 -4.33833121e+01] [-7.44398252e-01 6.67674254e-01 9.07376917e-03 2.28037263e+01] [ 1.34612056e-02 1.41919509e-03 9.99908387e-01 -1.05364102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.519115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.41, Y:22.81, Z:-0.12 [[ 6.73407758e-01 7.39228332e-01 -7.96649215e-03 -4.34057754e+01] [-7.39193421e-01 6.73454130e-01 7.25397335e-03 2.28094618e+01] [ 1.07274097e-02 1.00389666e-03 9.99941956e-01 -1.19768114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.549115933 meters Centerline goodness [0,1] 0.9996669442131557 Centerline is valid? [True, True] Translation: X:-43.42, Y:22.82, Z:-0.11 [[ 6.70786911e-01 7.41603132e-01 -8.34951969e-03 -4.34208653e+01] [-7.41564683e-01 6.70838012e-01 7.62778297e-03 2.28229977e+01] [ 1.12579629e-02 1.07509195e-03 9.99936049e-01 -1.06172031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.579115933 meters Centerline goodness [0,1] 0.9995018266356692 Centerline is valid? [True, True] Translation: X:-43.45, Y:22.83, Z:-0.14 [[ 6.68988238e-01 7.43214832e-01 -9.29787238e-03 -4.34457996e+01] [-7.43166884e-01 6.69051763e-01 8.52761734e-03 2.28266429e+01] [ 1.25586096e-02 1.20499515e-03 9.99920411e-01 -1.36889004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.60911593299998 meters Centerline goodness [0,1] 0.9991804622193083 Centerline is valid? [True, True] Translation: X:-43.46, Y:22.84, Z:-0.14 [[ 6.67473847e-01 7.44556056e-01 -1.07211046e-02 -4.34632872e+01] [-7.44491880e-01 6.67558495e-01 9.87406567e-03 2.28370950e+01] [ 1.45087598e-02 1.39109471e-03 9.99893775e-01 -1.35694820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.48, Y:22.85, Z:-0.11 [[ 6.74760526e-01 7.37986738e-01 -8.59108535e-03 -4.34763404e+01] [-7.37944228e-01 6.74814538e-01 7.97850464e-03 2.28509878e+01] [ 1.16854199e-02 9.56161855e-04 9.99931266e-01 -1.07148587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.50, Y:22.86, Z:-0.11 [[ 6.73079725e-01 7.39525561e-01 -8.10112463e-03 -4.34958922e+01] [-7.39487567e-01 6.73127863e-01 7.55105958e-03 2.28603609e+01] [ 1.10372943e-02 9.08215836e-04 9.99938675e-01 -1.11192669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.52, Y:22.87, Z:-0.12 [[ 6.78483535e-01 7.34562035e-01 -8.87176592e-03 -4.35173258e+01] [-7.34515562e-01 6.78540967e-01 8.30934076e-03 2.28667278e+01] [ 1.21235829e-02 8.78699236e-04 9.99926121e-01 -1.16479029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.53, Y:22.88, Z:-0.11 [[ 6.78398067e-01 7.34640312e-01 -8.92611341e-03 -4.35341888e+01] [-7.34592785e-01 6.78456244e-01 8.40030513e-03 2.28783668e+01] [ 1.22271802e-02 8.58307752e-04 9.99924877e-01 -1.10929518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.54, Y:22.90, Z:-0.08 [[ 6.76933289e-01 7.35963314e-01 -1.09235138e-02 -4.35431651e+01] [-7.35891739e-01 6.77020598e-01 1.03178814e-02 2.28975564e+01] [ 1.49890260e-02 1.05400617e-03 9.99887103e-01 -7.92587372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.78911593299999 meters Centerline goodness [0,1] 0.9973791973791973 Centerline is valid? [True, True] Translation: X:-43.56, Y:22.91, Z:-0.09 [[ 6.72314172e-01 7.40168251e-01 -1.20255653e-02 -4.35619451e+01] [-7.40080957e-01 6.72420617e-01 1.14319870e-02 2.29052578e+01] [ 1.65478319e-02 1.21400496e-03 9.99862338e-01 -8.52569606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.81911593299999 meters Centerline goodness [0,1] 0.9983590416803413 Centerline is valid? [True, True] Translation: X:-43.58, Y:22.92, Z:-0.08 [[ 6.78149304e-01 7.34853125e-01 -1.02179352e-02 -4.35770888e+01] [-7.34788620e-01 6.78225710e-01 9.77605129e-03 2.29184400e+01] [ 1.41140282e-02 8.78400112e-04 9.99900006e-01 -7.54042099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.849115933 meters Centerline goodness [0,1] 0.9983590416803413 Centerline is valid? [True, True] Translation: X:-43.59, Y:22.93, Z:-0.08 [[ 6.76020353e-01 7.36812498e-01 -1.01894523e-02 -4.35910955e+01] [-7.36747768e-01 6.76096570e-01 9.80581487e-03 2.29320287e+01] [ 1.41141007e-02 8.78125784e-04 9.99900006e-01 -7.51771844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.879115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.61, Y:22.94, Z:-0.09 [[ 6.82767872e-01 7.30597246e-01 -7.46300196e-03 -4.36110499e+01] [-7.30561546e-01 6.82808469e-01 7.24037265e-03 2.29401837e+01] [ 1.03855973e-02 5.08688421e-04 9.99945939e-01 -9.08279501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.909115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.62, Y:22.96, Z:-0.05 [[ 6.78393779e-01 7.34657675e-01 -7.74476146e-03 -4.36190175e+01] [-7.34619056e-01 6.78437751e-01 7.55389591e-03 2.29603867e+01] [ 1.08038662e-02 5.64933361e-04 9.99941477e-01 -4.81448394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.939115933 meters Centerline goodness [0,1] 0.9988383670760039 Centerline is valid? [True, True] Translation: X:-43.63, Y:22.98, Z:-0.02 [[ 6.78121006e-01 7.34913182e-01 -7.38351707e-03 -4.36264374e+01] [-7.34877708e-01 6.78161004e-01 7.23918869e-03 2.29810619e+01] [ 1.03273885e-02 5.16936190e-04 9.99946537e-01 -1.52968055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.969115933 meters Centerline goodness [0,1] 0.9991544055470996 Centerline is valid? [True, True] Translation: X:-43.65, Y:22.99, Z:-0.03 [[ 6.73089726e-01 7.39524823e-01 -7.29770367e-03 -4.36454632e+01] [-7.39490071e-01 6.73129056e-01 7.19093252e-03 2.29898877e+01] [ 1.02301695e-02 5.56436610e-04 9.99947516e-01 -2.61007508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.68, Y:22.99, Z:-0.09 [[ 6.75930113e-01 7.36943015e-01 -5.78569836e-03 -4.36767594e+01] [-7.36920796e-01 6.75954764e-01 5.73563404e-03 2.29872065e+01] [ 8.13770581e-03 3.86713672e-04 9.99966814e-01 -8.80205915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.02911593299999 meters Centerline goodness [0,1] 0.9994944388270981 Centerline is valid? [True, True] Translation: X:-43.68, Y:23.01, Z:-0.03 [[ 6.74094411e-01 7.38623533e-01 -5.65704032e-03 -4.36775914e+01] [-7.38602139e-01 6.74118040e-01 5.63449276e-03 2.30144155e+01] [ 7.97528189e-03 3.80122000e-04 9.99968125e-01 -2.74470380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.69, Y:23.03, Z:-0.01 [[ 6.71405188e-01 7.41068905e-01 -5.65262189e-03 -4.36873023e+01] [-7.41047408e-01 6.71428869e-01 5.65796692e-03 2.30335932e+01] [ 7.98827687e-03 3.90072461e-04 9.99968017e-01 -1.06680520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08911593299999 meters Centerline goodness [0,1] 0.9991665277546258 Centerline is valid? [True, True] Translation: X:-43.71, Y:23.04, Z:-0.03 [[ 6.67085407e-01 7.44958969e-01 -5.76142389e-03 -4.37097386e+01] [-7.44936463e-01 6.67110155e-01 5.80574466e-03 2.30393779e+01] [ 8.16854594e-03 4.18967197e-04 9.99966549e-01 -3.27123844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.73, Y:23.05, Z:-0.03 [[ 6.63732152e-01 7.47955212e-01 -4.75720017e-03 -4.37250518e+01] [-7.47939778e-01 6.63749102e-01 4.81849576e-03 2.30530680e+01] [ 6.76160637e-03 3.59908677e-04 9.99977075e-01 -2.91169462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.14911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-42.71, Y:24.12, Z:-3.13 [[ 7.96854130e-01 -6.03706749e-01 -2.36992990e-02 -4.27141580e+01] [-6.03327369e-01 -7.97201160e-01 2.15961908e-02 2.41221714e+01] [-3.19308748e-02 -2.91057808e-03 -9.99485842e-01 -3.12816900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17911593299999 meters Centerline goodness [0,1] 0.9971742021276596 Centerline is valid? [True, True] Translation: X:-43.67, Y:22.99, Z:-0.00 [[ 7.16405329e-01 6.97648602e-01 -7.05924477e-03 -4.36669651e+01] [-6.97622694e-01 7.16439860e-01 6.04195221e-03 2.29852349e+01] [ 9.27268385e-03 5.96202594e-04 9.99956830e-01 -1.27718429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.20911593299999 meters Centerline goodness [0,1] 0.9991610738255033 Centerline is valid? [True, True] Translation: X:-43.68, Y:23.00, Z:0.01 [[ 7.21002483e-01 6.92920953e-01 -3.99655731e-03 -4.36792856e+01] [-6.92912250e-01 7.21013513e-01 3.48251870e-03 2.30003978e+01] [ 5.29468200e-03 2.58358892e-04 9.99985950e-01 1.19823903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.239115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.69, Y:23.02, Z:0.05 [[ 7.27867910e-01 6.85713519e-01 -2.29684894e-03 -4.36874408e+01] [-6.85710544e-01 7.27871527e-01 2.02256722e-03 2.30228378e+01] [ 3.05871263e-03 1.02811755e-04 9.99995317e-01 5.41910202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.269115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.71, Y:23.02, Z:0.02 [[ 7.19693469e-01 6.94259621e-01 -6.70000485e-03 -4.37139978e+01] [-6.94235119e-01 7.19724519e-01 5.84935826e-03 2.30243389e+01] [ 8.88313102e-03 4.41633732e-04 9.99960447e-01 2.33683763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.299115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.72, Y:23.05, Z:0.07 [[ 7.23379250e-01 6.90429973e-01 -5.37716074e-03 -4.37195994e+01] [-6.90413854e-01 7.23399175e-01 4.72680626e-03 2.30488098e+01] [ 7.15336236e-03 2.93192701e-04 9.99974371e-01 7.30156951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.329115933 meters Centerline goodness [0,1] 0.9996700214486058 Centerline is valid? [True, True] Translation: X:-43.73, Y:23.07, Z:0.09 [[ 7.25394225e-01 6.88311755e-01 -5.49060533e-03 -4.37316612e+01] [-6.88294736e-01 7.25414957e-01 4.84732282e-03 2.30658722e+01] [ 7.31943650e-03 2.62934765e-04 9.99973178e-01 9.14381441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35911593299998 meters Centerline goodness [0,1] 0.9995044598612488 Centerline is valid? [True, True] Translation: X:-43.75, Y:23.08, Z:0.10 [[ 7.23516287e-01 6.90287827e-01 -5.18635314e-03 -4.37467714e+01] [-6.90272543e-01 7.23534832e-01 4.60037148e-03 2.30802307e+01] [ 6.92808758e-03 2.51553482e-04 9.99975969e-01 1.01963357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.38911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.75, Y:23.11, Z:0.14 [[ 7.20670659e-01 6.93262087e-01 -4.63464183e-03 -4.37525052e+01] [-6.93249808e-01 7.20685524e-01 4.13269505e-03 2.31053831e+01] [ 6.20516007e-03 2.34652496e-04 9.99980720e-01 1.40084861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41911593299999 meters Centerline goodness [0,1] 0.9994982438534872 Centerline is valid? [True, True] Translation: X:-43.78, Y:23.11, Z:0.06 [[ 7.21028683e-01 6.92895853e-01 -3.60225475e-03 -4.37809510e+01] [-6.92888310e-01 7.21037663e-01 3.23712323e-03 2.31068296e+01] [ 4.84035060e-03 1.61901505e-04 9.99988272e-01 6.38877019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.78, Y:23.14, Z:0.15 [[ 7.15256537e-01 6.98859391e-01 -1.90724107e-03 -4.37765994e+01] [-6.98857234e-01 7.15259074e-01 1.73870871e-03 2.31417530e+01] [ 2.57928439e-03 8.92664475e-05 9.99996670e-01 1.46564490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.79, Y:23.15, Z:0.15 [[ 7.19433227e-01 6.94558171e-01 2.18620662e-03 -4.37945428e+01] [-6.94555536e-01 7.19436535e-01 -1.91823139e-03 2.31527822e+01] [-2.90516021e-03 -1.38402510e-04 9.99995770e-01 1.45964220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.50911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.80, Y:23.17, Z:0.17 [[ 7.20774355e-01 6.93151707e-01 5.00396057e-03 -4.38026091e+01] [-6.93137389e-01 7.20791681e-01 -4.46234945e-03 2.31746893e+01] [-6.69989829e-03 -2.52085118e-04 9.99977524e-01 1.68244490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.82, Y:23.19, Z:0.17 [[ 7.12407019e-01 7.01755179e-01 3.98843065e-03 -4.38196941e+01] [-7.01746170e-01 7.12418137e-01 -3.56521975e-03 2.31880483e+01] [-5.34334176e-03 -2.58978359e-04 9.99985691e-01 1.69352493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.56911593299999 meters Centerline goodness [0,1] 0.9998335275511903 Centerline is valid? [True, True] Translation: X:-43.84, Y:23.20, Z:0.16 [[ 7.11446978e-01 7.02727483e-01 4.15717208e-03 -4.38362794e+01] [-7.02717614e-01 7.11459074e-01 -3.73374172e-03 2.32020427e+01] [-5.58146072e-03 -2.64958779e-04 9.99984388e-01 1.55267675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.599115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.84, Y:23.23, Z:0.22 [[ 7.08883488e-01 7.05302748e-01 5.67740090e-03 -4.38377494e+01] [-7.05284122e-01 7.08906131e-01 -5.13855822e-03 2.32312169e+01] [-7.64898354e-03 -3.61541635e-04 9.99970681e-01 2.18218322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.629115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.84, Y:23.25, Z:0.23 [[ 7.00843380e-01 7.13303053e-01 4.16063919e-03 -4.38442041e+01] [-7.13293252e-01 7.00855649e-01 -3.75454975e-03 2.32486712e+01] [-5.59413928e-03 -3.36404517e-04 9.99984296e-01 2.25677280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.659115933 meters Centerline goodness [0,1] 0.9998344370860928 Centerline is valid? [True, True] Translation: X:-43.88, Y:23.24, Z:0.11 [[ 7.03710611e-01 7.10451257e-01 7.09841393e-03 -4.38849172e+01] [-7.10421560e-01 7.03746261e-01 -6.51205840e-03 2.32373125e+01] [-9.62198233e-03 -4.60261701e-04 9.99953602e-01 1.14189363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.689115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.86, Y:23.29, Z:0.30 [[ 6.90884208e-01 7.22955164e-01 3.85236425e-03 -4.38615303e+01] [-7.22946590e-01 6.90894865e-01 -3.53751601e-03 2.32924809e+01] [-5.21904415e-03 -3.41039649e-04 9.99986323e-01 2.97339082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.719115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.88, Y:23.31, Z:0.29 [[ 6.90580739e-01 7.23239031e-01 4.85254606e-03 -4.38779712e+01] [-7.23225264e-01 6.90597663e-01 -4.48164114e-03 2.33066200e+01] [-6.59245476e-03 -4.14548851e-04 9.99978184e-01 2.94795100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.74911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.89, Y:23.32, Z:0.30 [[ 6.84558427e-01 7.28944456e-01 4.44306037e-03 -4.38930970e+01] [-7.28932951e-01 6.84572716e-01 -4.11685035e-03 2.33214200e+01] [-6.04255314e-03 -4.20468512e-04 9.99981655e-01 3.01968993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.89, Y:23.36, Z:0.40 [[ 6.97625982e-01 7.16404105e-01 9.11852098e-03 -4.38907511e+01] [-7.16353603e-01 6.97685328e-01 -8.52631978e-03 2.33550257e+01] [-1.24701488e-02 -5.83903151e-04 9.99922074e-01 3.97350343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.91, Y:23.36, Z:0.41 [[ 7.09281414e-01 7.04799287e-01 1.33356775e-02 -4.39131535e+01] [-7.04687883e-01 7.09406592e-01 -1.25409428e-02 2.33634514e+01] [-1.82992651e-02 -5.02432733e-04 9.99832428e-01 4.05596027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.90, Y:23.41, Z:0.55 [[ 7.27426245e-01 6.85880774e-01 2.04602523e-02 -4.39046124e+01] [-6.85608016e-01 7.27713928e-01 -1.93413129e-02 2.34051730e+01] [-2.81550453e-02 4.16656468e-05 9.99603567e-01 5.54201354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.86911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.90, Y:23.44, Z:0.66 [[ 7.37767073e-01 6.74529693e-01 2.66353086e-02 -4.39006459e+01] [-6.74056569e-01 7.38247397e-01 -2.52690204e-02 2.34421124e+01] [-3.67081518e-02 6.88946478e-04 9.99325791e-01 6.64510521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89911593299999 meters Centerline goodness [0,1] 0.9996635262449529 Centerline is valid? [True, True] Translation: X:-43.85, Y:23.53, Z:0.95 [[ 7.60085147e-01 6.48703390e-01 3.81376422e-02 -4.38487234e+01] [-6.47696024e-01 7.61035991e-01 -3.62502625e-02 2.35321637e+01] [-5.25397865e-02 2.85168686e-03 9.98614760e-01 9.51107403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.92911593299999 meters Centerline goodness [0,1] 0.9994959677419355 Centerline is valid? [True, True] Translation: X:-43.91, Y:23.51, Z:0.81 [[ 7.68405788e-01 6.38445448e-01 4.40449168e-02 -4.39091718e+01] [-6.37080522e-01 7.69655830e-01 -4.19322154e-02 2.35123874e+01] [-6.06708591e-02 4.16079839e-03 9.98149154e-01 8.07897676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95911593299999 meters Centerline goodness [0,1] 0.9994932432432433 Centerline is valid? [True, True] Translation: X:-43.90, Y:23.56, Z:0.95 [[ 7.73183837e-01 6.32346857e-01 4.82100221e-02 -4.39027631e+01] [-6.30695032e-01 7.74668386e-01 -4.59637785e-02 2.35591844e+01] [-6.64118309e-02 5.13262921e-03 9.97779096e-01 9.50400033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.989115933 meters Centerline goodness [0,1] 0.9968061859135989 Centerline is valid? [True, True] Translation: X:-44.00, Y:23.51, Z:0.62 [[ 7.69767118e-01 6.36445193e-01 4.89499719e-02 -4.39959939e+01] [-6.34745463e-01 7.71306304e-01 -4.67416623e-02 2.35084034e+01] [-6.75039282e-02 4.90942211e-03 9.97706930e-01 6.23986517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.019115933 meters Centerline goodness [0,1] 0.998989388580091 Centerline is valid? [True, True] Translation: X:-43.95, Y:23.60, Z:0.95 [[ 7.88249342e-01 6.12743516e-01 5.66423763e-02 -4.39459557e+01] [-6.10401742e-01 7.90240414e-01 -5.41276503e-02 2.35973547e+01] [-7.79274617e-02 8.09147958e-03 9.96926195e-01 9.48219367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.049115933 meters Centerline goodness [0,1] 0.9987966305655837 Centerline is valid? [True, True] Translation: X:-43.85, Y:23.73, Z:1.50 [[ 8.20326655e-01 5.67452573e-01 7.11460211e-02 -4.38491077e+01] [-5.63582966e-01 8.23256852e-01 -6.79882024e-02 2.37324134e+01] [-9.71515298e-02 1.56758491e-02 9.95146144e-01 1.50000374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.079115933 meters Centerline goodness [0,1] 0.9979123173277662 Centerline is valid? [True, True] Translation: X:-43.94, Y:23.68, Z:1.17 [[ 8.23754709e-01 5.62249700e-01 7.28248160e-02 -4.39448381e+01] [-5.58176006e-01 8.26799422e-01 -6.95863583e-02 2.36835683e+01] [-9.93364249e-02 1.66730253e-02 9.94914210e-01 1.16573626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.10911593299998 meters Centerline goodness [0,1] 0.9998247458815283 Centerline is valid? [True, True] Translation: X:-43.85, Y:23.81, Z:1.70 [[ 8.56753333e-01 5.08148490e-01 8.80842694e-02 -4.38546941e+01] [-5.01907895e-01 8.60817989e-01 -8.41478191e-02 2.38127143e+01] [-1.18584111e-01 2.78837343e-02 9.92552420e-01 1.70035921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13911593299999 meters Centerline goodness [0,1] 0.999822032390105 Centerline is valid? [True, True] Translation: X:-43.84, Y:23.87, Z:1.91 [[ 8.59893989e-01 5.02821735e-01 8.80490221e-02 -4.38398757e+01] [-4.96567561e-01 8.63918178e-01 -8.40597336e-02 2.38699965e+01] [-1.18334212e-01 2.85601716e-02 9.92563011e-01 1.90778555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-43.85, Y:23.90, Z:1.95 [[ 8.51865780e-01 5.16758130e-01 8.53564799e-02 -4.38482821e+01] [-5.10948997e-01 8.55743418e-01 -8.14513722e-02 2.39042931e+01] [-1.15133905e-01 2.57728289e-02 9.93015582e-01 1.94682117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19911593299999 meters Centerline goodness [0,1] 0.9972875226039783 Centerline is valid? [True, True] Translation: X:-44.00, Y:23.80, Z:1.34 [[ 8.18961310e-01 5.68986774e-01 7.45414157e-02 -4.39976364e+01] [-5.64756099e-01 8.22188252e-01 -7.11127767e-02 2.38023973e+01] [-1.01749306e-01 1.61408936e-02 9.94679119e-01 1.33658247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22911593299999 meters Centerline goodness [0,1] 0.9980036297640653 Centerline is valid? [True, True] Translation: X:-44.01, Y:23.84, Z:1.41 [[ 8.18542874e-01 5.69232616e-01 7.72126457e-02 -4.40078306e+01] [-5.64694826e-01 8.22007281e-01 -7.36463449e-02 2.38360907e+01] [-1.05391258e-01 1.66811093e-02 9.94290915e-01 1.40907351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25911593299999 meters Centerline goodness [0,1] 0.9969124591354885 Centerline is valid? [True, True] Translation: X:-44.05, Y:23.84, Z:1.32 [[ 8.06998994e-01 5.86057693e-01 7.27255447e-02 -4.40471467e+01] [-5.82099240e-01 8.10154589e-01 -6.93542862e-02 2.38416104e+01] [-9.95645467e-02 1.36353549e-02 9.94937676e-01 1.32188103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.28911593299999 meters Centerline goodness [0,1] 0.9939759036144579 Centerline is valid? [True, True] Translation: X:-44.09, Y:23.85, Z:1.23 [[ 7.94362637e-01 6.03779104e-01 6.66242693e-02 -4.40862420e+01] [-6.00518725e-01 7.97083112e-01 -6.35277388e-02 2.38464736e+01] [-9.14618011e-02 1.04549409e-02 9.95753701e-01 1.23472839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31911593299999 meters Centerline goodness [0,1] 0.9998141954663694 Centerline is valid? [True, True] Translation: X:-43.87, Y:24.09, Z:2.40 [[ 8.22840890e-01 5.62909637e-01 7.78820307e-02 -4.38732288e+01] [-5.58270518e-01 8.26330889e-01 -7.42380656e-02 2.40930265e+01] [-1.06145650e-01 1.76068743e-02 9.94194699e-01 2.39892658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.349115933 meters Centerline goodness [0,1] 0.9983117613956106 Centerline is valid? [True, True] Translation: X:-43.91, Y:24.11, Z:2.33 [[ 8.24122223e-01 5.61238036e-01 7.63834317e-02 -4.39080454e+01] [-5.56780542e-01 8.27471758e-01 -7.27043249e-02 2.41060444e+01] [-1.04009565e-01 1.73884414e-02 9.94424282e-01 2.32824215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.379115933 meters Centerline goodness [0,1] 0.9986861861861862 Centerline is valid? [True, True] Translation: X:-43.97, Y:24.09, Z:2.18 [[ 7.92894172e-01 6.06095176e-01 6.29878571e-02 -4.39687880e+01] [-6.03200758e-01 7.95335172e-01 -5.99233747e-02 2.40889840e+01] [-8.64157264e-02 9.51857147e-03 9.96213691e-01 2.18276206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.409115933 meters Centerline goodness [0,1] 0.9996210685865858 Centerline is valid? [True, True] Translation: X:-44.11, Y:24.00, Z:1.66 [[ 7.64756995e-01 6.42328603e-01 5.06033985e-02 -4.41063703e+01] [-6.40537833e-01 7.66416757e-01 -4.81314773e-02 2.39976435e+01] [-6.96995172e-02 4.39549270e-03 9.97558348e-01 1.65609502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.439115933 meters Centerline goodness [0,1] 0.9992496717313825 Centerline is valid? [True, True] Translation: X:-44.09, Y:24.05, Z:1.81 [[ 7.76022409e-01 6.28515255e-01 5.25147029e-02 -4.40947123e+01] [-6.26555215e-01 7.77775234e-01 -4.99424384e-02 2.40521655e+01] [-7.22342197e-02 5.85309038e-03 9.97370522e-01 1.81332464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.469115933 meters Centerline goodness [0,1] 0.9988372093023256 Centerline is valid? [True, True] Translation: X:-44.15, Y:24.04, Z:1.61 [[ 7.57132694e-01 6.51663797e-01 4.56550054e-02 -4.41546344e+01] [-6.50223930e-01 7.58501260e-01 -4.34128910e-02 2.40358347e+01] [-6.29199885e-02 3.18334203e-03 9.98013498e-01 1.61278746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49911593299998 meters Centerline goodness [0,1] 0.9994336416839721 Centerline is valid? [True, True] Translation: X:-44.15, Y:24.08, Z:1.78 [[ 7.54159380e-01 6.55377464e-01 4.15211909e-02 -4.41536157e+01] [-6.54192573e-01 7.55297007e-01 -3.94779585e-02 2.40784361e+01] [-5.72337956e-02 2.60981799e-03 9.98357392e-01 1.77699654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.52911593299999 meters Centerline goodness [0,1] 0.998495392138424 Centerline is valid? [True, True] Translation: X:-44.35, Y:23.93, Z:0.89 [[ 7.25091823e-01 6.88073883e-01 2.82166553e-02 -4.43481627e+01] [-6.87549652e-01 7.25640632e-01 -2.68542237e-02 2.39311878e+01] [-3.89528416e-02 7.14265084e-05 9.99241048e-01 8.87925614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55911593299999 meters Centerline goodness [0,1] 0.9981477670302531 Centerline is valid? [True, True] Translation: X:-44.31, Y:24.01, Z:1.25 [[ 7.18362066e-01 6.95251337e-01 2.41147476e-02 -4.43051237e+01] [-6.94871271e-01 7.18766665e-01 -2.29868948e-02 2.40095545e+01] [-3.33145460e-02 -2.43732029e-04 9.99444887e-01 1.25002020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58911593299999 meters Centerline goodness [0,1] 0.9980345911949685 Centerline is valid? [True, True] Translation: X:-44.35, Y:24.00, Z:1.17 [[ 6.99946591e-01 7.14069613e-01 1.33924781e-02 -4.43513435e+01] [-7.13955490e-01 7.00074431e-01 -1.27807944e-02 2.40036363e+01] [-1.85021084e-02 -6.15759816e-04 9.99828632e-01 1.16584872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-44.28, Y:24.10, Z:1.62 [[ 7.13676478e-01 7.00306513e-01 1.53841719e-02 -4.42843805e+01] [-7.00152073e-01 7.13842219e-01 -1.47092131e-02 2.41034277e+01] [-2.12828291e-02 -2.73640443e-04 9.99773457e-01 1.62237575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.64911593299999 meters Centerline goodness [0,1] 0.999384236453202 Centerline is valid? [True, True] Translation: X:-44.35, Y:24.08, Z:1.43 [[ 6.94073787e-01 7.19891228e-01 4.26576127e-03 -4.43486277e+01] [-7.19879725e-01 6.94086854e-01 -4.07686329e-03 2.40812529e+01] [-5.89570694e-03 -2.41191100e-04 9.99982591e-01 1.43439190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67911593299999 meters Centerline goodness [0,1] 0.9984307571596704 Centerline is valid? [True, True] Translation: X:-44.50, Y:23.96, Z:0.69 [[ 6.84971921e-01 7.28561036e-01 -3.50486218e-03 -4.45047812e+01] [-7.28553091e-01 6.84980853e-01 3.40950277e-03 2.39647180e+01] [ 4.88479435e-03 2.18064513e-04 9.99988046e-01 6.92461958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.70911593299999 meters Centerline goodness [0,1] 0.9988139948606444 Centerline is valid? [True, True] Translation: X:-44.44, Y:24.05, Z:1.11 [[ 6.88938893e-01 7.24810458e-01 -3.60564484e-03 -4.44447236e+01] [-7.24802019e-01 6.88948300e-01 3.50346937e-03 2.40538643e+01] [ 5.02345412e-03 1.99702348e-04 9.99987362e-01 1.10771688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.739115933 meters Centerline goodness [0,1] 0.9981625153123724 Centerline is valid? [True, True] Translation: X:-44.50, Y:24.03, Z:0.90 [[ 6.89057552e-01 7.24661660e-01 -8.07269495e-03 -4.45001919e+01] [-7.24619234e-01 6.89104700e-01 7.85358673e-03 2.40348069e+01] [ 1.12541252e-02 4.38056779e-04 9.99936574e-01 8.95818627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.769115933 meters Centerline goodness [0,1] 0.9981625153123724 Centerline is valid? [True, True] Translation: X:-44.52, Y:24.05, Z:0.90 [[ 6.87646918e-01 7.26000556e-01 -8.05666748e-03 -4.45164972e+01] [-7.25958029e-01 6.87693974e-01 7.87006637e-03 2.40505416e+01] [ 1.12541942e-02 4.36975562e-04 9.99936574e-01 8.96100104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.799115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-44.41, Y:24.18, Z:1.58 [[ 6.75622915e-01 7.37126584e-01 -1.33444803e-02 -4.44117496e+01] [-7.37012465e-01 6.75753882e-01 1.30121653e-02 2.41838467e+01] [ 1.86091973e-02 1.04373125e-03 9.99826289e-01 1.57623999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.829115933 meters Centerline goodness [0,1] 0.9985760781122864 Centerline is valid? [True, True] Translation: X:-44.54, Y:24.09, Z:0.96 [[ 6.77366429e-01 7.35465629e-01 -1.62797017e-02 -4.45439636e+01] [-7.35293379e-01 6.77561039e-01 1.59588536e-02 2.40911678e+01] [ 2.27676799e-02 1.16036513e-03 9.99740109e-01 9.61629494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85911593299998 meters Centerline goodness [0,1] 0.9970332697605425 Centerline is valid? [True, True] Translation: X:-44.62, Y:24.05, Z:0.65 [[ 6.78570873e-01 7.34307216e-01 -1.82888636e-02 -4.46188991e+01] [-7.34087467e-01 6.78816213e-01 1.80038538e-02 2.40508470e+01] [ 2.56351369e-02 1.20873478e-03 9.99670635e-01 6.52744054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.88911593299999 meters Centerline goodness [0,1] 0.9987807356228409 Centerline is valid? [True, True] Translation: X:-44.58, Y:24.11, Z:0.93 [[ 6.71873733e-01 7.40289814e-01 -2.35940256e-02 -4.45839651e+01] [-7.39924813e-01 6.72285484e-01 2.33130804e-02 2.41115266e+01] [ 3.31203568e-02 1.79435864e-03 9.99449760e-01 9.30569805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91911593299999 meters Centerline goodness [0,1] 0.9976004799040192 Centerline is valid? [True, True] Translation: X:-44.63, Y:24.10, Z:0.76 [[ 6.76852037e-01 7.35735831e-01 -2.37509310e-02 -4.46271889e+01] [-7.35359278e-01 6.77266956e-01 2.35839670e-02 2.41001548e+01] [ 3.34372903e-02 1.50261131e-03 9.99439688e-01 7.58996137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94911593299999 meters Centerline goodness [0,1] 0.9993951612903226 Centerline is valid? [True, True] Translation: X:-44.58, Y:24.17, Z:1.11 [[ 6.70768987e-01 7.41125597e-01 -2.83163401e-02 -4.45824894e+01] [-7.40590648e-01 6.71363315e-01 2.82274924e-02 2.41692385e+01] [ 3.99306691e-02 2.03669017e-03 9.99200377e-01 1.10586382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97911593299999 meters Centerline goodness [0,1] 0.9991937109453739 Centerline is valid? [True, True] Translation: X:-44.62, Y:24.17, Z:1.02 [[ 6.66287863e-01 7.45134960e-01 -2.88855697e-02 -4.46153015e+01] [-7.44577123e-01 6.66909937e-01 2.89144076e-02 2.41689212e+01] [ 4.08092094e-02 2.24221553e-03 9.99164441e-01 1.02192741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.00911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-44.56, Y:24.26, Z:1.42 [[ 6.73184706e-01 7.38938533e-01 -2.81459905e-02 -4.45553486e+01] [-7.38399272e-01 6.73770582e-01 2.82792787e-02 2.42550047e+01] [ 3.98605891e-02 1.74580097e-03 9.99203726e-01 1.41800525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-44.02, Y:24.83, Z:-4.70 [[ 7.85958846e-01 -6.16100826e-01 -5.18504018e-02 -4.40195896e+01] [-6.14419458e-01 -7.87656976e-01 4.56641774e-02 2.48293417e+01] [-6.89740681e-02 -4.03226838e-03 -9.97610304e-01 -4.69980060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.06911593299999 meters Centerline goodness [0,1] 0.9993908629441625 Centerline is valid? [True, True] Translation: X:-44.51, Y:24.18, Z:1.37 [[ 7.33246390e-01 6.79205451e-01 -3.20887429e-02 -4.45074808e+01] [-6.78651566e-01 7.33946381e-01 2.74729415e-02 2.41803990e+01] [ 4.22111883e-02 1.63264044e-03 9.99107377e-01 1.36583956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.099115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-44.55, Y:24.17, Z:1.23 [[ 7.25619668e-01 6.87215825e-01 -3.47923607e-02 -4.45493828e+01] [-6.86567393e-01 7.26450059e-01 2.99253471e-02 2.41690602e+01] [ 4.58400846e-02 2.17287994e-03 9.98946428e-01 1.23335966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.129115933 meters Centerline goodness [0,1] 0.9985997199439888 Centerline is valid? [True, True] Translation: X:-44.63, Y:24.11, Z:0.83 [[ 7.38749300e-01 6.73313326e-01 -2.99772796e-02 -4.46318285e+01] [-6.72815072e-01 7.39356559e-01 2.59182993e-02 2.41137901e+01] [ 3.96150346e-02 1.02204002e-03 9.99214494e-01 8.29404448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.159115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-44.55, Y:24.23, Z:1.39 [[ 7.27739827e-01 6.85015555e-01 -3.38885490e-02 -4.45530363e+01] [-6.84388805e-01 7.28526139e-01 2.93534902e-02 2.42308583e+01] [ 4.47962912e-02 1.83123967e-03 9.98994464e-01 1.38556204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.189115933 meters Centerline goodness [0,1] 0.9974718008556982 Centerline is valid? [True, True] Translation: X:-44.61, Y:24.21, Z:1.21 [[ 7.33229726e-01 6.79106170e-01 -3.44815877e-02 -4.46053943e+01] [-6.78445076e-01 7.34038718e-01 2.99906421e-02 2.42092458e+01] [ 4.56776505e-02 1.40383310e-03 9.98955245e-01 1.20549854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.219115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-44.58, Y:24.27, Z:1.42 [[ 7.32908315e-01 6.79471363e-01 -3.41184593e-02 -4.45784424e+01] [-6.78819077e-01 7.33700836e-01 2.97950503e-02 2.42708538e+01] [ 4.52776256e-02 1.32322095e-03 9.98973566e-01 1.41804980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.24911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-44.64, Y:24.24, Z:1.18 [[ 7.33860692e-01 6.78377121e-01 -3.53972795e-02 -4.46406480e+01] [-6.77667920e-01 7.34712878e-01 3.10350938e-02 2.42390974e+01] [ 4.70603347e-02 1.21216543e-03 9.98891313e-01 1.17612338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27911593299999 meters Centerline goodness [0,1] 0.9997991161108879 Centerline is valid? [True, True] Translation: X:-44.67, Y:24.24, Z:1.11 [[ 7.18261376e-01 6.94677881e-01 -3.90286849e-02 -4.46716106e+01] [-6.93833032e-01 7.19316897e-01 3.43354881e-02 2.42392111e+01] [ 5.19260966e-02 2.41753590e-03 9.98648004e-01 1.11373636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-44.66, Y:24.28, Z:1.26 [[ 7.19690924e-01 6.93281514e-01 -3.74928794e-02 -4.46625256e+01] [-6.92493259e-01 7.20663732e-01 3.31190508e-02 2.42818789e+01] [ 4.99805840e-02 2.12808597e-03 9.98747922e-01 1.25631802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33911593299999 meters Centerline goodness [0,1] 0.9986047438708392 Centerline is valid? [True, True] Translation: X:-44.77, Y:24.20, Z:0.72 [[ 7.21866615e-01 6.90999876e-01 -3.77857439e-02 -4.47748702e+01] [-6.90188169e-01 7.22852454e-01 3.35353646e-02 2.41962021e+01] [ 5.04864505e-02 1.87121334e-03 9.98722993e-01 7.19747888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.36911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-44.73, Y:24.27, Z:1.05 [[ 7.20347394e-01 6.92678528e-01 -3.60012189e-02 -4.47296916e+01] [-6.91937479e-01 7.21244215e-01 3.20828283e-02 2.42738357e+01] [ 4.81887571e-02 1.79981094e-03 9.98836625e-01 1.05385990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-44.73, Y:24.30, Z:1.13 [[ 7.14742216e-01 6.98313544e-01 -3.87525197e-02 -4.47342404e+01] [-6.97455809e-01 7.15788482e-01 3.46733940e-02 2.43005336e+01] [ 5.19515079e-02 2.24563144e-03 9.98647084e-01 1.12736709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.42911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-44.74, Y:24.32, Z:1.17 [[ 7.15386883e-01 6.97578186e-01 -4.00784497e-02 -4.47442209e+01] [-6.96651487e-01 7.16505414e-01 3.60096746e-02 2.43211652e+01] [ 5.38359897e-02 2.15986274e-03 9.98547456e-01 1.16940657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-44.79, Y:24.31, Z:1.01 [[ 7.24267515e-01 6.88471919e-01 -3.79866171e-02 -4.47874511e+01] [-6.87619229e-01 7.25261845e-01 3.42790237e-02 2.43091486e+01] [ 5.11503892e-02 1.29314506e-03 9.98690125e-01 1.01007148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.489115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-44.82, Y:24.30, Z:0.90 [[ 7.29730532e-01 6.82766597e-01 -3.63747701e-02 -4.48242320e+01] [-6.81970154e-01 7.30636177e-01 3.29770649e-02 2.43026341e+01] [ 4.90923614e-02 7.42136437e-04 9.98793967e-01 9.01709095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.519115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-44.83, Y:24.32, Z:0.97 [[ 7.24034415e-01 6.88799369e-01 -3.64636279e-02 -4.48327039e+01] [-6.87999647e-01 7.24951259e-01 3.31987617e-02 2.43245668e+01] [ 4.93016390e-02 1.04991718e-03 9.98783383e-01 9.69020407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.549115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-44.87, Y:24.32, Z:0.85 [[ 7.33665329e-01 6.78607761e-01 -3.50241761e-02 -4.48694385e+01] [-6.77850058e-01 7.34500823e-01 3.20599465e-02 2.43160156e+01] [ 4.74814147e-02 2.19868641e-04 9.98872097e-01 8.45717928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.579115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-44.87, Y:24.35, Z:0.93 [[ 7.21873837e-01 6.90994051e-01 -3.77542685e-02 -4.48698731e+01] [-6.90123049e-01 7.22859742e-01 3.46982756e-02 2.43464431e+01] [ 5.12673428e-02 1.00731355e-03 9.98684457e-01 9.32842435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.60911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-44.90, Y:24.35, Z:0.84 [[ 7.30448958e-01 6.82052227e-01 -3.53423306e-02 -4.49007947e+01] [-6.81270887e-01 7.31303428e-01 3.26385359e-02 2.43458543e+01] [ 4.81071536e-02 2.36916441e-04 9.98842153e-01 8.42382820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-44.91, Y:24.37, Z:0.88 [[ 7.31753251e-01 6.80767099e-01 -3.30656286e-02 -4.49108096e+01] [-6.80075559e-01 7.32499935e-01 3.06770057e-02 2.43658779e+01] [ 4.51044670e-02 3.91272517e-05 9.98982275e-01 8.84333245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-44.94, Y:24.37, Z:0.82 [[ 7.36407239e-01 6.75858512e-01 -3.03257287e-02 -4.49371573e+01] [-6.75267345e-01 7.37031315e-01 2.82640091e-02 2.43711209e+01] [ 4.14534828e-02 -3.35846660e-04 9.99140379e-01 8.20626054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-44.97, Y:24.37, Z:0.73 [[ 7.26170805e-01 6.86661818e-01 -3.42273094e-02 -4.49738337e+01] [-6.85914243e-01 7.26976960e-01 3.20335801e-02 2.43652074e+01] [ 4.68787017e-02 2.15148327e-04 9.98900566e-01 7.26446658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-44.96, Y:24.41, Z:0.87 [[ 7.31633243e-01 6.81097798e-01 -2.86109675e-02 -4.49602826e+01] [-6.80566176e-01 7.32192423e-01 2.69060676e-02 2.44086193e+01] [ 3.92743970e-02 -2.13716797e-04 9.99228440e-01 8.74399137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.00, Y:24.40, Z:0.75 [[ 7.33764937e-01 6.78816353e-01 -2.82378396e-02 -4.50017792e+01] [-6.78292111e-01 7.34307961e-01 2.66764209e-02 2.43984336e+01] [ 3.88436612e-02 -4.20718424e-04 9.99245212e-01 7.46944954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.78911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.02, Y:24.41, Z:0.72 [[ 7.34955180e-01 6.77537702e-01 -2.79918936e-02 -4.50240249e+01] [-6.77016983e-01 7.35487821e-01 2.65644519e-02 2.44076597e+01] [ 3.85861145e-02 -5.72694147e-04 9.99255114e-01 7.19570938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.03, Y:24.44, Z:0.77 [[ 7.38355242e-01 6.73961084e-01 -2.46575274e-02 -4.50270361e+01] [-6.73551464e-01 7.38766471e-01 2.35058732e-02 2.44362442e+01] [ 3.40581983e-02 -7.47571056e-04 9.99419572e-01 7.65340334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.849115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.01, Y:24.49, Z:0.95 [[ 7.26377344e-01 6.86690111e-01 -2.88555914e-02 -4.50078763e+01] [-6.86134898e-01 7.26950223e-01 2.76093494e-02 2.44864265e+01] [ 3.99356458e-02 -2.55977610e-04 9.99202221e-01 9.54865411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.879115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.04, Y:24.49, Z:0.86 [[ 7.29276519e-01 6.83700498e-01 -2.66343510e-02 -4.50422507e+01] [-6.83221194e-01 7.29762568e-01 2.56006798e-02 2.44851052e+01] [ 3.69399499e-02 -4.72821580e-04 9.99317375e-01 8.56847463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.909115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.07, Y:24.49, Z:0.81 [[ 7.26408662e-01 6.86724612e-01 -2.71985868e-02 -4.50691489e+01] [-6.86222349e-01 7.26917558e-01 2.62631141e-02 2.44893524e+01] [ 3.78066571e-02 -4.13475456e-04 9.99284987e-01 8.12250171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.939115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.07, Y:24.52, Z:0.83 [[ 7.15174972e-01 6.98289422e-01 -3.02760868e-02 -4.50683360e+01] [-6.97669419e-01 7.15815532e-01 2.94194769e-02 2.45174662e+01] [ 4.22154027e-02 8.26263400e-05 9.99108529e-01 8.29920239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.969115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.11, Y:24.51, Z:0.67 [[ 6.96359355e-01 7.16841997e-01 -3.49456809e-02 -4.51137387e+01] [-7.16032019e-01 6.97234471e-01 3.40916471e-02 2.45050816e+01] [ 4.88036577e-02 1.28218903e-03 9.98807569e-01 6.70177527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.12, Y:24.53, Z:0.72 [[ 6.83146777e-01 7.29459152e-01 -3.46385156e-02 -4.51191310e+01] [-7.28671875e-01 6.84021298e-01 3.39435247e-02 2.45288410e+01] [ 4.84538971e-02 2.05170260e-03 9.98823313e-01 7.23295326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.13, Y:24.55, Z:0.75 [[ 6.85072107e-01 7.27776969e-01 -3.18887308e-02 -4.51265893e+01] [-7.27101653e-01 6.85811821e-01 3.13900067e-02 2.45513217e+01] [ 4.47145925e-02 1.68193079e-03 9.98998387e-01 7.45395689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.14, Y:24.57, Z:0.75 [[ 6.81311605e-01 7.31307951e-01 -3.16729928e-02 -4.51371708e+01] [-7.30639519e-01 6.82045023e-01 3.13126213e-02 2.45712716e+01] [ 4.45015760e-02 1.80788796e-03 9.99007678e-01 7.49098848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.14, Y:24.60, Z:0.78 [[ 6.82473915e-01 7.30201452e-01 -3.21744338e-02 -4.51361309e+01] [-7.29504322e-01 6.83229865e-01 3.19436534e-02 2.46027410e+01] [ 4.53078361e-02 1.67067835e-03 9.98971676e-01 7.83791698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.14, Y:24.63, Z:0.85 [[ 6.73486574e-01 7.38414904e-01 -3.40479676e-02 -4.51405760e+01] [-7.37638332e-01 6.74342874e-01 3.39319838e-02 2.46288653e+01] [ 4.80158869e-02 2.26235050e-03 9.98844010e-01 8.50190697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.14911593299999 meters Centerline goodness [0,1] 0.9992282461894656 Centerline is valid? [True, True] Translation: X:-45.22, Y:24.58, Z:0.52 [[ 6.78903542e-01 7.33414201e-01 -3.45483860e-02 -4.52197863e+01] [-7.32598084e-01 6.79779660e-01 3.46361100e-02 2.45843194e+01] [ 4.88879050e-02 1.79550364e-03 9.98802658e-01 5.21595016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-44.45, Y:25.40, Z:-3.91 [[ 7.89014411e-01 -6.11681197e-01 -5.74662698e-02 -4.44456113e+01] [-6.09629722e-01 -7.91090817e-01 5.02684800e-02 2.54026568e+01] [-7.62093224e-02 -4.62940905e-03 -9.97081094e-01 -3.90986278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.20911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.13, Y:24.55, Z:0.69 [[ 7.42844573e-01 6.68503152e-01 -3.58535454e-02 -4.51266872e+01] [-6.67804573e-01 7.43708294e-01 3.05781792e-02 2.45531685e+01] [ 4.71061883e-02 1.22832713e-03 9.98889132e-01 6.92956059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.239115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.11, Y:24.60, Z:0.82 [[ 7.35049803e-01 6.76988369e-01 -3.72630681e-02 -4.51121463e+01] [-6.76237239e-01 7.35991683e-01 3.19286600e-02 2.46018390e+01] [ 4.90406397e-02 1.72951906e-03 9.98795287e-01 8.19870877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.269115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.15, Y:24.60, Z:0.72 [[ 7.26158103e-01 6.86184814e-01 -4.29512581e-02 -4.51480205e+01] [-6.85194160e-01 7.27422607e-01 3.69501560e-02 2.45960957e+01] [ 5.65983521e-02 2.59829598e-03 9.98393648e-01 7.20868353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.299115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.19, Y:24.58, Z:0.61 [[ 7.29368765e-01 6.82700406e-01 -4.40608578e-02 -4.51897659e+01] [-6.81640976e-01 7.30694922e-01 3.80855719e-02 2.45813394e+01] [ 5.81960805e-02 2.25525957e-03 9.98302624e-01 6.05164389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.329115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.23, Y:24.57, Z:0.47 [[ 7.36116625e-01 6.75407007e-01 -4.42457891e-02 -4.52307472e+01] [-6.74314437e-01 7.37443549e-01 3.84324253e-02 2.45679956e+01] [ 5.85863011e-02 1.54482722e-03 9.98281152e-01 4.71415708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.23, Y:24.60, Z:0.56 [[ 7.35947779e-01 6.75648856e-01 -4.33530703e-02 -4.52301542e+01] [-6.74590090e-01 7.37222261e-01 3.78358075e-02 2.45987298e+01] [ 5.75245686e-02 1.40037310e-03 9.98343109e-01 5.58636813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.38911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.24, Y:24.61, Z:0.56 [[ 7.30437881e-01 6.81543850e-01 -4.42547399e-02 -4.52438991e+01] [-6.80440853e-01 7.31775129e-01 3.87995631e-02 2.46142949e+01] [ 5.88281216e-02 1.77206234e-03 9.98266554e-01 5.58818139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.26, Y:24.63, Z:0.54 [[ 7.45479813e-01 6.65327971e-01 -3.99817254e-02 -4.52617119e+01] [-6.64394889e-01 7.46551136e-01 3.52254607e-02 2.46266613e+01] [ 5.32848868e-02 3.03784182e-04 9.98579305e-01 5.36465182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.32, Y:24.59, Z:0.36 [[ 7.33353215e-01 6.78409681e-01 -4.41969123e-02 -4.53205665e+01] [-6.77281048e-01 7.34682777e-01 3.91356530e-02 2.45944369e+01] [ 5.90207161e-02 1.23347411e-03 9.98255996e-01 3.59146241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.32, Y:24.62, Z:0.42 [[ 7.34924511e-01 6.76689599e-01 -4.44651556e-02 -4.53203030e+01] [-6.75532867e-01 7.36267791e-01 3.95611632e-02 2.46240281e+01] [ 5.95088895e-02 9.63205549e-04 9.98227311e-01 4.24843569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.50911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.35, Y:24.63, Z:0.37 [[ 7.35058267e-01 6.76617112e-01 -4.33431372e-02 -4.53451812e+01] [-6.75507102e-01 7.36334605e-01 3.87492511e-02 2.46279926e+01] [ 5.81334581e-02 7.95639676e-04 9.98308503e-01 3.74465252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.37, Y:24.63, Z:0.31 [[ 7.34861660e-01 6.76834196e-01 -4.32875608e-02 -4.53718533e+01] [-6.75716176e-01 7.36135194e-01 3.88924897e-02 2.46305226e+01] [ 5.81892639e-02 6.69505581e-04 9.98305345e-01 3.09140587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.56911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.38, Y:24.66, Z:0.36 [[ 7.27247331e-01 6.84903214e-01 -4.49322506e-02 -4.53757512e+01] [-6.83702551e-01 7.28633024e-01 4.05553751e-02 2.46568497e+01] [ 6.05156284e-02 1.22650611e-03 9.98166496e-01 3.60080483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.599115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.39, Y:24.68, Z:0.38 [[ 7.27400847e-01 6.84849242e-01 -4.32379794e-02 -4.53855924e+01] [-6.83726637e-01 7.28684041e-01 3.92103869e-02 2.46768096e+01] [ 5.83600293e-02 1.04128955e-03 9.98295058e-01 3.82750951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.629115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.39, Y:24.71, Z:0.44 [[ 7.23794044e-01 6.88800686e-01 -4.09365029e-02 -4.53855573e+01] [-6.87791023e-01 7.24949841e-01 3.72992817e-02 2.47075360e+01] [ 5.53686821e-02 1.15876127e-03 9.98465306e-01 4.37589921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.659115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.40, Y:24.72, Z:0.44 [[ 7.22188535e-01 6.90488990e-01 -4.08494090e-02 -4.54008383e+01] [-6.89476631e-01 7.23341975e-01 3.73946970e-02 2.47212444e+01] [ 5.53687187e-02 1.15869141e-03 9.98465304e-01 4.37836643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.689115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.42, Y:24.73, Z:0.39 [[ 7.16276219e-01 6.96476342e-01 -4.32329085e-02 -4.54237956e+01] [-6.95342277e-01 7.17578012e-01 3.97607291e-02 2.47281433e+01] [ 5.87153917e-02 1.58200429e-03 9.98273510e-01 3.87284335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.719115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.44, Y:24.74, Z:0.34 [[ 7.19835377e-01 6.92978970e-01 -4.02141544e-02 -4.54449296e+01] [-6.91979251e-01 7.20957060e-01 3.72241054e-02 2.47352712e+01] [ 5.47882007e-02 1.03213252e-03 9.98497465e-01 3.44024590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.45, Y:24.76, Z:0.38 [[ 7.11782739e-01 7.01213816e-01 -4.07984851e-02 -4.54537288e+01] [-7.00187882e-01 7.12949344e-01 3.79494706e-02 2.47556973e+01] [ 5.56979463e-02 1.55482672e-03 9.98446454e-01 3.77081490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.49, Y:24.75, Z:0.28 [[ 7.12390374e-01 7.00738101e-01 -3.82892791e-02 -4.54865144e+01] [-6.99824902e-01 7.13417423e-01 3.57866817e-02 2.47530382e+01] [ 5.23933302e-02 1.30170341e-03 9.98625678e-01 2.75531081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.49, Y:24.78, Z:0.33 [[ 7.07695421e-01 7.05531063e-01 -3.73243907e-02 -4.54886516e+01] [-7.04661595e-01 7.08677413e-01 3.50479792e-02 2.47807541e+01] [ 5.11783906e-02 1.49777031e-03 9.98688404e-01 3.25226899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.50, Y:24.80, Z:0.32 [[ 6.94521583e-01 7.18452575e-01 -3.82840494e-02 -4.55037409e+01] [-7.17548371e-01 6.95571843e-01 3.61129692e-02 2.47950210e+01] [ 5.25747625e-02 2.38942077e-03 9.98614132e-01 3.19333746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.86911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.53, Y:24.80, Z:0.26 [[ 6.93971812e-01 7.19078115e-01 -3.64662505e-02 -4.55319960e+01] [-7.18250138e-01 6.94925760e-01 3.45677380e-02 2.47959155e+01] [ 5.01982407e-02 2.20285370e-03 9.98736844e-01 2.63226094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.54, Y:24.82, Z:0.29 [[ 6.85287092e-01 7.27406323e-01 -3.55196094e-02 -4.55362297e+01] [-7.26624267e-01 6.86201954e-01 3.38238407e-02 2.48210807e+01] [ 4.89773009e-02 2.63036871e-03 9.98796428e-01 2.85779212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.92911593299999 meters Centerline goodness [0,1] 0.9998190045248869 Centerline is valid? [True, True] Translation: X:-45.55, Y:24.84, Z:0.29 [[ 6.79367227e-01 7.32982782e-01 -3.45891765e-02 -4.55475285e+01] [-7.32241083e-01 6.80241228e-01 3.30887800e-02 2.48394724e+01] [ 4.77824899e-02 2.84818332e-03 9.98853704e-01 2.86947218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95911593299999 meters Centerline goodness [0,1] 0.9983507421660253 Centerline is valid? [True, True] Translation: X:-45.60, Y:24.82, Z:0.09 [[ 6.82523147e-01 7.30107558e-01 -3.32431500e-02 -4.55999432e+01] [-7.29411761e-01 6.83327906e-01 3.19602267e-02 2.48172482e+01] [ 4.60503752e-02 2.43435012e-03 9.98936153e-01 9.23523134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.989115933 meters Centerline goodness [0,1] 0.9998252969951084 Centerline is valid? [True, True] Translation: X:-45.56, Y:24.89, Z:0.35 [[ 6.66201979e-01 7.44993047e-01 -3.40629323e-02 -4.55581448e+01] [-7.44274282e-01 6.67063381e-01 3.28973864e-02 2.48860046e+01] [ 4.72304589e-02 3.43586058e-03 9.98878110e-01 3.49598357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.019115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.57, Y:24.90, Z:0.35 [[ 6.62128639e-01 7.48611625e-01 -3.41511425e-02 -4.55734302e+01] [-7.47886937e-01 6.62998969e-01 3.31284785e-02 2.49000732e+01] [ 4.74425364e-02 3.60587900e-03 9.98867460e-01 3.52259192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.049115933 meters Centerline goodness [0,1] 0.9993112947658402 Centerline is valid? [True, True] Translation: X:-45.65, Y:24.86, Z:0.08 [[ 6.63124889e-01 7.47746224e-01 -3.37781726e-02 -4.56463952e+01] [-7.47028581e-01 6.63975932e-01 3.29281151e-02 2.48579554e+01] [ 4.70497674e-02 3.39780766e-03 9.98886768e-01 7.97203124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.079115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.60, Y:24.93, Z:0.33 [[ 6.51660551e-01 7.57812553e-01 -3.25370702e-02 -4.56035419e+01] [-7.57152578e-01 6.52460814e-01 3.18568590e-02 2.49267762e+01] [ 4.53706909e-02 3.87566829e-03 9.98962702e-01 3.34109429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.10911593299998 meters Centerline goodness [0,1] 0.9992981224776276 Centerline is valid? [True, True] Translation: X:-45.64, Y:24.92, Z:0.20 [[ 6.53373119e-01 7.56361567e-01 -3.19491241e-02 -4.56433147e+01] [-7.55715802e-01 6.54143920e-01 3.14540581e-02 2.49171518e+01] [ 4.46899660e-02 3.59322191e-03 9.98994442e-01 2.01700895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13911593299999 meters Centerline goodness [0,1] 0.999466097170315 Centerline is valid? [True, True] Translation: X:-45.66, Y:24.93, Z:0.17 [[ 6.50355737e-01 7.59030316e-01 -3.01727409e-02 -4.56601006e+01] [-7.58451467e-01 6.51045995e-01 2.98409850e-02 2.49295845e+01] [ 4.22940544e-02 3.47730385e-03 9.99099155e-01 1.74550952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.64, Y:24.98, Z:0.32 [[ 6.44096168e-01 7.64380704e-01 -2.93643686e-02 -4.56415887e+01] [-7.63832681e-01 6.44754893e-01 2.91678554e-02 2.49751991e+01] [ 4.12281662e-02 3.64256052e-03 9.99143118e-01 3.24186977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.65, Y:24.99, Z:0.35 [[ 6.35317878e-01 7.71628439e-01 -3.09958933e-02 -4.56478429e+01] [-7.71019230e-01 6.36059431e-01 3.09474823e-02 2.49940148e+01] [ 4.35951877e-02 4.23694102e-03 9.99040293e-01 3.48316980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22911593299999 meters Centerline goodness [0,1] 0.9987755815987406 Centerline is valid? [True, True] Translation: X:-45.73, Y:24.94, Z:0.05 [[ 6.47033580e-01 7.61959959e-01 -2.76507994e-02 -4.57305807e+01] [-7.61459626e-01 6.47616808e-01 2.77796120e-02 2.49445983e+01] [ 3.90740745e-02 3.08062558e-03 9.99231568e-01 5.25590340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-44.82, Y:25.80, Z:-3.42 [[ 8.10416572e-01 -5.83811452e-01 -4.88791118e-02 -4.48216621e+01] [-5.82258153e-01 -8.11863884e-01 4.30404129e-02 2.58039427e+01] [-6.48106715e-02 -6.42040257e-03 -9.97876924e-01 -3.41654824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.28911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.58, Y:24.89, Z:0.29 [[ 6.99035440e-01 7.14359414e-01 -3.22502948e-02 -4.55775490e+01] [-7.13837545e-01 6.99768898e-01 2.75581177e-02 2.48862885e+01] [ 4.22541540e-02 3.75737035e-03 9.99099829e-01 2.91046350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31911593299999 meters Centerline goodness [0,1] 0.998458904109589 Centerline is valid? [True, True] Translation: X:-45.64, Y:24.85, Z:0.06 [[ 7.03741004e-01 7.09848604e-01 -2.93863600e-02 -4.56411230e+01] [-7.09405267e-01 7.04347625e-01 2.52703419e-02 2.48470528e+01] [ 3.86363298e-02 3.06306277e-03 9.99248644e-01 6.08531497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.349115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.62, Y:24.90, Z:0.27 [[ 6.94313517e-01 7.18984978e-01 -3.14538153e-02 -4.56162904e+01] [-7.18481703e-01 6.95015528e-01 2.71561969e-02 2.49049463e+01] [ 4.13857877e-02 3.74407625e-03 9.99136226e-01 2.70636728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.379115933 meters Centerline goodness [0,1] 0.9984520123839009 Centerline is valid? [True, True] Translation: X:-45.68, Y:24.87, Z:0.06 [[ 6.99772396e-01 7.13747004e-01 -2.97289055e-02 -4.56752731e+01] [-7.13287716e-01 7.00396503e-01 2.57948193e-02 2.48715235e+01] [ 3.92329965e-02 3.15476057e-03 9.99225110e-01 6.37885494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.409115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.65, Y:24.93, Z:0.26 [[ 6.95885818e-01 7.17504730e-01 -3.04940884e-02 -4.56488334e+01] [-7.17020536e-01 6.96545455e-01 2.65702887e-02 2.49301416e+01] [ 4.03048265e-02 3.37500045e-03 9.99181730e-01 2.63086288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.439115933 meters Centerline goodness [0,1] 0.9994722955145119 Centerline is valid? [True, True] Translation: X:-45.72, Y:24.89, Z:0.02 [[ 6.96452578e-01 7.17018144e-01 -2.89618194e-02 -4.57153195e+01] [-7.16574052e-01 6.97047820e-01 2.54158125e-02 2.48862359e+01] [ 3.84113718e-02 3.05238008e-03 9.99257349e-01 1.55996436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.469115933 meters Centerline goodness [0,1] 0.9982307147912244 Centerline is valid? [True, True] Translation: X:-45.73, Y:24.90, Z:0.01 [[ 6.95925452e-01 7.17517226e-01 -2.92710857e-02 -4.57309668e+01] [-7.17059809e-01 6.96534139e-01 2.57958017e-02 2.48987744e+01] [ 3.88972425e-02 3.03716415e-03 9.99238600e-01 1.43582259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49911593299998 meters Centerline goodness [0,1] 0.9992940345923049 Centerline is valid? [True, True] Translation: X:-45.73, Y:24.93, Z:0.09 [[ 6.91079480e-01 7.22136190e-01 -3.04708773e-02 -4.57323911e+01] [-7.21639813e-01 6.91742825e-01 2.69785859e-02 2.49263006e+01] [ 4.05602240e-02 3.34465108e-03 9.99171498e-01 9.09304313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.73, Y:24.96, Z:0.19 [[ 6.85652107e-01 7.27251124e-01 -3.14163989e-02 -4.57287344e+01] [-7.26723534e-01 6.86361640e-01 2.79393099e-02 2.49591364e+01] [ 4.18819056e-02 3.67438973e-03 9.99115812e-01 1.85512698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.74, Y:24.98, Z:0.24 [[ 6.84127192e-01 7.28687918e-01 -3.13672218e-02 -4.57358857e+01] [-7.28158358e-01 6.84836060e-01 2.80174434e-02 2.49814632e+01] [ 4.18973771e-02 3.67280982e-03 9.99115169e-01 2.36716788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58911593299999 meters Centerline goodness [0,1] 0.9992932862190813 Centerline is valid? [True, True] Translation: X:-45.78, Y:24.96, Z:0.08 [[ 6.91972624e-01 7.21345088e-01 -2.88989780e-02 -4.57838813e+01] [-7.20883417e-01 6.92569882e-01 2.59626171e-02 2.49602360e+01] [ 3.87425681e-02 2.86737369e-03 9.99245111e-01 8.47882492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.77, Y:25.00, Z:0.21 [[ 6.84826558e-01 7.28049215e-01 -3.09342227e-02 -4.57695476e+01] [-7.27521901e-01 6.85516479e-01 2.79113090e-02 2.50044761e+01] [ 4.15267260e-02 3.39091884e-03 9.99131639e-01 2.09689176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.64911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.80, Y:25.01, Z:0.17 [[ 6.84147924e-01 7.28734713e-01 -2.97881958e-02 -4.57952406e+01] [-7.28240884e-01 6.84788587e-01 2.70149173e-02 2.50067180e+01] [ 4.00853245e-02 3.21078241e-03 9.99191102e-01 1.73365980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.82, Y:25.01, Z:0.15 [[ 6.79670745e-01 7.32879761e-01 -3.05767114e-02 -4.58176052e+01] [-7.32356909e-01 6.80349504e-01 2.78910462e-02 2.50127412e+01] [ 4.12436337e-02 3.43633773e-03 9.99143210e-01 1.50423741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.70911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.82, Y:25.03, Z:0.18 [[ 6.71216843e-01 7.40575527e-01 -3.18722098e-02 -4.58247280e+01] [-7.40007878e-01 6.71961538e-01 2.92580349e-02 2.50306548e+01] [ 4.30846837e-02 3.94720052e-03 9.99063626e-01 1.81238115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.739115933 meters Centerline goodness [0,1] 0.999129677980853 Centerline is valid? [True, True] Translation: X:-45.88, Y:25.00, Z:0.02 [[ 6.85838142e-01 7.27239460e-01 -2.73644203e-02 -4.58794644e+01] [-7.26805149e-01 6.86379045e-01 2.52602696e-02 2.50039662e+01] [ 3.71526295e-02 2.56414521e-03 9.99306313e-01 1.74668507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.769115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.84, Y:25.07, Z:0.23 [[ 6.79008717e-01 7.33551526e-01 -2.91431150e-02 -4.58437292e+01] [-7.33059255e-01 6.79627197e-01 2.70370536e-02 2.50673698e+01] [ 3.96395255e-02 3.00523511e-03 9.99209526e-01 2.34707831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.799115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.87, Y:25.07, Z:0.20 [[ 6.67282761e-01 7.44124370e-01 -3.18219783e-02 -4.58676901e+01] [-7.43541433e-01 6.68030050e-01 2.96983210e-02 2.50682611e+01] [ 4.33572821e-02 3.84378165e-03 9.99052237e-01 2.01944809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.829115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.88, Y:25.08, Z:0.20 [[ 6.67680182e-01 7.43794165e-01 -3.11995823e-02 -4.58804924e+01] [-7.43227104e-01 6.68398784e-01 2.92666629e-02 2.50844395e+01] [ 4.26221359e-02 3.64760436e-03 9.99084605e-01 2.04820275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.90, Y:25.09, Z:0.17 [[ 6.62931988e-01 7.47947157e-01 -3.31093571e-02 -4.59003592e+01] [-7.47307333e-01 6.63745848e-01 3.11961424e-02 2.50932337e+01] [ 4.53092643e-02 4.06194461e-03 9.98964750e-01 1.70786747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.88911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.92, Y:25.10, Z:0.14 [[ 6.57888064e-01 7.52238998e-01 -3.63288508e-02 -4.59220273e+01] [-7.51467182e-01 6.58873747e-01 3.43869237e-02 2.50994062e+01] [ 4.98033111e-02 4.67719250e-03 9.98748093e-01 1.38237146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.93, Y:25.12, Z:0.15 [[ 6.60218291e-01 7.50268074e-01 -3.47796689e-02 -4.59342059e+01] [-7.49550275e-01 6.61120220e-01 3.30823276e-02 2.51155124e+01] [ 4.78141565e-02 4.22755256e-03 9.98847303e-01 1.48291654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.96, Y:25.12, Z:0.12 [[ 6.55839655e-01 7.54057156e-01 -3.56672526e-02 -4.59558956e+01] [-7.53298351e-01 6.56793438e-01 3.41170574e-02 2.51221239e+01] [ 4.91522287e-02 4.49276339e-03 9.98781194e-01 1.18678639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.96, Y:25.14, Z:0.15 [[ 6.55204472e-01 7.54654024e-01 -3.47045358e-02 -4.59615372e+01] [-7.53927328e-01 6.56108912e-01 3.33868232e-02 2.51443666e+01] [ 4.79654557e-02 4.28950208e-03 9.98839785e-01 1.50384422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.00911593299999 meters Centerline goodness [0,1] 0.9991502379333786 Centerline is valid? [True, True] Translation: X:-45.97, Y:25.17, Z:0.16 [[ 6.54442944e-01 7.55399360e-01 -3.28060969e-02 -4.59691921e+01] [-7.54743834e-01 6.55252456e-01 3.17169285e-02 2.51653595e+01] [ 4.54552230e-02 4.00327928e-03 9.98958356e-01 1.62946948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.98, Y:25.18, Z:0.14 [[ 6.45632145e-01 7.62912279e-01 -3.35259327e-02 -4.59845441e+01] [-7.62230229e-01 6.46486164e-01 3.25686570e-02 2.51780765e+01] [ 4.65210799e-02 4.52710745e-03 9.98907050e-01 1.36729896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.06911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.00, Y:25.19, Z:0.14 [[ 6.44110274e-01 7.64281013e-01 -3.15672072e-02 -4.59957294e+01] [-7.63669607e-01 6.44869462e-01 3.08562568e-02 2.51936308e+01] [ 4.39395791e-02 4.23208470e-03 9.99025226e-01 1.43136344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.099115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.99, Y:25.22, Z:0.18 [[ 6.45827570e-01 7.62831521e-01 -3.15407561e-02 -4.59939091e+01] [-7.62213192e-01 6.46584693e-01 3.09723362e-02 2.52231916e+01] [ 4.40204444e-02 4.03799178e-03 9.99022470e-01 1.77346873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.129115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.00, Y:25.24, Z:0.21 [[ 6.42012307e-01 7.65999514e-01 -3.26334405e-02 -4.60009579e+01] [-7.65334957e-01 6.42826709e-01 3.21904562e-02 2.52437292e+01] [ 4.56355209e-02 4.30884370e-03 9.98948864e-01 2.07389046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.159115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.01, Y:25.26, Z:0.21 [[ 6.40498123e-01 7.67308346e-01 -3.16236799e-02 -4.60078947e+01] [-7.66676111e-01 6.41265071e-01 3.14141632e-02 2.52604992e+01] [ 4.43835110e-02 4.12440736e-03 9.99006053e-01 2.08139440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.189115933 meters Centerline goodness [0,1] 0.9991343490304709 Centerline is valid? [True, True] Translation: X:-46.06, Y:25.24, Z:0.05 [[ 6.42328252e-01 7.65879125e-01 -2.90444932e-02 -4.60565559e+01] [-7.65337722e-01 6.42974548e-01 2.90155491e-02 2.52425587e+01] [ 4.08972732e-02 3.59133938e-03 9.99156902e-01 4.97493642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.219115933 meters Centerline goodness [0,1] 0.9984177215189873 Centerline is valid? [True, True] Translation: X:-46.08, Y:25.25, Z:0.00 [[ 6.44110858e-01 7.64457243e-01 -2.69504463e-02 -4.60825514e+01] [-7.63983919e-01 6.44666752e-01 2.70804442e-02 2.52453331e+01] [ 3.80758984e-02 3.14689945e-03 9.99269895e-01 4.36474443e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.18, Y:26.14, Z:-3.26 [[ 8.20299771e-01 -5.69734652e-01 -5.01070085e-02 -4.51758621e+01] [-5.68078394e-01 -8.21792624e-01 4.40887911e-02 2.61438656e+01] [-6.62964820e-02 -7.70131637e-03 -9.97770247e-01 -3.25910430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27911593299999 meters Centerline goodness [0,1] 0.999657944244912 Centerline is valid? [True, True] Translation: X:-45.97, Y:25.19, Z:0.13 [[ 6.89412969e-01 7.23650049e-01 -3.22546933e-02 -4.59677753e+01] [-7.23137871e-01 6.90153550e-01 2.75625976e-02 2.51898030e+01] [ 4.22063662e-02 4.32257803e-03 9.99099564e-01 1.31742569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30911593299999 meters Centerline goodness [0,1] 0.9980832897717372 Centerline is valid? [True, True] Translation: X:-46.00, Y:25.18, Z:0.02 [[ 7.03945310e-01 7.09785041e-01 -2.58107767e-02 -4.60046746e+01] [-7.09443007e-01 7.04413214e-01 2.21955637e-02 2.51797316e+01] [ 3.39355312e-02 2.68681208e-03 9.99420412e-01 2.14631608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.99, Y:25.23, Z:0.18 [[ 6.84549423e-01 7.28274631e-01 -3.17513750e-02 -4.59873515e+01] [-7.27772050e-01 6.85271570e-01 2.73992265e-02 2.52281182e+01] [ 4.17124762e-02 4.35163858e-03 9.99120179e-01 1.82097756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.36911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.00, Y:25.25, Z:0.20 [[ 6.84902077e-01 7.28019515e-01 -2.99454583e-02 -4.59983139e+01] [-7.27567567e-01 6.85544693e-01 2.59597527e-02 2.52465489e+01] [ 3.94281566e-02 4.00745570e-03 9.99214372e-01 2.01801020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.01, Y:25.27, Z:0.24 [[ 6.82361266e-01 7.30360316e-01 -3.09340056e-02 -4.60051176e+01] [-7.29875698e-01 6.83049165e-01 2.69314845e-02 2.52700394e+01] [ 4.07991342e-02 4.20097709e-03 9.99158537e-01 2.36874716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.42911593299999 meters Centerline goodness [0,1] 0.998972250770812 Centerline is valid? [True, True] Translation: X:-46.07, Y:25.23, Z:0.01 [[ 6.83013962e-01 7.29759943e-01 -3.06977640e-02 -4.60712379e+01] [-7.29275381e-01 6.83691645e-01 2.68914993e-02 2.52282818e+01] [ 4.06121438e-02 4.01985404e-03 9.99166900e-01 1.45012055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.05, Y:25.28, Z:0.17 [[ 6.87586889e-01 7.25564486e-01 -2.79364676e-02 -4.60525932e+01] [-7.25155735e-01 6.88145995e-01 2.45814677e-02 2.52781848e+01] [ 3.70598083e-02 3.35639484e-03 9.99307413e-01 1.67193567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.489115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.06, Y:25.30, Z:0.19 [[ 6.82554571e-01 7.30224574e-01 -2.98551333e-02 -4.60598778e+01] [-7.29757553e-01 6.83196747e-01 2.63840546e-02 2.53006725e+01] [ 3.96632149e-02 3.77845194e-03 9.99205961e-01 1.92923034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.519115933 meters Centerline goodness [0,1] 0.9988255033557047 Centerline is valid? [True, True] Translation: X:-46.13, Y:25.26, Z:-0.02 [[ 6.81916323e-01 7.30789113e-01 -3.06170134e-02 -4.61273661e+01] [-7.30293290e-01 6.82592609e-01 2.71852988e-02 2.52589123e+01] [ 4.07656674e-02 3.82130049e-03 9.99161427e-01 -1.87992212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.549115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.13, Y:25.29, Z:0.05 [[ 6.88038539e-01 7.25159481e-01 -2.73257294e-02 -4.61266142e+01] [-7.24755297e-01 6.88574332e-01 2.43956602e-02 2.52882769e+01] [ 3.65065402e-02 3.01931273e-03 9.99328853e-01 5.16178604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.579115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.14, Y:25.30, Z:0.05 [[ 6.86412369e-01 7.26700907e-01 -2.72736270e-02 -4.61419808e+01] [-7.26295638e-01 6.86947342e-01 2.44539387e-02 2.53020210e+01] [ 3.65062450e-02 3.02323030e-03 9.99328852e-01 5.18607516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.15, Y:25.32, Z:0.08 [[ 6.91132557e-01 7.22229270e-01 -2.68452906e-02 -4.61522421e+01] [-7.21829195e-01 6.91648599e-01 2.41832329e-02 2.53203446e+01] [ 3.60333463e-02 2.66389494e-03 9.99347038e-01 7.95829131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.18, Y:25.32, Z:0.05 [[ 6.86698961e-01 7.26293147e-01 -3.07050796e-02 -4.61775425e+01] [-7.25768748e-01 6.87377606e-01 2.77804047e-02 2.53235468e+01] [ 4.12827017e-02 3.20801217e-03 9.99142356e-01 4.92065537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.21, Y:25.32, Z:-0.02 [[ 6.87018247e-01 7.26024508e-01 -2.99055656e-02 -4.62111897e+01] [-7.25520904e-01 6.87662249e-01 2.72038298e-02 2.53178512e+01] [ 4.03155756e-02 3.00758555e-03 9.99182470e-01 -1.97400895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.21, Y:25.35, Z:0.07 [[ 6.88952595e-01 7.24121112e-01 -3.15108972e-02 -4.62110437e+01] [-7.23553813e-01 6.89666516e-01 2.88093118e-02 2.53464714e+01] [ 4.25934416e-02 2.95157968e-03 9.99088128e-01 6.50259431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.21, Y:25.37, Z:0.11 [[ 6.86781673e-01 7.26156461e-01 -3.20582074e-02 -4.62126249e+01] [-7.25565765e-01 6.87522762e-01 2.94410078e-02 2.53737776e+01] [ 4.34195253e-02 3.04079323e-03 9.99052300e-01 1.14235051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.24, Y:25.37, Z:0.06 [[ 6.90186864e-01 7.22984125e-01 -3.05949074e-02 -4.62435694e+01] [-7.22435240e-01 6.90859822e-01 2.82848056e-02 2.53689020e+01] [ 4.15862577e-02 2.58103797e-03 9.99131584e-01 5.58830902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.78911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.25, Y:25.38, Z:0.06 [[ 6.91728089e-01 7.21485212e-01 -3.11663353e-02 -4.62542580e+01] [-7.20905737e-01 6.92425682e-01 2.90102156e-02 2.53823541e+01] [ 4.25108125e-02 2.40080892e-03 9.99093122e-01 6.32413249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.27, Y:25.40, Z:0.09 [[ 6.94670213e-01 7.18697418e-01 -3.01217121e-02 -4.62660468e+01] [-7.18148127e-01 6.95319900e-01 2.81692031e-02 2.53993397e+01] [ 4.11893594e-02 2.06354481e-03 9.99149227e-01 8.68706732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.849115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.29, Y:25.41, Z:0.07 [[ 6.97145671e-01 7.16254987e-01 -3.10919145e-02 -4.62852728e+01] [-7.15661635e-01 6.97836105e-01 2.92095164e-02 2.54088087e+01] [ 4.26185223e-02 1.88800246e-03 9.99089634e-01 7.33447850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.879115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.30, Y:25.42, Z:0.07 [[ 6.93465446e-01 7.19641687e-01 -3.49502199e-02 -4.63028923e+01] [-7.18888877e-01 6.94341972e-01 3.29849725e-02 2.54205063e+01] [ 4.80047658e-02 2.25138564e-03 9.98844569e-01 6.58391349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.909115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.31, Y:25.45, Z:0.11 [[ 6.97398887e-01 7.15919631e-01 -3.30737811e-02 -4.63061110e+01] [-7.15233616e-01 6.98180460e-01 3.13834370e-02 2.54462075e+01] [ 4.55594863e-02 1.76870606e-03 9.98960062e-01 1.13261487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.939115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.32, Y:25.47, Z:0.13 [[ 6.94127733e-01 7.19080620e-01 -3.33129586e-02 -4.63152219e+01] [-7.18381627e-01 6.94924090e-01 3.17544679e-02 2.54664094e+01] [ 4.59839999e-02 1.88976062e-03 9.98940389e-01 1.28170982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.969115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.34, Y:25.47, Z:0.09 [[ 6.86909224e-01 7.26003746e-01 -3.27762050e-02 -4.63409265e+01] [-7.25327719e-01 6.87687213e-01 3.14005978e-02 2.54702790e+01] [ 4.53367287e-02 2.20412976e-03 9.98969330e-01 8.80968354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.34, Y:25.50, Z:0.14 [[ 6.87370543e-01 7.25510578e-01 -3.40020180e-02 -4.63434910e+01] [-7.24775095e-01 6.88207669e-01 3.27301981e-02 2.54961206e+01] [ 4.71465545e-02 2.14604178e-03 9.98885678e-01 1.41947350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.38, Y:25.49, Z:0.05 [[ 6.87955017e-01 7.24927833e-01 -3.46053746e-02 -4.63750115e+01] [-7.24154861e-01 6.88821936e-01 3.35272615e-02 2.54925720e+01] [ 4.81417862e-02 1.99440252e-03 9.98838521e-01 5.48612534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.38, Y:25.52, Z:0.10 [[ 6.81570289e-01 7.30859360e-01 -3.61460532e-02 -4.63800975e+01] [-7.30016743e-01 6.82523810e-01 3.51682224e-02 2.55159172e+01] [ 5.03735664e-02 2.41760855e-03 9.98727520e-01 1.00317848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.39, Y:25.53, Z:0.09 [[ 6.74038852e-01 7.37738871e-01 -3.75896919e-02 -4.63942326e+01] [-7.36828987e-01 6.75079832e-01 3.67459419e-02 2.55298822e+01] [ 5.24849526e-02 2.92898216e-03 9.98617420e-01 9.24868782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.41, Y:25.55, Z:0.10 [[ 6.75278210e-01 7.36662128e-01 -3.64451434e-02 -4.64054946e+01] [-7.35796407e-01 6.76255822e-01 3.58009969e-02 2.55469403e+01] [ 5.10194790e-02 2.64057241e-03 9.98694167e-01 1.02169475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.14911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.42, Y:25.56, Z:0.09 [[ 6.78467833e-01 7.33863052e-01 -3.35621941e-02 -4.64233252e+01] [-7.33117668e-01 6.79294128e-01 3.31356799e-02 2.55572565e+01] [ 4.71156525e-02 2.12354452e-03 9.98887184e-01 8.91828513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.45, Y:25.56, Z:0.04 [[ 6.78203727e-01 7.34109547e-01 -3.35093677e-02 -4.64497567e+01] [-7.33359271e-01 6.79028024e-01 3.32433692e-02 2.55602521e+01] [ 4.71580744e-02 2.02862858e-03 9.98885379e-01 4.45181439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.20911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.46, Y:25.58, Z:0.05 [[ 6.70990851e-01 7.40623722e-01 -3.53239333e-02 -4.64619956e+01] [-7.39790618e-01 6.71915332e-01 3.52083572e-02 2.55764892e+01] [ 4.98108369e-02 2.50782894e-03 9.98755521e-01 5.11006247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.239115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.49, Y:25.58, Z:0.01 [[ 6.69844190e-01 7.41670994e-01 -3.51126345e-02 -4.64883187e+01] [-7.40840892e-01 6.70759346e-01 3.51663560e-02 2.55795377e+01] [ 4.96339939e-02 2.45689620e-03 9.98764452e-01 9.95522509e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.269115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.52, Y:26.54, Z:-3.10 [[ 7.90265507e-01 -6.10266187e-01 -5.52775658e-02 -4.55185796e+01] [-6.08367930e-01 -7.92183364e-01 4.83112857e-02 2.65404676e+01] [-7.32727122e-02 -4.54964443e-03 -9.97301564e-01 -3.09860780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.299115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.39, Y:25.50, Z:0.07 [[ 7.36239695e-01 6.75965153e-01 -3.19722372e-02 -4.63869719e+01] [-6.75418691e-01 7.36931948e-01 2.72194052e-02 2.54973538e+01] [ 4.19607324e-02 1.55464008e-03 9.99118051e-01 7.48061824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.329115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.39, Y:25.52, Z:0.12 [[ 7.32233573e-01 6.80243434e-01 -3.32094209e-02 -4.63931824e+01] [-6.79651533e-01 7.32984164e-01 2.84254965e-02 2.55221068e+01] [ 4.36782369e-02 1.75673098e-03 9.99044106e-01 1.17998185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.42, Y:25.52, Z:0.06 [[ 7.28066538e-01 6.84648678e-01 -3.42827204e-02 -4.64221486e+01] [-6.84016412e-01 7.28870532e-01 2.94838182e-02 2.55206436e+01] [ 4.51737218e-02 1.98376194e-03 9.98977177e-01 5.91927753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.43, Y:25.54, Z:0.07 [[ 7.32799682e-01 6.79665915e-01 -3.25402641e-02 -4.64345260e+01] [-6.79084894e-01 7.33520317e-01 2.81363101e-02 2.55376200e+01] [ 4.29922358e-02 1.47932271e-03 9.99074311e-01 7.06296154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.46, Y:25.55, Z:0.05 [[ 7.29036673e-01 6.83670439e-01 -3.31701774e-02 -4.64552544e+01] [-6.83065248e-01 7.29789004e-01 2.88075802e-02 2.55468446e+01] [ 4.39021218e-02 1.65561304e-03 9.99034465e-01 4.86707209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.46, Y:25.58, Z:0.11 [[ 7.32762000e-01 6.79799188e-01 -3.05436650e-02 -4.64553550e+01] [-6.79277431e-01 7.33397293e-01 2.66567419e-02 2.55770117e+01] [ 4.05218727e-02 1.21457475e-03 9.99177913e-01 1.13264112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.49, Y:25.57, Z:0.06 [[ 7.27090018e-01 6.85875078e-01 -3.02569613e-02 -4.64860575e+01] [-6.85363448e-01 7.27717855e-01 2.65267464e-02 2.55743956e+01] [ 4.02125652e-02 1.44968285e-03 9.99190096e-01 6.47247631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.50911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.50, Y:25.59, Z:0.07 [[ 7.25924742e-01 6.87069637e-01 -3.11220669e-02 -4.64976884e+01] [-6.86524238e-01 7.26590089e-01 2.74100793e-02 2.55930800e+01] [ 4.14456186e-02 1.46839853e-03 9.99139682e-01 7.44467703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.50, Y:25.62, Z:0.11 [[ 7.15968762e-01 6.97290904e-01 -3.42655348e-02 -4.65037000e+01] [-6.96635138e-01 7.16784970e-01 3.03115812e-02 2.56173977e+01] [ 4.56970102e-02 2.16843033e-03 9.98952992e-01 1.07940536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.56911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.52, Y:25.63, Z:0.09 [[ 7.21211418e-01 6.91990701e-01 -3.16695445e-02 -4.65201895e+01] [-6.91419667e-01 7.21904654e-01 2.81516223e-02 2.56311202e+01] [ 4.23430524e-02 1.59367449e-03 9.99101860e-01 9.46084524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.599115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.53, Y:25.65, Z:0.12 [[ 7.25807535e-01 6.87276374e-01 -2.92336774e-02 -4.65283846e+01] [-6.86781090e-01 7.26395154e-01 2.61115619e-02 2.56528984e+01] [ 3.91810611e-02 1.12516845e-03 9.99231494e-01 1.20681041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.629115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.55, Y:25.66, Z:0.07 [[ 7.12592999e-01 7.00824669e-01 -3.24961766e-02 -4.65547975e+01] [-7.00220453e-01 7.13330840e-01 2.91621304e-02 2.56553068e+01] [ 4.36180653e-02 1.97375755e-03 9.99046330e-01 7.38322624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.659115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.57, Y:25.67, Z:0.06 [[ 7.09581076e-01 7.03928614e-01 -3.12922266e-02 -4.65723587e+01] [-7.03365968e-01 7.10267932e-01 2.82095671e-02 2.56682225e+01] [ 4.20833865e-02 1.99291231e-03 9.99112114e-01 5.63843423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.689115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.60, Y:25.66, Z:-0.01 [[ 7.09168521e-01 7.04439668e-01 -2.90648166e-02 -4.66039662e+01] [-7.03949459e-01 7.09761632e-01 2.63360110e-02 2.56643903e+01] [ 3.91812225e-02 1.78349195e-03 9.99230529e-01 -1.38969372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.719115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.62, Y:25.68, Z:-0.00 [[ 7.09978005e-01 7.03715074e-01 -2.67642755e-02 -4.66155059e+01] [-7.03294526e-01 7.10480673e-01 2.43725984e-02 2.56813598e+01] [ 3.61668654e-02 1.51915964e-03 9.99344610e-01 -3.08601304e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.74911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.65, Y:25.68, Z:-0.09 [[ 7.11543414e-01 7.02101577e-01 -2.75562483e-02 -4.66500391e+01] [-7.01650189e-01 7.12075436e-01 2.52108342e-02 2.56763205e+01] [ 3.73226939e-02 1.39624383e-03 9.99302290e-01 -9.42264828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.64, Y:25.72, Z:0.02 [[ 7.10484901e-01 7.03188506e-01 -2.71501447e-02 -4.66378594e+01] [-7.02746739e-01 7.11002187e-01 2.49581848e-02 2.57189965e+01] [ 3.68541209e-02 1.34726222e-03 9.99319748e-01 1.54708149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.65, Y:25.73, Z:0.00 [[ 6.98739732e-01 7.14698716e-01 -3.11212494e-02 -4.66529762e+01] [-7.14123613e-01 6.99429174e-01 2.87453625e-02 2.57328231e+01] [ 4.23113835e-02 2.13889219e-03 9.99102183e-01 4.50643620e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.66, Y:25.76, Z:0.03 [[ 7.04934138e-01 7.08742844e-01 -2.74124533e-02 -4.66605327e+01] [-7.08287137e-01 7.05465388e-01 2.54542307e-02 2.57550168e+01] [ 3.73790408e-02 1.47233192e-03 9.99300075e-01 2.91025827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.86911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.67, Y:25.77, Z:0.04 [[ 7.04319576e-01 7.09365670e-01 -2.70976071e-02 -4.66735562e+01] [-7.08916683e-01 7.04839245e-01 2.52740047e-02 2.57722519e+01] [ 3.70279682e-02 1.40896945e-03 9.99313236e-01 4.11733203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.69, Y:25.77, Z:0.01 [[ 6.98487442e-01 7.15083232e-01 -2.77716661e-02 -4.66908652e+01] [-7.14603858e-01 6.99037649e-01 2.62238799e-02 2.57728837e+01] [ 3.81656969e-02 1.52868897e-03 9.99270255e-01 9.09571828e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.92911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.70, Y:25.79, Z:0.02 [[ 6.92758354e-01 7.20642841e-01 -2.75637216e-02 -4.67010665e+01] [-7.20170695e-01 6.93304307e-01 2.61401582e-02 2.57915622e+01] [ 3.79477648e-02 1.74177154e-03 9.99278206e-01 1.89966487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95911593299999 meters Centerline goodness [0,1] 0.999834656084656 Centerline is valid? [True, True] Translation: X:-46.71, Y:25.81, Z:0.04 [[ 6.84494110e-01 7.28397599e-01 -3.00790885e-02 -4.67095662e+01] [-7.27833281e-01 6.85151111e-01 2.87518689e-02 2.58058741e+01] [ 4.15515132e-02 2.21207674e-03 9.99133914e-01 4.14302404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.989115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.72, Y:25.83, Z:0.05 [[ 6.95139160e-01 7.18451880e-01 -2.46666797e-02 -4.67188120e+01] [-7.18062411e-01 6.95575547e-01 2.36861350e-02 2.58256995e+01] [ 3.41748874e-02 1.24705553e-03 9.99415090e-01 4.87987828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.019115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.75, Y:25.82, Z:-0.01 [[ 6.99564644e-01 7.14187411e-01 -2.33591560e-02 -4.67506478e+01] [-7.13830346e-01 6.99953992e-01 2.25974589e-02 2.58195383e+01] [ 3.24891552e-02 8.66091099e-04 9.99471713e-01 -5.11371829e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.049115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.79, Y:25.81, Z:-0.08 [[ 7.03864163e-01 7.10058931e-01 -1.97877393e-02 -4.67872884e+01] [-7.09798031e-01 7.04142082e-01 1.92531419e-02 2.58124099e+01] [ 2.76042453e-02 4.93701812e-04 9.99618808e-01 -8.43233091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.079115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.79, Y:25.84, Z:-0.02 [[ 7.20216429e-01 6.93656150e-01 -1.13772380e-02 -4.67861757e+01] [-6.93566725e-01 7.20306274e-01 1.11386200e-02 2.58429938e+01] [ 1.59214682e-02 -1.31343407e-04 9.99873237e-01 -2.28467850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.10911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.81, Y:25.85, Z:-0.06 [[ 7.13882008e-01 7.00166561e-01 -1.18010719e-02 -4.68111269e+01] [-7.00070394e-01 7.13979542e-01 1.16041910e-02 2.58487546e+01] [ 1.65505904e-02 -2.24421147e-05 9.99863029e-01 -6.32075838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.83, Y:25.86, Z:-0.06 [[ 7.22839294e-01 6.90978581e-01 -7.20804042e-03 -4.68295412e+01] [-6.90941482e-01 7.22875205e-01 7.16292961e-03 2.58578963e+01] [ 1.01599446e-02 -1.97312852e-04 9.99948367e-01 -5.61370363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.16911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.84, Y:25.87, Z:-0.04 [[ 7.28499853e-01 6.85043411e-01 -1.86825323e-03 -4.68431118e+01] [-6.85040796e-01 7.28502241e-01 1.89518576e-03 2.58747792e+01] [ 2.65931118e-03 -1.00812862e-04 9.99996459e-01 -4.19719860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.86, Y:25.89, Z:-0.04 [[ 7.37341751e-01 6.75502573e-01 4.83904224e-03 -4.68583878e+01] [-6.75485744e-01 7.37357587e-01 -4.77489021e-03 2.58909575e+01] [-6.79355513e-03 2.52021862e-04 9.99976892e-01 -4.14840699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.22911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.86, Y:25.92, Z:-0.01 [[ 7.30561865e-01 6.82825584e-01 5.34638190e-03 -4.68648658e+01] [-6.82805008e-01 7.30581392e-01 -5.30570284e-03 2.59151470e+01] [-7.52883677e-03 2.25607824e-04 9.99971632e-01 -8.04654574e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.88, Y:25.93, Z:-0.00 [[ 7.32135264e-01 6.81130004e-01 6.31449531e-03 -4.68773730e+01] [-6.81100938e-01 7.32162427e-01 -6.30017652e-03 2.59334926e+01] [-8.91447548e-03 3.11772717e-04 9.99960217e-01 -3.54962988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.28911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-45.94, Y:26.86, Z:-3.13 [[ 7.25028889e-01 -6.88708279e-01 -3.74383296e-03 -4.59413139e+01] [-6.88693575e-01 -7.25038190e-01 4.55868677e-03 2.68624354e+01] [-5.85402720e-03 -7.26825896e-04 -9.99982601e-01 -3.13377633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.79, Y:25.85, Z:0.02 [[ 7.83215479e-01 6.21656091e-01 1.08267821e-02 -4.67938839e+01] [-6.21587699e-01 7.83290146e-01 -9.23471076e-03 2.58467447e+01] [-1.42213259e-02 5.02973839e-04 9.99898745e-01 1.59132752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.349115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.79, Y:25.89, Z:0.11 [[ 7.90945494e-01 6.11636658e-01 1.74878344e-02 -4.67882396e+01] [-6.11454981e-01 7.91137990e-01 -1.49494866e-02 2.58880169e+01] [-2.29789442e-02 1.13120561e-03 9.99735309e-01 1.12946818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.379115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.81, Y:25.90, Z:0.10 [[ 7.82219508e-01 6.22764498e-01 1.72342931e-02 -4.68114657e+01] [-6.22589373e-01 7.82408892e-01 -1.47918419e-02 2.58992891e+01] [-2.26960982e-02 8.40579528e-04 9.99742057e-01 1.02192274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.409115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.82, Y:25.92, Z:0.13 [[ 7.84222422e-01 6.20122377e-01 2.10577929e-02 -4.68223115e+01] [-6.19857979e-01 7.84504209e-01 -1.81447673e-02 2.59243365e+01] [-2.77719034e-02 1.17669238e-03 9.99613594e-01 1.32537916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.439115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.81, Y:25.97, Z:0.23 [[ 7.76184106e-01 6.30183181e-01 2.01839556e-02 -4.68134710e+01] [-6.29942330e-01 7.76446059e-01 -1.74407263e-02 2.59722877e+01] [-2.66626052e-02 8.22486523e-04 9.99644151e-01 2.31019389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.469115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.83, Y:25.99, Z:0.23 [[ 7.75401277e-01 6.31146831e-01 2.01627489e-02 -4.68323896e+01] [-6.30905670e-01 7.75662944e-01 -1.74652241e-02 2.59884390e+01] [-2.66626180e-02 8.21764485e-04 9.99644151e-01 2.31327290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.85, Y:26.00, Z:0.22 [[ 7.64907002e-01 6.43840503e-01 1.96643304e-02 -4.68532742e+01] [-6.43614136e-01 7.65159619e-01 -1.70763493e-02 2.60023390e+01] [-2.60407969e-02 4.05578074e-04 9.99660799e-01 2.15047138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.89, Y:26.00, Z:0.13 [[ 7.58729851e-01 6.51119233e-01 1.93069296e-02 -4.68907468e+01] [-6.50902108e-01 7.58975433e-01 -1.68147998e-02 2.59982244e+01] [-2.56019248e-02 1.90969400e-04 9.99672199e-01 1.29786918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.90, Y:26.02, Z:0.15 [[ 7.53289966e-01 6.57274002e-01 2.33476664e-02 -4.69048866e+01] [-6.56957363e-01 7.53651700e-01 -2.03994589e-02 2.60188600e+01] [-3.10040425e-02 2.82863688e-05 9.99519259e-01 1.54546755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.90, Y:26.06, Z:0.26 [[ 7.45197432e-01 6.66443639e-01 2.31011434e-02 -4.68968697e+01] [-6.66136357e-01 7.45555351e-01 -2.02378920e-02 2.60637544e+01] [-3.07105954e-02 -3.07286365e-04 9.99528271e-01 2.55295261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.90, Y:26.10, Z:0.29 [[ 7.39920629e-01 6.72293167e-01 2.32241262e-02 -4.69017930e+01] [-6.71983864e-01 7.40284832e-01 -2.03973861e-02 2.60964343e+01] [-3.09054916e-02 -5.13791311e-04 9.99522179e-01 2.85078832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.64911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.91, Y:26.12, Z:0.31 [[ 7.40863774e-01 6.71205127e-01 2.45875136e-02 -4.69124086e+01] [-6.70855956e-01 7.41271524e-01 -2.16521052e-02 2.61204051e+01] [-3.27590277e-02 -4.53419564e-04 9.99463176e-01 3.08351418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.95, Y:26.12, Z:0.23 [[ 7.33044696e-01 6.79820852e-01 2.21152034e-02 -4.69500464e+01] [-6.79540608e-01 7.33377872e-01 -1.95309653e-02 2.61170515e+01] [-2.94963583e-02 -7.11108247e-04 9.99564635e-01 2.33382660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.70911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.98, Y:26.12, Z:0.21 [[ 7.23514910e-01 6.89986441e-01 2.10923101e-02 -4.69760055e+01] [-6.89734273e-01 7.23821557e-01 -1.86811783e-02 2.61247223e+01] [-2.81568285e-02 -1.03197813e-03 9.99602985e-01 2.13888313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.739115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.98, Y:26.15, Z:0.27 [[ 7.19083448e-01 6.94666682e-01 1.88996487e-02 -4.69819135e+01] [-6.94464755e-01 7.19330997e-01 -1.67815875e-02 2.61541079e+01] [-2.52527129e-02 -1.05777806e-03 9.99680540e-01 2.72282174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.769115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.98, Y:26.19, Z:0.32 [[ 7.12690363e-01 7.01219842e-01 1.90572781e-02 -4.69843647e+01] [-7.01015573e-01 7.12943991e-01 -1.69714751e-02 2.61870433e+01] [-2.54875070e-02 -1.26404194e-03 9.99674342e-01 3.18850764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.799115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.05, Y:26.16, Z:0.14 [[ 6.96896542e-01 7.17065244e-01 1.23549634e-02 -4.70465025e+01] [-7.16981356e-01 6.97005068e-01 -1.10304354e-02 2.61558143e+01] [-1.65210140e-02 -1.17120608e-03 9.99862833e-01 1.36408710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.829115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.06, Y:26.17, Z:0.15 [[ 6.95279137e-01 7.18632002e-01 1.24485990e-02 -4.70618330e+01] [-7.18546346e-01 6.95389559e-01 -1.11584245e-02 2.61716199e+01] [-1.66754267e-02 -1.18667557e-03 9.99860251e-01 1.50948003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85911593299998 meters Centerline goodness [0,1] 0.9996519923438316 Centerline is valid? [True, True] Translation: X:-47.05, Y:26.22, Z:0.28 [[ 6.99761165e-01 7.14212597e-01 1.53192231e-02 -4.70467870e+01] [-7.14080532e-01 6.99927647e-01 -1.37942667e-02 2.62209642e+01] [-2.05743868e-02 -1.28646681e-03 9.99787497e-01 2.79880408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.88911593299999 meters Centerline goodness [0,1] 0.9996473906911142 Centerline is valid? [True, True] Translation: X:-47.05, Y:26.25, Z:0.34 [[ 6.95313336e-01 7.18558746e-01 1.45840357e-02 -4.70511437e+01] [-7.18439119e-01 6.95465023e-01 -1.31770204e-02 2.62513113e+01] [-1.96111500e-02 -1.31558376e-03 9.99806817e-01 3.43507499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.05, Y:26.29, Z:0.43 [[ 6.87564099e-01 7.26043407e-01 1.07972620e-02 -4.70459374e+01] [-7.25978412e-01 6.87647968e-01 -9.77842551e-03 2.62921142e+01] [-1.45242767e-02 -1.11528482e-03 9.99893895e-01 4.29441261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.94911593299999 meters Centerline goodness [0,1] 0.9991238829507623 Centerline is valid? [True, True] Translation: X:-47.11, Y:26.26, Z:0.25 [[ 6.67933855e-01 7.44219630e-01 1.22787387e-03 -4.71111500e+01] [-7.44218857e-01 6.67934958e-01 -1.08874145e-03 2.62571540e+01] [-1.63040265e-03 -1.86599614e-04 9.99998653e-01 2.50841086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97911593299999 meters Centerline goodness [0,1] 0.9996384017356716 Centerline is valid? [True, True] Translation: X:-47.09, Y:26.32, Z:0.43 [[ 6.60915486e-01 7.50459455e-01 -1.15155962e-03 -4.70854323e+01] [-7.50458690e-01 6.60916473e-01 1.08234541e-03 2.63162444e+01] [ 1.57334107e-03 1.48859077e-04 9.99998751e-01 4.32626818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.00911593299999 meters Centerline goodness [0,1] 0.9998193641618497 Centerline is valid? [True, True] Translation: X:-47.11, Y:26.32, Z:0.41 [[ 6.49184056e-01 7.60602487e-01 -6.62706986e-03 -4.71127764e+01] [-7.60578740e-01 6.49216988e-01 6.10590371e-03 2.63206353e+01] [ 8.94657188e-03 1.07655311e-03 9.99959399e-01 4.08899483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03911593299999 meters Centerline goodness [0,1] 0.9998186105568656 Centerline is valid? [True, True] Translation: X:-47.12, Y:26.34, Z:0.44 [[ 6.42322195e-01 7.66341783e-01 -1.19360235e-02 -4.71220679e+01] [-7.66265423e-01 6.42429748e-01 1.10145482e-02 2.63434201e+01] [ 1.61089651e-02 2.07127330e-03 9.99868097e-01 4.36152896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.06911593299999 meters Centerline goodness [0,1] 0.9985890652557319 Centerline is valid? [True, True] Translation: X:-47.19, Y:26.31, Z:0.22 [[ 6.36313374e-01 7.71241864e-01 -1.70668209e-02 -4.71855874e+01] [-7.71086077e-01 6.36534657e-01 1.58079554e-02 2.63087736e+01] [ 2.30553800e-02 3.10117456e-03 9.99729379e-01 2.21659582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.099115933 meters Centerline goodness [0,1] 0.9987421383647799 Centerline is valid? [True, True] Translation: X:-47.18, Y:26.34, Z:0.27 [[ 6.19512969e-01 7.84633677e-01 -2.35302867e-02 -4.71845819e+01] [-7.84344328e-01 6.19940227e-01 2.18652822e-02 2.63399773e+01] [ 3.17436081e-02 4.91002101e-03 9.99483984e-01 2.72880611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.129115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.18, Y:26.37, Z:0.40 [[ 6.07162986e-01 7.94047140e-01 -2.90215038e-02 -4.71777604e+01] [-7.93612960e-01 6.07820401e-01 2.70708174e-02 2.63743786e+01] [ 3.91353672e-02 6.59544315e-03 9.99212151e-01 4.02178861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.159115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.18, Y:26.40, Z:0.45 [[ 6.06031470e-01 7.94874589e-01 -3.00040777e-02 -4.71764681e+01] [-7.94406619e-01 6.06735629e-01 2.81069482e-02 2.64048792e+01] [ 4.05460418e-02 6.80174273e-03 9.99154520e-01 4.52665124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.189115933 meters Centerline goodness [0,1] 0.9992766726943942 Centerline is valid? [True, True] Translation: X:-47.25, Y:26.36, Z:0.19 [[ 6.09797057e-01 7.91863287e-01 -3.31675023e-02 -4.72509442e+01] [-7.91280802e-01 6.10655812e-01 3.12117246e-02 2.63589429e+01] [ 4.49693470e-02 7.21199000e-03 9.98962334e-01 1.88562862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.219115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.20, Y:26.43, Z:0.47 [[ 5.96331151e-01 8.01901202e-01 -3.66554349e-02 -4.72038856e+01] [-8.01200198e-01 5.97393120e-01 3.46367215e-02 2.64321450e+01] [ 4.96729332e-02 8.71338574e-03 9.98727529e-01 4.66023722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.24911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.21, Y:26.46, Z:0.52 [[ 5.83240546e-01 8.11261941e-01 -4.10430067e-02 -4.72066555e+01] [-8.10393992e-01 5.84587981e-01 3.89675485e-02 2.64569465e+01] [ 5.56061375e-02 1.05335517e-02 9.98397216e-01 5.23418788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.18, Y:26.51, Z:0.67 [[ 5.90728338e-01 8.05917657e-01 -3.92015419e-02 -4.71847558e+01] [-8.05106584e-01 5.91951657e-01 3.73714258e-02 2.65078475e+01] [ 5.33237096e-02 9.48505920e-03 9.98532231e-01 6.67669200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30911593299999 meters Centerline goodness [0,1] 0.9993045897079277 Centerline is valid? [True, True] Translation: X:-47.27, Y:26.45, Z:0.35 [[ 5.99555551e-01 7.99427630e-01 -3.80605558e-02 -4.72684639e+01] [-7.98640909e-01 6.00701825e-01 3.64693967e-02 2.64547033e+01] [ 5.20176887e-02 8.53128761e-03 9.98609722e-01 3.46406997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.22, Y:26.54, Z:0.64 [[ 5.90393090e-01 8.06110753e-01 -4.02672721e-02 -4.72158167e+01] [-8.05237191e-01 5.91687377e-01 3.87183797e-02 2.65352013e+01] [ 5.50369388e-02 9.56564122e-03 9.98438498e-01 6.42539768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.36911593299999 meters Centerline goodness [0,1] 0.9998243456876866 Centerline is valid? [True, True] Translation: X:-47.24, Y:26.54, Z:0.61 [[ 5.92461580e-01 8.04596133e-01 -4.01788443e-02 -4.72394742e+01] [-8.03714571e-01 5.93749404e-01 3.87883195e-02 2.65412563e+01] [ 5.50650967e-02 9.31173348e-03 9.98439346e-01 6.12156420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39911593299999 meters Centerline goodness [0,1] 0.9996571820363387 Centerline is valid? [True, True] Translation: X:-47.26, Y:26.55, Z:0.56 [[ 6.09386011e-01 7.92102261e-01 -3.49670919e-02 -4.72611352e+01] [-7.91407058e-01 6.10348175e-01 3.39112730e-02 2.65490085e+01] [ 4.82032967e-02 7.00814796e-03 9.98812959e-01 5.63873320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.42911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.26, Y:26.59, Z:0.65 [[ 6.02615855e-01 7.97125891e-01 -3.80058587e-02 -4.72556649e+01] [-7.96307383e-01 6.03760453e-01 3.69846766e-02 2.65856894e+01] [ 5.24278778e-02 7.97679343e-03 9.98592854e-01 6.46150360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.31, Y:26.56, Z:0.49 [[ 6.24510051e-01 7.80351141e-01 -3.22380594e-02 -4.73106567e+01] [-7.79733666e-01 6.25317776e-01 3.15133155e-02 2.65619643e+01] [ 4.47504833e-02 5.45671790e-03 9.98983292e-01 4.90844431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.489115933 meters Centerline goodness [0,1] 0.9993051936772624 Centerline is valid? [True, True] Translation: X:-47.31, Y:26.59, Z:0.55 [[ 6.40491117e-01 7.67456382e-01 -2.79612407e-02 -4.73107555e+01] [-7.66975466e-01 6.41089477e-01 2.74393374e-02 2.65927935e+01] [ 3.89841518e-02 3.87093375e-03 9.99232331e-01 5.47668478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.519115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.32, Y:26.61, Z:0.57 [[ 6.43990017e-01 7.64552431e-01 -2.71374016e-02 -4.73249800e+01] [-7.64092776e-01 6.44551955e-01 2.67396053e-02 2.66100668e+01] [ 3.79352955e-02 3.51545362e-03 9.99274014e-01 5.67101686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.549115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.35, Y:26.61, Z:0.50 [[ 6.49081158e-01 7.60256752e-01 -2.65202225e-02 -4.73549700e+01] [-7.59809772e-01 6.49615264e-01 2.62510543e-02 2.66101728e+01] [ 3.71854826e-02 3.11125948e-03 9.99303537e-01 4.98426252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.579115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.38, Y:26.62, Z:0.46 [[ 6.48907533e-01 7.60412240e-01 -2.63104464e-02 -4.73780905e+01] [-7.59967804e-01 6.49433708e-01 2.61686039e-02 2.66156719e+01] [ 3.69858175e-02 3.01408804e-03 9.99311245e-01 4.58211950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.60911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.40, Y:26.62, Z:0.41 [[ 6.62997138e-01 7.48286460e-01 -2.24091380e-02 -4.74045990e+01] [-7.47954097e-01 6.63372959e-01 2.23827248e-02 2.66201957e+01] [ 3.16143061e-02 1.92132405e-03 9.99498296e-01 4.14657015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.43, Y:26.63, Z:0.38 [[ 6.62362974e-01 7.48862280e-01 -2.19220441e-02 -4.74263969e+01] [-7.48541627e-01 6.62723082e-01 2.19897371e-02 2.66299860e+01] [ 3.09955293e-02 1.84437494e-03 9.99517821e-01 3.80121477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.66911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-46.67, Y:27.36, Z:-3.40 [[ 7.92416159e-01 -6.08522166e-01 -4.21592723e-02 -4.66701935e+01] [-6.07393759e-01 -7.93527255e-01 3.72467175e-02 2.73574551e+01] [-5.61199849e-02 -3.90762194e-03 -9.98416385e-01 -3.39762258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.35, Y:26.53, Z:0.38 [[ 7.27716520e-01 6.85481139e-01 -2.33296682e-02 -4.73472465e+01] [-6.85193670e-01 7.28088841e-01 1.99066299e-02 2.65332090e+01] [ 3.06316904e-02 1.49895752e-03 9.99529616e-01 3.77695474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.37, Y:26.54, Z:0.33 [[ 7.29039317e-01 6.84091884e-01 -2.28028062e-02 -4.73719441e+01] [-6.83813556e-01 7.29394621e-01 1.95577832e-02 2.65401992e+01] [ 3.00115650e-02 1.33447509e-03 9.99548661e-01 3.28684005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.38, Y:26.57, Z:0.38 [[ 7.29217360e-01 6.83911781e-01 -2.25103685e-02 -4.73776963e+01] [-6.83638198e-01 7.29563638e-01 1.93833057e-02 2.65684738e+01] [ 2.96792174e-02 1.25430473e-03 9.99558688e-01 3.83758497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.78911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.38, Y:26.60, Z:0.45 [[ 7.32553166e-01 6.80413788e-01 -2.00732578e-02 -4.73795598e+01] [-6.80193416e-01 7.32827520e-01 1.73419172e-02 2.66010015e+01] [ 2.65099153e-02 9.49821485e-04 9.99648099e-01 4.51823078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.40, Y:26.61, Z:0.42 [[ 7.35185345e-01 6.77563762e-01 -2.02449540e-02 -4.74005922e+01] [-6.77336705e-01 7.35463597e-01 1.75580647e-02 2.66129396e+01] [ 2.67861351e-02 8.04218619e-04 9.99640864e-01 4.24855099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.849115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.40, Y:26.65, Z:0.52 [[ 7.28195753e-01 6.85018452e-01 -2.19241010e-02 -4.73976030e+01] [-6.84753736e-01 7.28524853e-01 1.90751269e-02 2.66506558e+01] [ 2.90390664e-02 1.12218368e-03 9.99577647e-01 5.18185097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.879115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.40, Y:26.68, Z:0.57 [[ 7.26307613e-01 6.87034158e-01 -2.14782876e-02 -4.74019762e+01] [-6.86779791e-01 7.26624214e-01 1.87288822e-02 2.66811064e+01] [ 2.84740257e-02 1.14792410e-03 9.99593874e-01 5.69072858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.909115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.44, Y:26.68, Z:0.50 [[ 7.20087394e-01 6.93452389e-01 -2.44526011e-02 -4.74367094e+01] [-6.93123069e-01 7.20500845e-01 2.14229831e-02 2.66767426e+01] [ 3.24739386e-02 1.52224185e-03 9.99471423e-01 5.00046382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.939115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.44, Y:26.71, Z:0.57 [[ 7.24481935e-01 6.88854925e-01 -2.45930403e-02 -4.74379449e+01] [-6.88515953e-01 7.24898148e-01 2.16438800e-02 2.67063690e+01] [ 3.27369427e-02 1.25210049e-03 9.99463218e-01 5.70268452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.969115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.45, Y:26.72, Z:0.55 [[ 7.19077477e-01 6.94492914e-01 -2.46409087e-02 -4.74545402e+01] [-6.94154555e-01 7.19498018e-01 2.17268445e-02 2.67239057e+01] [ 3.28182246e-02 1.48131449e-03 9.99460239e-01 5.52685867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.44, Y:26.78, Z:0.70 [[ 7.14896070e-01 6.98753019e-01 -2.58423583e-02 -4.74398190e+01] [-6.98381680e-01 7.15360934e-01 2.28421350e-02 2.67750847e+01] [ 3.44476244e-02 1.71807709e-03 9.99405028e-01 7.02854979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.02911593299999 meters Centerline goodness [0,1] 0.9998237574903066 Centerline is valid? [True, True] Translation: X:-47.47, Y:26.78, Z:0.64 [[ 7.09660576e-01 7.04094654e-01 -2.51512374e-02 -4.74697748e+01] [-7.03743664e-01 7.10103672e-01 2.23076322e-02 2.67798892e+01] [ 3.35666706e-02 1.86917687e-03 9.99434733e-01 6.36150009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.47, Y:26.81, Z:0.70 [[ 7.10487846e-01 7.03269948e-01 -2.48676580e-02 -4.74728507e+01] [-7.02924592e-01 7.10920698e-01 2.21083600e-02 2.68123365e+01] [ 3.32270780e-02 1.77236730e-03 9.99446257e-01 6.96008823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.08911593299999 meters Centerline goodness [0,1] 0.9991623387502094 Centerline is valid? [True, True] Translation: X:-47.57, Y:26.74, Z:0.35 [[ 7.16732062e-01 6.96969994e-01 -2.29778001e-02 -4.75726793e+01] [-6.96668746e-01 7.17099126e-01 2.05305339e-02 2.67400346e+01] [ 3.07865264e-02 1.29302323e-03 9.99525146e-01 3.49687031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.46, Y:26.89, Z:0.89 [[ 7.09034146e-01 7.04790599e-01 -2.32549119e-02 -4.74630666e+01] [-7.04485400e-01 7.09413523e-01 2.08032366e-02 2.68914161e+01] [ 3.11592746e-02 1.63254086e-03 9.99513099e-01 8.88832081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.14911593299999 meters Centerline goodness [0,1] 0.9998282967032966 Centerline is valid? [True, True] Translation: X:-47.49, Y:26.90, Z:0.85 [[ 7.09998346e-01 7.03864194e-01 -2.18528256e-02 -4.74895444e+01] [-7.03592989e-01 7.10333056e-01 1.95922229e-02 2.69015827e+01] [ 2.93130486e-02 1.46504903e-03 9.99569207e-01 8.46502531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.52, Y:26.90, Z:0.79 [[ 7.11379161e-01 7.02492570e-01 -2.10684094e-02 -4.75239502e+01] [-7.02238679e-01 7.11689839e-01 1.89317694e-02 2.69021178e+01] [ 2.82936003e-02 1.32738572e-03 9.99598775e-01 7.94766145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.20911593299999 meters Centerline goodness [0,1] 0.9996501049685095 Centerline is valid? [True, True] Translation: X:-47.54, Y:26.92, Z:0.80 [[ 7.00641955e-01 7.13112335e-01 -2.39091770e-02 -4.75379424e+01] [-7.12789928e-01 7.01047050e-01 2.15302667e-02 2.69238334e+01] [ 3.21149568e-02 1.95721242e-03 9.99482265e-01 7.99302127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.239115933 meters Centerline goodness [0,1] 0.9996607294317218 Centerline is valid? [True, True] Translation: X:-47.59, Y:26.91, Z:0.70 [[ 6.95370146e-01 7.18161478e-01 -2.65415016e-02 -4.75861883e+01] [-7.17765709e-01 6.95872385e-01 2.39585014e-02 2.69081483e+01] [ 3.56755708e-02 2.39055311e-03 9.99360565e-01 6.98000761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.269115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.59, Y:26.94, Z:0.75 [[ 6.96239746e-01 7.17356263e-01 -2.54991860e-02 -4.75923334e+01] [-7.16988330e-01 6.96703014e-01 2.30790954e-02 2.69364705e+01] [ 3.43212934e-02 2.21403522e-03 9.99408398e-01 7.49090633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.299115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.60, Y:26.96, Z:0.78 [[ 7.00505047e-01 7.13273896e-01 -2.30874081e-02 -4.76030863e+01] [-7.12968460e-01 7.00883127e-01 2.09479589e-02 2.69605648e+01] [ 3.11232070e-02 1.78644292e-03 9.99513959e-01 7.80407084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.329115933 meters Centerline goodness [0,1] 0.999828825744608 Centerline is valid? [True, True] Translation: X:-47.65, Y:26.95, Z:0.66 [[ 6.97655402e-01 7.16021238e-01 -2.43007463e-02 -4.76517715e+01] [-7.15682058e-01 6.98075752e-01 2.21231961e-02 2.69459344e+01] [ 3.28044400e-02 1.95724086e-03 9.99459873e-01 6.58533900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.67, Y:26.96, Z:0.69 [[ 6.89096545e-01 7.24153856e-01 -2.73339610e-02 -4.76689061e+01] [-7.23728953e-01 6.89633562e-01 2.49390003e-02 2.69631079e+01] [ 3.69100901e-02 2.59700001e-03 9.99315216e-01 6.85410663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.69, Y:26.98, Z:0.69 [[ 6.88179978e-01 7.25026138e-01 -2.73023256e-02 -4.76865777e+01] [-7.24600553e-01 6.88716455e-01 2.49736448e-02 2.69791959e+01] [ 3.69101061e-02 2.59691793e-03 9.99315216e-01 6.85707322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.74, Y:26.96, Z:0.52 [[ 6.92814083e-01 7.20586841e-01 -2.76269973e-02 -4.77403577e+01] [-7.20143315e-01 6.93360853e-01 2.53837104e-02 2.69572269e+01] [ 3.74466461e-02 2.30920544e-03 9.99295960e-01 5.19476458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.74, Y:26.99, Z:0.61 [[ 6.92982086e-01 7.20397814e-01 -2.83340321e-02 -4.77358768e+01] [-7.19927530e-01 6.93557302e-01 2.61270022e-02 2.69949568e+01] [ 3.84731102e-02 2.29290526e-03 9.99257005e-01 6.11803990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47911593299999 meters Centerline goodness [0,1] 0.9996470795835539 Centerline is valid? [True, True] Translation: X:-47.76, Y:27.00, Z:0.59 [[ 6.84815178e-01 7.27931916e-01 -3.38126843e-02 -4.77601639e+01] [-7.27266230e-01 6.85642106e-01 3.12847130e-02 2.70031434e+01] [ 4.59565412e-02 3.16657714e-03 9.98938421e-01 5.93804575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.50911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.81, Y:26.98, Z:0.48 [[ 6.94810935e-01 7.18504893e-01 -3.14401382e-02 -4.78091327e+01] [-7.17914718e-01 6.95518169e-01 2.92050524e-02 2.69849993e+01] [ 4.28511604e-02 2.27934818e-03 9.99078867e-01 4.78120631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53911593299999 meters Centerline goodness [0,1] 0.9994784422809457 Centerline is valid? [True, True] Translation: X:-47.83, Y:26.99, Z:0.46 [[ 6.84283461e-01 7.28293560e-01 -3.66692736e-02 -4.78320988e+01] [-7.27497801e-01 6.85257427e-01 3.41936995e-02 2.69938684e+01] [ 5.00309432e-02 3.27863288e-03 9.98742287e-01 4.61633645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.56911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.85, Y:27.01, Z:0.43 [[ 6.96140906e-01 7.17014410e-01 -3.57515753e-02 -4.78516349e+01] [-7.16235619e-01 6.97054570e-01 3.34882700e-02 2.70056290e+01] [ 4.89323711e-02 2.29399705e-03 9.98799460e-01 4.30360466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.599115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.89, Y:27.00, Z:0.36 [[ 6.95435165e-01 7.17626864e-01 -3.71700997e-02 -4.78874755e+01] [-7.16778556e-01 6.96423906e-01 3.49606213e-02 2.70013866e+01] [ 5.09748271e-02 2.32988494e-03 9.98697221e-01 3.64909438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.629115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.87, Y:27.05, Z:0.47 [[ 7.04844533e-01 7.08585478e-01 -3.31783597e-02 -4.78741657e+01] [-7.07893356e-01 7.05623605e-01 3.13420419e-02 2.70452488e+01] [ 4.56199496e-02 1.39547348e-03 9.98957893e-01 4.74572125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.659115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.91, Y:27.04, Z:0.40 [[ 7.02658245e-01 7.10731999e-01 -3.36365176e-02 -4.79097365e+01] [-7.10016632e-01 7.03461370e-01 3.19136812e-02 2.70416509e+01] [ 4.63440652e-02 1.45807565e-03 9.98924472e-01 3.96206772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.689115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.92, Y:27.06, Z:0.43 [[ 7.00159397e-01 7.13201302e-01 -3.34771743e-02 -4.79187590e+01] [-7.12489517e-01 7.00957619e-01 3.18920711e-02 2.70637467e+01] [ 4.62115470e-02 1.52260245e-03 9.98930515e-01 4.29503119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.719115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.94, Y:27.07, Z:0.39 [[ 6.89032395e-01 7.23805664e-01 -3.66021804e-02 -4.79437731e+01] [-7.22962306e-01 6.89999918e-01 3.50088290e-02 2.70702661e+01] [ 5.05950902e-02 2.33977939e-03 9.98716507e-01 3.94428546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.74911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.96, Y:27.08, Z:0.36 [[ 6.85765826e-01 7.26928462e-01 -3.60588898e-02 -4.79598132e+01] [-7.26106524e-01 6.86708912e-01 3.46436945e-02 2.70849922e+01] [ 4.99454485e-02 2.42513335e-03 9.98749003e-01 3.60369261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.98, Y:27.09, Z:0.32 [[ 6.80181973e-01 7.32176144e-01 -3.56451679e-02 -4.79841674e+01] [-7.31372905e-01 6.81110067e-01 3.43911401e-02 2.70918540e+01] [ 4.94586551e-02 2.67767647e-03 9.98772582e-01 3.20289471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.80911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.98, Y:27.12, Z:0.37 [[ 6.69838214e-01 7.41632479e-01 -3.60282304e-02 -4.79830773e+01] [-7.40818156e-01 6.70798256e-01 3.49021546e-02 2.71237295e+01] [ 5.00522456e-02 3.31157029e-03 9.98741111e-01 3.69520796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.00, Y:27.14, Z:0.37 [[ 6.70443926e-01 7.41167542e-01 -3.42872713e-02 -4.79977407e+01] [-7.40422500e-01 6.71313305e-01 3.33611782e-02 2.71398043e+01] [ 4.77437238e-02 3.02026789e-03 9.98855052e-01 3.70682234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.86911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.04, Y:27.13, Z:0.28 [[ 6.73664256e-01 7.38318101e-01 -3.26014180e-02 -4.80370575e+01] [-7.37634662e-01 6.74447713e-01 3.18651499e-02 2.71319193e+01] [ 4.55145688e-02 2.58152346e-03 9.98960339e-01 2.75077778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.03, Y:27.17, Z:0.36 [[ 6.69868029e-01 7.41749472e-01 -3.29324266e-02 -4.80297985e+01] [-7.41047053e-01 6.70671587e-01 3.23865238e-02 2.71661754e+01] [ 4.61095297e-02 2.70978085e-03 9.98932715e-01 3.55639953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.92911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.04, Y:27.18, Z:0.36 [[ 6.57953434e-01 7.52157720e-01 -3.68244883e-02 -4.80422048e+01] [-7.51288467e-01 6.58972445e-01 3.63449513e-02 2.71844428e+01] [ 5.16034588e-02 3.75252790e-03 9.98660604e-01 3.64316343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95911593299999 meters Centerline goodness [0,1] 0.999825814318063 Centerline is valid? [True, True] Translation: X:-48.06, Y:27.19, Z:0.34 [[ 6.60866416e-01 7.49735192e-01 -3.39517457e-02 -4.80638939e+01] [-7.48986270e-01 6.61730288e-01 3.36540116e-02 2.71935586e+01] [ 4.76984953e-02 3.18858533e-03 9.98856690e-01 3.43114986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.989115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.08, Y:27.21, Z:0.32 [[ 6.67920967e-01 7.43565477e-01 -3.14954394e-02 -4.80797542e+01] [-7.42908038e-01 6.68658627e-01 3.13574234e-02 2.72087601e+01] [ 4.43759947e-02 2.45393456e-03 9.99011886e-01 3.22835023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.019115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.10, Y:27.22, Z:0.30 [[ 6.64556006e-01 7.46548488e-01 -3.21040522e-02 -4.81003626e+01] [-7.45862811e-01 6.65325870e-01 3.20960096e-02 2.72195087e+01] [ 4.53208839e-02 2.61562266e-03 9.98969057e-01 3.04353115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.049115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.12, Y:27.23, Z:0.29 [[ 6.72074831e-01 7.39938766e-01 -2.83909262e-02 -4.81188770e+01] [-7.39390261e-01 6.72671799e-01 2.85428054e-02 2.72295232e+01] [ 4.02177036e-02 1.80907323e-03 9.99189303e-01 2.89883663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.079115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.39, Y:28.03, Z:-3.23 [[ 7.99697104e-01 -5.97836556e-01 -5.54616385e-02 -4.73892155e+01] [-5.95880761e-01 -8.01596483e-01 4.86743968e-02 2.80300756e+01] [-7.35571882e-02 -5.87625084e-03 -9.97273688e-01 -3.22660756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.10911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.09, Y:27.18, Z:0.28 [[ 7.29852789e-01 6.82843408e-01 -3.22457192e-02 -4.80930135e+01] [-6.82289405e-01 7.30562342e-01 2.75650542e-02 2.71801202e+01] [ 4.23801237e-02 1.88248091e-03 9.99099785e-01 2.79778757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.12, Y:27.18, Z:0.22 [[ 7.20616831e-01 6.92461774e-01 -3.47573797e-02 -4.81240633e+01] [-6.91822643e-01 7.21450117e-01 2.98522852e-02 2.71796331e+01] [ 4.57472820e-02 2.53388314e-03 9.98949831e-01 2.18972970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.16911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.16, Y:27.17, Z:0.16 [[ 7.40979710e-01 6.70980028e-01 -2.71085069e-02 -4.81578781e+01] [-6.70572262e-01 7.41474951e-01 2.34038228e-02 2.71742683e+01] [ 3.58037765e-02 8.36454953e-04 9.99358489e-01 1.55567217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19911593299999 meters Centerline goodness [0,1] 0.9989839119390347 Centerline is valid? [True, True] Translation: X:-48.18, Y:27.19, Z:0.14 [[ 7.32145949e-01 6.80457401e-01 -3.06599814e-02 -4.81773016e+01] [-6.79939763e-01 7.32786318e-01 2.65731240e-02 2.71861250e+01] [ 4.05490938e-02 1.39153537e-03 9.99176578e-01 1.42099511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.22911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.20, Y:27.19, Z:0.11 [[ 7.40571601e-01 6.71471469e-01 -2.60724003e-02 -4.82024000e+01] [-6.71087772e-01 7.41030096e-01 2.27068136e-02 2.71915354e+01] [ 3.45674108e-02 6.80847664e-04 9.99402137e-01 1.11549362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.21, Y:27.21, Z:0.13 [[ 7.42608564e-01 6.69184905e-01 -2.69087960e-02 -4.82143415e+01] [-6.68770430e-01 7.43095760e-01 2.35542830e-02 2.72087518e+01] [ 3.57579828e-02 5.04194736e-04 9.99360352e-01 1.32502219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.28911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.24, Y:27.21, Z:0.10 [[ 7.31903047e-01 6.80758621e-01 -2.97595263e-02 -4.82408841e+01] [-6.80257074e-01 7.32506982e-01 2.61502088e-02 2.72130689e+01] [ 3.96010409e-02 1.10471076e-03 9.99214960e-01 1.01176543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.24, Y:27.24, Z:0.16 [[ 7.29605565e-01 6.83184071e-01 -3.05817751e-02 -4.82440056e+01] [-6.82651738e-01 7.30245248e-01 2.69904067e-02 2.72418017e+01] [ 4.07716119e-02 1.18435095e-03 9.99167790e-01 1.63533104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.349115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.26, Y:27.26, Z:0.16 [[ 7.26918683e-01 6.86086058e-01 -2.95829304e-02 -4.82584279e+01] [-6.85585658e-01 7.27519375e-01 2.62271624e-02 2.72576871e+01] [ 3.95162455e-02 1.21661851e-03 9.99218187e-01 1.57530802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.379115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.28, Y:27.27, Z:0.15 [[ 7.28555926e-01 6.84314727e-01 -3.03251775e-02 -4.82818243e+01] [-6.83782736e-01 7.29185997e-01 2.69991071e-02 2.72657334e+01] [ 4.05885815e-02 1.06547334e-03 9.99175376e-01 1.53495670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.409115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.29, Y:27.30, Z:0.20 [[ 7.18846307e-01 6.94412218e-01 -3.24292761e-02 -4.82851788e+01] [-6.93808665e-01 7.19575515e-01 2.89933538e-02 2.72952018e+01] [ 4.34686522e-02 1.65794748e-03 9.99053416e-01 1.96989522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.439115933 meters Centerline goodness [0,1] 0.9996489380375636 Centerline is valid? [True, True] Translation: X:-48.29, Y:27.33, Z:0.25 [[ 7.26506674e-01 6.86599452e-01 -2.77352546e-02 -4.82855569e+01] [-6.86148040e-01 7.27035297e-01 2.49107258e-02 2.73264701e+01] [ 3.72681997e-02 9.32682048e-04 9.99304864e-01 2.51323407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.469115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.31, Y:27.33, Z:0.23 [[ 7.25983890e-01 6.87111742e-01 -2.87201141e-02 -4.83094564e+01] [-6.86623905e-01 7.26551181e-01 2.59035621e-02 2.73339018e+01] [ 3.86652745e-02 9.14348156e-04 9.99251800e-01 2.30594147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.33, Y:27.34, Z:0.21 [[ 7.16496910e-01 6.96861241e-01 -3.18840032e-02 -4.83314447e+01] [-6.96263288e-01 7.17204423e-01 2.89006972e-02 2.73409927e+01] [ 4.30071238e-02 1.49240071e-03 9.99073651e-01 2.12125185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.52911593299999 meters Centerline goodness [0,1] 0.9998267198059262 Centerline is valid? [True, True] Translation: X:-48.36, Y:27.35, Z:0.18 [[ 7.23568163e-01 6.89648657e-01 -2.88763445e-02 -4.83558032e+01] [-6.89147809e-01 7.24143607e-01 2.62932341e-02 2.73471162e+01] [ 3.90437139e-02 8.75122481e-04 9.99237120e-01 1.77694882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.36, Y:27.37, Z:0.22 [[ 7.22547585e-01 6.90769212e-01 -2.76203308e-02 -4.83621585e+01] [-6.90307800e-01 7.23074842e-01 2.52569687e-02 2.73732973e+01] [ 3.74183027e-02 8.17168089e-04 9.99299356e-01 2.19135076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.58911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.37, Y:27.39, Z:0.24 [[ 7.19071903e-01 6.94322692e-01 -2.91821413e-02 -4.83744777e+01] [-6.93806092e-01 7.19663145e-01 2.67967336e-02 2.73918982e+01] [ 3.96068918e-02 9.77969232e-04 9.99214861e-01 2.35281850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61911593299999 meters Centerline goodness [0,1] 0.9998292641283933 Centerline is valid? [True, True] Translation: X:-48.41, Y:27.39, Z:0.18 [[ 7.18188936e-01 6.95218295e-01 -2.96002445e-02 -4.84057098e+01] [-6.94682606e-01 7.18798033e-01 2.73031868e-02 2.73912260e+01] [ 4.02582725e-02 9.53928304e-04 9.99188852e-01 1.79201475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.64911593299999 meters Centerline goodness [0,1] 0.9996497373029772 Centerline is valid? [True, True] Translation: X:-48.39, Y:27.44, Z:0.30 [[ 7.18406835e-01 6.95070430e-01 -2.77257444e-02 -4.83890847e+01] [-6.94596213e-01 7.18941198e-01 2.56837345e-02 2.74396368e+01] [ 3.77851842e-02 8.06826665e-04 9.99285559e-01 3.00573656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.39, Y:27.47, Z:0.36 [[ 7.14771725e-01 6.98771882e-01 -2.86223314e-02 -4.83893074e+01] [-6.98264893e-01 7.15343940e-01 2.66305682e-02 2.74708316e+01] [ 3.90835035e-02 9.51191976e-04 9.99235495e-01 3.57154227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.70911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.42, Y:27.47, Z:0.30 [[ 7.11602308e-01 7.01986828e-01 -2.89248896e-02 -4.84209326e+01] [-7.01467219e-01 7.12189141e-01 2.70253136e-02 2.74710661e+01] [ 3.95714064e-02 1.05858635e-03 9.99216184e-01 3.03321388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.739115933 meters Centerline goodness [0,1] 0.9996540989277066 Centerline is valid? [True, True] Translation: X:-48.45, Y:27.47, Z:0.26 [[ 7.06490897e-01 7.07063847e-01 -3.05176856e-02 -4.84504336e+01] [-7.06485267e-01 7.07148454e-01 2.86291907e-02 2.74729190e+01] [ 4.18231999e-02 1.33403269e-03 9.99124137e-01 2.61374333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.769115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.44, Y:27.51, Z:0.34 [[ 7.14525164e-01 6.99075805e-01 -2.73277970e-02 -4.84446336e+01] [-6.98601732e-01 7.15047229e-01 2.57503449e-02 2.75099122e+01] [ 3.75421086e-02 6.91976958e-04 9.99294807e-01 3.40904327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.799115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.48, Y:27.50, Z:0.26 [[ 7.14846093e-01 6.98805034e-01 -2.58183441e-02 -4.84832629e+01] [-6.98378327e-01 7.15311958e-01 2.44236766e-02 2.75022756e+01] [ 3.55355585e-02 5.71802177e-04 9.99368249e-01 2.57121473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.829115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.47, Y:27.54, Z:0.35 [[ 7.08731271e-01 7.04930765e-01 -2.77957198e-02 -4.84735794e+01] [-7.04437454e-01 7.09275572e-01 2.63824907e-02 2.75449044e+01] [ 3.83126544e-02 8.82249942e-04 9.99265411e-01 3.54901900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85911593299998 meters Centerline goodness [0,1] 0.9991289198606271 Centerline is valid? [True, True] Translation: X:-48.52, Y:27.53, Z:0.23 [[ 7.07935556e-01 7.05751948e-01 -2.72293260e-02 -4.85236010e+01] [-7.05274762e-01 7.08458543e-01 2.59615774e-02 2.75269182e+01] [ 3.76132825e-02 8.25032648e-04 9.99292030e-01 2.32351943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.88911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.53, Y:27.55, Z:0.27 [[ 6.98611643e-01 7.14889967e-01 -2.95653104e-02 -4.85276829e+01] [-7.14330768e-01 6.99235669e-01 2.83025151e-02 2.75548100e+01] [ 4.09063037e-02 1.34694435e-03 9.99162079e-01 2.66739925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91911593299999 meters Centerline goodness [0,1] 0.9998258749782344 Centerline is valid? [True, True] Translation: X:-48.58, Y:27.53, Z:0.13 [[ 6.95303401e-01 7.18088198e-01 -3.00419835e-02 -4.85810697e+01] [-7.17508422e-01 6.95950558e-01 2.88874497e-02 2.75331482e+01] [ 4.16514719e-02 1.46983417e-03 9.99131120e-01 1.28407568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.94911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.59, Y:27.55, Z:0.14 [[ 6.99301838e-01 7.14304554e-01 -2.73119696e-02 -4.85942428e+01] [-7.13815594e-01 6.99834264e-01 2.64442883e-02 2.75478524e+01] [ 3.80031278e-02 1.00317040e-03 9.99277117e-01 1.43034950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.60, Y:27.57, Z:0.16 [[ 6.94270736e-01 7.19176353e-01 -2.78122069e-02 -4.86040722e+01] [-7.18669320e-01 6.94826509e-01 2.70283300e-02 2.75690796e+01] [ 3.87627944e-02 1.22280129e-03 9.99247692e-01 1.62577496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.00911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.61, Y:27.59, Z:0.20 [[ 6.87499407e-01 7.25522099e-01 -3.10201474e-02 -4.86100083e+01] [-7.24890311e-01 6.88196905e-01 3.03159521e-02 2.75899346e+01] [ 4.33428626e-02 1.64400520e-03 9.99058904e-01 2.00883157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.61, Y:27.62, Z:0.25 [[ 6.88120596e-01 7.24966759e-01 -3.02199069e-02 -4.86133720e+01] [-7.24361419e-01 6.88782259e-01 2.96569476e-02 2.76165428e+01] [ 4.23152369e-02 1.48257821e-03 9.99103209e-01 2.45187433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.06911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.59, Y:27.66, Z:0.37 [[ 6.84948558e-01 7.27933394e-01 -3.09588077e-02 -4.85947391e+01] [-7.27295661e-01 6.85645935e-01 3.05069435e-02 2.76648946e+01] [ 4.34338036e-02 1.62051955e-03 9.99054993e-01 3.67478054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.099115933 meters Centerline goodness [0,1] 0.9996465182043125 Centerline is valid? [True, True] Translation: X:-48.66, Y:27.63, Z:0.18 [[ 6.89765206e-01 7.23566041e-01 -2.60027990e-02 -4.86609277e+01] [-7.23108246e-01 6.90254379e-01 2.57557010e-02 2.76306946e+01] [ 3.65844965e-02 1.03745197e-03 9.99330025e-01 1.77007950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.129115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.65, Y:27.67, Z:0.27 [[ 6.85923977e-01 7.27155511e-01 -2.74437605e-02 -4.86475911e+01] [-7.26644191e-01 6.86471682e-01 2.72919279e-02 2.76738068e+01] [ 3.86848402e-02 1.22166141e-03 9.99250715e-01 2.70398604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.159115933 meters Centerline goodness [0,1] 0.9996486913753733 Centerline is valid? [True, True] Translation: X:-48.69, Y:27.66, Z:0.19 [[ 6.82025827e-01 7.30846828e-01 -2.65270653e-02 -4.86888582e+01] [-7.30367440e-01 6.82540270e-01 2.64987296e-02 2.76639973e+01] [ 3.74723028e-02 1.30168683e-03 9.99296819e-01 1.89133149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.189115933 meters Centerline goodness [0,1] 0.9992917847025495 Centerline is valid? [True, True] Translation: X:-48.68, Y:27.69, Z:0.24 [[ 6.76387493e-01 7.36043608e-01 -2.71986485e-02 -4.86805904e+01] [-7.35535277e-01 6.76932508e-01 2.73904491e-02 2.76934780e+01] [ 3.85722143e-02 1.47900830e-03 9.99254721e-01 2.42308016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-47.88, Y:28.47, Z:-3.22 [[ 7.81392219e-01 -6.22381782e-01 -4.54655578e-02 -4.78810787e+01] [-6.21091994e-01 -7.82707472e-01 4.01714931e-02 2.84668944e+01] [-6.05882372e-02 -3.15139825e-03 -9.98157870e-01 -3.22251676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.24911593299998 meters Centerline goodness [0,1] 0.9996483207314929 Centerline is valid? [True, True] Translation: X:-48.59, Y:27.61, Z:0.28 [[ 7.38474818e-01 6.73764975e-01 -2.63761660e-02 -4.85933287e+01] [-6.73387686e-01 7.38944899e-01 2.25712349e-02 2.76091994e+01] [ 3.46982409e-02 1.09309681e-03 9.99397237e-01 2.82532796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27911593299999 meters Centerline goodness [0,1] 0.9996483207314929 Centerline is valid? [True, True] Translation: X:-48.61, Y:27.62, Z:0.28 [[ 7.37133354e-01 6.75234500e-01 -2.63208656e-02 -4.86106008e+01] [-6.74855846e-01 7.37602338e-01 2.26357481e-02 2.76239551e+01] [ 3.46987701e-02 1.07722511e-03 9.99397236e-01 2.82814200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.63, Y:27.64, Z:0.28 [[ 7.34598252e-01 6.78001634e-01 -2.60612971e-02 -4.86296675e+01] [-6.77629090e-01 7.35059525e-01 2.25013478e-02 2.76378974e+01] [ 3.44125553e-02 1.13044222e-03 9.99407073e-01 2.83651421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.64, Y:27.65, Z:0.28 [[ 7.36408058e-01 6.76142270e-01 -2.31258067e-02 -4.86445063e+01] [-6.75844972e-01 7.36770591e-01 2.00666445e-02 2.76538953e+01] [ 3.06063208e-02 8.52221520e-04 9.99531154e-01 2.83193540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.36911593299999 meters Centerline goodness [0,1] 0.9998187092095722 Centerline is valid? [True, True] Translation: X:-48.68, Y:27.65, Z:0.24 [[ 7.25322146e-01 6.87847432e-01 -2.78153603e-02 -4.86764494e+01] [-6.87422792e-01 7.25853627e-01 2.42160496e-02 2.76523450e+01] [ 3.68468277e-02 1.55647556e-03 9.99319713e-01 2.38685325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.68, Y:27.69, Z:0.29 [[ 7.21648531e-01 6.91678346e-01 -2.83630696e-02 -4.86764633e+01] [-6.91235769e-01 7.22203671e-01 2.47985812e-02 2.76850814e+01] [ 3.76365546e-02 1.70970851e-03 9.99290031e-01 2.90686578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.42911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.68, Y:27.71, Z:0.31 [[ 7.34271972e-01 6.78512544e-01 -2.15730976e-02 -4.86847072e+01] [-6.78248450e-01 7.34588459e-01 1.89429435e-02 2.77087120e+01] [ 2.87003734e-02 7.22647559e-04 9.99587798e-01 3.14785060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45911593299999 meters Centerline goodness [0,1] 0.9980416592487092 Centerline is valid? [True, True] Translation: X:-48.72, Y:27.70, Z:0.24 [[ 7.29706407e-01 6.83386335e-01 -2.26202630e-02 -4.87247324e+01] [-6.83095767e-01 7.30056376e-01 1.99464404e-02 2.76981956e+01] [ 3.01451921e-02 8.96760533e-04 9.99545128e-01 2.36268666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.489115933 meters Centerline goodness [0,1] 0.9998206278026905 Centerline is valid? [True, True] Translation: X:-48.71, Y:27.75, Z:0.36 [[ 7.28794219e-01 6.84366564e-01 -2.23917965e-02 -4.87070414e+01] [-6.84079842e-01 7.29137609e-01 1.98271663e-02 2.77494768e+01] [ 2.98957506e-02 8.67852399e-04 9.99552645e-01 3.56030327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.519115933 meters Centerline goodness [0,1] 0.9992810927390366 Centerline is valid? [True, True] Translation: X:-48.75, Y:27.74, Z:0.27 [[ 7.24107318e-01 6.89355928e-01 -2.13774704e-02 -4.87470937e+01] [-6.89094105e-01 7.24422176e-01 1.90217104e-02 2.77379411e+01] [ 2.85990425e-02 9.57329119e-04 9.99590505e-01 2.66580973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.549115933 meters Centerline goodness [0,1] 0.9989287627209427 Centerline is valid? [True, True] Translation: X:-48.77, Y:27.74, Z:0.24 [[ 7.17643270e-01 6.96005907e-01 -2.37468755e-02 -4.87721169e+01] [-6.95683962e-01 7.18034877e-01 2.12070735e-02 2.77440563e+01] [ 3.18113332e-02 1.30120687e-03 9.99493044e-01 2.35491980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.579115933 meters Centerline goodness [0,1] 0.9987332609482447 Centerline is valid? [True, True] Translation: X:-48.77, Y:27.78, Z:0.30 [[ 7.24148679e-01 6.89388117e-01 -1.87807128e-02 -4.87693819e+01] [-6.89182788e-01 7.24391789e-01 1.68410290e-02 2.77799734e+01] [ 2.52145994e-02 7.47935086e-04 9.99681782e-01 3.02910701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.60911593299998 meters Centerline goodness [0,1] 0.9998212050777758 Centerline is valid? [True, True] Translation: X:-48.79, Y:27.79, Z:0.29 [[ 7.18208235e-01 6.95486671e-01 -2.17995979e-02 -4.87887356e+01] [-6.95210335e-01 7.18538222e-01 1.96319576e-02 2.77914396e+01] [ 2.93176092e-02 1.05547212e-03 9.99569589e-01 2.93297534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.80, Y:27.81, Z:0.30 [[ 7.18381192e-01 6.95341032e-01 -2.07198690e-02 -4.88042805e+01] [-6.95089324e-01 7.18679313e-01 1.87316901e-02 2.78080417e+01] [ 2.79158540e-02 9.45665895e-04 9.99609829e-01 3.03098532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66911593299999 meters Centerline goodness [0,1] 0.9996416412829242 Centerline is valid? [True, True] Translation: X:-48.83, Y:27.82, Z:0.28 [[ 7.18380585e-01 6.95347144e-01 -2.05349757e-02 -4.88272939e+01] [-6.95097650e-01 7.18673485e-01 1.86461436e-02 2.78166826e+01] [ 2.77234852e-02 8.78785812e-04 9.99615244e-01 2.84030755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69911593299999 meters Centerline goodness [0,1] 0.9998227264669385 Centerline is valid? [True, True] Translation: X:-48.85, Y:27.83, Z:0.26 [[ 7.21882596e-01 6.91753438e-01 -1.90446311e-02 -4.88495357e+01] [-6.91535630e-01 7.22133493e-01 1.73692375e-02 2.78260216e+01] [ 2.57679957e-02 6.31490743e-04 9.99667751e-01 2.55578417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72911593299999 meters Centerline goodness [0,1] 0.9992841803865425 Centerline is valid? [True, True] Translation: X:-48.84, Y:27.87, Z:0.35 [[ 7.15256386e-01 6.98609737e-01 -1.87812754e-02 -4.88438555e+01] [-6.98398615e-01 7.15502455e-01 1.71933291e-02 2.78656856e+01] [ 2.54494757e-02 8.19178303e-04 9.99675774e-01 3.45172131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75911593299999 meters Centerline goodness [0,1] 0.9998230714791224 Centerline is valid? [True, True] Translation: X:-48.89, Y:27.85, Z:0.23 [[ 7.17334587e-01 6.96499098e-01 -1.78912500e-02 -4.88915706e+01] [-6.96305046e-01 7.17557368e-01 1.64531353e-02 2.78488516e+01] [ 2.42975921e-02 6.55364656e-04 9.99704555e-01 2.30212884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.78911593299999 meters Centerline goodness [0,1] 0.9992868604029239 Centerline is valid? [True, True] Translation: X:-48.90, Y:27.87, Z:0.27 [[ 7.17139403e-01 6.96728551e-01 -1.67452265e-02 -4.89001113e+01] [-6.96557154e-01 7.17334647e-01 1.54640108e-02 2.78725075e+01] [ 2.27861490e-02 5.74155815e-04 9.99740197e-01 2.66252859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81911593299999 meters Centerline goodness [0,1] 0.9996441914250134 Centerline is valid? [True, True] Translation: X:-48.90, Y:27.91, Z:0.34 [[ 7.08404468e-01 7.05545073e-01 -1.92161374e-02 -4.88970197e+01] [-7.05320987e-01 7.08664425e-01 1.78055865e-02 2.79092992e+01] [ 2.61804368e-02 9.39987929e-04 9.99656792e-01 3.39936249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.849115933 meters Centerline goodness [0,1] 0.9998210771157631 Centerline is valid? [True, True] Translation: X:-48.93, Y:27.90, Z:0.27 [[ 7.08308790e-01 7.05699295e-01 -1.69458967e-02 -4.89331622e+01] [-7.05523312e-01 7.08511042e-01 1.57784245e-02 2.79036384e+01] [ 2.31411780e-02 7.79728470e-04 9.99731903e-01 2.72878562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.879115933 meters Centerline goodness [0,1] 0.9996470795835539 Centerline is valid? [True, True] Translation: X:-48.95, Y:27.92, Z:0.28 [[ 7.04811826e-01 7.09195223e-01 -1.68055279e-02 -4.89453493e+01] [-7.09021668e-01 7.05011650e-01 1.57113504e-02 2.79236105e+01] [ 2.29905076e-02 8.41937886e-04 9.99735329e-01 2.84136758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.909115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.96, Y:27.94, Z:0.28 [[ 7.09002355e-01 7.05071815e-01 -1.37621516e-02 -4.89614531e+01] [-7.04953490e-01 7.09135706e-01 1.29277992e-02 2.79384711e+01] [ 1.88742599e-02 5.35836674e-04 9.99821722e-01 2.82485476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.939115933 meters Centerline goodness [0,1] 0.9994646680942184 Centerline is valid? [True, True] Translation: X:-48.97, Y:27.97, Z:0.32 [[ 6.94705588e-01 7.19028323e-01 -1.95555020e-02 -4.89667057e+01] [-7.18793441e-01 6.94979629e-01 1.84202520e-02 2.79659974e+01] [ 2.68353584e-02 1.25971458e-03 9.99639073e-01 3.21354512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-48.99, Y:27.98, Z:0.31 [[ 6.92021782e-01 7.21571874e-01 -2.09734300e-02 -4.89860662e+01] [-7.21300466e-01 6.92338120e-01 1.98384932e-02 2.79777525e+01] [ 2.88356038e-02 1.39947539e-03 9.99583188e-01 3.11851202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99911593299998 meters Centerline goodness [0,1] 0.9987643424536629 Centerline is valid? [True, True] Translation: X:-49.00, Y:28.00, Z:0.33 [[ 6.94952547e-01 7.18779859e-01 -1.99116204e-02 -4.89990577e+01] [-7.18531900e-01 6.95236768e-01 1.89141700e-02 2.79960001e+01] [ 2.74384150e-02 1.16268384e-03 9.99622820e-01 3.31311406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02911593299999 meters Centerline goodness [0,1] 0.9998234463276836 Centerline is valid? [True, True] Translation: X:-49.03, Y:28.00, Z:0.28 [[ 6.93151578e-01 7.20529673e-01 -1.94391442e-02 -4.90252300e+01] [-7.20291915e-01 6.93423155e-01 1.85441429e-02 2.80023532e+01] [ 2.68411580e-02 1.14795648e-03 9.99639052e-01 2.82244617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05911593299999 meters Centerline goodness [0,1] 0.9994656216601354 Centerline is valid? [True, True] Translation: X:-49.03, Y:28.03, Z:0.32 [[ 6.89803417e-01 7.23722187e-01 -1.99359497e-02 -4.90326679e+01] [-7.23471285e-01 6.90090307e-01 1.90962458e-02 2.80267182e+01] [ 2.75779824e-02 1.25043153e-03 9.99618873e-01 3.18015902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08911593299999 meters Centerline goodness [0,1] 0.9985805535841022 Centerline is valid? [True, True] Translation: X:-49.04, Y:28.05, Z:0.35 [[ 6.95198144e-01 7.18610437e-01 -1.72794702e-02 -4.90379079e+01] [-7.18418645e-01 6.95412327e-01 1.66236593e-02 2.80532341e+01] [ 2.39622917e-02 8.57156529e-04 9.99712496e-01 3.46468869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11911593299999 meters Centerline goodness [0,1] 0.9998200791651674 Centerline is valid? [True, True] Translation: X:-49.06, Y:28.07, Z:0.33 [[ 6.89026389e-01 7.24467162e-01 -1.97475749e-02 -4.90576485e+01] [-7.24217045e-01 6.89308337e-01 1.90706160e-02 2.80660084e+01] [ 2.74282030e-02 1.16137264e-03 9.99623101e-01 3.33428302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.14911593299999 meters Centerline goodness [0,1] 0.9991176989588848 Centerline is valid? [True, True] Translation: X:-49.10, Y:28.06, Z:0.26 [[ 6.84672329e-01 7.28545097e-01 -2.11150036e-02 -4.90972242e+01] [-7.28258640e-01 6.84996491e-01 2.04733973e-02 2.80581604e+01] [ 2.93794966e-02 1.35961522e-03 9.99567405e-01 2.58434119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17911593299999 meters Centerline goodness [0,1] 0.9984062333982646 Centerline is valid? [True, True] Translation: X:-49.10, Y:28.09, Z:0.30 [[ 6.80246478e-01 7.32701767e-01 -2.03186925e-02 -4.90965806e+01] [-7.32436029e-01 6.80548375e-01 1.97831432e-02 2.80898894e+01] [ 2.83229972e-02 1.42472902e-03 9.99597808e-01 3.03578617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.20911593299999 meters Centerline goodness [0,1] 0.998578283277057 Centerline is valid? [True, True] Translation: X:-49.10, Y:28.12, Z:0.36 [[ 6.76499617e-01 7.36152156e-01 -2.06947070e-02 -4.90996495e+01] [-7.35875689e-01 6.76814322e-01 2.02322601e-02 2.81175637e+01] [ 2.89004960e-02 1.54161551e-03 9.99581105e-01 3.60131926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.239115933 meters Centerline goodness [0,1] 0.9984096130058314 Centerline is valid? [True, True] Translation: X:-49.15, Y:28.10, Z:0.24 [[ 6.69618387e-01 7.42355149e-01 -2.28045630e-02 -4.91486406e+01] [-7.42020274e-01 6.70003794e-01 2.23791851e-02 2.81019095e+01] [ 3.18924471e-02 1.93593425e-03 9.99489432e-01 2.41063047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.269115933 meters Centerline goodness [0,1] 0.9987566607460036 Centerline is valid? [True, True] Translation: X:-49.13, Y:28.15, Z:0.33 [[ 6.87368470e-01 7.26126064e-01 -1.62949473e-02 -4.91327416e+01] [-7.25948317e-01 6.87561154e-01 1.60841750e-02 2.81465159e+01] [ 2.28829115e-02 7.73534772e-04 9.99737853e-01 3.32811204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.299115933 meters Centerline goodness [0,1] 0.9987526728439059 Centerline is valid? [True, True] Translation: X:-49.11, Y:28.20, Z:0.49 [[ 6.68508834e-01 7.43320564e-01 -2.38846968e-02 -4.91118651e+01] [-7.42947376e-01 6.68932544e-01 2.36315309e-02 2.81987769e+01] [ 3.35430538e-02 1.94718560e-03 9.99435377e-01 4.88766582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.329115933 meters Centerline goodness [0,1] 0.9989389920424403 Centerline is valid? [True, True] Translation: X:-49.16, Y:28.19, Z:0.37 [[ 6.76618727e-01 7.36051491e-01 -2.03789267e-02 -4.91582303e+01] [-7.35773853e-01 6.76924324e-01 2.02557731e-02 2.81860163e+01] [ 2.87042832e-02 1.28884600e-03 9.99587116e-01 3.70080284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35911593299998 meters Centerline goodness [0,1] 0.9992862241256245 Centerline is valid? [True, True] Translation: X:-49.19, Y:28.19, Z:0.32 [[ 6.70211290e-01 7.41844860e-01 -2.19779473e-02 -4.91885482e+01] [-7.41522322e-01 6.70569645e-01 2.19316616e-02 2.81876762e+01] [ 3.10076347e-02 1.59829129e-03 9.99517870e-01 3.24729327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38911593299999 meters Centerline goodness [0,1] 0.9996452642781128 Centerline is valid? [True, True] Translation: X:-49.20, Y:28.21, Z:0.35 [[ 6.70264240e-01 7.41775538e-01 -2.26914120e-02 -4.91988358e+01] [-7.41428663e-01 6.70646362e-01 2.27375362e-02 2.82090239e+01] [ 3.20840611e-02 1.58390580e-03 9.99483919e-01 3.49439862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41911593299999 meters Centerline goodness [0,1] 0.998590308370044 Centerline is valid? [True, True] Translation: X:-48.46, Y:28.92, Z:-3.31 [[ 7.87280338e-01 -6.15188650e-01 -4.16244473e-02 -4.84599851e+01] [-6.14098716e-01 -7.88372698e-01 3.67594238e-02 2.89231648e+01] [-5.54295581e-02 -3.37845195e-03 -9.98456884e-01 -3.30652091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44911593299999 meters Centerline goodness [0,1] 0.9987486592777977 Centerline is valid? [True, True] Translation: X:-49.10, Y:28.14, Z:0.41 [[ 7.33199055e-01 6.79623991e-01 -2.30299249e-02 -4.91039435e+01] [-6.79341278e-01 7.33559596e-01 1.96404330e-02 2.81401511e+01] [ 3.02419319e-02 1.24483174e-03 9.99541833e-01 4.12421671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47911593299999 meters Centerline goodness [0,1] 0.9996448232995916 Centerline is valid? [True, True] Translation: X:-49.13, Y:28.15, Z:0.40 [[ 7.35429586e-01 6.77196013e-01 -2.34282866e-02 -4.91267387e+01] [-6.76899250e-01 7.35801850e-01 2.00759149e-02 2.81500839e+01] [ 3.08339062e-02 1.09416785e-03 9.99523923e-01 4.03689675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.50911593299999 meters Centerline goodness [0,1] 0.9998169503935567 Centerline is valid? [True, True] Translation: X:-49.17, Y:28.14, Z:0.33 [[ 7.43876345e-01 6.67997075e-01 -2.06855542e-02 -4.91662601e+01] [-6.67759989e-01 7.44163682e-01 1.78048382e-02 2.81401011e+01] [ 2.72870180e-02 5.68387443e-04 9.99627478e-01 3.29650704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.19, Y:28.15, Z:0.30 [[ 7.42188601e-01 6.69818937e-01 -2.23309870e-02 -4.91936641e+01] [-6.69541422e-01 7.42524201e-01 1.92897855e-02 2.81454910e+01] [ 2.95019619e-02 6.34861831e-04 9.99564521e-01 2.98281774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.56911593299999 meters Centerline goodness [0,1] 0.9994629430719656 Centerline is valid? [True, True] Translation: X:-49.19, Y:28.18, Z:0.36 [[ 7.47214262e-01 6.64246358e-01 -2.11570750e-02 -4.91920626e+01] [-6.63992960e-01 7.47513653e-01 1.83490284e-02 2.81828812e+01] [ 2.80034777e-02 3.37493166e-04 9.99607769e-01 3.63746522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.599115933 meters Centerline goodness [0,1] 0.9998204667863555 Centerline is valid? [True, True] Translation: X:-49.22, Y:28.18, Z:0.32 [[ 7.47754822e-01 6.63645393e-01 -2.09169541e-02 -4.92242706e+01] [-6.63395202e-01 7.48047278e-01 1.82229549e-02 2.81808573e+01] [ 2.77404507e-02 2.49904586e-04 9.99615128e-01 3.20993067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.629115933 meters Centerline goodness [0,1] 0.9982120507777579 Centerline is valid? [True, True] Translation: X:-49.25, Y:28.19, Z:0.30 [[ 7.55608578e-01 6.54745902e-01 -1.90651657e-02 -4.92462333e+01] [-6.54533452e-01 7.55849052e-01 1.66784808e-02 2.81909702e+01] [ 2.53305543e-02 -1.23614506e-04 9.99679122e-01 2.97781690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.659115933 meters Centerline goodness [0,1] 0.9992892679459844 Centerline is valid? [True, True] Translation: X:-49.27, Y:28.20, Z:0.28 [[ 7.55123034e-01 6.55337023e-01 -1.79607778e-02 -4.92709823e+01] [-6.55147172e-01 7.55336591e-01 1.57739416e-02 2.81999471e+01] [ 2.39036806e-02 -1.44313872e-04 9.99714256e-01 2.75565201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.689115933 meters Centerline goodness [0,1] 0.9992831541218637 Centerline is valid? [True, True] Translation: X:-49.29, Y:28.21, Z:0.27 [[ 7.53712806e-01 6.56893537e-01 -2.01962048e-02 -4.92919267e+01] [-6.56652459e-01 7.53983328e-01 1.77957633e-02 2.82117595e+01] [ 2.69175236e-02 -1.51007101e-04 9.99637646e-01 2.73084804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71911593299998 meters Centerline goodness [0,1] 0.9985721934677851 Centerline is valid? [True, True] Translation: X:-49.27, Y:28.27, Z:0.42 [[ 7.46130472e-01 6.65402415e-01 -2.29987932e-02 -4.92713349e+01] [-6.65092504e-01 7.46484832e-01 2.03065409e-02 2.82691329e+01] [ 3.06802717e-02 1.44996052e-04 9.99529239e-01 4.18302704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.74911593299998 meters Centerline goodness [0,1] 0.9989427312775331 Centerline is valid? [True, True] Translation: X:-49.33, Y:28.24, Z:0.25 [[ 7.39414897e-01 6.72686589e-01 -2.75383946e-02 -4.93341958e+01] [-6.72243343e-01 7.39927392e-01 2.44201078e-02 2.82361106e+01] [ 3.68034915e-02 4.55910928e-04 9.99322418e-01 2.50380829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.32, Y:28.29, Z:0.38 [[ 7.47987467e-01 6.63311527e-01 -2.30774032e-02 -4.93178092e+01] [-6.62992872e-01 7.48343378e-01 2.05581883e-02 2.82862084e+01] [ 3.09063052e-02 -7.71133560e-05 9.99522283e-01 3.75889513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.35, Y:28.28, Z:0.31 [[ 7.45377472e-01 6.66276632e-01 -2.20878861e-02 -4.93524989e+01] [-6.65983876e-01 7.45704667e-01 1.97490876e-02 2.82847249e+01] [ 2.96293953e-02 -1.03489388e-05 9.99560953e-01 3.13737135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83911593299999 meters Centerline goodness [0,1] 0.9985922928030969 Centerline is valid? [True, True] Translation: X:-49.38, Y:28.29, Z:0.28 [[ 7.48510690e-01 6.62834961e-01 -1.95336016e-02 -4.93765123e+01] [-6.62602775e-01 7.48765504e-01 1.75437474e-02 2.82936792e+01] [ 2.62546962e-02 -1.88663865e-04 9.99655268e-01 2.81866848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.86911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.40, Y:28.30, Z:0.27 [[ 7.46879775e-01 6.64669565e-01 -1.96206794e-02 -4.94037481e+01] [-6.64434030e-01 7.47137428e-01 1.76941661e-02 2.82991341e+01] [ 2.64201177e-02 -1.78767669e-04 9.99650912e-01 2.65516001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.41, Y:28.32, Z:0.28 [[ 7.38176857e-01 6.74156789e-01 -2.46485818e-02 -4.94136604e+01] [-6.73787540e-01 7.38588251e-01 2.23102347e-02 2.83230025e+01] [ 3.32457491e-02 1.39008402e-04 9.99447198e-01 2.79244421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.92911593299999 meters Centerline goodness [0,1] 0.9996486913753733 Centerline is valid? [True, True] Translation: X:-49.44, Y:28.33, Z:0.25 [[ 7.48053164e-01 6.63324979e-01 -2.04067417e-02 -4.94353024e+01] [-6.63065378e-01 7.48331376e-01 1.85595410e-02 2.83327649e+01] [ 2.75820122e-02 -3.52519463e-04 9.99619482e-01 2.53932011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.44, Y:28.36, Z:0.31 [[ 7.48366852e-01 6.62999915e-01 -1.94465229e-02 -4.94394149e+01] [-6.62762309e-01 7.48619365e-01 1.77529549e-02 2.83626454e+01] [ 2.63282512e-02 -3.97300503e-04 9.99653273e-01 3.05345217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.989115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.46, Y:28.38, Z:0.30 [[ 7.55711166e-01 6.54669521e-01 -1.75627985e-02 -4.94579821e+01] [-6.54471765e-01 7.55914917e-01 1.61042437e-02 2.83776023e+01] [ 2.38189389e-02 -6.75801023e-04 9.99716060e-01 3.03145757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.019115933 meters Centerline goodness [0,1] 0.9996496145760336 Centerline is valid? [True, True] Translation: X:-49.48, Y:28.39, Z:0.30 [[ 7.49969996e-01 6.61145613e-01 -2.07721674e-02 -4.94764239e+01] [-6.60869592e-01 7.50257363e-01 1.91120622e-02 2.83926056e+01] [ 2.82203276e-02 -6.05779446e-04 9.99601544e-01 3.00642734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.049115933 meters Centerline goodness [0,1] 0.9996536796536797 Centerline is valid? [True, True] Translation: X:-49.52, Y:28.38, Z:0.19 [[ 7.59604418e-01 6.50135783e-01 -1.80164597e-02 -4.95241403e+01] [-6.49923115e-01 7.59817464e-01 1.66543341e-02 2.83773050e+01] [ 2.45167992e-02 -9.41392194e-04 9.99698975e-01 1.92962203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.079115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.54, Y:28.40, Z:0.22 [[ 7.60131254e-01 6.49558370e-01 -1.65650213e-02 -4.95369993e+01] [-6.49377145e-01 7.60311163e-01 1.53707420e-02 2.83979914e+01] [ 2.25787648e-02 -9.26835170e-04 9.99744638e-01 2.16314041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.10911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.57, Y:28.40, Z:0.15 [[ 7.65646725e-01 6.43170798e-01 -1.07897087e-02 -4.95702164e+01] [-6.43092449e-01 7.65722360e-01 1.00682663e-02 2.83977559e+01] [ 1.47375360e-02 -7.69954951e-04 9.99891100e-01 1.53650010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.58, Y:28.42, Z:0.18 [[ 7.58240892e-01 6.51925098e-01 -8.02600361e-03 -4.95830272e+01] [-6.51881830e-01 7.58283220e-01 7.52584736e-03 2.84179211e+01] [ 1.09922726e-02 -4.74399289e-04 9.99939471e-01 1.76693098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.16911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.59, Y:28.44, Z:0.21 [[ 7.57274342e-01 6.53092036e-01 -2.52264228e-03 -4.95932177e+01] [-6.53087656e-01 7.57278525e-01 2.39772049e-03 2.84420194e+01] [ 3.47627498e-03 -1.68225674e-04 9.99993944e-01 2.08917713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.61, Y:28.46, Z:0.21 [[ 7.55997138e-01 6.54570078e-01 -2.51797119e-03 -4.96105883e+01] [-6.54565690e-01 7.56001313e-01 2.40266011e-03 2.84579961e+01] [ 3.47629894e-03 -1.68226617e-04 9.99993944e-01 2.09199868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.22911593299999 meters Centerline goodness [0,1] 0.9988402915838304 Centerline is valid? [True, True] Translation: X:-49.62, Y:28.49, Z:0.24 [[ 7.61496317e-01 6.48163787e-01 2.65769824e-03 -4.96156213e+01] [-6.48159063e-01 7.61500937e-01 -2.48022760e-03 2.84868386e+01] [-3.63143341e-03 1.66072983e-04 9.99993393e-01 2.38397344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25911593299999 meters Centerline goodness [0,1] 0.9990061288719563 Centerline is valid? [True, True] Translation: X:-49.65, Y:28.48, Z:0.17 [[ 7.43899490e-01 6.68290550e-01 -1.13564203e-03 -4.96527135e+01] [-6.68289646e-01 7.43900355e-01 1.10086610e-03 2.84833294e+01] [ 1.58050293e-03 -5.99959199e-05 9.99998749e-01 1.70707839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.28911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.68, Y:28.49, Z:0.14 [[ 7.31963381e-01 6.81341746e-01 1.74186761e-03 -4.96770027e+01] [-6.81339814e-01 7.31965454e-01 -1.62236448e-03 2.84926209e+01] [-2.38037156e-03 7.07638481e-07 9.99997167e-01 1.43168457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.67, Y:28.53, Z:0.26 [[ 7.31309558e-01 6.82027314e-01 5.00738414e-03 -4.96706867e+01] [-6.82010820e-01 7.31326699e-01 -4.74344949e-03 2.85317453e+01] [-6.89719582e-03 5.38397839e-05 9.99976213e-01 2.56181078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.349115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.67, Y:28.57, Z:0.31 [[ 7.33236349e-01 6.79937444e-01 7.03762738e-03 -4.96698563e+01] [-6.79904375e-01 7.33270110e-01 -6.70717895e-03 2.85670390e+01] [-9.72094392e-03 1.33033767e-04 9.99952742e-01 3.12959709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.379115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.71, Y:28.57, Z:0.25 [[ 7.16025305e-01 6.98044154e-01 6.49012438e-03 -4.97062161e+01] [-6.98016564e-01 7.16054713e-01 -6.20676053e-03 2.85655517e+01] [-8.97987705e-03 -8.60167243e-05 9.99959676e-01 2.45141743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.409115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.69, Y:28.61, Z:0.36 [[ 7.19652580e-01 6.94253447e-01 1.05978965e-02 -4.96942466e+01] [-6.94178631e-01 7.19730610e-01 -1.01920240e-02 2.86109214e+01] [-1.47034783e-02 -2.21169193e-05 9.99891898e-01 3.55064188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.439115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.72, Y:28.62, Z:0.31 [[ 7.14718042e-01 6.99309600e-01 1.20084700e-02 -4.97191167e+01] [-6.99213661e-01 7.14818907e-01 -1.15839079e-02 2.86213612e+01] [-1.66846194e-02 -1.17258327e-04 9.99860795e-01 3.10586644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.46911593299998 meters Centerline goodness [0,1] 0.9998290890446078 Centerline is valid? [True, True] Translation: X:-49.71, Y:28.66, Z:0.40 [[ 7.22821892e-01 6.90786025e-01 1.85251295e-02 -4.97124466e+01] [-6.90553268e-01 7.23059223e-01 -1.79316467e-02 2.86612442e+01] [-2.57816967e-02 1.68798049e-04 9.99667583e-01 4.04998276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.72, Y:28.69, Z:0.44 [[ 7.19188184e-01 6.94506894e-01 2.07009441e-02 -4.97203236e+01] [-6.94216281e-01 7.19486044e-01 -2.00895042e-02 2.86896310e+01] [-2.88463396e-02 7.72016146e-05 9.99583855e-01 4.41700491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.52911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.75, Y:28.70, Z:0.42 [[ 7.18846226e-01 6.94854627e-01 2.09081435e-02 -4.97452510e+01] [-6.94556917e-01 7.19150219e-01 -2.03384428e-02 2.87003120e+01] [-2.91683570e-02 9.83171546e-05 9.99574508e-01 4.17389163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.72, Y:28.76, Z:0.59 [[ 7.25352383e-01 6.87700823e-01 3.05204623e-02 -4.97190692e+01] [-6.87056812e-01 7.25993937e-01 -2.97613889e-02 2.87631659e+01] [-4.26246023e-02 6.18202823e-04 9.99090967e-01 5.85529859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.58911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.73, Y:28.79, Z:0.61 [[ 7.21396284e-01 6.91830853e-01 3.09430347e-02 -4.97328568e+01] [-6.91170394e-01 7.22059482e-01 -3.02256632e-02 2.87888290e+01] [-4.32537580e-02 4.17771613e-04 9.99064031e-01 6.14012286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.77, Y:28.79, Z:0.55 [[ 7.07169010e-01 7.06479275e-01 2.82670280e-02 -4.97687268e+01] [-7.05938110e-01 7.07733617e-01 -2.76498251e-02 2.87919106e+01] [-3.95395544e-02 -4.01672840e-04 9.99217925e-01 5.52967703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.64911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.76, Y:28.83, Z:0.64 [[ 7.08156937e-01 7.05358126e-01 3.13634726e-02 -4.97648007e+01] [-7.04688413e-01 7.08851042e-01 -3.07317675e-02 2.88342526e+01] [-4.39089321e-02 -3.38561387e-04 9.99035480e-01 6.37030032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.79, Y:28.84, Z:0.59 [[ 6.94892939e-01 7.18478493e-01 3.02069324e-02 -4.97938572e+01] [-7.17867284e-01 6.95548335e-01 -2.96492183e-02 2.88442557e+01] [-4.23127072e-02 -1.08153606e-03 9.99103831e-01 5.93246107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.70911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.78, Y:28.89, Z:0.71 [[ 6.87887859e-01 7.25159866e-01 3.08781832e-02 -4.97848994e+01] [-7.24525769e-01 6.88578932e-01 -3.03556286e-02 2.88921981e+01] [-4.32747500e-02 -1.49077105e-03 9.99062097e-01 7.07258334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.739115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.80, Y:28.92, Z:0.74 [[ 6.98479163e-01 7.14768537e-01 3.51112206e-02 -4.97956081e+01] [-7.13932630e-01 6.99360487e-01 -3.45703369e-02 2.89215134e+01] [-4.92651894e-02 -9.20386102e-04 9.98785309e-01 7.41282459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.769115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.81, Y:28.95, Z:0.78 [[ 6.80480279e-01 7.32017943e-01 3.31107242e-02 -4.98054473e+01] [-7.31292532e-01 6.81282412e-01 -3.26421111e-02 2.89520924e+01] [-4.64523651e-02 -2.00131242e-03 9.98918501e-01 7.75257584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.799115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.81, Y:28.99, Z:0.83 [[ 6.74918668e-01 7.37115012e-01 3.38563226e-02 -4.98092593e+01] [-7.36361566e-01 6.75763102e-01 -3.34046970e-02 2.89889003e+01] [-4.75019572e-02 -2.38504112e-03 9.98868297e-01 8.26635953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.829115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.85, Y:28.99, Z:0.75 [[ 6.63121110e-01 7.47862310e-01 3.11826509e-02 -4.98495442e+01] [-7.47233682e-01 6.63847618e-01 -3.07922680e-02 2.89905659e+01] [-4.37289052e-02 -2.88172408e-03 9.99039278e-01 7.50932142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.85, Y:29.03, Z:0.84 [[ 6.56057297e-01 7.54148193e-01 2.91431959e-02 -4.98520226e+01] [-7.53603877e-01 6.56697140e-01 -2.88108151e-02 2.90269369e+01] [-4.08658776e-02 -3.06087996e-03 9.99159953e-01 8.41884182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.88, Y:29.04, Z:0.83 [[ 6.46894601e-01 7.62124166e-01 2.63463628e-02 -4.98755281e+01] [-7.61684495e-01 6.47422999e-01 -2.60804519e-02 2.90441019e+01] [-3.69337839e-02 -3.19631249e-03 9.99312603e-01 8.31336726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.85, Y:29.10, Z:0.99 [[ 6.50497099e-01 7.58993132e-01 2.79812427e-02 -4.98539417e+01] [-7.58492890e-01 6.51090854e-01 -2.77350973e-02 2.91049070e+01] [-3.92690796e-02 -3.18197329e-03 9.99223606e-01 9.89929036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94911593299999 meters Centerline goodness [0,1] 0.9998224747026452 Centerline is valid? [True, True] Translation: X:-49.89, Y:29.11, Z:0.93 [[ 6.38592820e-01 7.69164537e-01 2.41893720e-02 -4.98919470e+01] [-7.68796798e-01 6.39042440e-01 -2.40050505e-02 2.91093115e+01] [-3.39218689e-02 -3.26725886e-03 9.99419147e-01 9.28444684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97911593299999 meters Centerline goodness [0,1] 0.9998187092095722 Centerline is valid? [True, True] Translation: X:-49.90, Y:29.15, Z:1.00 [[ 6.37561105e-01 7.70050089e-01 2.32098808e-02 -4.98954486e+01] [-7.69711153e-01 6.37975601e-01 -2.30623766e-02 2.91451184e+01] [-3.25665228e-02 -3.16122984e-03 9.99464571e-01 1.00216620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.00911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.91, Y:29.17, Z:1.04 [[ 6.38830755e-01 7.69029844e-01 2.20989838e-02 -4.99067786e+01] [-7.68721153e-01 6.39206099e-01 -2.19852637e-02 2.91745669e+01] [-3.10331292e-02 -2.94309373e-03 9.99514023e-01 1.04385820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03911593299999 meters Centerline goodness [0,1] 0.998319641523525 Centerline is valid? [True, True] Translation: X:-50.09, Y:29.04, Z:0.35 [[ 6.45183591e-01 7.63634416e-01 2.45074190e-02 -5.00877431e+01] [-7.63248885e-01 6.45642201e-01 -2.44394901e-02 2.90394275e+01] [-3.44858596e-02 -2.93730226e-03 9.99400869e-01 3.45254516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.06911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.94, Y:29.22, Z:1.06 [[ 6.34080491e-01 7.73023545e-01 1.94043760e-02 -4.99385680e+01] [-7.72785219e-01 6.34371565e-01 -1.93835614e-02 2.92175506e+01] [-2.72935337e-02 -2.70467688e-03 9.99623803e-01 1.05814397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.099115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.97, Y:29.23, Z:1.05 [[ 6.30256731e-01 7.76236740e-01 1.52635800e-02 -4.99653022e+01] [-7.76089874e-01 6.30437598e-01 -1.52624243e-02 2.92319888e+01] [-2.14699892e-02 -2.22666423e-03 9.99767014e-01 1.04913998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.129115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.63, Y:29.62, Z:-4.08 [[ 8.21654549e-01 -5.69974250e-01 -3.62730583e-03 -4.96265661e+01] [-5.69959475e-01 -8.21661127e-01 4.38044832e-03 2.96223989e+01] [-5.47715894e-03 -1.53179796e-03 -9.99983827e-01 -4.07927016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.159115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.94, Y:29.20, Z:1.10 [[ 6.78315603e-01 7.34739255e-01 6.79481792e-03 -4.99386930e+01] [-7.34716879e-01 6.78348838e-01 -5.82762161e-03 2.92044875e+01] [-8.89103921e-03 -1.03930075e-03 9.99959934e-01 1.09827901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.189115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.96, Y:29.23, Z:1.14 [[ 6.85981341e-01 7.27596562e-01 5.73085717e-03 -4.99559202e+01] [-7.27580407e-01 6.86004814e-01 -4.91396785e-03 2.92284503e+01] [-7.50678172e-03 -7.98769134e-04 9.99971505e-01 1.13561255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21911593299998 meters Centerline goodness [0,1] 0.9975992613111727 Centerline is valid? [True, True] Translation: X:-50.16, Y:29.04, Z:0.29 [[ 6.96449356e-01 7.17598061e-01 3.36414769e-03 -5.01603302e+01] [-7.17592454e-01 6.96457356e-01 -2.86710119e-03 2.90411499e+01] [-4.40041166e-03 -4.17296220e-04 9.99990231e-01 2.87748941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.91, Y:29.36, Z:1.55 [[ 7.03024920e-01 7.11152136e-01 4.31290561e-03 -4.99066118e+01] [-7.11142572e-01 7.03038002e-01 -3.71610265e-03 2.93569184e+01] [-5.67485089e-03 -4.54578022e-04 9.99983795e-01 1.54515866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27911593299999 meters Centerline goodness [0,1] 0.9996297667530544 Centerline is valid? [True, True] Translation: X:-50.03, Y:29.26, Z:1.06 [[ 7.17463935e-01 6.96586212e-01 3.62643796e-03 -5.00313495e+01] [-6.96579292e-01 7.17473042e-01 -3.11836890e-03 2.92647274e+01] [-4.77408425e-03 -2.88784369e-04 9.99988562e-01 1.06425882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.03, Y:29.31, Z:1.19 [[ 7.18064184e-01 6.95976305e-01 8.99889647e-04 -5.00275162e+01] [-6.95975887e-01 7.18064744e-01 -7.66748751e-04 2.93104956e+01] [-1.17981799e-03 -7.57266783e-05 9.99999301e-01 1.18729042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.92, Y:29.47, Z:1.71 [[ 7.59625431e-01 6.50270950e-01 1.08118035e-02 -4.99232788e+01] [-6.50203824e-01 7.59702367e-01 -9.34351695e-03 2.94678203e+01] [-1.42895703e-02 6.76971438e-05 9.99897897e-01 1.70686822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.36911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.96, Y:29.47, Z:1.66 [[ 7.65920154e-01 6.42859630e-01 9.89012573e-03 -4.99623056e+01] [-6.42802840e-01 7.65983982e-01 -8.54686131e-03 2.94733819e+01] [-1.30701100e-02 1.88812425e-04 9.99914565e-01 1.66257907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-49.99, Y:29.49, Z:1.64 [[ 7.89927485e-01 6.12960409e-01 1.71495035e-02 -4.99861120e+01] [-6.12782567e-01 7.90112724e-01 -1.48124395e-02 2.94937935e+01] [-2.26294799e-02 1.19183628e-03 9.99743210e-01 1.64299683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.42911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.03, Y:29.49, Z:1.56 [[ 7.98699715e-01 6.01375395e-01 2.06494134e-02 -5.00267045e+01] [-6.01113680e-01 7.98964504e-01 -1.78343643e-02 2.94946000e+01] [-2.72232963e-02 1.83165682e-03 9.99627699e-01 1.55774193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.03, Y:29.54, Z:1.67 [[ 7.91136098e-01 6.11405425e-01 1.69434594e-02 -5.00255853e+01] [-6.11231516e-01 7.91316573e-01 -1.46326880e-02 2.95407698e+01] [-2.23541451e-02 1.22007128e-03 9.99749370e-01 1.67376612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.489115933 meters Centerline goodness [0,1] 0.9996280453784638 Centerline is valid? [True, True] Translation: X:-50.15, Y:29.45, Z:1.22 [[ 7.95970541e-01 6.05018589e-01 1.95807546e-02 -5.01478096e+01] [-6.04784372e-01 7.96209701e-01 -1.69107918e-02 2.94533179e+01] [-2.58217302e-02 1.61835771e-03 9.99665254e-01 1.22076206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.519115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.05, Y:29.60, Z:1.77 [[ 8.00337527e-01 5.99145168e-01 2.20206929e-02 -5.00546945e+01] [-5.98846655e-01 8.00637824e-01 -1.90199598e-02 2.95970393e+01] [-2.90263167e-02 2.03536924e-03 9.99576575e-01 1.76743098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.549115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.04, Y:29.65, Z:1.91 [[ 7.96813525e-01 6.03890154e-01 2.01218448e-02 -5.00440055e+01] [-6.03642432e-01 7.97065736e-01 -1.73789191e-02 2.96538588e+01] [-2.65333912e-02 1.70135842e-03 9.99646480e-01 1.91178217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.579115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.11, Y:29.63, Z:1.74 [[ 8.02406268e-01 5.96408877e-01 2.09912505e-02 -5.01107707e+01] [-5.96136789e-01 8.02678218e-01 -1.81275252e-02 2.96277270e+01] [-2.76606365e-02 2.03198312e-03 9.99615306e-01 1.73557851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.60911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.14, Y:29.64, Z:1.74 [[ 7.94845909e-01 6.06608273e-01 1.56966352e-02 -5.01378327e+01] [-6.06458145e-01 7.94999895e-01 -1.35530511e-02 2.96437679e+01] [-2.07002162e-02 1.25323493e-03 9.99784942e-01 1.74302214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.15, Y:29.68, Z:1.80 [[ 8.01583696e-01 5.97583794e-01 1.88994027e-02 -5.01507334e+01] [-5.97363705e-01 8.01804472e-01 -1.63154100e-02 2.96752393e+01] [-2.49034502e-02 1.78834940e-03 9.99688261e-01 1.79712732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.66911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.18, Y:29.68, Z:1.77 [[ 7.88898925e-01 6.14389591e-01 1.28029596e-02 -5.01847462e+01] [-6.14290784e-01 7.89002346e-01 -1.10512704e-02 2.96842484e+01] [-1.68913506e-02 8.53595252e-04 9.99856967e-01 1.77198676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.19, Y:29.72, Z:1.80 [[ 7.95133463e-01 6.06271747e-01 1.40479543e-02 -5.01936441e+01] [-6.06151564e-01 7.95256753e-01 -1.21234213e-02 2.97199370e+01] [-1.85218184e-02 1.12454848e-03 9.99827824e-01 1.80371067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.72911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.19, Y:29.77, Z:1.94 [[ 8.03999830e-01 5.94365702e-01 1.77111614e-02 -5.01892653e+01] [-5.94171769e-01 8.04192947e-01 -1.52843915e-02 2.97692320e+01] [-2.33277091e-02 1.76517610e-03 9.99726314e-01 1.94258558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.27, Y:29.73, Z:1.70 [[ 7.97486599e-01 6.03164704e-01 1.44036289e-02 -5.02665060e+01] [-6.03037872e-01 7.97615719e-01 -1.24293882e-02 2.97312946e+01] [-1.89855290e-02 1.22633682e-03 9.99819007e-01 1.69812752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.78911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.27, Y:29.78, Z:1.81 [[ 8.04730011e-01 5.93403728e-01 1.67816713e-02 -5.02653303e+01] [-5.93229453e-01 8.04903183e-01 -1.44804167e-02 2.97778884e+01] [-2.21003539e-02 1.69744426e-03 9.99754316e-01 1.80573131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.18, Y:29.92, Z:2.33 [[ 8.04508826e-01 5.93745888e-01 1.52108651e-02 -5.01781822e+01] [-5.93602927e-01 8.04651166e-01 -1.31173992e-02 2.99183891e+01] [-2.00278422e-02 1.52384943e-03 9.99798261e-01 2.32556619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.849115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.24, Y:29.89, Z:2.15 [[ 8.06316442e-01 5.91209390e-01 1.80347504e-02 -5.02430881e+01] [-5.91008153e-01 8.06515941e-01 -1.55370469e-02 2.98942860e+01] [-2.37309617e-02 1.86909179e-03 9.99716634e-01 2.15423943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.879115933 meters Centerline goodness [0,1] 0.9994316028798788 Centerline is valid? [True, True] Translation: X:-50.45, Y:29.71, Z:1.30 [[ 8.00473786e-01 5.99247847e-01 1.19890087e-02 -5.04548784e+01] [-5.99159826e-01 8.00562829e-01 -1.03276006e-02 2.97108294e+01] [-1.57867472e-02 1.08364119e-03 9.99874794e-01 1.30097356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.909115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.37, Y:29.85, Z:1.85 [[ 8.00445166e-01 5.99301415e-01 1.11960132e-02 -5.03659517e+01] [-5.99224684e-01 8.00522826e-01 -9.64276752e-03 2.98528950e+01] [-1.47415884e-02 1.00957917e-03 9.99890827e-01 1.85308919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.939115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.33, Y:29.93, Z:2.08 [[ 8.14652016e-01 5.79660179e-01 1.83349212e-02 -5.03323422e+01] [-5.79449874e-01 8.14855283e-01 -1.57705666e-02 2.99349614e+01] [-2.40818768e-02 2.22335612e-03 9.99707517e-01 2.07738560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.96911593299998 meters Centerline goodness [0,1] 0.9988799701325368 Centerline is valid? [True, True] Translation: X:-50.50, Y:29.80, Z:1.44 [[ 8.11690222e-01 5.83871303e-01 1.59149375e-02 -5.04968825e+01] [-5.83713697e-01 8.11844191e-01 -1.36868513e-02 2.98034347e+01] [-2.09118093e-02 1.81971638e-03 9.99779668e-01 1.44323911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.31, Y:30.05, Z:2.42 [[ 8.27227422e-01 5.61366466e-01 2.37167347e-02 -5.03057003e+01] [-5.61007320e-01 8.27559665e-01 -2.03908982e-02 3.00542229e+01] [-3.10737795e-02 3.56264836e-03 9.99510744e-01 2.42161964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.02911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.42, Y:29.98, Z:2.03 [[ 8.27726695e-01 5.60740380e-01 2.09462323e-02 -5.04214460e+01] [-5.60460512e-01 8.27985677e-01 -1.79925823e-02 2.99760017e+01] [-2.74323478e-02 3.15340462e-03 9.99618688e-01 2.03077012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.39, Y:30.06, Z:2.28 [[ 8.27755330e-01 5.60671637e-01 2.16432385e-02 -5.03885537e+01] [-5.60373589e-01 8.28031903e-01 -1.85636547e-02 3.00594117e+01] [-2.83294066e-02 3.23786488e-03 9.99593398e-01 2.28352891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.08911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.41, Y:30.08, Z:2.28 [[ 8.28217218e-01 5.59988558e-01 2.16576882e-02 -5.04133244e+01] [-5.59690712e-01 8.28494009e-01 -1.85467888e-02 3.00809058e+01] [-2.83292544e-02 3.23916285e-03 9.99593398e-01 2.28393912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.52, Y:30.01, Z:1.91 [[ 8.21002619e-01 5.70668280e-01 1.71001171e-02 -5.05225752e+01] [-5.70485122e-01 8.21177579e-01 -1.46324788e-02 3.00079493e+01] [-2.23925243e-02 2.25794106e-03 9.99746706e-01 1.90704671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.14911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.56, Y:30.02, Z:1.89 [[ 8.17021794e-01 5.76439499e-01 1.38885628e-02 -5.05561199e+01] [-5.76319518e-01 8.17138053e-01 -1.18833797e-02 3.00161438e+01] [-1.81989226e-02 1.70473037e-03 9.99832933e-01 1.88570833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.51, Y:30.11, Z:2.20 [[ 8.22756873e-01 5.68149523e-01 1.66507276e-02 -5.05084198e+01] [-5.67975420e-01 8.22922231e-01 -1.42451726e-02 3.01135404e+01] [-2.17956419e-02 2.26310965e-03 9.99759885e-01 2.20417604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.20911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.56, Y:30.10, Z:2.09 [[ 8.31825179e-01 5.54623146e-01 2.14485134e-02 -5.05593654e+01] [-5.54329872e-01 8.32094826e-01 -1.83464863e-02 3.01044261e+01] [-2.80225830e-02 3.37151758e-03 9.99601604e-01 2.08754689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.239115933 meters Centerline goodness [0,1] 0.9990306320279178 Centerline is valid? [True, True] Translation: X:-50.60, Y:30.10, Z:1.98 [[ 8.34189684e-01 5.50979597e-01 2.34319272e-02 -5.06017460e+01] [-5.50628268e-01 8.34509996e-01 -2.00393763e-02 3.01042826e+01] [-3.05954650e-02 3.81435951e-03 9.99524571e-01 1.97829828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.269115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.54, Y:30.22, Z:2.43 [[ 8.35456911e-01 5.49062413e-01 2.32855256e-02 -5.05355110e+01] [-5.48715307e-01 8.35772508e-01 -1.98953874e-02 3.02231066e+01] [-3.03852115e-02 3.84461460e-03 9.99530869e-01 2.42538814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.299115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.61, Y:30.18, Z:2.17 [[ 8.38179287e-01 5.44940621e-01 2.22531293e-02 -5.06149574e+01] [-5.44622597e-01 8.38466002e-01 -1.89997420e-02 3.01827886e+01] [-2.90122236e-02 3.80563318e-03 9.99571812e-01 2.16516492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.329115933 meters Centerline goodness [0,1] 0.9994351346262474 Centerline is valid? [True, True] Translation: X:-50.79, Y:30.04, Z:1.47 [[ 8.26406445e-01 5.62825373e-01 1.67327952e-02 -5.07891855e+01] [-5.62649145e-01 8.26572372e-01 -1.42847370e-02 3.00399091e+01] [-2.18706787e-02 2.39030574e-03 9.99757951e-01 1.47355140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35911593299998 meters Centerline goodness [0,1] 0.9996236356793377 Centerline is valid? [True, True] Translation: X:-50.78, Y:30.10, Z:1.62 [[ 8.33994622e-01 5.51436610e-01 1.92518952e-02 -5.07799195e+01] [-5.51200351e-01 8.34211059e-01 -1.64341778e-02 3.00951524e+01] [-2.51225511e-02 3.09436448e-03 9.99679590e-01 1.62009164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.38911593299999 meters Centerline goodness [0,1] 0.9990573152337858 Centerline is valid? [True, True] Translation: X:-50.88, Y:30.03, Z:1.27 [[ 8.15068039e-01 5.79297800e-01 8.84034100e-03 -5.08781840e+01] [-5.79249561e-01 8.15115328e-01 -7.54635919e-03 3.00315130e+01] [-1.15774867e-02 1.03003254e-03 9.99932448e-01 1.27150454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41911593299999 meters Centerline goodness [0,1] 0.9986967045242972 Centerline is valid? [True, True] Translation: X:-50.85, Y:30.11, Z:1.54 [[ 8.35061602e-01 5.49864884e-01 1.79089321e-02 -5.08457209e+01] [-5.49660057e-01 8.35248503e-01 -1.52892070e-02 3.01108514e+01] [-2.33654067e-02 2.92360502e-03 9.99722717e-01 1.53980711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.44911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.76, Y:30.24, Z:2.03 [[ 8.45581294e-01 5.33345061e-01 2.31369917e-02 -5.07645338e+01] [-5.32997081e-01 8.45886484e-01 -1.97526656e-02 3.02438300e+01] [-3.01062552e-02 4.37053552e-03 9.99537149e-01 2.03473122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.80, Y:30.25, Z:1.98 [[ 8.44212171e-01 5.35540058e-01 2.24199833e-02 -5.08043182e+01] [-5.35214143e-01 8.44499595e-01 -1.91377717e-02 3.02466575e+01] [-2.91827102e-02 4.15684767e-03 9.99565451e-01 1.98120248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.50911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.81, Y:30.28, Z:2.10 [[ 8.36156101e-01 5.48202484e-01 1.78048069e-02 -5.08114304e+01] [-5.47999777e-01 8.36340446e-01 -1.51954984e-02 3.02840101e+01] [-2.32210901e-02 2.94877854e-03 9.99726005e-01 2.10049845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.92, Y:30.21, Z:1.66 [[ 8.34486387e-01 5.50737441e-01 1.79092335e-02 -5.09220040e+01] [-5.50532987e-01 8.34673531e-01 -1.52815469e-02 3.02107754e+01] [-2.33644832e-02 2.89261907e-03 9.99722828e-01 1.66382657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.56911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.90, Y:30.28, Z:1.92 [[ 8.46596770e-01 5.31739278e-01 2.29619248e-02 -5.08959632e+01] [-5.31396391e-01 8.46896768e-01 -1.95892673e-02 3.02844051e+01] [-2.98627627e-02 4.38232649e-03 9.99544402e-01 1.91595294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.599115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.84, Y:30.39, Z:2.31 [[ 8.38089531e-01 5.45155561e-01 2.02818232e-02 -5.08398969e+01] [-5.44891908e-01 8.38327818e-01 -1.72996395e-02 3.03910615e+01] [-2.64338113e-02 3.44724539e-03 9.99644622e-01 2.31461049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.629115933 meters Centerline goodness [0,1] 0.9994226327944573 Centerline is valid? [True, True] Translation: X:-50.94, Y:30.34, Z:1.99 [[ 8.38140253e-01 5.45190572e-01 1.69751708e-02 -5.09355471e+01] [-5.45006146e-01 8.38307209e-01 -1.44680643e-02 3.03350310e+01] [-2.21182603e-02 2.87469464e-03 9.99751228e-01 1.98723170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.659115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.95, Y:30.37, Z:2.05 [[ 8.36120470e-01 5.48342131e-01 1.49488391e-02 -5.09479293e+01] [-5.48199836e-01 8.36250510e-01 -1.27289025e-02 3.03679135e+01] [-1.94807678e-02 2.44794481e-03 9.99807235e-01 2.05014169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.689115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.93, Y:30.43, Z:2.28 [[ 8.31298043e-01 5.55614734e-01 1.53567796e-02 -5.09309793e+01] [-5.55465838e-01 8.31436591e-01 -1.30728299e-02 3.04320936e+01] [-2.00316454e-02 2.33725150e-03 9.99796615e-01 2.27601468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.94, Y:30.47, Z:2.35 [[ 8.42963353e-01 5.37660073e-01 1.82874495e-02 -5.09384100e+01] [-5.37444822e-01 8.43155271e-01 -1.55644670e-02 3.04692988e+01] [-2.37875519e-02 3.29178027e-03 9.99711617e-01 2.35272601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-50.94, Y:30.52, Z:2.45 [[ 8.47091955e-01 5.31060503e-01 2.02475221e-02 -5.09383730e+01] [-5.30794904e-01 8.47325170e-01 -1.72286486e-02 3.05161044e+01] [-2.63056899e-02 3.84696807e-03 9.99646543e-01 2.45095428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-51.03, Y:30.47, Z:2.15 [[ 8.43957656e-01 5.36112991e-01 1.78419870e-02 -5.10251722e+01] [-5.35907914e-01 8.44139981e-01 -1.51789789e-02 3.04676680e+01] [-2.31987823e-02 3.24875343e-03 9.99725593e-01 2.15115312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.80911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-51.06, Y:30.48, Z:2.18 [[ 8.39414758e-01 5.43303610e-01 1.42846905e-02 -5.10565540e+01] [-5.43173199e-01 8.39532746e-01 -1.21509281e-02 3.04775508e+01] [-1.85941085e-02 2.44060736e-03 9.99824136e-01 2.17595625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-51.16, Y:30.42, Z:1.81 [[ 8.40886365e-01 5.41064732e-01 1.26125388e-02 -5.11557716e+01] [-5.40962853e-01 8.40978079e-01 -1.07267191e-02 3.04161297e+01] [-1.64107180e-02 2.19703690e-03 9.99862921e-01 1.81457777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.86911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-51.15, Y:30.47, Z:1.95 [[ 8.49245689e-01 5.27710615e-01 1.74145470e-02 -5.11488312e+01] [-5.27513704e-01 8.49417460e-01 -1.48077911e-02 3.04687666e+01] [-2.26064489e-02 3.38904055e-03 9.99738697e-01 1.94575430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-51.20, Y:30.46, Z:1.84 [[ 8.47125308e-01 5.31225488e-01 1.33488950e-02 -5.11961293e+01] [-5.31110230e-01 8.47226714e-01 -1.13498591e-02 3.04621992e+01] [-1.73388749e-02 2.52501816e-03 9.99846482e-01 1.84261415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.92911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-51.22, Y:30.49, Z:1.85 [[ 8.49464412e-01 5.27434779e-01 1.49253866e-02 -5.12161222e+01] [-5.27290143e-01 8.49590544e-01 -1.26890753e-02 3.04860493e+01] [-1.93731270e-02 2.90890865e-03 9.99808092e-01 1.84857931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-51.19, Y:30.56, Z:2.10 [[ 8.65611152e-01 5.00236099e-01 2.19358032e-02 -5.11931585e+01] [-4.99915229e-01 8.65873587e-01 -1.86466089e-02 3.05555737e+01] [-2.83213395e-02 5.17467053e-03 9.99585476e-01 2.10020998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.989115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-51.25, Y:30.54, Z:1.96 [[ 8.62775612e-01 5.05275457e-01 1.77469725e-02 -5.12461666e+01] [-5.05066502e-01 8.62948611e-01 -1.50838781e-02 3.05444157e+01] [-2.29362387e-02 4.05060089e-03 9.99728724e-01 1.95693592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.019115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-51.32, Y:30.51, Z:1.75 [[ 8.50049311e-01 5.26520180e-01 1.38805557e-02 -5.13151470e+01] [-5.26395058e-01 8.50158279e-01 -1.17959030e-02 3.05144684e+01] [-1.80114503e-02 2.72044328e-03 9.99834080e-01 1.74576497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.049115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-51.31, Y:30.56, Z:1.91 [[ 8.58506815e-01 5.12520596e-01 1.69908232e-02 -5.13123548e+01] [-5.12330504e-01 8.58667006e-01 -1.44370097e-02 3.05624411e+01] [-2.19887241e-02 3.68935425e-03 9.99751411e-01 1.90803319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.079115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-51.31, Y:30.61, Z:2.02 [[ 8.50004680e-01 5.26616918e-01 1.29099003e-02 -5.13127105e+01] [-5.26508736e-01 8.50098959e-01 -1.09686769e-02 3.06080491e+01] [-1.67509836e-02 2.52625142e-03 9.99856501e-01 2.02235574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10911593299998 meters Centerline goodness [0,1] 0.9978682170542635 Centerline is valid? [True, True] Translation: X:-51.55, Y:30.39, Z:0.91 [[ 8.37258904e-01 5.46783795e-01 5.00087538e-03 -5.15508715e+01] [-5.46767922e-01 8.37273436e-01 -4.24637756e-03 3.03925689e+01] [-6.50895055e-03 8.20999175e-04 9.99978480e-01 9.13255768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-51.37, Y:30.63, Z:1.94 [[ 8.55678125e-01 5.17277681e-01 1.54514393e-02 -5.13714210e+01] [-5.17121133e-01 8.55811460e-01 -1.31331586e-02 3.06312443e+01] [-2.00170086e-02 3.24749079e-03 9.99794365e-01 1.93915864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16911593299999 meters Centerline goodness [0,1] 0.999804992199688 Centerline is valid? [True, True] Translation: X:-51.47, Y:30.56, Z:1.58 [[ 8.52432052e-01 5.22719342e-01 1.11394258e-02 -5.14731785e+01] [-5.22638420e-01 8.52501865e-01 -9.46845184e-03 3.05646814e+01] [-1.44457242e-02 2.24931993e-03 9.99893125e-01 1.58092292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-51.44, Y:30.65, Z:1.90 [[ 8.51535106e-01 5.24204740e-01 9.86678576e-03 -5.14350657e+01] [-5.24141341e-01 8.51589988e-01 -8.38729131e-03 3.06531465e+01] [-1.27991138e-02 1.97048268e-03 9.99916146e-01 1.90073983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22911593299999 meters Centerline goodness [0,1] 0.9987817258883249 Centerline is valid? [True, True] Translation: X:-51.63, Y:30.48, Z:1.02 [[ 8.36869134e-01 5.47388559e-01 3.97710889e-03 -5.16325771e+01] [-5.47378526e-01 8.36878333e-01 -3.37718607e-03 3.04819028e+01] [-5.17698928e-03 6.49278777e-04 9.99986389e-01 1.01596699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25911593299999 meters Centerline goodness [0,1] 0.9980419032700215 Centerline is valid? [True, True] Translation: X:-51.68, Y:30.47, Z:0.86 [[ 8.27410582e-01 5.61596747e-01 -9.06882357e-04 -5.16796582e+01] [-5.61596221e-01 8.27411068e-01 7.80817178e-04 3.04718194e+01] [ 1.18886889e-03 -1.36754691e-04 9.99999284e-01 8.63182748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.28911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-51.55, Y:30.65, Z:1.64 [[ 8.43846634e-01 5.36534551e-01 7.31666560e-03 -5.15545289e+01] [-5.36500075e-01 8.43877308e-01 -6.22560102e-03 3.06495651e+01] [-9.51461812e-03 1.32806082e-03 9.99953853e-01 1.63877202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-51.56, Y:30.69, Z:1.75 [[ 8.64194461e-01 5.02948584e-01 1.45139857e-02 -5.15569266e+01] [-5.02808054e-01 8.64309705e-01 -1.23610024e-02 3.06911798e+01] [-1.87615273e-02 3.38456094e-03 9.99818258e-01 1.75350778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.349115933 meters Centerline goodness [0,1] 0.9984126984126984 Centerline is valid? [True, True] Translation: X:-51.75, Y:30.53, Z:0.94 [[ 8.28760888e-01 5.59589641e-01 -3.85036743e-03 -5.17470180e+01] [-5.59580284e-01 8.28769637e-01 3.28544607e-03 3.05285455e+01] [ 5.02956920e-03 -5.68259496e-04 9.99987190e-01 9.41728339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.379115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-51.65, Y:30.68, Z:1.58 [[ 8.35396384e-01 5.49645577e-01 1.61906697e-03 -5.16472839e+01] [-5.49643926e-01 8.35397914e-01 -1.37114733e-03 3.06789583e+01] [-2.10621023e-03 2.55541198e-04 9.99997749e-01 1.57991964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.409115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-51.69, Y:30.68, Z:1.50 [[ 8.47109045e-01 5.31400821e-01 4.40827086e-03 -5.16901500e+01] [-5.31388191e-01 8.47120096e-01 -3.75934240e-03 3.06763917e+01] [-5.73205248e-03 8.42069876e-04 9.99983217e-01 1.49821977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.439115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-51.42, Y:31.17, Z:-4.53 [[ 7.16792733e-01 -6.97093929e-01 -1.63777980e-02 -5.14209438e+01] [-6.96973395e-01 -7.16976992e-01 1.31179518e-02 3.11737504e+01] [-2.08869489e-02 2.01203693e-03 -9.99779819e-01 -4.52965094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-51.44, Y:31.23, Z:-4.43 [[ 7.67962015e-01 -6.40275607e-01 -1.67776918e-02 -5.14427588e+01] [-6.40176167e-01 -7.68142797e-01 1.14507109e-02 3.12292714e+01] [-2.02192740e-02 1.94696741e-03 -9.99793674e-01 -4.42651218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-51.73, Y:30.69, Z:1.39 [[ 9.12416813e-01 4.09262009e-01 -4.09333694e-04 -5.17261109e+01] [-4.09261936e-01 9.12416903e-01 2.51198467e-04 3.06871439e+01] [ 4.76288970e-04 -6.16730044e-05 9.99999885e-01 1.38859425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.52911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-51.77, Y:30.67, Z:1.27 [[ 9.15129614e-01 4.03155969e-01 1.74790496e-03 -5.17691095e+01] [-4.03154654e-01 9.15131243e-01 -1.06421143e-03 3.06745728e+01] [-2.02860563e-03 2.69215381e-04 9.99997906e-01 1.27384235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-51.78, Y:30.71, Z:1.38 [[ 9.16900570e-01 3.99109101e-01 2.29579891e-03 -5.17809954e+01] [-3.99106801e-01 9.16903368e-01 -1.40529838e-03 3.07102802e+01] [-2.66589312e-03 3.72249925e-04 9.99996377e-01 1.37706009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.58911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-51.80, Y:30.73, Z:1.41 [[ 9.11601435e-01 4.11071877e-01 -1.65384766e-03 -5.18042270e+01] [-4.11070685e-01 9.11602901e-01 1.02143165e-03 3.07285696e+01] [ 1.92753415e-03 -2.51290267e-04 9.99998111e-01 1.40893900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-51.81, Y:30.78, Z:1.55 [[ 9.19141631e-01 3.93911404e-01 3.53116697e-03 -5.18052440e+01] [-3.93905873e-01 9.19148213e-01 -2.17393666e-03 3.07811220e+01] [-4.10200425e-03 6.07208281e-04 9.99991402e-01 1.54759267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.64911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-51.87, Y:30.74, Z:1.34 [[ 9.07734094e-01 4.19520208e-01 -4.64867485e-03 -5.18681596e+01] [-4.19510903e-01 9.07745761e-01 2.86985724e-03 3.07394360e+01] [ 5.42377800e-03 -6.54897484e-04 9.99985077e-01 1.34244287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-51.91, Y:30.72, Z:1.22 [[ 9.11055305e-01 4.12253649e-01 -5.01609289e-03 -5.19144986e+01] [-4.12242673e-01 9.11068797e-01 3.10245999e-03 3.07230054e+01] [ 5.84900617e-03 -7.58665094e-04 9.99982607e-01 1.21852955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.70911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-51.94, Y:30.73, Z:1.22 [[ 9.07290476e-01 4.20452672e-01 -6.59870930e-03 -5.19409880e+01] [-4.20433892e-01 9.07313997e-01 4.08080203e-03 3.07347757e+01] [ 7.70288543e-03 -9.28151782e-04 9.99969902e-01 1.22349614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.739115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-51.96, Y:30.75, Z:1.26 [[ 9.06883461e-01 4.21321040e-01 -7.13930466e-03 -5.19623020e+01] [-4.21298954e-01 9.06910999e-01 4.43064324e-03 3.07531684e+01] [ 8.34143714e-03 -1.01029549e-03 9.99964699e-01 1.25801542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.769115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.00, Y:30.75, Z:1.21 [[ 9.06589422e-01 4.21966448e-01 -6.31954851e-03 -5.19970795e+01] [-4.21949096e-01 9.06611004e-01 3.93036191e-03 3.07523179e+01] [ 7.38785308e-03 -8.96696748e-04 9.99972307e-01 1.20729789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.799115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.02, Y:30.77, Z:1.22 [[ 8.99754728e-01 4.36279702e-01 -1.00723074e-02 -5.20178267e+01] [-4.36236568e-01 8.99810253e-01 6.25820844e-03 3.07710137e+01] [ 1.17934948e-02 -1.23694380e-03 9.99929689e-01 1.21805617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.829115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.05, Y:30.77, Z:1.16 [[ 8.97529074e-01 4.40740481e-01 -1.37619207e-02 -5.20536881e+01] [-4.40660159e-01 8.97633099e-01 8.56996279e-03 3.07685524e+01] [ 1.61302850e-02 -1.62746060e-03 9.99868574e-01 1.16306979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.09, Y:30.76, Z:1.06 [[ 8.97697209e-01 4.40379046e-01 -1.43532984e-02 -5.20946514e+01] [-4.40291302e-01 8.97810299e-01 8.95754281e-03 3.07573600e+01] [ 1.68312533e-02 -1.72152875e-03 9.99856862e-01 1.06455573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.12, Y:30.77, Z:1.05 [[ 8.97601088e-01 4.40631637e-01 -1.24918720e-02 -5.21201590e+01] [-4.40564990e-01 8.97686743e-01 7.81028898e-03 3.07701468e+01] [ 1.46552483e-02 -1.50704242e-03 9.99891470e-01 1.04596841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.11, Y:30.84, Z:1.29 [[ 8.90534320e-01 4.54572462e-01 -1.76777310e-02 -5.21090544e+01] [-4.54441377e-01 8.90707897e-01 1.10669486e-02 3.08358953e+01] [ 2.07764247e-02 -1.82200515e-03 9.99782487e-01 1.28871793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.94911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.17, Y:30.79, Z:1.03 [[ 8.96974326e-01 4.41915788e-01 -1.21447296e-02 -5.21718266e+01] [-4.41852400e-01 8.97055325e-01 7.62898205e-03 3.07918243e+01] [ 1.42658620e-02 -1.47682311e-03 9.99897147e-01 1.02812039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.19, Y:30.81, Z:1.06 [[ 8.90601758e-01 4.54406494e-01 -1.85269308e-02 -5.21939357e+01] [-4.54261571e-01 8.90792307e-01 1.16400529e-02 3.08064592e+01] [ 2.17929631e-02 -1.95057887e-03 9.99760602e-01 1.06417868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.00911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.22, Y:30.82, Z:1.06 [[ 8.90130694e-01 4.55329159e-01 -1.85122587e-02 -5.22164229e+01] [-4.55183954e-01 8.90321028e-01 1.16633902e-02 3.08203131e+01] [ 2.17925349e-02 -1.95545848e-03 9.99760602e-01 1.06450383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.24, Y:30.84, Z:1.07 [[ 8.92413467e-01 4.50926493e-01 -1.62327147e-02 -5.22373532e+01] [-4.50813660e-01 8.92559211e-01 1.02517541e-02 3.08385189e+01] [ 1.91114466e-02 -1.83087391e-03 9.99815683e-01 1.07162370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.06911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.28, Y:30.82, Z:0.96 [[ 8.90298176e-01 4.55116622e-01 -1.54278421e-02 -5.22806127e+01] [-4.55014973e-01 8.90430270e-01 9.76261055e-03 3.08235257e+01] [ 1.81805439e-02 -1.67173522e-03 9.99833323e-01 9.58558856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.099115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.29, Y:30.86, Z:1.05 [[ 8.92400785e-01 4.51002684e-01 -1.47451418e-02 -5.22909282e+01] [-4.50908859e-01 8.92520975e-01 9.35462360e-03 3.08551560e+01] [ 1.73793087e-02 -1.69935836e-03 9.99847524e-01 1.05014241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.129115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.33, Y:30.85, Z:0.97 [[ 8.90689233e-01 4.54317792e-01 -1.63717355e-02 -5.23255706e+01] [-4.54202331e-01 8.90837803e-01 1.04044191e-02 3.08545375e+01] [ 1.93114736e-02 -1.83102364e-03 9.99811839e-01 9.73468414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.159115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.34, Y:30.89, Z:1.07 [[ 8.84157440e-01 4.66813837e-01 -1.87206406e-02 -5.23355957e+01] [-4.66665075e-01 8.84353768e-01 1.19214631e-02 3.08872349e+01] [ 2.21207730e-02 -1.80418109e-03 9.99753678e-01 1.07388693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.189115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.36, Y:30.90, Z:1.06 [[ 8.90050950e-01 4.55599164e-01 -1.54501855e-02 -5.23603349e+01] [-4.55495764e-01 8.90183339e-01 9.86061047e-03 3.08986568e+01] [ 1.82459836e-02 -1.73895169e-03 9.99832016e-01 1.06051607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.38, Y:30.92, Z:1.09 [[ 8.85054666e-01 4.65194363e-01 -1.65058269e-02 -5.23811283e+01] [-4.65077574e-01 8.85206998e-01 1.05555856e-02 3.09161963e+01] [ 1.95214724e-02 -1.66578035e-03 9.99808050e-01 1.09138887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.24911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.44, Y:30.88, Z:0.85 [[ 8.79698065e-01 4.75048039e-01 -2.14633556e-02 -5.24409980e+01] [-4.74852708e-01 8.79957795e-01 1.37544569e-02 3.08765420e+01] [ 2.54208748e-02 -1.90783661e-03 9.99675017e-01 8.54754912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.44, Y:30.92, Z:1.00 [[ 8.86060904e-01 4.63195476e-01 -1.86017283e-02 -5.24410002e+01] [-4.63045400e-01 8.86253932e-01 1.19551398e-02 3.09217724e+01] [ 2.20234215e-02 -1.97953722e-03 9.99755495e-01 1.00343588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.30911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.47, Y:30.93, Z:1.00 [[ 8.80972079e-01 4.72630542e-01 -2.25514121e-02 -5.24652904e+01] [-4.72412236e-01 8.81258073e-01 1.45219927e-02 3.09316889e+01] [ 2.67371512e-02 -2.13990712e-03 9.99640208e-01 9.98011730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.50, Y:30.93, Z:0.95 [[ 8.75629302e-01 4.82352366e-01 -2.46884595e-02 -5.24968386e+01] [-4.82093386e-01 8.75974875e-01 1.59369414e-02 3.09306844e+01] [ 2.93136916e-02 -2.05270987e-03 9.99568154e-01 9.48798145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.36911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.54, Y:30.91, Z:0.78 [[ 8.77671324e-01 4.78664561e-01 -2.39433908e-02 -5.25449673e+01] [-4.78417797e-01 8.77995185e-01 1.55198925e-02 3.09059480e+01] [ 2.84510043e-02 -2.16642032e-03 9.99592841e-01 7.80616682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.55, Y:30.94, Z:0.90 [[ 8.73821997e-01 4.85540479e-01 -2.61832155e-02 -5.25492964e+01] [-4.85247349e-01 8.74211530e-01 1.70062044e-02 3.09448770e+01] [ 3.11468695e-02 -2.15505958e-03 9.99512495e-01 8.98417315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.42911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.60, Y:30.92, Z:0.72 [[ 8.81344999e-01 4.71915479e-01 -2.29515544e-02 -5.25977767e+01] [-4.71684274e-01 8.81640645e-01 1.49572129e-02 3.09192816e+01] [ 2.72935635e-02 -2.35657754e-03 9.99624684e-01 7.17039117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.62, Y:30.93, Z:0.75 [[ 8.72975097e-01 4.86968996e-01 -2.78509828e-02 -5.26184855e+01] [-4.86634585e-01 8.73416150e-01 1.81936506e-02 3.09328361e+01] [ 3.31852419e-02 -2.32935242e-03 9.99446504e-01 7.50663720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.489115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.63, Y:30.96, Z:0.80 [[ 8.70432161e-01 4.91410968e-01 -2.93787979e-02 -5.26301961e+01] [-4.91039309e-01 8.70924700e-01 1.92500548e-02 3.09588529e+01] [ 3.50464089e-02 -2.32972216e-03 9.99382970e-01 7.95321673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.519115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.65, Y:30.98, Z:0.76 [[ 8.69964779e-01 4.92189671e-01 -3.01763428e-02 -5.26482928e+01] [-4.91795533e-01 8.70484616e-01 1.98415356e-02 3.09770799e+01] [ 3.60338411e-02 -2.42084656e-03 9.99347638e-01 7.63321908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.549115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.66, Y:31.00, Z:0.82 [[ 8.68749838e-01 4.94402402e-01 -2.89824689e-02 -5.26591720e+01] [-4.94036795e-01 8.69230054e-01 1.91509231e-02 3.10009550e+01] [ 3.46606954e-02 -2.31895526e-03 9.99396447e-01 8.22689754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.579115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.70, Y:30.98, Z:0.69 [[ 8.58984246e-01 5.11155564e-01 -2.94288140e-02 -5.27019748e+01] [-5.10786664e-01 8.59486510e-01 1.94916057e-02 3.09813388e+01] [ 3.52569113e-02 -1.71113646e-03 9.99376817e-01 6.90487703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.60911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.72, Y:30.99, Z:0.69 [[ 8.59515048e-01 5.10320553e-01 -2.84044914e-02 -5.27222172e+01] [-5.09974503e-01 8.59982516e-01 1.88700341e-02 3.09948913e+01] [ 3.40571322e-02 -1.73351184e-03 9.99418384e-01 6.94539118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.73, Y:31.03, Z:0.78 [[ 8.61263551e-01 5.07439031e-01 -2.70319394e-02 -5.27254475e+01] [-5.07121852e-01 8.61685740e-01 1.80308983e-02 3.10332930e+01] [ 3.24426182e-02 -1.82086834e-03 9.99471941e-01 7.76348701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.66911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.75, Y:31.04, Z:0.70 [[ 8.64690192e-01 5.01762176e-01 -2.33578909e-02 -5.27523836e+01] [-5.01521998e-01 8.65003750e-01 1.56268524e-02 3.10380859e+01] [ 2.80456267e-02 -1.79788988e-03 9.99605027e-01 6.98005368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69911593299999 meters Centerline goodness [0,1] 0.9990073456422474 Centerline is valid? [True, True] Translation: X:-52.80, Y:31.02, Z:0.56 [[ 8.52007320e-01 5.22540999e-01 -3.21625715e-02 -5.27953408e+01] [-5.22097974e-01 8.52612683e-01 2.15712586e-02 3.10189520e+01] [ 3.86940834e-02 -1.58685682e-03 9.99249844e-01 5.61862970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.72911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.79, Y:31.06, Z:0.70 [[ 8.54265517e-01 5.18976703e-01 -2.98932904e-02 -5.27928976e+01] [-5.18588394e-01 8.54786680e-01 2.01447014e-02 3.10622621e+01] [ 3.60070172e-02 -1.70661030e-03 9.99350080e-01 7.01075534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.82, Y:31.07, Z:0.67 [[ 8.47820872e-01 5.29369822e-01 -3.11024339e-02 -5.28211157e+01] [-5.28953512e-01 8.48390052e-01 2.10357295e-02 3.10654234e+01] [ 3.75226759e-02 -1.38278888e-03 9.99294820e-01 6.65496938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.78911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.84, Y:31.07, Z:0.65 [[ 8.43014378e-01 5.36857566e-01 -3.33273388e-02 -5.28434592e+01] [-5.36382098e-01 8.43672050e-01 2.26211554e-02 3.10744954e+01] [ 4.02616826e-02 -1.19377133e-03 9.99188457e-01 6.54028207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.86, Y:31.10, Z:0.69 [[ 8.43023292e-01 5.37006075e-01 -3.05974671e-02 -5.28557787e+01] [-5.36602253e-01 8.43577575e-01 2.08541624e-02 3.10975653e+01] [ 3.70101490e-02 -1.16187485e-03 9.99314214e-01 6.86809727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.849115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.88, Y:31.10, Z:0.66 [[ 8.41281381e-01 5.39676000e-01 -3.15508050e-02 -5.28796648e+01] [-5.39244684e-01 8.41872002e-01 2.16033233e-02 3.11047180e+01] [ 3.82205345e-02 -1.16086976e-03 9.99268654e-01 6.58205190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.879115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.90, Y:31.12, Z:0.68 [[ 8.42292904e-01 5.38032931e-01 -3.26071959e-02 -5.28950071e+01] [-5.37567234e-01 8.42922726e-01 2.24220048e-02 3.11240069e+01] [ 3.95491234e-02 -1.35733540e-03 9.99216705e-01 6.80521988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.909115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.93, Y:31.12, Z:0.59 [[ 8.34382863e-01 5.50035403e-01 -3.55850105e-02 -5.29309616e+01] [-5.49487365e-01 8.35140805e-01 2.45656571e-02 3.11166686e+01] [ 4.32304754e-02 -9.43649685e-04 9.99064680e-01 5.90768849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.939115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.96, Y:31.12, Z:0.57 [[ 8.32714647e-01 5.52573441e-01 -3.53398982e-02 -5.29555020e+01] [-5.52030365e-01 8.33463725e-01 2.45090638e-02 3.11223303e+01] [ 4.29975809e-02 -9.00359487e-04 9.99074771e-01 5.69669758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.96911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-52.98, Y:31.13, Z:0.56 [[ 8.36751558e-01 5.46645339e-01 -3.20266187e-02 -5.29755555e+01] [-5.46191071e-01 8.37363415e-01 2.23120019e-02 3.11339067e+01] [ 3.90146707e-02 -1.17694919e-03 9.99237945e-01 5.59172056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99911593299998 meters Centerline goodness [0,1] 0.9998025666337611 Centerline is valid? [True, True] Translation: X:-53.02, Y:31.12, Z:0.46 [[ 8.29430926e-01 5.57424448e-01 -3.63637707e-02 -5.30151940e+01] [-5.56844365e-01 8.30227235e-01 2.54379787e-02 3.11201043e+01] [ 4.43699440e-02 -8.50085368e-04 9.99014807e-01 4.55692904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.02, Y:31.15, Z:0.53 [[ 8.38563572e-01 5.43925947e-01 -3.09143879e-02 -5.30197597e+01] [-5.43493306e-01 8.39132010e-01 2.17369630e-02 3.11516536e+01] [ 3.77645506e-02 -1.42606245e-03 9.99285647e-01 5.29534587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.05, Y:31.15, Z:0.49 [[ 8.31366389e-01 5.54756469e-01 -3.27900422e-02 -5.30477259e+01] [-5.54274254e-01 8.32012086e-01 2.31503775e-02 3.11538847e+01] [ 4.01245331e-02 -1.07176958e-03 9.99194112e-01 4.92306963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.08, Y:31.15, Z:0.44 [[ 8.22823675e-01 5.66984254e-01 -3.86012320e-02 -5.30801056e+01] [-5.66323523e-01 8.23728364e-01 2.73724227e-02 3.11486131e+01] [ 4.73166624e-02 -6.61891752e-04 9.98879720e-01 4.37678431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.10, Y:31.16, Z:0.44 [[ 8.29494010e-01 5.57467628e-01 -3.41983932e-02 -5.30980871e+01] [-5.56935952e-01 8.30197856e-01 2.43693609e-02 3.11617693e+01] [ 4.19765625e-02 -1.16792427e-03 9.99117913e-01 4.36991716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.14911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.12, Y:31.17, Z:0.43 [[ 8.24976773e-01 5.64054365e-01 -3.54400531e-02 -5.31196124e+01] [-5.63484350e-01 8.25737097e-01 2.53699441e-02 3.11711595e+01] [ 4.35741943e-02 -9.59699332e-04 9.99049733e-01 4.27871838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.14, Y:31.18, Z:0.39 [[ 8.32796080e-01 5.52748446e-01 -3.03289460e-02 -5.31435767e+01] [-5.52318975e-01 8.33346932e-01 2.18321040e-02 3.11755677e+01] [ 3.73421956e-02 -1.43043831e-03 9.99301513e-01 3.85615558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.20911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.16, Y:31.19, Z:0.39 [[ 8.31499700e-01 5.54693477e-01 -3.03874271e-02 -5.31639984e+01] [-5.54259976e-01 8.32053550e-01 2.19720114e-02 3.11861682e+01] [ 3.74716980e-02 -1.42718632e-03 9.99296670e-01 3.85576242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.239115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.19, Y:31.19, Z:0.39 [[ 8.27772830e-01 5.60263994e-01 -2.99399208e-02 -5.31858533e+01] [-5.59843029e-01 8.28313173e-01 2.17501710e-02 3.11938056e+01] [ 3.69854685e-02 -1.24254464e-03 9.99315031e-01 3.87407522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.269115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.21, Y:31.20, Z:0.36 [[ 8.26354235e-01 5.62360227e-01 -2.98270449e-02 -5.32093990e+01] [-5.61940164e-01 8.26891451e-01 2.17664862e-02 3.11999675e+01] [ 3.69043346e-02 -1.22581358e-03 9.99318051e-01 3.59588150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.299115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.23, Y:31.20, Z:0.33 [[ 8.28508850e-01 5.59285572e-01 -2.77980909e-02 -5.32341165e+01] [-5.58915524e-01 8.28973954e-01 2.03868006e-02 3.12047075e+01] [ 3.44459368e-02 -1.35386018e-03 9.99405646e-01 3.25146098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.329115933 meters Centerline goodness [0,1] 0.9994054696789536 Centerline is valid? [True, True] Translation: X:-53.25, Y:31.22, Z:0.35 [[ 8.24204949e-01 5.65543752e-01 -2.90941018e-02 -5.32521423e+01] [-5.65138779e-01 8.24717387e-01 2.14334211e-02 3.12173606e+01] [ 3.61159490e-02 -1.22332662e-03 9.99346858e-01 3.54209545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35911593299998 meters Centerline goodness [0,1] 0.9989917322040734 Centerline is valid? [True, True] Translation: X:-53.27, Y:31.23, Z:0.36 [[ 8.26485826e-01 5.62254481e-01 -2.81260992e-02 -5.32681721e+01] [-5.61870251e-01 8.26963059e-01 2.08307347e-02 3.12314163e+01] [ 3.49714190e-02 -1.41308856e-03 9.99387314e-01 3.64096567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.30, Y:31.23, Z:0.32 [[ 8.26896935e-01 5.61516813e-01 -3.06647834e-02 -5.32974423e+01] [-5.61055620e-01 8.27463663e-01 2.28139876e-02 3.12298004e+01] [ 3.81844316e-02 -1.66016731e-03 9.99269330e-01 3.17822737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.32, Y:31.24, Z:0.31 [[ 8.22950914e-01 5.67158886e-01 -3.29027459e-02 -5.33181543e+01] [-5.66627922e-01 8.23606865e-01 2.45871892e-02 3.12398849e+01] [ 4.10437703e-02 -1.59043526e-03 9.99156084e-01 3.11329820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44911593299999 meters Centerline goodness [0,1] 0.9998048399687745 Centerline is valid? [True, True] Translation: X:-53.35, Y:31.23, Z:0.26 [[ 8.27908450e-01 5.60018573e-01 -3.07700594e-02 -5.33496477e+01] [-5.59544469e-01 8.28477821e-01 2.31189904e-02 3.12345177e+01] [ 3.84393758e-02 -1.92319096e-03 9.99259083e-01 2.58651188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47911593299999 meters Centerline goodness [0,1] 0.9992144540455616 Centerline is valid? [True, True] Translation: X:-53.37, Y:31.24, Z:0.26 [[ 8.24471061e-01 5.64837870e-01 -3.47224717e-02 -5.33700073e+01] [-5.64233288e-01 8.25199447e-01 2.62043827e-02 3.12438181e+01] [ 4.34541922e-02 -2.01318083e-03 9.99053392e-01 2.60282626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.50911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.38, Y:31.26, Z:0.26 [[ 8.19652811e-01 5.71692390e-01 -3.65661252e-02 -5.33817355e+01] [-5.71022726e-01 8.20465971e-01 2.77242983e-02 3.12649946e+01] [ 4.58510318e-02 -1.84421052e-03 9.98946586e-01 2.59373643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.40, Y:31.28, Z:0.24 [[ 8.19291895e-01 5.72209989e-01 -3.65584523e-02 -5.33986189e+01] [-5.71535050e-01 8.20104889e-01 2.78506185e-02 3.12790057e+01] [ 4.59181676e-02 -1.92334913e-03 9.98943353e-01 2.39099440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.56911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.42, Y:31.29, Z:0.24 [[ 8.19041502e-01 5.72642605e-01 -3.53760410e-02 -5.34189002e+01] [-5.72005211e-01 8.19802820e-01 2.70809002e-02 3.12882671e+01] [ 4.45090554e-02 -1.94510134e-03 9.99007087e-01 2.37410818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.599115933 meters Centerline goodness [0,1] 0.9995976664654999 Centerline is valid? [True, True] Translation: X:-53.45, Y:31.29, Z:0.20 [[ 8.10395338e-01 5.84837416e-01 -3.49941959e-02 -5.34450022e+01] [-5.84219065e-01 8.11149377e-01 2.69215953e-02 3.12893401e+01] [ 4.41302764e-02 -1.37285895e-03 9.99024842e-01 1.98105277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.629115933 meters Centerline goodness [0,1] 0.9993973483326637 Centerline is valid? [True, True] Translation: X:-53.46, Y:31.30, Z:0.18 [[ 8.05103446e-01 5.92130628e-01 -3.44929041e-02 -5.34649491e+01] [-5.91530714e-01 8.05841287e-01 2.66689813e-02 3.12986230e+01] [ 4.35873269e-02 -1.06767655e-03 9.99049050e-01 1.84138883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.659115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.48, Y:31.31, Z:0.18 [[ 7.99980904e-01 5.99054535e-01 -3.41206152e-02 -5.34813516e+01] [-5.98468099e-01 8.00707838e-01 2.65121326e-02 3.13129706e+01] [ 4.32028573e-02 -7.89100127e-04 9.99066009e-01 1.78799179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.689115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.49, Y:31.33, Z:0.18 [[ 8.01977037e-01 5.96393355e-01 -3.38791674e-02 -5.34911119e+01] [-5.95803967e-01 8.02691582e-01 2.65303045e-02 3.13305195e+01] [ 4.30170198e-02 -1.09135272e-03 9.99073744e-01 1.75706249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71911593299998 meters Centerline goodness [0,1] 0.9990386464141511 Centerline is valid? [True, True] Translation: X:-53.50, Y:31.35, Z:0.20 [[ 8.04574489e-01 5.93023982e-01 -3.13440254e-02 -5.35034115e+01] [-5.92512600e-01 8.05183803e-01 2.46548509e-02 3.13496278e+01] [ 3.98586194e-02 -1.26493406e-03 9.99204529e-01 1.97974253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.74911593299998 meters Centerline goodness [0,1] 0.9996144949884348 Centerline is valid? [True, True] Translation: X:-53.53, Y:31.35, Z:0.19 [[ 7.97462914e-01 6.02373485e-01 -3.46278099e-02 -5.35269337e+01] [-6.01752432e-01 7.98213765e-01 2.73641224e-02 3.13544430e+01] [ 4.41238163e-02 -9.84503927e-04 9.99025585e-01 1.87482261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77911593299999 meters Centerline goodness [0,1] 0.9998052201012856 Centerline is valid? [True, True] Translation: X:-53.55, Y:31.36, Z:0.15 [[ 7.99478745e-01 5.99895764e-01 -3.09646223e-02 -5.35498154e+01] [-5.99392101e-01 8.00077398e-01 2.46021711e-02 3.13589765e+01] [ 3.95328326e-02 -1.10896289e-03 9.99217657e-01 1.54162549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.80911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.57, Y:31.37, Z:0.17 [[ 8.00453476e-01 5.98573235e-01 -3.13737920e-02 -5.35669683e+01] [-5.98050379e-01 8.01067057e-01 2.50462429e-02 3.13712677e+01] [ 4.01245218e-02 -1.28524401e-03 9.99193861e-01 1.66135842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.59, Y:31.38, Z:0.16 [[ 7.95056875e-01 6.05623412e-01 -3.32392563e-02 -5.35859242e+01] [-6.05037069e-01 7.95750649e-01 2.66655149e-02 3.13811263e+01] [ 4.25994199e-02 -1.08961874e-03 9.99091639e-01 1.55213373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.86911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.60, Y:31.40, Z:0.18 [[ 8.00376860e-01 5.98785231e-01 -2.92083868e-02 -5.35964774e+01] [-5.98322450e-01 8.00908422e-01 2.35785019e-02 3.14015665e+01] [ 3.75117017e-02 -1.39565374e-03 9.99295214e-01 1.83281851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.61, Y:31.41, Z:0.18 [[ 7.98933893e-01 6.00711772e-01 -2.91547813e-02 -5.36129907e+01] [-6.00247858e-01 7.99464466e-01 2.36448031e-02 3.14144495e+01] [ 3.75119233e-02 -1.39053962e-03 9.99295213e-01 1.83515684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.92911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.65, Y:31.41, Z:0.10 [[ 7.92024127e-01 6.09650975e-01 -3.19917287e-02 -5.36476731e+01] [-6.09093830e-01 7.92669106e-01 2.60843761e-02 3.14067322e+01] [ 4.12612203e-02 -1.17349065e-03 9.99147704e-01 1.03069275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.67, Y:31.42, Z:0.10 [[ 7.88759616e-01 6.13781871e-01 -3.36167033e-02 -5.36676111e+01] [-6.13164582e-01 7.89474875e-01 2.75430153e-02 3.14162114e+01] [ 4.34449460e-02 -1.11224635e-03 9.99055203e-01 1.01810014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.989115933 meters Centerline goodness [0,1] 0.999601593625498 Centerline is valid? [True, True] Translation: X:-53.69, Y:31.43, Z:0.10 [[ 7.89376615e-01 6.12991025e-01 -3.35643268e-02 -5.36853787e+01] [-6.12368856e-01 7.90088858e-01 2.76401925e-02 3.14274615e+01] [ 4.34619906e-02 -1.26477319e-03 9.99054281e-01 1.00908404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.019115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.70, Y:31.44, Z:0.11 [[ 7.76951675e-01 6.28581383e-01 -3.50933038e-02 -5.37021888e+01] [-6.27910402e-01 7.77743638e-01 2.90406644e-02 3.14399341e+01] [ 4.55480148e-02 -5.27742362e-04 9.98962011e-01 1.07653537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.049115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.72, Y:31.46, Z:0.11 [[ 7.78565718e-01 6.26579341e-01 -3.51247994e-02 -5.37161275e+01] [-6.25897615e-01 7.79357255e-01 2.92309041e-02 3.14564871e+01] [ 4.56902479e-02 -7.73651681e-04 9.98955356e-01 1.11516116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.079115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.73, Y:31.47, Z:0.09 [[ 7.75380151e-01 6.30479580e-01 -3.57927538e-02 -5.37328839e+01] [-6.29768917e-01 7.76205547e-01 2.99342614e-02 3.14688837e+01] [ 4.66554745e-02 -6.69268347e-04 9.98910816e-01 9.38823585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.10911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.75, Y:31.48, Z:0.08 [[ 7.70438602e-01 6.36604859e-01 -3.40384208e-02 -5.37486841e+01] [-6.35961724e-01 7.71190052e-01 2.86110094e-02 3.14825456e+01] [ 4.44639991e-02 -3.95893260e-04 9.99010909e-01 8.42229178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.77, Y:31.49, Z:0.07 [[ 7.66050956e-01 6.41925291e-01 -3.31338885e-02 -5.37699199e+01] [-6.41314732e-01 7.66767164e-01 2.79916228e-02 3.14897824e+01] [ 4.33745084e-02 -1.93758577e-04 9.99058864e-01 7.19008620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.16911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.79, Y:31.50, Z:0.06 [[ 7.67709543e-01 6.40015787e-01 -3.16520012e-02 -5.37894922e+01] [-6.39451193e-01 7.68361656e-01 2.68800433e-02 3.14984231e+01] [ 4.15238361e-02 -3.96155856e-04 9.99137435e-01 6.11066500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.80, Y:31.52, Z:0.07 [[ 7.69838070e-01 6.37440829e-01 -3.19145080e-02 -5.38022466e+01] [-6.36858765e-01 7.70499040e-01 2.72422957e-02 3.15154453e+01] [ 4.19554493e-02 -6.47122156e-04 9.99119273e-01 7.23705991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.22911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.82, Y:31.53, Z:0.08 [[ 7.63868815e-01 6.44458125e-01 -3.43243034e-02 -5.38171290e+01] [-6.43785288e-01 7.64639503e-01 2.94437304e-02 3.15296950e+01] [ 4.52209696e-02 -3.93665882e-04 9.98976931e-01 7.98755076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.84, Y:31.54, Z:0.04 [[ 7.67832749e-01 6.39766340e-01 -3.36437206e-02 -5.38388255e+01] [-6.39108684e-01 7.68569081e-01 2.90113512e-02 3.15367862e+01] [ 4.44180094e-02 -7.73871525e-04 9.99012733e-01 4.39951811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.28911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.85, Y:31.55, Z:0.05 [[ 7.69142008e-01 6.38225253e-01 -3.30014715e-02 -5.38546368e+01] [-6.37583923e-01 7.69849064e-01 2.86209677e-02 3.15510202e+01] [ 4.36727763e-02 -9.72380917e-04 9.99045416e-01 5.33023105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.88, Y:31.55, Z:0.02 [[ 7.70119941e-01 6.36948837e-01 -3.48059722e-02 -5.38830724e+01] [-6.36225374e-01 7.70905066e-01 3.03751861e-02 3.15491469e+01] [ 4.61795398e-02 -1.24809377e-03 9.98932376e-01 1.78456165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.349115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.90, Y:31.56, Z:-0.00 [[ 7.70120059e-01 6.37083359e-01 -3.22473093e-02 -5.39043546e+01] [-6.36454700e-01 7.70793832e-01 2.83245930e-02 3.15565085e+01] [ 4.29011539e-02 -1.28938566e-03 9.99078490e-01 -1.80084839e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.379115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.91, Y:31.58, Z:0.04 [[ 7.81216212e-01 6.23553760e-01 -2.96974520e-02 -5.39146471e+01] [-6.23005360e-01 7.81777960e-01 2.62210565e-02 3.15751847e+01] [ 3.95670518e-02 -1.98264263e-03 9.99214951e-01 3.72749157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.409115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.93, Y:31.59, Z:0.03 [[ 7.76622273e-01 6.29287237e-01 -2.92475396e-02 -5.39335926e+01] [-6.28753594e-01 7.77170769e-01 2.59714245e-02 3.15857009e+01] [ 3.90738188e-02 -1.78049113e-03 9.99234740e-01 2.99346058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.439115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.94, Y:31.61, Z:0.06 [[ 7.76989132e-01 6.28917643e-01 -2.73950103e-02 -5.39424712e+01] [-6.28444751e-01 7.77469889e-01 2.44492670e-02 3.16059466e+01] [ 3.66753710e-02 -1.78056432e-03 9.99325646e-01 6.14655799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.96, Y:31.61, Z:0.02 [[ 7.73449529e-01 6.33237595e-01 -2.80352336e-02 -5.39648190e+01] [-6.32740532e-01 7.73955574e-01 2.51433635e-02 3.16123246e+01] [ 3.76197483e-02 -1.70809403e-03 9.99290667e-01 2.06068511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.98, Y:31.63, Z:0.05 [[ 7.70691369e-01 6.36725336e-01 -2.48124998e-02 -5.39767305e+01] [-6.36333235e-01 7.71089291e-01 2.23901559e-02 3.16298829e+01] [ 3.33890324e-02 -1.46688166e-03 9.99441354e-01 5.46632445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.00, Y:31.64, Z:0.04 [[ 7.65961537e-01 6.42546957e-01 -2.08885582e-02 -5.39951663e+01] [-6.42267549e-01 7.66245489e-01 1.89801613e-02 3.16404353e+01] [ 2.82014084e-02 -1.12203042e-03 9.99601631e-01 4.26731044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.01, Y:31.65, Z:0.03 [[ 7.52860627e-01 6.57824517e-01 -2.16282541e-02 -5.40146064e+01] [-6.57528073e-01 7.53170949e-01 1.97574021e-02 3.16489900e+01] [ 2.92866762e-02 -6.53385864e-04 9.99570840e-01 2.73764971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.02, Y:31.68, Z:0.05 [[ 7.50117416e-01 6.60952005e-01 -2.15941881e-02 -5.40182481e+01] [-6.60655020e-01 7.50427934e-01 1.98206862e-02 3.16753443e+01] [ 2.93054042e-02 -6.01533110e-04 9.99570323e-01 5.38346567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.04, Y:31.68, Z:0.03 [[ 7.46274879e-01 6.65329015e-01 -2.02757811e-02 -5.40371370e+01] [-6.65065450e-01 7.46550104e-01 1.87320368e-02 3.16846254e+01] [ 2.75998540e-02 -4.94527034e-04 9.99618929e-01 2.70646363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.64911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.05, Y:31.70, Z:0.02 [[ 7.40475369e-01 6.71788710e-01 -1.99036838e-02 -5.40517667e+01] [-6.71534702e-01 7.40742756e-01 1.84746936e-02 3.16994547e+01] [ 2.71546002e-02 -3.14041155e-04 9.99631197e-01 2.24328831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.07, Y:31.71, Z:0.01 [[ 7.43699282e-01 6.68350418e-01 -1.48019458e-02 -5.40686292e+01] [-6.68207222e-01 7.43846461e-01 1.38402121e-02 3.17106466e+01] [ 2.02604866e-02 -4.02188732e-04 9.99794654e-01 1.23581305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.70911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.08, Y:31.73, Z:0.04 [[ 7.29525550e-01 6.83758764e-01 -1.63225240e-02 -5.40768022e+01] [-6.83586505e-01 7.29708128e-01 1.53472777e-02 3.17307908e+01] [ 2.24045141e-02 -3.83740321e-05 9.99748987e-01 4.30169145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.739115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.09, Y:31.74, Z:0.01 [[ 7.24491719e-01 6.89108431e-01 -1.55344326e-02 -5.40948171e+01] [-6.88951527e-01 7.24658242e-01 1.47046350e-02 3.17411551e+01] [ 2.13902426e-02 4.90847674e-05 9.99771201e-01 1.32355300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.769115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.10, Y:31.77, Z:0.06 [[ 7.26788202e-01 6.86689988e-01 -1.53547683e-02 -5.40960790e+01] [-6.86534271e-01 7.26950378e-01 1.46233356e-02 3.17680047e+01] [ 2.12038528e-02 -8.64931104e-05 9.99775169e-01 6.21142277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.799115933 meters Centerline goodness [0,1] 0.9994206257242179 Centerline is valid? [True, True] Translation: X:-54.12, Y:31.78, Z:0.04 [[ 7.20054312e-01 6.93761236e-01 -1.47355278e-02 -5.41170498e+01] [-6.93617502e-01 7.20205071e-01 1.41214605e-02 3.17752327e+01] [ 2.04095237e-02 5.26014525e-05 9.99791703e-01 4.26291025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.829115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.14, Y:31.78, Z:0.01 [[ 7.12483367e-01 7.01511767e-01 -1.57700273e-02 -5.41413147e+01] [-7.01347154e-01 7.12657833e-01 1.51980942e-02 3.17800110e+01] [ 2.19002754e-02 2.31874466e-04 9.99760133e-01 1.33694070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.15, Y:31.80, Z:0.03 [[ 7.12383970e-01 7.01592719e-01 -1.66353611e-02 -5.41459854e+01] [-7.01407327e-01 7.12578153e-01 1.61287663e-02 3.18037834e+01] [ 2.31698199e-02 1.78289656e-04 9.99731528e-01 3.20147717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.15, Y:31.83, Z:0.03 [[ 7.00519903e-01 7.13365108e-01 -1.95470757e-02 -5.41500676e+01] [-7.13111266e-01 7.00792308e-01 1.90384525e-02 3.18283577e+01] [ 2.72798081e-02 6.02424998e-04 9.99627655e-01 3.31556098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.16, Y:31.85, Z:0.07 [[ 7.00105186e-01 7.13911502e-01 -1.35312978e-02 -5.41553418e+01] [-7.13788078e-01 7.00235844e-01 1.32793886e-02 3.18513849e+01] [ 1.89554080e-02 3.61510188e-04 9.99820265e-01 6.96370130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.17, Y:31.87, Z:0.08 [[ 6.86233679e-01 7.27229572e-01 -1.48488150e-02 -5.41673800e+01] [-7.27082190e-01 6.86393915e-01 1.46588709e-02 3.18666614e+01] [ 2.08525007e-02 7.36898070e-04 9.99782291e-01 7.83587014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.20, Y:31.87, Z:0.02 [[ 6.85292123e-01 7.28161054e-01 -1.24974384e-02 -5.41969102e+01] [-7.28055389e-01 6.85405817e-01 1.24184266e-02 3.18666922e+01] [ 1.76084316e-02 5.88577418e-04 9.99844786e-01 1.85519921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.00911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.22, Y:31.88, Z:0.00 [[ 6.75532205e-01 7.37192815e-01 -1.42475642e-02 -5.42161817e+01] [-7.37055965e-01 6.75681853e-01 1.42315819e-02 3.18758204e+01] [ 2.01182405e-02 8.87360269e-04 9.99797214e-01 1.94939309e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.22, Y:31.89, Z:-0.00 [[ 6.76165102e-01 7.36592928e-01 -1.52188673e-02 -5.42226553e+01] [-7.36434307e-01 6.76335809e-01 1.53096229e-02 3.18948740e+01] [ 2.15700249e-02 8.55863246e-04 9.99766974e-01 -1.72079090e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.06911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.09, Y:33.02, Z:-2.84 [[ 7.83955325e-01 -6.19871045e-01 -3.42627512e-02 -5.30931498e+01] [-6.19127502e-01 -7.84699139e-01 3.04696192e-02 3.30151726e+01] [-4.57731861e-02 -2.67380860e-03 -9.98948280e-01 -2.83596345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.099115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.12, Y:31.80, Z:0.03 [[ 7.39212667e-01 6.73301496e-01 -1.51568005e-02 -5.41175762e+01] [-6.73177897e-01 7.39367748e-01 1.29170849e-02 3.17976626e+01] [ 1.99035420e-02 6.54750303e-04 9.99801690e-01 3.06277228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.129115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.14, Y:31.80, Z:-0.00 [[ 7.29509178e-01 6.83670421e-01 -2.02759682e-02 -5.41409985e+01] [-6.83449817e-01 7.29789976e-01 1.74051509e-02 3.18017811e+01] [ 2.66965852e-02 1.16038942e-03 9.99642909e-01 -7.21787564e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.159115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.15, Y:31.82, Z:0.01 [[ 7.35523925e-01 6.77236845e-01 -1.88364339e-02 -5.41547200e+01] [-6.77041694e-01 7.35764666e-01 1.62757768e-02 3.18169007e+01] [ 2.48817382e-02 7.81827893e-04 9.99690096e-01 1.23254960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.189115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.17, Y:31.83, Z:0.01 [[ 7.31197653e-01 6.81849834e-01 -2.07556010e-02 -5.41725314e+01] [-6.81611846e-01 7.31491550e-01 1.80389561e-02 3.18267188e+01] [ 2.74824060e-02 9.57221138e-04 9.99621829e-01 9.42046647e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21911593299998 meters Centerline goodness [0,1] 0.999809885931559 Centerline is valid? [True, True] Translation: X:-54.19, Y:31.84, Z:0.01 [[ 7.34134953e-01 6.78592826e-01 -2.36145667e-02 -5.41857780e+01] [-6.78279157e-01 7.34514152e-01 2.06481440e-02 3.18410893e+01] [ 3.13569158e-02 8.58744235e-04 9.99507882e-01 1.34584909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.21, Y:31.85, Z:-0.01 [[ 7.31332689e-01 6.81544955e-01 -2.54749297e-02 -5.42065649e+01] [-6.81177520e-01 7.31775599e-01 2.23977353e-02 3.18490067e+01] [ 3.39069955e-02 9.72753499e-04 9.99424519e-01 -7.21370996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.20, Y:31.88, Z:0.09 [[ 7.30030515e-01 6.82826370e-01 -2.83477705e-02 -5.42009762e+01] [-6.82367247e-01 7.30579937e-01 2.50578375e-02 3.18843952e+01] [ 3.78204646e-02 1.05060415e-03 9.99283998e-01 8.97275857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.22, Y:31.89, Z:0.05 [[ 7.29176390e-01 6.83553083e-01 -3.25111512e-02 -5.42236219e+01] [-6.82942088e-01 7.29899947e-01 2.89166291e-02 3.18882292e+01] [ 4.34959385e-02 1.11791025e-03 9.99052978e-01 5.11428977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.24, Y:31.90, Z:0.03 [[ 7.27424838e-01 6.85225158e-01 -3.63261460e-02 -5.42443981e+01] [-6.84456493e-01 7.28330239e-01 3.24710990e-02 3.18953824e+01] [ 4.87074445e-02 1.24338256e-03 9.98812314e-01 3.46812024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.36911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.27, Y:31.90, Z:0.01 [[ 7.29218491e-01 6.83284353e-01 -3.69172660e-02 -5.42677096e+01] [-6.82477337e-01 7.30151725e-01 3.32135931e-02 3.18995570e+01] [ 4.96495340e-02 9.75231118e-04 9.98766225e-01 5.32224784e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.29, Y:31.91, Z:-0.01 [[ 7.24081200e-01 6.88508098e-01 -4.07800765e-02 -5.42890064e+01] [-6.87519226e-01 7.25227469e-01 3.69111350e-02 3.19057030e+01] [ 5.49884470e-02 1.31042774e-03 9.98486131e-01 -1.35966469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.42911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.31, Y:31.92, Z:-0.04 [[ 7.21447020e-01 6.90986827e-01 -4.52924128e-02 -5.43078664e+01] [-6.89757096e-01 7.22865807e-01 4.12331607e-02 3.19152503e+01] [ 6.12319074e-02 1.49322220e-03 9.98122449e-01 -4.21161745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45911593299999 meters Centerline goodness [0,1] 0.9996171516079633 Centerline is valid? [True, True] Translation: X:-54.32, Y:31.93, Z:-0.02 [[ 7.17677409e-01 6.94591836e-01 -4.98128263e-02 -5.43186931e+01] [-6.93094203e-01 7.19401838e-01 4.56226048e-02 3.19329289e+01] [ 6.75245276e-02 1.78266833e-03 9.97716022e-01 -1.89067822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.489115933 meters Centerline goodness [0,1] 0.9996144206670522 Centerline is valid? [True, True] Translation: X:-54.34, Y:31.94, Z:-0.05 [[ 7.22079544e-01 6.90060879e-01 -4.91641707e-02 -5.43365295e+01] [-6.88570023e-01 7.23750480e-01 4.53493652e-02 3.19401356e+01] [ 6.68764150e-02 1.10712526e-03 9.97760652e-01 -4.68112765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.519115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.34, Y:31.96, Z:-0.00 [[ 7.24406961e-01 6.87600667e-01 -4.93951204e-02 -5.43404620e+01] [-6.86071218e-01 7.26088740e-01 4.58412992e-02 3.19637395e+01] [ 6.73857486e-02 6.80814248e-04 9.97726765e-01 -3.15236574e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.549115933 meters Centerline goodness [0,1] 0.9994241842610365 Centerline is valid? [True, True] Translation: X:-54.35, Y:31.98, Z:-0.01 [[ 7.22945522e-01 6.89098627e-01 -4.99284983e-02 -5.43496434e+01] [-6.87520021e-01 7.24667299e-01 4.66210909e-02 3.19822178e+01] [ 6.83080798e-02 6.22333314e-04 9.97664081e-01 -9.80307111e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.579115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.36, Y:31.99, Z:-0.02 [[ 7.16004827e-01 6.96247705e-01 -5.07564864e-02 -5.43582582e+01] [-6.94597639e-01 7.17800972e-01 4.79153917e-02 3.19934797e+01] [ 6.97940368e-02 9.47683853e-04 9.97560973e-01 -2.42213260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.38, Y:32.00, Z:-0.06 [[ 7.05600727e-01 7.06726246e-01 -5.16297084e-02 -5.43795313e+01] [-7.05028341e-01 7.07484743e-01 4.89936320e-02 3.19999896e+01] [ 7.11523166e-02 1.83046532e-03 9.97463782e-01 -5.77754713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.39, Y:32.01, Z:-0.08 [[ 7.03683056e-01 7.08785979e-01 -4.95236591e-02 -5.43940761e+01] [-7.07208620e-01 7.05421429e-01 4.72924482e-02 3.20136009e+01] [ 6.84552746e-02 1.74466418e-03 9.97652661e-01 -7.50223246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.41, Y:32.03, Z:-0.08 [[ 6.98014117e-01 7.14355269e-01 -4.97276883e-02 -5.44083909e+01] [-7.12758465e-01 6.99780093e-01 4.77827556e-02 3.20264404e+01] [ 6.89323096e-02 2.09079287e-03 9.97619148e-01 -8.13386671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69911593299999 meters Centerline goodness [0,1] 0.9998108925869894 Centerline is valid? [True, True] Translation: X:-54.42, Y:32.04, Z:-0.09 [[ 6.93435888e-01 7.18702445e-01 -5.11220521e-02 -5.44223984e+01] [-7.17004259e-01 6.95313708e-01 4.94341880e-02 3.20396113e+01] [ 7.10743354e-02 2.37528907e-03 9.97468193e-01 -9.13130950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72911593299999 meters Centerline goodness [0,1] 0.9994383074330649 Centerline is valid? [True, True] Translation: X:-54.44, Y:32.05, Z:-0.10 [[ 6.94705404e-01 7.17582198e-01 -4.96003008e-02 -5.44352636e+01] [-7.15958080e-01 6.96471058e-01 4.82917526e-02 3.20523244e+01] [ 6.91984760e-02 1.96319466e-03 9.97600981e-01 -1.03155337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.44, Y:32.08, Z:-0.06 [[ 6.96119518e-01 7.16279939e-01 -4.85866847e-02 -5.44365080e+01] [-7.14698488e-01 6.97811234e-01 4.75978234e-02 3.20786677e+01] [ 6.79977004e-02 1.59105626e-03 9.97684209e-01 -5.87295671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.78911593299999 meters Centerline goodness [0,1] 0.9996272828922848 Centerline is valid? [True, True] Translation: X:-54.46, Y:32.09, Z:-0.09 [[ 6.83984822e-01 7.27559359e-01 -5.31238386e-02 -5.44565416e+01] [-7.25678569e-01 6.86039253e-01 5.23522507e-02 3.20861741e+01] [ 7.45344085e-02 2.74268630e-03 9.97214671e-01 -9.34128937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81911593299999 meters Centerline goodness [0,1] 0.9996272828922848 Centerline is valid? [True, True] Translation: X:-54.47, Y:32.10, Z:-0.09 [[ 6.81681579e-01 7.29729975e-01 -5.29564866e-02 -5.44695865e+01] [-7.27842585e-01 6.83729955e-01 5.25216176e-02 3.20989907e+01] [ 7.45345348e-02 2.74096691e-03 9.97214666e-01 -9.32163695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.849115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.49, Y:32.11, Z:-0.11 [[ 6.91455976e-01 7.20814371e-01 -4.81173120e-02 -5.44872578e+01] [-7.19213252e-01 6.93126762e-01 4.80373780e-02 3.21083374e+01] [ 6.79774290e-02 1.39087638e-03 9.97685890e-01 -1.10697147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.879115933 meters Centerline goodness [0,1] 0.9992484028560692 Centerline is valid? [True, True] Translation: X:-54.50, Y:32.12, Z:-0.10 [[ 6.81069473e-01 7.30292709e-01 -5.30747806e-02 -5.44996283e+01] [-7.28348294e-01 6.83130320e-01 5.33078612e-02 3.21225600e+01] [ 7.51873342e-02 2.35056897e-03 9.97166656e-01 -9.78367786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.909115933 meters Centerline goodness [0,1] 0.9990645463049579 Centerline is valid? [True, True] Translation: X:-53.34, Y:33.26, Z:-2.67 [[ 7.75428778e-01 -6.27039037e-01 -7.43791387e-02 -5.33415004e+01] [-6.23709709e-01 -7.78978899e-01 6.46380268e-02 3.32636823e+01] [-9.84703456e-02 -3.73119524e-03 -9.95132991e-01 -2.66529251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.939115933 meters Centerline goodness [0,1] 0.9996294237539374 Centerline is valid? [True, True] Translation: X:-54.40, Y:32.00, Z:-0.11 [[ 7.38174440e-01 6.71860621e-01 -6.08424282e-02 -5.44044965e+01] [-6.69854086e-01 7.40673668e-01 5.19424704e-02 3.20041912e+01] [ 7.99624849e-02 2.41294515e-03 9.96794953e-01 -1.12762008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.96911593299998 meters Centerline goodness [0,1] 0.9998119947358526 Centerline is valid? [True, True] Translation: X:-54.43, Y:32.01, Z:-0.15 [[ 7.40257172e-01 6.69539900e-01 -6.11198900e-02 -5.44253275e+01] [-6.67478400e-01 7.42773644e-01 5.25347529e-02 3.20100030e+01] [ 8.05723566e-02 1.90697873e-03 9.96746938e-01 -1.45464622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.44, Y:32.02, Z:-0.13 [[ 7.40496682e-01 6.69162439e-01 -6.23401411e-02 -5.44387222e+01] [-6.66989120e-01 7.43114313e-01 5.39131811e-02 3.20235027e+01] [ 8.24025269e-02 1.65766419e-03 9.96597750e-01 -1.26569105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02911593299999 meters Centerline goodness [0,1] 0.999447106524143 Centerline is valid? [True, True] Translation: X:-54.47, Y:32.02, Z:-0.17 [[ 7.39934689e-01 6.69550799e-01 -6.47949386e-02 -5.44680238e+01] [-6.67173843e-01 7.42764741e-01 5.63879759e-02 3.20208013e+01] [ 8.58820101e-02 1.50606879e-03 9.96304176e-01 -1.74536856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05911593299999 meters Centerline goodness [0,1] 0.9992592592592593 Centerline is valid? [True, True] Translation: X:-54.49, Y:32.03, Z:-0.17 [[ 7.43725327e-01 6.65462761e-01 -6.34976507e-02 -5.44850454e+01] [-6.63133980e-01 7.46430689e-01 5.56286844e-02 3.20301455e+01] [ 8.44154130e-02 7.34988370e-04 9.96430378e-01 -1.66397931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.50, Y:32.04, Z:-0.19 [[ 7.50167124e-01 6.58384395e-01 -6.14757977e-02 -5.45029580e+01] [-6.56151554e-01 7.52681802e-01 5.41778883e-02 3.20405768e+01] [ 8.19415904e-02 -3.05030477e-04 9.96637087e-01 -1.89716391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11911593299999 meters Centerline goodness [0,1] 0.999815293683044 Centerline is valid? [True, True] Translation: X:-54.52, Y:32.05, Z:-0.19 [[ 7.40613178e-01 6.68660119e-01 -6.62251092e-02 -5.45179334e+01] [-6.66077128e-01 7.43567924e-01 5.87196875e-02 3.20529318e+01] [ 8.85063802e-02 6.22456178e-04 9.96075415e-01 -1.91250439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.14911593299999 meters Centerline goodness [0,1] 0.999261038241271 Centerline is valid? [True, True] Translation: X:-54.54, Y:32.06, Z:-0.21 [[ 7.38927814e-01 6.70720307e-01 -6.41868794e-02 -5.45377784e+01] [-6.68270154e-01 7.41710150e-01 5.72804828e-02 3.20603691e+01] [ 8.60272430e-02 5.68033878e-04 9.96292623e-01 -2.11714631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17911593299999 meters Centerline goodness [0,1] 0.999270472369141 Centerline is valid? [True, True] Translation: X:-54.55, Y:32.07, Z:-0.22 [[ 7.40888924e-01 6.68784104e-01 -6.17367301e-02 -5.45533176e+01] [-6.66481579e-01 7.43456668e-01 5.54480526e-02 3.20727205e+01] [ 8.29813599e-02 6.55453462e-05 9.96551097e-01 -2.17871013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.20911593299999 meters Centerline goodness [0,1] 0.9994472084024323 Centerline is valid? [True, True] Translation: X:-54.57, Y:32.09, Z:-0.21 [[ 7.37206726e-01 6.72765971e-01 -6.25475132e-02 -5.45660664e+01] [-6.70387306e-01 7.39855310e-01 5.65241506e-02 3.20876485e+01] [ 8.43036348e-02 2.61074880e-04 9.96440078e-01 -2.07636307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.239115933 meters Centerline goodness [0,1] 0.9990895848506919 Centerline is valid? [True, True] Translation: X:-54.58, Y:32.10, Z:-0.23 [[ 7.35343530e-01 6.74802133e-01 -6.25457826e-02 -5.45840663e+01] [-6.72400863e-01 7.37998664e-01 5.68775104e-02 3.20968257e+01] [ 8.45397694e-02 2.31328965e-04 9.96420079e-01 -2.25326553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.269115933 meters Centerline goodness [0,1] 0.9998175515416895 Centerline is valid? [True, True] Translation: X:-54.60, Y:32.11, Z:-0.20 [[ 7.33205080e-01 6.77124827e-01 -6.25482211e-02 -5.45958004e+01] [-6.74701775e-01 7.35868135e-01 5.72328856e-02 3.21131170e+01] [ 8.47810506e-02 2.37953307e-04 9.96399577e-01 -2.04736976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.299115933 meters Centerline goodness [0,1] 0.9978181818181818 Centerline is valid? [True, True] Translation: X:-54.61, Y:32.13, Z:-0.19 [[ 7.27863015e-01 6.82572005e-01 -6.56573593e-02 -5.46079835e+01] [-6.79891286e-01 7.30818060e-01 6.04384172e-02 3.21283518e+01] [ 8.92371556e-02 6.48977856e-04 9.96010195e-01 -1.94908703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.329115933 meters Centerline goodness [0,1] 0.9990910743501181 Centerline is valid? [True, True] Translation: X:-54.63, Y:32.13, Z:-0.24 [[ 7.30645013e-01 6.79890069e-01 -6.25088682e-02 -5.46332431e+01] [-6.77417143e-01 7.33314048e-01 5.79354931e-02 3.21293065e+01] [ 8.52283976e-02 1.42997765e-05 9.96361440e-01 -2.39432110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35911593299998 meters Centerline goodness [0,1] 0.9980061627696212 Centerline is valid? [True, True] Translation: X:-54.64, Y:32.15, Z:-0.19 [[ 7.28374073e-01 6.82237936e-01 -6.34240390e-02 -5.46363667e+01] [-6.79669248e-01 7.31130220e-01 5.91465611e-02 3.21544843e+01] [ 8.67232593e-02 2.65472915e-05 9.96232441e-01 -1.91762985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38911593299999 meters Centerline goodness [0,1] 0.9998161426732856 Centerline is valid? [True, True] Translation: X:-54.65, Y:32.13, Z:-0.26 [[ 7.24981798e-01 6.86021235e-01 -6.14512625e-02 -5.46527932e+01] [-6.83488504e-01 7.27581182e-01 5.88989797e-02 3.21343736e+01] [ 8.51167330e-02 -6.99456745e-04 9.96370740e-01 -2.59904901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41911593299999 meters Centerline goodness [0,1] 0.9998177842565598 Centerline is valid? [True, True] Translation: X:-54.66, Y:32.16, Z:-0.23 [[ 7.23830876e-01 6.87367518e-01 -5.99563015e-02 -5.46570321e+01] [-6.84943446e-01 7.26309457e-01 5.76805779e-02 3.21574971e+01] [ 8.31945844e-02 -6.84307526e-04 9.96533087e-01 -2.28185352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.44911593299999 meters Centerline goodness [0,1] 0.99945295404814 Centerline is valid? [True, True] Translation: X:-54.67, Y:32.17, Z:-0.24 [[ 7.17457344e-01 6.93690174e-01 -6.36309833e-02 -5.46747348e+01] [-6.90950079e-01 7.20273484e-01 6.15962426e-02 3.21677232e+01] [ 8.85604182e-02 -2.26843736e-04 9.96070781e-01 -2.35567816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.68, Y:32.19, Z:-0.23 [[ 7.12769066e-01 6.98453208e-01 -6.42135101e-02 -5.46841839e+01] [-6.95646162e-01 7.15655720e-01 6.25564332e-02 3.21855995e+01] [ 8.96475073e-02 8.15913807e-05 9.95973553e-01 -2.30212628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.50911593299999 meters Centerline goodness [0,1] 0.9981681626671551 Centerline is valid? [True, True] Translation: X:-54.70, Y:32.19, Z:-0.24 [[ 7.10142669e-01 7.01233932e-01 -6.29949366e-02 -5.46977619e+01] [-6.98473158e-01 7.12931239e-01 6.21634573e-02 3.21884364e+01] [ 8.85021838e-02 -1.44651130e-04 9.96075972e-01 -2.43896520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.72, Y:32.19, Z:-0.27 [[ 7.06495211e-01 7.04934813e-01 -6.27010913e-02 -5.47212857e+01] [-7.02182653e-01 7.09272096e-01 6.22303499e-02 3.21917157e+01] [ 8.83404745e-02 6.21744818e-05 9.96090336e-01 -2.73073800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.56911593299999 meters Centerline goodness [0,1] 0.9979923343675853 Centerline is valid? [True, True] Translation: X:-54.76, Y:32.18, Z:-0.35 [[ 7.15096746e-01 6.96438837e-01 -6.00798642e-02 -5.47571503e+01] [-6.93849193e-01 7.17615100e-01 6.00155347e-02 3.21844928e+01] [ 8.49113670e-02 -1.23054828e-03 9.96387749e-01 -3.53146741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.599115933 meters Centerline goodness [0,1] 0.996541052248316 Centerline is valid? [True, True] Translation: X:-54.77, Y:32.20, Z:-0.37 [[ 7.10883055e-01 7.00747902e-01 -5.99804943e-02 -5.47720198e+01] [-6.98149405e-01 7.13408296e-01 6.02993532e-02 3.21984464e+01] [ 8.50452275e-02 -9.90442006e-04 9.96376600e-01 -3.71129718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.629115933 meters Centerline goodness [0,1] 0.9965404224326293 Centerline is valid? [True, True] Translation: X:-53.49, Y:33.53, Z:-2.38 [[ 7.47668106e-01 -6.58947462e-01 -8.23446716e-02 -5.34911409e+01] [-6.55065164e-01 -7.52188775e-01 7.14260343e-02 3.35253181e+01] [-1.09004742e-01 5.38157986e-04 -9.94041084e-01 -2.38426310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.659115933 meters Centerline goodness [0,1] 0.9985326485693323 Centerline is valid? [True, True] Translation: X:-54.71, Y:32.10, Z:-0.41 [[ 7.63377739e-01 6.42607649e-01 -6.56493493e-02 -5.47083194e+01] [-6.40160318e-01 7.66195045e-01 5.60349929e-02 3.20971060e+01] [ 8.63087211e-02 -7.49757861e-04 9.96268158e-01 -4.08477669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.689115933 meters Centerline goodness [0,1] 0.9965679190751445 Centerline is valid? [True, True] Translation: X:-54.71, Y:32.13, Z:-0.36 [[ 7.57584587e-01 6.49141015e-01 -6.84217533e-02 -5.47081956e+01] [-6.46471635e-01 7.60668022e-01 5.88097393e-02 3.21265608e+01] [ 9.02220536e-02 -3.20629330e-04 9.95921623e-01 -3.58014579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.71, Y:32.15, Z:-0.31 [[ 7.50914905e-01 6.56502643e-01 -7.16316013e-02 -5.47098567e+01] [-6.53573301e-01 7.54323665e-01 6.19495640e-02 3.21539653e+01] [ 9.47034645e-02 2.97651201e-04 9.95505482e-01 -3.10302546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74911593299998 meters Centerline goodness [0,1] 0.9989165763813651 Centerline is valid? [True, True] Translation: X:-54.72, Y:32.17, Z:-0.30 [[ 7.51303724e-01 6.56117498e-01 -7.10812483e-02 -5.47211231e+01] [-6.53194331e-01 7.54658748e-01 6.18654933e-02 3.21712781e+01] [ 9.42331186e-02 -4.99070581e-05 9.95550158e-01 -2.99112091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77911593299999 meters Centerline goodness [0,1] 0.9950124688279302 Centerline is valid? [True, True] Translation: X:-54.75, Y:32.17, Z:-0.34 [[ 7.44775187e-01 6.63305908e-01 -7.30424128e-02 -5.47453251e+01] [-6.60211434e-01 7.48348155e-01 6.39992363e-02 3.21717368e+01] [ 9.71122263e-02 5.58392891e-04 9.95273281e-01 -3.35214396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80911593299999 meters Centerline goodness [0,1] 0.9994476155404162 Centerline is valid? [True, True] Translation: X:-54.75, Y:32.19, Z:-0.32 [[ 7.47104489e-01 6.60843753e-01 -7.15570829e-02 -5.47516996e+01] [-6.57809560e-01 7.50523483e-01 6.32541166e-02 3.21895383e+01] [ 9.55063590e-02 -1.86501216e-04 9.95428802e-01 -3.19470722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83911593299999 meters Centerline goodness [0,1] 0.9985595966870724 Centerline is valid? [True, True] Translation: X:-54.77, Y:32.20, Z:-0.32 [[ 7.38570337e-01 6.70136387e-01 -7.36958651e-02 -5.47684774e+01] [-6.66924333e-01 7.42237609e-01 6.55382761e-02 3.21997026e+01] [ 9.86194263e-02 7.44938996e-04 9.95124944e-01 -3.21490635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.86911593299999 meters Centerline goodness [0,1] 0.9996332294150009 Centerline is valid? [True, True] Translation: X:-54.78, Y:32.21, Z:-0.34 [[ 7.44340836e-01 6.63976111e-01 -7.13613627e-02 -5.47841018e+01] [-6.60895903e-01 7.47753685e-01 6.38829591e-02 3.22113502e+01] [ 9.57774807e-02 -3.88262896e-04 9.95402694e-01 -3.36707998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89911593299999 meters Centerline goodness [0,1] 0.9989120580235721 Centerline is valid? [True, True] Translation: X:-54.80, Y:32.23, Z:-0.33 [[ 7.39817942e-01 6.68959300e-01 -7.18530963e-02 -5.47971083e+01] [-6.65820558e-01 7.43299034e-01 6.47265877e-02 3.22266268e+01] [ 9.67077898e-02 -4.46222460e-05 9.95312816e-01 -3.27871543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.92911593299999 meters Centerline goodness [0,1] 0.9989229940764675 Centerline is valid? [True, True] Translation: X:-54.81, Y:32.23, Z:-0.33 [[ 7.34793028e-01 6.74358107e-01 -7.29407311e-02 -5.48144599e+01] [-6.71095418e-01 7.38404411e-01 6.62560668e-02 3.22337691e+01] [ 9.85400733e-02 2.65694528e-04 9.95133048e-01 -3.29800788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.95911593299999 meters Centerline goodness [0,1] 0.9982241164979577 Centerline is valid? [True, True] Translation: X:-54.82, Y:32.25, Z:-0.30 [[ 7.28224620e-01 6.81144089e-01 -7.57075494e-02 -5.48164570e+01] [-6.77602962e-01 7.32148972e-01 6.93693646e-02 3.22540680e+01] [ 1.02679737e-01 7.83180580e-04 9.94714159e-01 -3.01499723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.989115933 meters Centerline goodness [0,1] 0.9991079393398751 Centerline is valid? [True, True] Translation: X:-54.83, Y:32.27, Z:-0.30 [[ 7.28655621e-01 6.80961343e-01 -7.31617062e-02 -5.48250723e+01] [-6.77610395e-01 7.32319248e-01 6.74734926e-02 3.22714555e+01] [ 9.95245658e-02 4.10192962e-04 9.95035021e-01 -3.02874817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.019115933 meters Centerline goodness [0,1] 0.9989260783962771 Centerline is valid? [True, True] Translation: X:-54.84, Y:32.28, Z:-0.31 [[ 7.24670826e-01 6.85191004e-01 -7.32494559e-02 -5.48417505e+01] [-6.81811158e-01 7.28363112e-01 6.79758935e-02 3.22826217e+01] [ 9.99286723e-02 6.82149419e-04 9.94994369e-01 -3.11278532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.049115933 meters Centerline goodness [0,1] 0.9991052254831783 Centerline is valid? [True, True] Translation: X:-54.86, Y:32.29, Z:-0.34 [[ 7.18161014e-01 6.91953643e-01 -7.37896642e-02 -5.48634816e+01] [-6.88514551e-01 7.21940740e-01 6.89150335e-02 3.22875022e+01] [ 1.00957773e-01 1.31316716e-03 9.94889845e-01 -3.37999583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.079115933 meters Centerline goodness [0,1] 0.9987517831669044 Centerline is valid? [True, True] Translation: X:-54.88, Y:32.30, Z:-0.34 [[ 7.17822065e-01 6.92400829e-01 -7.28874177e-02 -5.48784259e+01] [-6.89003280e-01 7.21512312e-01 6.85161562e-02 3.22990679e+01] [ 1.00029813e-01 1.03726117e-03 9.94983900e-01 -3.44443853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10911593299998 meters Centerline goodness [0,1] 0.9994666666666666 Centerline is valid? [True, True] Translation: X:-54.89, Y:32.32, Z:-0.34 [[ 7.18902811e-01 6.91443015e-01 -7.13113253e-02 -5.48881036e+01] [-6.88143647e-01 7.22430781e-01 6.74691634e-02 3.23162420e+01] [ 9.81685782e-02 5.68664210e-04 9.95169637e-01 -3.36871773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13911593299999 meters Centerline goodness [0,1] 0.9991106367840626 Centerline is valid? [True, True] Translation: X:-54.90, Y:32.33, Z:-0.33 [[ 7.13550783e-01 6.96893206e-01 -7.20079047e-02 -5.48995680e+01] [-6.93509790e-01 7.17174229e-01 6.85951627e-02 3.23295973e+01] [ 9.94457165e-02 9.92054818e-04 9.95042494e-01 -3.33826822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16911593299999 meters Centerline goodness [0,1] 0.9980437488884937 Centerline is valid? [True, True] Translation: X:-54.90, Y:32.32, Z:-0.36 [[ 7.05739981e-01 7.05027914e-01 -6.97618810e-02 -5.49037233e+01] [-7.01714284e-01 7.09179141e-01 6.82789130e-02 3.23197666e+01] [ 9.76122105e-02 7.65749612e-04 9.95224231e-01 -3.64759013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.93, Y:32.32, Z:-0.42 [[ 7.06161485e-01 7.04824954e-01 -6.75110501e-02 -5.49325696e+01] [-7.01693568e-01 7.09381088e-01 6.63672246e-02 3.23184990e+01] [ 9.46683382e-02 5.06091770e-04 9.95508739e-01 -4.22531889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22911593299999 meters Centerline goodness [0,1] 0.9985711734238257 Centerline is valid? [True, True] Translation: X:-54.94, Y:32.33, Z:-0.40 [[ 6.99104401e-01 7.11843932e-01 -6.73145856e-02 -5.49380209e+01] [-7.08707588e-01 7.02336915e-01 6.67563735e-02 3.23347185e+01] [ 9.47976378e-02 1.03668310e-03 9.95496024e-01 -3.99221440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25911593299999 meters Centerline goodness [0,1] 0.9990925589836661 Centerline is valid? [True, True] Translation: X:-54.95, Y:32.35, Z:-0.41 [[ 6.87859330e-01 7.22526115e-01 -6.93221111e-02 -5.49524975e+01] [-7.19210813e-01 6.91339883e-01 6.91734923e-02 3.23468055e+01] [ 9.79047949e-02 2.27557983e-03 9.95193184e-01 -4.13733758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.28911593299999 meters Centerline goodness [0,1] 0.998758865248227 Centerline is valid? [True, True] Translation: X:-54.96, Y:32.36, Z:-0.40 [[ 6.80215498e-01 7.29644746e-01 -7.01813406e-02 -5.49616087e+01] [-7.26235214e-01 6.83819818e-01 7.05185905e-02 3.23622139e+01] [ 9.94449106e-02 3.00032270e-03 9.95038546e-01 -4.04533396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31911593299999 meters Centerline goodness [0,1] 0.99982397465235 Centerline is valid? [True, True] Translation: X:-53.68, Y:33.63, Z:-2.37 [[ 7.78154399e-01 -6.21133430e-01 -9.31074309e-02 -5.36757448e+01] [-6.15904649e-01 -7.83686381e-01 8.06047158e-02 3.36312763e+01] [-1.23033309e-01 -5.37761463e-03 -9.92387972e-01 -2.37464766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.349115933 meters Centerline goodness [0,1] 0.999648382559775 Centerline is valid? [True, True] Translation: X:-54.85, Y:32.25, Z:-0.39 [[ 7.27984727e-01 6.81037005e-01 -7.89102907e-02 -5.48492304e+01] [-6.77704750e-01 7.32235845e-01 6.74309984e-02 3.22524133e+01] [ 1.03703949e-01 4.38914186e-03 9.94598525e-01 -3.85315393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.379115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.86, Y:32.27, Z:-0.38 [[ 7.32394183e-01 6.76582381e-01 -7.63874465e-02 -5.48623625e+01] [-6.73390610e-01 7.36359542e-01 6.57245072e-02 3.22655229e+01] [ 1.00716669e-01 3.30234246e-03 9.94909668e-01 -3.83215336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.409115933 meters Centerline goodness [0,1] 0.9996475149806133 Centerline is valid? [True, True] Translation: X:-54.88, Y:32.27, Z:-0.40 [[ 7.29732353e-01 6.79214895e-01 -7.84717733e-02 -5.48830207e+01] [-6.75815047e-01 7.33931400e-01 6.79611835e-02 3.22697994e+01] [ 1.03753147e-01 3.43893085e-03 9.94597134e-01 -4.00758078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.439115933 meters Centerline goodness [0,1] 0.9998244382022472 Centerline is valid? [True, True] Translation: X:-54.90, Y:32.28, Z:-0.40 [[ 7.30614510e-01 6.78479081e-01 -7.66066179e-02 -5.48954329e+01] [-6.75192055e-01 7.34613835e-01 6.67697744e-02 3.22836762e+01] [ 1.01578176e-01 2.94121379e-03 9.94823212e-01 -4.04245745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46911593299998 meters Centerline goodness [0,1] 0.9996489380375636 Centerline is valid? [True, True] Translation: X:-54.91, Y:32.30, Z:-0.39 [[ 7.31275322e-01 6.78006317e-01 -7.44569557e-02 -5.49076080e+01] [-6.74857484e-01 7.35051878e-01 6.53154920e-02 3.22976010e+01] [ 9.90140412e-02 2.48422633e-03 9.95082935e-01 -3.87538096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49911593299998 meters Centerline goodness [0,1] 0.9994574064026045 Centerline is valid? [True, True] Translation: X:-54.93, Y:32.30, Z:-0.42 [[ 7.33225800e-01 6.76204756e-01 -7.16034527e-02 -5.49317467e+01] [-6.73243751e-01 7.36711441e-01 6.32384709e-02 3.22984786e+01] [ 9.55132376e-02 1.83849867e-03 9.95426462e-01 -4.22753834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.94, Y:32.32, Z:-0.39 [[ 7.21493643e-01 6.88228956e-01 -7.60777712e-02 -5.49351678e+01] [-6.84904251e-01 7.25486058e-01 6.76472207e-02 3.23220866e+01] [ 1.01750138e-01 3.29894922e-03 9.94804517e-01 -3.91397797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55911593299999 meters Centerline goodness [0,1] 0.9992874955468471 Centerline is valid? [True, True] Translation: X:-54.96, Y:32.33, Z:-0.42 [[ 7.23236470e-01 6.86683523e-01 -7.34489442e-02 -5.49551715e+01] [-6.83535232e-01 7.26951610e-01 6.57338817e-02 3.23288140e+01] [ 9.85322017e-02 2.66380049e-03 9.95130298e-01 -4.17473102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58911593299999 meters Centerline goodness [0,1] 0.9998228206945429 Centerline is valid? [True, True] Translation: X:-54.96, Y:32.35, Z:-0.39 [[ 7.23073070e-01 6.87046676e-01 -7.16393763e-02 -5.49623309e+01] [-6.84013806e-01 7.26609502e-01 6.45270833e-02 3.23485325e+01] [ 9.63869696e-02 2.34452621e-03 9.95341175e-01 -3.92893943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.97, Y:32.37, Z:-0.37 [[ 7.20875327e-01 6.89337297e-01 -7.17833840e-02 -5.49696198e+01] [-6.86263303e-01 7.24436709e-01 6.50702161e-02 3.23680227e+01] [ 9.68578454e-02 2.35478890e-03 9.95295440e-01 -3.66575295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.64911593299999 meters Centerline goodness [0,1] 0.9994570135746607 Centerline is valid? [True, True] Translation: X:-54.99, Y:32.37, Z:-0.40 [[ 7.27010679e-01 6.83152296e-01 -6.89812505e-02 -5.49938055e+01] [-6.80247745e-01 7.30275003e-01 6.29398574e-02 3.23705920e+01] [ 9.33727910e-02 1.16639155e-03 9.95630535e-01 -4.02213377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67911593299999 meters Centerline goodness [0,1] 0.999475799405906 Centerline is valid? [True, True] Translation: X:-55.01, Y:32.38, Z:-0.41 [[ 7.22154717e-01 6.88133071e-01 -7.04658868e-02 -5.50071931e+01] [-6.85085963e-01 7.25582855e-01 6.47050462e-02 3.23836239e+01] [ 9.56545215e-02 1.54813559e-03 9.95413389e-01 -4.06649542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.70911593299999 meters Centerline goodness [0,1] 0.999475799405906 Centerline is valid? [True, True] Translation: X:-55.02, Y:32.40, Z:-0.41 [[ 7.19998298e-01 6.90409745e-01 -7.02626156e-02 -5.50209421e+01] [-6.87351914e-01 7.23416883e-01 6.49258082e-02 3.23961465e+01] [ 9.56545730e-02 1.54867188e-03 9.95413384e-01 -4.06456728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.739115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.04, Y:32.40, Z:-0.42 [[ 7.20661167e-01 6.89836588e-01 -6.90866391e-02 -5.50427519e+01] [-6.86841644e-01 7.23964166e-01 6.42218149e-02 3.24009634e+01] [ 9.43188088e-02 1.16941275e-03 9.95541358e-01 -4.23946596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.769115933 meters Centerline goodness [0,1] 0.9996481970096746 Centerline is valid? [True, True] Translation: X:-55.05, Y:32.42, Z:-0.40 [[ 7.21337216e-01 6.89365569e-01 -6.66913301e-02 -5.50505179e+01] [-6.86533652e-01 7.24413240e-01 6.24259759e-02 3.24184657e+01] [ 9.13464008e-02 7.55662765e-04 9.95818891e-01 -4.04768467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.799115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.08, Y:32.42, Z:-0.46 [[ 7.16988450e-01 6.93878017e-01 -6.67896702e-02 -5.50804591e+01] [-6.91021260e-01 7.20091798e-01 6.29080266e-02 3.24150237e+01] [ 9.17451905e-02 1.04875359e-03 9.95781964e-01 -4.56553581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.829115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.08, Y:32.44, Z:-0.42 [[ 7.11180114e-01 6.99587341e-01 -6.92849031e-02 -5.50824021e+01] [-6.96499958e-01 7.14545408e-01 6.56709133e-02 3.24395522e+01] [ 9.54497490e-02 1.55308444e-03 9.95433038e-01 -4.22232320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85911593299998 meters Centerline goodness [0,1] 0.9998244998244998 Centerline is valid? [True, True] Translation: X:-55.10, Y:32.45, Z:-0.43 [[ 7.09291604e-01 7.01649907e-01 -6.77704151e-02 -5.50970639e+01] [-6.98666191e-01 7.12520309e-01 6.46557260e-02 3.24507187e+01] [ 9.36534812e-02 1.48913417e-03 9.95603740e-01 -4.31293399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88911593299999 meters Centerline goodness [0,1] 0.9996425379803396 Centerline is valid? [True, True] Translation: X:-55.12, Y:32.46, Z:-0.45 [[ 7.12387760e-01 6.98626174e-01 -6.65217863e-02 -5.51152864e+01] [-6.95697176e-01 7.15486482e-01 6.39103526e-02 3.24573931e+01] [ 9.22448840e-02 7.50065939e-04 9.95736069e-01 -4.47234256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.13, Y:32.47, Z:-0.46 [[ 7.03461152e-01 7.07376135e-01 -6.90029813e-02 -5.51299445e+01] [-7.04224523e-01 7.06835379e-01 6.67200669e-02 3.24682124e+01] [ 9.59699314e-02 1.65861650e-03 9.95382852e-01 -4.57242336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.14, Y:32.49, Z:-0.43 [[ 6.96101493e-01 7.14413616e-01 -7.11048298e-02 -5.51350115e+01] [-7.11059837e-01 6.99719532e-01 6.91844169e-02 3.24890453e+01] [ 9.91797276e-02 2.40041282e-03 9.95066641e-01 -4.31106819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.16, Y:32.49, Z:-0.46 [[ 7.01662704e-01 7.09340589e-01 -6.71221205e-02 -5.51560764e+01] [-7.06288486e-01 7.04864737e-01 6.57440244e-02 3.24939976e+01] [ 9.39469208e-02 1.27745094e-03 9.95576388e-01 -4.57558412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.00911593299999 meters Centerline goodness [0,1] 0.9996546365049215 Centerline is valid? [True, True] Translation: X:-55.17, Y:32.51, Z:-0.45 [[ 6.97963255e-01 7.12895250e-01 -6.80268874e-02 -5.51688772e+01] [-7.09736621e-01 7.01268967e-01 6.70504630e-02 3.25068802e+01] [ 9.55051016e-02 1.48241380e-03 9.95427837e-01 -4.47533089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03911593299999 meters Centerline goodness [0,1] 0.9980745667775249 Centerline is valid? [True, True] Translation: X:-55.19, Y:32.51, Z:-0.47 [[ 6.96861823e-01 7.14017911e-01 -6.75427427e-02 -5.51883684e+01] [-7.10867554e-01 7.00126197e-01 6.70121534e-02 3.25136330e+01] [ 9.51363214e-02 1.31573288e-03 9.95463384e-01 -4.65240484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.06911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.20, Y:32.53, Z:-0.47 [[ 7.00832114e-01 7.10342429e-01 -6.51765388e-02 -5.52030129e+01] [-7.07354845e-01 7.03856088e-01 6.50824926e-02 3.25253697e+01] [ 9.21057595e-02 4.91039566e-04 9.95749109e-01 -4.73533072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.099115933 meters Centerline goodness [0,1] 0.9998262984193156 Centerline is valid? [True, True] Translation: X:-55.22, Y:32.54, Z:-0.47 [[ 6.96272399e-01 7.14705705e-01 -6.63362747e-02 -5.52165050e+01] [-7.11590296e-01 6.99424860e-01 6.66642048e-02 3.25379653e+01] [ 9.40425271e-02 7.87803563e-04 9.95567869e-01 -4.68633207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.129115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-53.88, Y:33.84, Z:-2.30 [[ 7.54554355e-01 -6.50628691e-01 -8.56156027e-02 -5.38760369e+01] [-6.46383401e-01 -7.59395734e-01 7.42065966e-02 3.38390858e+01] [-1.13297064e-01 -6.52406167e-04 -9.93560944e-01 -2.30479258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.159115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.10, Y:32.40, Z:-0.48 [[ 7.57501727e-01 6.49148500e-01 -6.92629619e-02 -5.51005182e+01] [-6.46449231e-01 7.60661702e-01 5.91368516e-02 3.24047906e+01] [ 9.10742810e-02 -2.12787065e-05 9.95844102e-01 -4.79615862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.189115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.12, Y:32.42, Z:-0.48 [[ 7.56759558e-01 6.50050360e-01 -6.89166168e-02 -5.51157056e+01] [-6.47344681e-01 7.59891097e-01 5.92484972e-02 3.24159221e+01] [ 9.08836305e-02 -2.24061211e-04 9.95861494e-01 -4.78934910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21911593299998 meters Centerline goodness [0,1] 0.9996426657137752 Centerline is valid? [True, True] Translation: X:-55.14, Y:32.42, Z:-0.51 [[ 7.55475872e-01 6.51850995e-01 -6.59278941e-02 -5.51394325e+01] [-6.49350292e-01 7.58347018e-01 5.70438339e-02 3.24182526e+01] [ 8.71803018e-02 -2.84942915e-04 9.96192508e-01 -5.05423513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.24911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.15, Y:32.44, Z:-0.49 [[ 7.53920794e-01 6.53644128e-01 -6.59756729e-02 -5.51475274e+01] [-6.51114719e-01 7.56801974e-01 5.74490584e-02 3.24371150e+01] [ 8.74817592e-02 -3.54307942e-04 9.96166059e-01 -4.86070460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.15, Y:32.46, Z:-0.45 [[ 7.43849916e-01 6.64821467e-01 -6.85545007e-02 -5.51476309e+01] [-6.62102707e-01 7.47001950e-01 6.00673860e-02 3.24647756e+01] [ 9.11444334e-02 7.09000497e-04 9.95837431e-01 -4.50814572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.18, Y:32.46, Z:-0.51 [[ 7.45619770e-01 6.63081118e-01 -6.61406726e-02 -5.51808964e+01] [-6.60510798e-01 7.48547521e-01 5.83274707e-02 3.24571191e+01] [ 8.81852810e-02 1.96513123e-04 9.96104070e-01 -5.05274830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33911593299999 meters Centerline goodness [0,1] 0.9998233527645293 Centerline is valid? [True, True] Translation: X:-55.20, Y:32.47, Z:-0.51 [[ 7.41386770e-01 6.67770768e-01 -6.65421603e-02 -5.51956815e+01] [-6.65154625e-01 7.44366826e-01 5.90538167e-02 3.24687778e+01] [ 8.89661891e-02 4.79107265e-04 9.96034531e-01 -5.09237045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.36911593299999 meters Centerline goodness [0,1] 0.9998234463276836 Centerline is valid? [True, True] Translation: X:-55.21, Y:32.49, Z:-0.50 [[ 7.40615046e-01 6.68715773e-01 -6.56396880e-02 -5.52053245e+01] [-6.66141609e-01 7.43518068e-01 5.86194366e-02 3.24857953e+01] [ 8.80040360e-02 3.10890683e-04 9.96120070e-01 -4.96373471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.22, Y:32.49, Z:-0.51 [[ 7.39949603e-01 6.69362747e-01 -6.65439499e-02 -5.52245620e+01] [-6.66686080e-01 7.42935730e-01 5.98010926e-02 3.24925428e+01] [ 8.94665016e-02 1.14130388e-04 9.95989825e-01 -5.10017020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.42911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.24, Y:32.50, Z:-0.53 [[ 7.36958863e-01 6.72676779e-01 -6.63142955e-02 -5.52442507e+01] [-6.69998180e-01 7.39936414e-01 5.99711850e-02 3.24995377e+01] [ 8.94095856e-02 2.34160957e-04 9.95994915e-01 -5.32295126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.45911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.26, Y:32.51, Z:-0.53 [[ 7.32833784e-01 6.76986421e-01 -6.81471346e-02 -5.52575827e+01] [-6.74141032e-01 7.35995337e-01 6.20059195e-02 3.25127969e+01] [ 9.21331388e-02 5.00747045e-04 9.95746571e-01 -5.28862317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.489115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.27, Y:32.53, Z:-0.51 [[ 7.28418556e-01 6.81561997e-01 -6.98544933e-02 -5.52654969e+01] [-6.78553926e-01 7.31759931e-01 6.39685328e-02 3.25310311e+01] [ 9.47152403e-02 8.04174319e-04 9.95504082e-01 -5.07198026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.519115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.29, Y:32.53, Z:-0.54 [[ 7.26905926e-01 6.83126596e-01 -7.03265881e-02 -5.52899510e+01] [-6.80047197e-01 7.30299614e-01 6.47941661e-02 3.25326123e+01] [ 9.56220983e-02 7.26135765e-04 9.95417444e-01 -5.40435270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.549115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.30, Y:32.55, Z:-0.54 [[ 7.26796355e-01 6.83396675e-01 -6.88189202e-02 -5.53031723e+01] [-6.80410201e-01 7.30047116e-01 6.38213631e-02 3.25453235e+01] [ 9.38563615e-02 4.39961280e-04 9.95585652e-01 -5.41577440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.579115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.32, Y:32.55, Z:-0.55 [[ 7.23568238e-01 6.86717991e-01 -6.97668008e-02 -5.53193760e+01] [-6.83624742e-01 7.26923696e-01 6.51087716e-02 3.25545186e+01] [ 9.54265055e-02 5.83672055e-04 9.95436307e-01 -5.51454877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.60911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.33, Y:32.57, Z:-0.55 [[ 7.23050101e-01 6.87234990e-01 -7.00472744e-02 -5.53317082e+01] [-6.84080006e-01 7.26435090e-01 6.57769286e-02 3.25695635e+01] [ 9.60890050e-02 3.57925108e-04 9.95372681e-01 -5.46323888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.33, Y:32.59, Z:-0.52 [[ 7.18612316e-01 6.91778392e-01 -7.09858828e-02 -5.53349332e+01] [-6.88516771e-01 7.22109566e-01 6.71001538e-02 3.25903038e+01] [ 9.76780216e-02 6.55973841e-04 9.95217852e-01 -5.16592606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.66911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.36, Y:32.59, Z:-0.56 [[ 7.19468212e-01 6.91061351e-01 -6.92798773e-02 -5.53594479e+01] [-6.87909184e-01 7.22796070e-01 6.59302369e-02 3.25907356e+01] [ 9.56370616e-02 2.23554189e-04 9.95416246e-01 -5.57011990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.37, Y:32.61, Z:-0.55 [[ 7.19903610e-01 6.90798381e-01 -6.73527187e-02 -5.53706873e+01] [-6.87780657e-01 7.23047429e-01 6.44994838e-02 3.26061141e+01] [ 9.32553491e-02 -1.09514070e-04 9.95642219e-01 -5.51131012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.72911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.38, Y:32.62, Z:-0.56 [[ 7.13215012e-01 6.97536310e-01 -6.90466774e-02 -5.53844682e+01] [-6.94355725e-01 7.16549272e-01 6.65377198e-02 3.26185352e+01] [ 9.58878219e-02 4.87255100e-04 9.95392027e-01 -5.58974734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.40, Y:32.63, Z:-0.56 [[ 7.11110586e-01 6.99741798e-01 -6.84335517e-02 -5.53998597e+01] [-6.96587395e-01 7.14395683e-01 6.63687423e-02 3.26288796e+01] [ 9.53296169e-02 4.74434268e-04 9.95445648e-01 -5.62845194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.78911593299999 meters Centerline goodness [0,1] 0.999825388510564 Centerline is valid? [True, True] Translation: X:-55.42, Y:32.64, Z:-0.56 [[ 7.07718248e-01 7.03150684e-01 -6.86585549e-02 -5.54153019e+01] [-6.99952376e-01 7.11040574e-01 6.69923364e-02 3.26397794e+01] [ 9.59247255e-02 6.46019658e-04 9.95388381e-01 -5.61911222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.81911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.43, Y:32.66, Z:-0.56 [[ 7.09663238e-01 7.01334171e-01 -6.71451407e-02 -5.54251642e+01] [-6.98226426e-01 7.12832642e-01 6.59506172e-02 3.26555605e+01] [ 9.41166695e-02 7.97830509e-05 9.95561171e-01 -5.61070574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.849115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.45, Y:32.66, Z:-0.58 [[ 7.09338309e-01 7.01890508e-01 -6.47215410e-02 -5.54476294e+01] [-6.98967635e-01 7.12284839e-01 6.39886927e-02 3.26588866e+01] [ 9.10132285e-02 -1.51368618e-04 9.95849672e-01 -5.84566184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.879115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.46, Y:32.68, Z:-0.58 [[ 7.10034662e-01 7.01318900e-01 -6.32659347e-02 -5.54567066e+01] [-6.98488361e-01 7.12847491e-01 6.29481088e-02 3.26762731e+01] [ 8.92456613e-02 -5.04820110e-04 9.96009517e-01 -5.79882271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.909115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.47, Y:32.69, Z:-0.58 [[ 7.01923955e-01 7.09223698e-01 -6.56087399e-02 -5.54693176e+01] [-7.06173704e-01 7.04983475e-01 6.57038695e-02 3.26884284e+01] [ 9.28518188e-02 2.12046975e-04 9.95679916e-01 -5.77833858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.939115933 meters Centerline goodness [0,1] 0.9991220368744512 Centerline is valid? [True, True] Translation: X:-54.11, Y:34.05, Z:-2.25 [[ 7.59765649e-01 -6.44237319e-01 -8.78318569e-02 -5.41074448e+01] [-6.39760901e-01 -7.64824334e-01 7.58269543e-02 3.40454192e+01] [-1.16026495e-01 -1.41932722e-03 -9.93245105e-01 -2.24968234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96911593299998 meters Centerline goodness [0,1] 0.9998217468805705 Centerline is valid? [True, True] Translation: X:-55.36, Y:32.57, Z:-0.57 [[ 7.60099543e-01 6.46176340e-01 -6.85917145e-02 -5.53617436e+01] [-6.43534590e-01 7.63188107e-01 5.83707565e-02 3.25738484e+01] [ 9.00661825e-02 -2.26444465e-04 9.95935757e-01 -5.71520962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99911593299998 meters Centerline goodness [0,1] 0.9998236331569665 Centerline is valid? [True, True] Translation: X:-55.37, Y:32.59, Z:-0.57 [[ 7.56108826e-01 6.50795489e-01 -6.90266277e-02 -5.53745110e+01] [-6.48092976e-01 7.59253072e-01 5.92475043e-02 3.25855588e+01] [ 9.09666876e-02 -6.18883305e-05 9.95853934e-01 -5.69266014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.02911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.39, Y:32.59, Z:-0.58 [[ 7.55026070e-01 6.52265014e-01 -6.69775040e-02 -5.53907343e+01] [-6.49694192e-01 7.57990979e-01 5.78544151e-02 3.25949922e+01] [ 8.85047547e-02 -1.66696355e-04 9.96075740e-01 -5.79820432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.059115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.40, Y:32.61, Z:-0.57 [[ 7.55688215e-01 6.51522400e-01 -6.67374252e-02 -5.54043275e+01] [-6.48934711e-01 7.58629211e-01 5.80125907e-02 3.26084855e+01] [ 8.84254625e-02 -5.31199352e-04 9.96082655e-01 -5.72664233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.089115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.42, Y:32.62, Z:-0.58 [[ 7.51787404e-01 6.56069569e-01 -6.62451495e-02 -5.54199745e+01] [-6.53505180e-01 7.54700368e-01 5.79511397e-02 3.26198812e+01] [ 8.80152179e-02 -2.75388558e-04 9.96119092e-01 -5.83486500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.119115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.44, Y:32.63, Z:-0.59 [[ 7.49514058e-01 6.58788849e-01 -6.50071429e-02 -5.54374707e+01] [-6.56298567e-01 7.52327854e-01 5.72275353e-02 3.26286338e+01] [ 8.66075464e-02 -2.28747522e-04 9.96242481e-01 -5.86474528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.149115933 meters Centerline goodness [0,1] 0.9992897727272727 Centerline is valid? [True, True] Translation: X:-55.44, Y:32.65, Z:-0.56 [[ 7.45661036e-01 6.63155892e-01 -6.49144228e-02 -5.54406630e+01] [-6.60648663e-01 7.48481300e-01 5.76115162e-02 3.26514368e+01] [ 8.67926480e-02 -7.30361587e-05 9.96226395e-01 -5.58432414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.179115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.47, Y:32.65, Z:-0.60 [[ 7.44859873e-01 6.63942483e-01 -6.60616999e-02 -5.54710713e+01] [-6.61316818e-01 7.47783602e-01 5.89894151e-02 3.26464659e+01] [ 8.85654347e-02 -2.51135092e-04 9.96070329e-01 -6.00259038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.209115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.48, Y:32.66, Z:-0.59 [[ 7.44450781e-01 6.64734754e-01 -6.26158258e-02 -5.54809455e+01] [-6.62341567e-01 7.47079296e-01 5.63575563e-02 3.26621935e+01] [ 8.42418134e-02 -4.82362674e-04 9.96445224e-01 -5.92782050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.239115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.50, Y:32.67, Z:-0.61 [[ 7.45619513e-01 6.63520158e-01 -6.15836175e-02 -5.54999558e+01] [-6.61171769e-01 7.48157894e-01 5.57822369e-02 3.26685723e+01] [ 8.30869082e-02 -8.74975029e-04 9.96541921e-01 -6.07157111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.269115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.51, Y:32.68, Z:-0.61 [[ 7.37782778e-01 6.72099503e-01 -6.29192426e-02 -5.55133172e+01] [-6.69648387e-01 7.40460821e-01 5.73481513e-02 3.26818060e+01] [ 8.51328980e-02 -1.76709013e-04 9.96369589e-01 -6.05991832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.299115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.53, Y:32.69, Z:-0.61 [[ 7.38429529e-01 6.71513743e-01 -6.15721087e-02 -5.55278883e+01] [-6.69134371e-01 7.40991927e-01 5.64814764e-02 3.26938986e+01] [ 8.35525231e-02 -5.07575774e-04 9.96503245e-01 -6.14443396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.329115933 meters Centerline goodness [0,1] 0.9994688385269122 Centerline is valid? [True, True] Translation: X:-55.53, Y:32.72, Z:-0.57 [[ 7.34943491e-01 6.75411461e-01 -6.06417594e-02 -5.55310670e+01] [-6.73088235e-01 7.37441018e-01 5.59729569e-02 3.27185753e+01] [ 8.25244974e-02 -3.19705470e-04 9.96588985e-01 -5.73927670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.359115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.56, Y:32.72, Z:-0.61 [[ 7.34726799e-01 6.75662848e-01 -6.04669087e-02 -5.55599538e+01] [-6.73324042e-01 7.37210557e-01 5.61723171e-02 3.27150606e+01] [ 8.25303912e-02 -5.57483346e-04 9.96588392e-01 -6.09379182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.389115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.57, Y:32.73, Z:-0.60 [[ 7.39637189e-01 6.70591879e-01 -5.69505072e-02 -5.55675092e+01] [-6.68475787e-01 7.41825320e-01 5.32476864e-02 3.27349988e+01] [ 7.79547943e-02 -1.31393399e-03 9.96956029e-01 -6.01368183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.419115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.59, Y:32.74, Z:-0.62 [[ 7.34472871e-01 6.76060570e-01 -5.90906704e-02 -5.55887323e+01] [-6.73770656e-01 7.36845336e-01 5.56062360e-02 3.27395971e+01] [ 8.11338685e-02 -1.02771203e-03 9.96702683e-01 -6.16492794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.449115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.60, Y:32.75, Z:-0.62 [[ 7.35425372e-01 6.75226276e-01 -5.67362172e-02 -5.56031382e+01] [-6.73085385e-01 7.37609443e-01 5.37435929e-02 3.27514202e+01] [ 7.81382557e-02 -1.33608320e-03 9.96941637e-01 -6.23481773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.479115933 meters Centerline goodness [0,1] 0.9989299090422686 Centerline is valid? [True, True] Translation: X:-55.60, Y:32.79, Z:-0.55 [[ 7.29955770e-01 6.81132759e-01 -5.67691630e-02 -5.55950069e+01] [-6.78981363e-01 7.32159318e-01 5.41021349e-02 3.27870468e+01] [ 7.84148081e-02 -9.46961909e-04 9.96920369e-01 -5.46770629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.509115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.63, Y:32.78, Z:-0.62 [[ 7.27527084e-01 6.83830737e-01 -5.54965407e-02 -5.56314010e+01] [-6.81756211e-01 7.29640134e-01 5.32329198e-02 3.27772805e+01] [ 7.68948102e-02 -8.93279586e-04 9.97038811e-01 -6.19194304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.53911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.65, Y:32.78, Z:-0.64 [[ 7.27141601e-01 6.84305507e-01 -5.46906305e-02 -5.56509689e+01] [-6.82266183e-01 7.29194627e-01 5.28020007e-02 3.27833792e+01] [ 7.60128138e-02 -1.08096356e-03 9.97106255e-01 -6.40289132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.56911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.66, Y:32.80, Z:-0.62 [[ 7.22898581e-01 6.88689767e-01 -5.58931637e-02 -5.56592663e+01] [-6.86544552e-01 7.25055584e-01 5.43229042e-02 3.28000372e+01] [ 7.79372787e-02 -8.96803279e-04 9.96957861e-01 -6.21281999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.59911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.68, Y:32.80, Z:-0.64 [[ 7.24597618e-01 6.87046598e-01 -5.40857004e-02 -5.56803855e+01] [-6.85007246e-01 7.26612210e-01 5.29128444e-02 3.28047217e+01] [ 7.56529201e-02 -1.29142434e-03 9.97133375e-01 -6.40241951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.62911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.69, Y:32.82, Z:-0.64 [[ 7.21919893e-01 6.89876297e-01 -5.38735802e-02 -5.56927062e+01] [-6.87828692e-01 7.23926106e-01 5.31289386e-02 3.28166063e+01] [ 7.56528865e-02 -1.29904349e-03 9.97133368e-01 -6.40074033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.65911593299998 meters Centerline goodness [0,1] 0.9989431037519817 Centerline is valid? [True, True] Translation: X:-55.69, Y:32.85, Z:-0.59 [[ 7.11371398e-01 7.00533929e-01 -5.65945930e-02 -5.56863271e+01] [-6.98278715e-01 7.13618962e-01 5.61677271e-02 3.28475182e+01] [ 7.97343732e-02 -4.37314863e-04 9.96816050e-01 -5.90044527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.68911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.73, Y:32.83, Z:-0.66 [[ 7.13641030e-01 6.98178863e-01 -5.71205332e-02 -5.57262409e+01] [-6.95843444e-01 7.15922704e-01 5.70664777e-02 3.28344947e+01] [ 8.07364951e-02 -9.78031369e-04 9.96735001e-01 -6.63288293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.71911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.74, Y:32.85, Z:-0.65 [[ 7.10341026e-01 7.01437293e-01 -5.83211047e-02 -5.57353964e+01] [-6.98983075e-01 7.12730625e-01 5.86320455e-02 3.28508964e+01] [ 8.26939407e-02 -8.83282287e-04 9.96574599e-01 -6.53858384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.74911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.29, Y:34.29, Z:-2.10 [[ 7.51819659e-01 -6.54377018e-01 -8.09809760e-02 -5.42881765e+01] [-6.50594574e-01 -7.56168434e-01 7.02566680e-02 3.42901626e+01] [-1.07209607e-01 -1.34560608e-04 -9.94236432e-01 -2.10484752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.77911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.63, Y:32.73, Z:-0.66 [[ 7.66040376e-01 6.39757230e-01 -6.23925294e-02 -5.56282359e+01] [-6.37537339e-01 7.68576375e-01 5.32587771e-02 3.27286899e+01] [ 8.20261118e-02 -1.02080645e-03 9.96629658e-01 -6.60382125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.809115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.65, Y:32.74, Z:-0.66 [[ 7.61494773e-01 6.45139419e-01 -6.26166126e-02 -5.56459743e+01] [-6.42891522e-01 7.64064531e-01 5.38134140e-02 3.27372686e+01] [ 8.25602874e-02 -7.22944083e-04 9.96585810e-01 -6.64412726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.839115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.67, Y:32.74, Z:-0.68 [[ 7.59328488e-01 6.47493172e-01 -6.45975227e-02 -5.56656604e+01] [-6.45078187e-01 7.62070875e-01 5.58758821e-02 3.27429703e+01] [ 8.54071428e-02 -7.57696234e-04 9.96345847e-01 -6.78154515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.869115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.68, Y:32.76, Z:-0.67 [[ 7.58289741e-01 6.48848054e-01 -6.31891745e-02 -5.56778465e+01] [-6.46512141e-01 7.60917509e-01 5.50145009e-02 3.27576904e+01] [ 8.37778011e-02 -8.64363134e-04 9.96484086e-01 -6.72207218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.899115933 meters Centerline goodness [0,1] 0.9994886654167376 Centerline is valid? [True, True] Translation: X:-55.69, Y:32.78, Z:-0.66 [[ 7.55612095e-01 6.52027320e-01 -6.25358766e-02 -5.56870834e+01] [-6.49721344e-01 7.58195079e-01 5.47941409e-02 3.27755537e+01] [ 8.31416707e-02 -7.72221817e-04 9.96537438e-01 -6.57214326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.929115933 meters Centerline goodness [0,1] 0.9979473144030107 Centerline is valid? [True, True] Translation: X:-55.68, Y:32.81, Z:-0.59 [[ 7.58745657e-01 6.48626946e-01 -5.99008673e-02 -5.56800412e+01] [-6.46474340e-01 7.61105289e-01 5.28172963e-02 3.28118944e+01] [ 7.98495885e-02 -1.35052057e-03 9.96806009e-01 -5.88911336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.959115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.73, Y:32.79, Z:-0.69 [[ 7.53766533e-01 6.53970826e-01 -6.44838946e-02 -5.57299233e+01] [-6.51463356e-01 7.56518932e-01 5.72241300e-02 3.27858292e+01] [ 8.62061986e-02 -1.12473967e-03 9.96276682e-01 -6.93132524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.989115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.74, Y:32.80, Z:-0.69 [[ 7.54555216e-01 6.53100639e-01 -6.40779300e-02 -5.57435054e+01] [-6.50591383e-01 7.57269672e-01 5.72144657e-02 3.27998252e+01] [ 8.58910772e-02 -1.48292446e-03 9.96303430e-01 -6.86684187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.019115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.76, Y:32.81, Z:-0.69 [[ 7.50095778e-01 6.58270031e-01 -6.35365261e-02 -5.57604492e+01] [-6.55790384e-01 7.52780992e-01 5.70942317e-02 3.28090277e+01] [ 8.54125108e-02 -1.15949927e-03 9.96345000e-01 -6.93972680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.049115933 meters Centerline goodness [0,1] 0.9998306519898391 Centerline is valid? [True, True] Translation: X:-55.77, Y:32.82, Z:-0.70 [[ 7.50931811e-01 6.57447580e-01 -6.21618450e-02 -5.57723701e+01] [-6.55041246e-01 7.53498797e-01 5.62185833e-02 3.28232805e+01] [ 8.37996469e-02 -1.49775017e-03 9.96481498e-01 -6.95859507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.079115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.79, Y:32.83, Z:-0.71 [[ 7.47277769e-01 6.61521436e-01 -6.29708234e-02 -5.57921201e+01] [-6.59035411e-01 7.49925080e-01 5.73123229e-02 3.28297482e+01] [ 8.51367299e-02 -1.32822238e-03 9.96368392e-01 -7.06535264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.109115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.81, Y:32.84, Z:-0.72 [[ 7.40238115e-01 6.69187096e-01 -6.50858096e-02 -5.58098636e+01] [-6.66527101e-01 7.43093584e-01 5.96116564e-02 3.28381038e+01] [ 8.82561988e-02 -7.45364175e-04 9.96097529e-01 -7.19003223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.139115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.82, Y:32.86, Z:-0.70 [[ 7.39981137e-01 6.69598287e-01 -6.37655968e-02 -5.58178163e+01] [-6.67006658e-01 7.42722748e-01 5.88645741e-02 3.28555682e+01] [ 8.67757772e-02 -1.02659681e-03 9.96227339e-01 -7.01248255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.169115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.83, Y:32.87, Z:-0.71 [[ 7.35760921e-01 6.74289822e-01 -6.31593475e-02 -5.58338375e+01] [-6.71733535e-01 7.38466448e-01 5.86631352e-02 3.28652769e+01] [ 8.61970140e-02 -7.35790587e-04 9.96277839e-01 -7.13121156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.199115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.85, Y:32.87, Z:-0.73 [[ 7.30999903e-01 6.79388990e-01 -6.37945331e-02 -5.58524621e+01] [-6.76767626e-01 7.33778189e-01 5.96250764e-02 3.28726399e+01] [ 8.73196574e-02 -4.11850342e-04 9.96180259e-01 -7.27420499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.229115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.86, Y:32.89, Z:-0.73 [[ 7.25241820e-01 6.85530722e-01 -6.38116924e-02 -5.58642624e+01] [-6.82898952e-01 7.28043698e-01 6.00116271e-02 3.28872328e+01] [ 8.75975146e-02 5.39962032e-05 9.96155948e-01 -7.31395015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.259115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.88, Y:32.90, Z:-0.73 [[ 7.20680075e-01 6.90199802e-01 -6.51495407e-02 -5.58767706e+01] [-6.87439725e-01 7.23618763e-01 6.16645004e-02 3.29002592e+01] [ 8.97042560e-02 3.46005611e-04 9.95968386e-01 -7.27669961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.28911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.89, Y:32.91, Z:-0.73 [[ 7.16575029e-01 6.94539030e-01 -6.43099095e-02 -5.58897103e+01] [-6.91825292e-01 7.19454827e-01 6.13393643e-02 3.29118720e+01] [ 8.88706574e-02 5.36965166e-04 9.96043030e-01 -7.32920825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.31911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.91, Y:32.92, Z:-0.74 [[ 7.13870566e-01 6.97177400e-01 -6.58216433e-02 -5.59053123e+01] [-6.94308224e-01 7.16898405e-01 6.31883511e-02 3.29210609e+01] [ 9.12409213e-02 5.92204312e-04 9.95828672e-01 -7.41310690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.34911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.91, Y:32.94, Z:-0.74 [[ 7.14163658e-01 6.97186121e-01 -6.24642381e-02 -5.59132771e+01] [-6.94567605e-01 7.16890116e-01 6.03689021e-02 3.29374807e+01] [ 8.68683555e-02 2.72360254e-04 9.96219762e-01 -7.39318596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.37911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.93, Y:32.94, Z:-0.75 [[ 7.07269398e-01 7.03911972e-01 -6.54059164e-02 -5.59305421e+01] [-7.01030723e-01 7.10286714e-01 6.36294717e-02 3.29442783e+01] [ 9.12465004e-02 8.48378720e-04 9.95827975e-01 -7.50748026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.40911593299998 meters Centerline goodness [0,1] 0.9974920581842501 Centerline is valid? [True, True] Translation: X:-55.95, Y:32.95, Z:-0.76 [[ 7.09710584e-01 7.01830042e-01 -6.12003218e-02 -5.59472478e+01] [-6.99266805e-01 7.12344385e-01 5.99283981e-02 3.29528269e+01] [ 8.56552557e-02 2.63535083e-04 9.96324800e-01 -7.58487753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.43911593299998 meters Centerline goodness [0,1] 0.9974962443665498 Centerline is valid? [True, True] Translation: X:-55.96, Y:32.96, Z:-0.76 [[ 7.03695363e-01 7.07750371e-01 -6.24679868e-02 -5.59636963e+01] [-7.05061621e-01 7.06462288e-01 6.16372217e-02 3.29608523e+01] [ 8.77550434e-02 6.69952904e-04 9.96141859e-01 -7.64034270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.46911593299998 meters Centerline goodness [0,1] 0.9926602511825151 Centerline is valid? [True, True] Translation: X:-55.98, Y:32.97, Z:-0.77 [[ 7.04000544e-01 7.07718392e-01 -5.93119860e-02 -5.59793090e+01] [-7.05261622e-01 7.06494554e-01 5.89193519e-02 3.29707894e+01] [ 8.36019041e-02 3.51211676e-04 9.96499171e-01 -7.71079606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.49911593299998 meters Centerline goodness [0,1] 0.9926374345549738 Centerline is valid? [True, True] Translation: X:-55.99, Y:32.98, Z:-0.77 [[ 7.02215551e-01 7.09620003e-01 -5.77301655e-02 -5.59910768e+01] [-7.07266867e-01 7.04584538e-01 5.77425923e-02 3.29839999e+01] [ 8.16510805e-02 2.82887029e-04 9.96660936e-01 -7.66193355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.52911593299999 meters Centerline goodness [0,1] 0.9935526533311291 Centerline is valid? [True, True] Translation: X:-56.01, Y:32.99, Z:-0.78 [[ 7.01760139e-01 7.10046255e-01 -5.80260556e-02 -5.60058243e+01] [-7.07633457e-01 7.04155036e-01 5.84856906e-02 3.29948335e+01] [ 8.23868849e-02 1.82519313e-05 9.96600422e-01 -7.76247204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.559115933 meters Centerline goodness [0,1] 0.9944677284157586 Centerline is valid? [True, True] Translation: X:-54.47, Y:34.51, Z:-1.97 [[ 7.56133558e-01 -6.49444105e-01 -8.05257539e-02 -5.44708273e+01] [-6.45656887e-01 -7.60408717e-01 7.00411821e-02 3.45100831e+01] [-1.06720318e-01 -9.68480569e-04 -9.94288608e-01 -1.97494425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.589115933 meters Centerline goodness [0,1] 0.9941304712393091 Centerline is valid? [True, True] Translation: X:-55.90, Y:32.86, Z:-0.80 [[ 7.54808191e-01 6.52788655e-01 -6.42772677e-02 -5.58965025e+01] [-6.50463260e-01 7.57540036e-01 5.50512615e-02 3.28575596e+01] [ 8.46294426e-02 2.56858022e-04 9.96412461e-01 -8.01268663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.619115933 meters Centerline goodness [0,1] 0.9924496644295302 Centerline is valid? [True, True] Translation: X:-55.91, Y:32.87, Z:-0.79 [[ 7.53099020e-01 6.54796909e-01 -6.38973683e-02 -5.59072273e+01] [-6.52473602e-01 7.55804851e-01 5.51110264e-02 3.28728732e+01] [ 8.43804706e-02 1.87286111e-04 9.96433591e-01 -7.89281749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.649115933 meters Centerline goodness [0,1] 0.9943676395289298 Centerline is valid? [True, True] Translation: X:-55.92, Y:32.88, Z:-0.80 [[ 7.49737204e-01 6.58537080e-01 -6.49849130e-02 -5.59235329e+01] [-6.56110434e-01 7.52548224e-01 5.64824686e-02 3.28810112e+01] [ 8.61000808e-02 2.90271380e-04 9.96286451e-01 -8.03036491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.679115933 meters Centerline goodness [0,1] 0.996195746152516 Centerline is valid? [True, True] Translation: X:-55.94, Y:32.89, Z:-0.80 [[ 7.42132083e-01 6.66739022e-01 -6.85496086e-02 -5.59351189e+01] [-6.64038848e-01 7.45290563e-01 5.99531853e-02 3.28947833e+01] [ 9.10625045e-02 1.02642089e-03 9.95844650e-01 -8.03236996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.709115933 meters Centerline goodness [0,1] 0.993892093654564 Centerline is valid? [True, True] Translation: X:-55.95, Y:32.90, Z:-0.82 [[ 7.36228038e-01 6.72987687e-01 -7.11044894e-02 -5.59547527e+01] [-6.70070734e-01 7.39652061e-01 6.26102241e-02 3.29004627e+01] [ 9.47284921e-02 1.54963496e-03 9.95501939e-01 -8.16673837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.739115933 meters Centerline goodness [0,1] 0.9954414992402498 Centerline is valid? [True, True] Translation: X:-55.94, Y:32.94, Z:-0.75 [[ 7.31932573e-01 6.77499876e-01 -7.25853091e-02 -5.59394429e+01] [-6.74441508e-01 7.35520511e-01 6.43290841e-02 3.29431253e+01] [ 9.69709301e-02 1.86999331e-03 9.95285457e-01 -7.49770160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.769115933 meters Centerline goodness [0,1] 0.9934065934065934 Centerline is valid? [True, True] Translation: X:-55.97, Y:32.94, Z:-0.78 [[ 7.26264506e-01 6.83212884e-01 -7.58948109e-02 -5.59655307e+01] [-6.79855987e-01 7.30215181e-01 6.76877167e-02 3.29407079e+01] [ 1.01664663e-01 2.43835544e-03 9.94815737e-01 -7.84229111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.799115933 meters Centerline goodness [0,1] 0.9920371599203716 Centerline is valid? [True, True] Translation: X:-56.00, Y:32.93, Z:-0.83 [[ 7.27058076e-01 6.82227524e-01 -7.71502359e-02 -5.59977790e+01] [-6.78705586e-01 7.31137186e-01 6.92614103e-02 3.29309845e+01] [ 1.03659447e-01 2.00522830e-03 9.94610827e-01 -8.32090083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.829115933 meters Centerline goodness [0,1] 0.9908864954432477 Centerline is valid? [True, True] Translation: X:-56.02, Y:32.93, Z:-0.86 [[ 7.23321304e-01 6.85740708e-01 -8.10306868e-02 -5.60203177e+01] [-6.81825639e-01 7.27842297e-01 7.32078470e-02 3.29321535e+01] [ 1.09179162e-01 2.29600440e-03 9.94019436e-01 -8.56754956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.859115933 meters Centerline goodness [0,1] 0.9925436366717506 Centerline is valid? [True, True] Translation: X:-56.02, Y:32.95, Z:-0.84 [[ 7.20629822e-01 6.88633487e-01 -8.04771982e-02 -5.60241168e+01] [-6.84724591e-01 7.25106009e-01 7.33042300e-02 3.29506900e+01] [ 1.08834247e-01 2.27950239e-03 9.94057297e-01 -8.44921625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.889115933 meters Centerline goodness [0,1] 0.9915169660678643 Centerline is valid? [True, True] Translation: X:-56.04, Y:32.96, Z:-0.85 [[ 7.18418774e-01 6.90755465e-01 -8.20448235e-02 -5.60369116e+01] [-6.86652769e-01 7.23084764e-01 7.52090289e-02 3.29623657e+01] [ 1.11276410e-01 2.30472691e-03 9.93786823e-01 -8.48836801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.919115933 meters Centerline goodness [0,1] 0.9921221073362876 Centerline is valid? [True, True] Translation: X:-56.05, Y:32.97, Z:-0.86 [[ 7.10649248e-01 6.98529235e-01 -8.38722474e-02 -5.60493267e+01] [-6.94237672e-01 7.15574194e-01 7.73797666e-02 3.29736696e+01] [ 1.14068845e-01 3.23740083e-03 9.93467573e-01 -8.56167791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.949115933 meters Centerline goodness [0,1] 0.9938476887263052 Centerline is valid? [True, True] Translation: X:-56.06, Y:32.99, Z:-0.86 [[ 6.98779099e-01 7.09930629e-01 -8.77853846e-02 -5.60599999e+01] [-7.05245535e-01 7.04254509e-01 8.15740277e-02 3.29883092e+01] [ 1.19735154e-01 4.90802501e-03 9.92793737e-01 -8.64236597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.979115933 meters Centerline goodness [0,1] 0.9927762272204892 Centerline is valid? [True, True] Translation: X:-56.08, Y:32.99, Z:-0.89 [[ 6.94370904e-01 7.14324438e-01 -8.71185694e-02 -5.60789171e+01] [-7.09686121e-01 6.99794802e-01 8.14422764e-02 3.29938399e+01] [ 1.19141330e-01 5.27569244e-03 9.92863289e-01 -8.89932820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.009115933 meters Centerline goodness [0,1] 0.9914543960558752 Centerline is valid? [True, True] Translation: X:-56.09, Y:33.01, Z:-0.90 [[ 6.88156586e-01 7.20347221e-01 -8.68354422e-02 -5.60894162e+01] [-7.15713124e-01 6.93588831e-01 8.17878843e-02 3.30068027e+01] [ 1.19143768e-01 5.86639430e-03 9.92859682e-01 -8.95815591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.03911593299998 meters Centerline goodness [0,1] 0.9927679158448389 Centerline is valid? [True, True] Translation: X:-56.10, Y:33.02, Z:-0.90 [[ 6.83393321e-01 7.24727513e-01 -8.79977353e-02 -5.60999874e+01] [-7.19929205e-01 6.89006854e-01 8.34954770e-02 3.30201787e+01] [ 1.21142512e-01 6.29188837e-03 9.92615184e-01 -8.97733291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.06911593299998 meters Centerline goodness [0,1] 0.9954538074362721 Centerline is valid? [True, True] Translation: X:-56.10, Y:33.04, Z:-0.89 [[ 6.81167079e-01 7.27038108e-01 -8.61800392e-02 -5.61040572e+01] [-7.22393475e-01 6.86569052e-01 8.22836858e-02 3.30396753e+01] [ 1.18991923e-01 6.20696004e-03 9.92875821e-01 -8.87183537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.09911593299998 meters Centerline goodness [0,1] 0.9964245083699008 Centerline is valid? [True, True] Translation: X:-56.12, Y:33.04, Z:-0.90 [[ 6.78878105e-01 7.28923065e-01 -8.82931704e-02 -5.61237376e+01] [-7.23984581e-01 6.84566993e-01 8.49373767e-02 3.30428456e+01] [ 1.22355403e-01 6.26076872e-03 9.92466603e-01 -9.02244243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.12911593299998 meters Centerline goodness [0,1] 0.992993319211341 Centerline is valid? [True, True] Translation: X:-56.15, Y:33.05, Z:-0.93 [[ 6.77633521e-01 7.29898734e-01 -8.97811253e-02 -5.61455038e+01] [-7.24732572e-01 6.83527396e-01 8.69079878e-02 3.30454197e+01] [ 1.24801889e-01 6.17554010e-03 9.92162462e-01 -9.27724966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.15911593299998 meters Centerline goodness [0,1] 0.9959755312298777 Centerline is valid? [True, True] Translation: X:-56.15, Y:33.07, Z:-0.93 [[ 6.73178152e-01 7.34134200e-01 -8.87589559e-02 -5.61491956e+01] [-7.29042182e-01 6.78973850e-01 8.65563907e-02 3.30652788e+01] [ 1.23809017e-01 6.44115173e-03 9.92285160e-01 -9.28129440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.18911593299998 meters Centerline goodness [0,1] 0.9951620706337687 Centerline is valid? [True, True] Translation: X:-56.16, Y:33.08, Z:-0.93 [[ 6.68404638e-01 7.38271838e-01 -9.04982527e-02 -5.61571080e+01] [-7.32945041e-01 6.74467223e-01 8.88005158e-02 3.30808554e+01] [ 1.26597025e-01 6.97556893e-03 9.91929702e-01 -9.26266167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.21911593299998 meters Centerline goodness [0,1] 0.9951456310679612 Centerline is valid? [True, True] Translation: X:-56.18, Y:33.08, Z:-0.97 [[ 6.64619946e-01 7.41658937e-01 -9.06771705e-02 -5.61804865e+01] [-7.36260749e-01 6.70738478e-01 8.96102926e-02 3.30834058e+01] [ 1.27280942e-01 7.20525365e-03 9.91840535e-01 -9.74990660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.24911593299998 meters Centerline goodness [0,1] 0.9970731707317073 Centerline is valid? [True, True] Translation: X:-56.19, Y:33.10, Z:-0.98 [[ 6.61339307e-01 7.44540392e-01 -9.10490332e-02 -5.61905143e+01] [-7.39051793e-01 6.67536275e-01 9.05415282e-02 3.30971534e+01] [ 1.28190357e-01 7.41127978e-03 9.91721889e-01 -9.75603096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.27911593299999 meters Centerline goodness [0,1] 0.9923845787720134 Centerline is valid? [True, True] Translation: X:-56.20, Y:33.11, Z:-0.98 [[ 6.63496678e-01 7.42631198e-01 -9.09453759e-02 -5.62048474e+01] [-7.37062536e-01 6.69667658e-01 9.10167363e-02 3.31063342e+01] [ 1.28495045e-01 6.64312722e-03 9.91687901e-01 -9.75095668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.309115933 meters Centerline goodness [0,1] 0.994403581707707 Centerline is valid? [True, True] Translation: X:-54.59, Y:34.66, Z:-1.75 [[ 7.82725980e-01 -6.11379157e-01 -1.16428377e-01 -5.45919512e+01] [-6.03190647e-01 -7.91296487e-01 1.00054551e-01 3.46618648e+01] [-1.53300633e-01 -8.08678874e-03 -9.88146507e-01 -1.75497132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.339115933 meters Centerline goodness [0,1] 0.9943946188340808 Centerline is valid? [True, True] Translation: X:-56.07, Y:32.95, Z:-1.00 [[ 7.26843319e-01 6.79317820e-01 -1.01124124e-01 -5.60662155e+01] [-6.73860139e-01 7.33823202e-01 8.61163249e-02 3.29465564e+01] [ 1.32707582e-01 5.55044065e-03 9.91139693e-01 -9.99830814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.369115933 meters Centerline goodness [0,1] 0.9950447570332481 Centerline is valid? [True, True] Translation: X:-56.08, Y:32.95, Z:-1.02 [[ 7.24963132e-01 6.81391512e-01 -1.00668094e-01 -5.60834713e+01] [-6.75914713e-01 7.31899100e-01 8.63887106e-02 3.29530950e+01] [ 1.32543421e-01 5.41441536e-03 9.91162411e-01 -1.01991923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.399115933 meters Centerline goodness [0,1] 0.9958393342934869 Centerline is valid? [True, True] Translation: X:-56.10, Y:32.96, Z:-1.03 [[ 7.25691694e-01 6.80891220e-01 -9.87861905e-02 -5.60974119e+01] [-6.75538430e-01 7.32368833e-01 8.53447310e-02 3.29642023e+01] [ 1.30458405e-01 4.79990564e-03 9.91442164e-01 -1.02857078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.429115933 meters Centerline goodness [0,1] 0.9984078968317147 Centerline is valid? [True, True] Translation: X:-56.11, Y:32.98, Z:-1.03 [[ 7.21968090e-01 6.85151517e-01 -9.65892082e-02 -5.61093879e+01] [-6.79993774e-01 7.28383470e-01 8.40594297e-02 3.29773897e+01] [ 1.27947428e-01 4.99183430e-03 9.91768389e-01 -1.03322280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.459115933 meters Centerline goodness [0,1] 0.9962258216700739 Centerline is valid? [True, True] Translation: X:-56.13, Y:32.98, Z:-1.05 [[ 7.17398547e-01 6.89906998e-01 -9.67866689e-02 -5.61276891e+01] [-6.84700391e-01 7.23877479e-01 8.47748180e-02 3.29827232e+01] [ 1.28548430e-01 5.45253882e-03 9.91688243e-01 -1.05204194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.489115933 meters Centerline goodness [0,1] 0.9995285983658077 Centerline is valid? [True, True] Translation: X:-56.11, Y:33.02, Z:-0.99 [[ 7.20299235e-01 6.88009110e-01 -8.83882126e-02 -5.61136587e+01] [-6.83595237e-01 7.25689360e-01 7.79262817e-02 3.30243984e+01] [ 1.17756377e-01 4.29152001e-03 9.93033241e-01 -9.94715320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.519115933 meters Centerline goodness [0,1] 0.9995285983658077 Centerline is valid? [True, True] Translation: X:-56.12, Y:33.03, Z:-0.99 [[ 7.17046860e-01 6.91446962e-01 -8.80051067e-02 -5.61234960e+01] [-6.87005854e-01 7.22414590e-01 7.83588940e-02 3.30333241e+01] [ 1.17757192e-01 4.27302458e-03 9.93033224e-01 -9.94597879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.549115933 meters Centerline goodness [0,1] 0.9962622644447905 Centerline is valid? [True, True] Translation: X:-56.14, Y:33.03, Z:-1.02 [[ 7.13012542e-01 6.95478133e-01 -8.90128222e-02 -5.61435956e+01] [-6.90888175e-01 7.18532989e-01 7.98991399e-02 3.30332422e+01] [ 1.19526754e-01 4.52881744e-03 9.92820651e-01 -1.01874750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.579115933 meters Centerline goodness [0,1] 0.9957720012527403 Centerline is valid? [True, True] Translation: X:-56.15, Y:33.05, Z:-1.01 [[ 7.09037386e-01 6.99852720e-01 -8.64416262e-02 -5.61495791e+01] [-6.95497518e-01 7.14271419e-01 7.80995664e-02 3.30530163e+01] [ 1.16400977e-01 4.74442407e-03 9.93190970e-01 -1.01166562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.609115933 meters Centerline goodness [0,1] 0.9996900666356733 Centerline is valid? [True, True] Translation: X:-56.16, Y:33.07, Z:-1.01 [[ 7.10550152e-01 6.99116076e-01 -7.97194694e-02 -5.61579536e+01] [-6.95356028e-01 7.14997515e-01 7.25158463e-02 3.30693922e+01] [ 1.07696216e-01 3.90726796e-03 9.94176171e-01 -1.00727048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.639115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.16, Y:33.09, Z:-0.99 [[ 7.10947219e-01 6.99165279e-01 -7.56436701e-02 -5.61610398e+01] [-6.95735413e-01 7.14952025e-01 6.92519878e-02 3.30916654e+01] [ 1.02500180e-01 3.39347196e-03 9.94727197e-01 -9.91937629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.669115933 meters Centerline goodness [0,1] 0.9998469778117827 Centerline is valid? [True, True] Translation: X:-56.18, Y:33.09, Z:-1.02 [[ 7.05608817e-01 7.04639138e-01 -7.48323621e-02 -5.61828866e+01] [-7.01264790e-01 7.09555650e-01 6.89816900e-02 3.30942709e+01] [ 1.01704924e-01 3.80321201e-03 9.94807340e-01 -1.01517996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.699115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.21, Y:33.09, Z:-1.04 [[ 6.97982766e-01 7.12064316e-01 -7.60556908e-02 -5.62065860e+01] [-7.08564143e-01 7.02099380e-01 7.06634021e-02 3.30913914e+01] [ 1.03715540e-01 4.56849850e-03 9.94596509e-01 -1.04138984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.729115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.21, Y:33.11, Z:-1.04 [[ 6.96233150e-01 7.14015143e-01 -7.37683984e-02 -5.62148313e+01] [-7.10690862e-01 7.00116344e-01 6.89608845e-02 3.31072456e+01] [ 1.00885577e-01 4.41367287e-03 9.94888245e-01 -1.03964076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.759115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.23, Y:33.12, Z:-1.04 [[ 6.90217835e-01 7.19798261e-01 -7.40932155e-02 -5.62277183e+01] [-7.16421574e-01 6.94166035e-01 6.98114820e-02 3.31164488e+01] [ 1.01683177e-01 4.89684815e-03 9.94804781e-01 -1.04481618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.78911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.24, Y:33.13, Z:-1.05 [[ 6.89260058e-01 7.21163022e-01 -6.96022170e-02 -5.62394629e+01] [-7.18145455e-01 6.92751064e-01 6.60535289e-02 3.31291919e+01] [ 9.58523724e-02 4.45645663e-03 9.95385585e-01 -1.04741620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.81911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.25, Y:33.14, Z:-1.05 [[ 6.88411366e-01 7.22293014e-01 -6.62011498e-02 -5.62513911e+01] [-7.19526513e-01 6.91575211e-01 6.32876299e-02 3.31422258e+01] [ 9.14952872e-02 4.06555871e-03 9.95797210e-01 -1.05000511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.84911593299998 meters Centerline goodness [0,1] 0.9997008674842955 Centerline is valid? [True, True] Translation: X:-56.26, Y:33.15, Z:-1.05 [[ 6.84872230e-01 7.25816976e-01 -6.43408590e-02 -5.62614879e+01] [-7.23175582e-01 6.87875837e-01 6.19992782e-02 3.31535527e+01] [ 8.92586509e-02 4.06815420e-03 9.96000172e-01 -1.04955167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.87911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.27, Y:33.17, Z:-1.04 [[ 6.85300171e-01 7.25762249e-01 -6.02729806e-02 -5.62692120e+01] [-7.23413850e-01 6.87936448e-01 5.84452382e-02 3.31699493e+01] [ 8.38813277e-02 3.54977717e-03 9.96469429e-01 -1.03731693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.90911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.28, Y:33.18, Z:-1.04 [[ 6.81228079e-01 7.29949008e-01 -5.57023319e-02 -5.62831185e+01] [-7.27930574e-01 6.83492563e-01 5.43598667e-02 3.31806588e+01] [ 7.77520604e-02 3.51596286e-03 9.96966527e-01 -1.03969948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.93911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.29, Y:33.20, Z:-1.04 [[ 6.79392887e-01 7.31792079e-01 -5.39041598e-02 -5.62916006e+01] [-7.29877962e-01 6.81519790e-01 5.29994010e-02 3.31970479e+01] [ 7.55212935e-02 3.33604222e-03 9.97138609e-01 -1.03544563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.96911593299998 meters Centerline goodness [0,1] 0.9983806860002944 Centerline is valid? [True, True] Translation: X:-56.29, Y:33.22, Z:-1.02 [[ 6.75298497e-01 7.35656024e-01 -5.27461377e-02 -5.62931260e+01] [-7.33811923e-01 6.77346400e-01 5.21719799e-02 3.32202147e+01] [ 7.41080377e-02 3.47408516e-03 9.97244167e-01 -1.01788427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.99911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.32, Y:33.22, Z:-1.04 [[ 6.70471083e-01 7.40118148e-01 -5.19004271e-02 -5.63172012e+01] [-7.38321836e-01 6.72466795e-01 5.16650420e-02 3.32207293e+01] [ 7.31395491e-02 3.67930190e-03 9.97314930e-01 -1.04025052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.02911593299999 meters Centerline goodness [0,1] 0.9995585638610948 Centerline is valid? [True, True] Translation: X:-56.33, Y:33.23, Z:-1.04 [[ 6.74038479e-01 7.36883267e-01 -5.17221457e-02 -5.63294779e+01] [-7.35065508e-01 6.76012941e-01 5.18189423e-02 3.32327851e+01] [ 7.31493513e-02 3.09120430e-03 9.97316207e-01 -1.03510084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.059115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.76, Y:34.76, Z:-1.71 [[ 7.83671758e-01 -6.16981113e-01 -7.20616588e-02 -5.47602103e+01] [-6.13829144e-01 -7.86963818e-01 6.24638392e-02 3.47577786e+01] [-9.52489271e-02 -4.71760030e-03 -9.95442307e-01 -1.70923633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.089115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.20, Y:33.08, Z:-1.05 [[ 7.38462514e-01 6.72155667e-01 -5.36644654e-02 -5.62034545e+01] [-6.70601358e-01 7.40406555e-01 4.57378549e-02 3.30837917e+01] [ 7.04764804e-02 2.21177210e-03 9.97510989e-01 -1.05155430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.119115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.22, Y:33.10, Z:-1.05 [[ 7.36049910e-01 6.74904425e-01 -5.22928992e-02 -5.62152464e+01] [-6.73414334e-01 7.37901923e-01 4.48763446e-02 3.30977142e+01] [ 6.88742744e-02 2.18355851e-03 9.97622958e-01 -1.04519378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.149115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.23, Y:33.11, Z:-1.05 [[ 7.34839110e-01 6.76262755e-01 -5.17703483e-02 -5.62292629e+01] [-6.74782321e-01 7.36657684e-01 4.47691367e-02 3.31090210e+01] [ 6.84127246e-02 2.03560319e-03 9.97655028e-01 -1.04817684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.179115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.24, Y:33.13, Z:-1.04 [[ 7.33161196e-01 6.78083572e-01 -5.17429324e-02 -5.62386983e+01] [-6.76590304e-01 7.34982085e-01 4.50210503e-02 3.31254880e+01] [ 6.85581630e-02 2.00107930e-03 9.97645114e-01 -1.03894462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.209115933 meters Centerline goodness [0,1] 0.9992701795358342 Centerline is valid? [True, True] Translation: X:-56.24, Y:33.16, Z:-1.00 [[ 7.27507336e-01 6.84106854e-01 -5.22578973e-02 -5.62350559e+01] [-6.82578904e-01 7.29377918e-01 4.57590592e-02 3.31555812e+01] [ 6.94198424e-02 2.38008695e-03 9.97584693e-01 -1.00187674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.239115933 meters Centerline goodness [0,1] 0.9992677211482133 Centerline is valid? [True, True] Translation: X:-56.25, Y:33.17, Z:-1.00 [[ 7.25116912e-01 6.86817712e-01 -4.98687695e-02 -5.62453079e+01] [-6.85409869e-01 7.26826177e-01 4.40115967e-02 3.31683331e+01] [ 6.64738713e-02 2.26699365e-03 9.97785591e-01 -1.00240034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.269115933 meters Centerline goodness [0,1] 0.9988314344142565 Centerline is valid? [True, True] Translation: X:-56.25, Y:33.19, Z:-0.98 [[ 7.21948553e-01 6.90136126e-01 -5.00241473e-02 -5.62475349e+01] [-6.88709529e-01 7.23675641e-01 4.44156614e-02 3.31913966e+01] [ 6.68541094e-02 2.38628444e-03 9.97759908e-01 -9.81450289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.299115933 meters Centerline goodness [0,1] 0.9988268074497727 Centerline is valid? [True, True] Translation: X:-56.26, Y:33.21, Z:-0.98 [[ 7.18921030e-01 6.93424362e-01 -4.81165873e-02 -5.62575419e+01] [-6.92094040e-01 7.20525467e-01 4.29987292e-02 3.32056916e+01] [ 6.44855929e-02 2.38851266e-03 9.97915780e-01 -9.75589432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.329115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.30, Y:33.19, Z:-1.04 [[ 7.24574368e-01 6.87666736e-01 -4.58960207e-02 -5.62962611e+01] [-6.86428451e-01 7.26024738e-01 4.12802806e-02 3.31900268e+01] [ 6.17087223e-02 1.59370118e-03 9.98092928e-01 -1.03935912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.359115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.31, Y:33.20, Z:-1.04 [[ 7.19655960e-01 6.92907068e-01 -4.44420370e-02 -5.63095410e+01] [-6.91740836e-01 7.21024671e-01 4.02248740e-02 3.32023941e+01] [ 5.99159045e-02 1.79430152e-03 9.98201816e-01 -1.03745215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.389115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.32, Y:33.21, Z:-1.04 [[ 7.19759374e-01 6.92733052e-01 -4.54682559e-02 -5.63237372e+01] [-6.91495819e-01 7.21192247e-01 4.14158768e-02 3.32132086e+01] [ 6.14815004e-02 1.63164330e-03 9.98106889e-01 -1.04494226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.419115933 meters Centerline goodness [0,1] 0.9998551564310545 Centerline is valid? [True, True] Translation: X:-56.34, Y:33.23, Z:-1.05 [[ 7.11532479e-01 7.01185132e-01 -4.53975978e-02 -5.63363532e+01] [-6.99952577e-01 7.12975957e-01 4.16133857e-02 3.32252414e+01] [ 6.15460831e-02 2.16689010e-03 9.98101891e-01 -1.04538419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.449115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.35, Y:33.23, Z:-1.06 [[ 7.08278849e-01 7.04504441e-01 -4.48839022e-02 -5.63524447e+01] [-7.03290408e-01 7.09696038e-01 4.14021314e-02 3.32337194e+01] [ 6.10219130e-02 2.24216386e-03 9.98133908e-01 -1.05518220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.479115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.36, Y:33.25, Z:-1.05 [[ 7.06278861e-01 7.06825259e-01 -3.96008088e-02 -5.63603953e+01] [-7.05868576e-01 7.07385499e-01 3.68145146e-02 3.32505528e+01] [ 5.40344667e-02 1.95165310e-03 9.98537164e-01 -1.04923341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.509115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.37, Y:33.26, Z:-1.05 [[ 6.99009539e-01 7.13952581e-01 -4.07108877e-02 -5.63718563e+01] [-7.12940601e-01 7.00189909e-01 3.80761073e-02 3.32639484e+01] [ 5.56898878e-02 2.40888254e-03 9.98445208e-01 -1.05265598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.53911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.39, Y:33.27, Z:-1.06 [[ 6.92032992e-01 7.20687309e-01 -4.12327766e-02 -5.63856392e+01] [-7.19647262e-01 6.93254545e-01 3.88066146e-02 3.32743271e+01] [ 5.65522444e-02 2.81759719e-03 9.98395665e-01 -1.05652812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.56911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.40, Y:33.29, Z:-1.06 [[ 6.87217092e-01 7.25387495e-01 -3.93147624e-02 -5.63959195e+01] [-7.24436509e-01 6.88334694e-01 3.72437176e-02 3.32887857e+01] [ 5.40778419e-02 2.88652990e-03 9.98532551e-01 -1.05653413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.59911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.40, Y:33.31, Z:-1.05 [[ 6.84210056e-01 7.28287087e-01 -3.81381507e-02 -5.64036701e+01] [-7.27382357e-01 6.85266285e-01 3.64008955e-02 3.33055210e+01] [ 5.26450910e-02 2.83515925e-03 9.98609261e-01 -1.04927179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.62911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.42, Y:33.32, Z:-1.05 [[ 6.80511114e-01 7.31713956e-01 -3.87209275e-02 -5.64183446e+01] [-7.30772483e-01 6.81605384e-01 3.72246990e-02 3.33153090e+01] [ 5.36302244e-02 2.96436695e-03 9.98556464e-01 -1.05367193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.65911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.43, Y:33.33, Z:-1.04 [[ 6.83237963e-01 7.29164608e-01 -3.87925285e-02 -5.64264468e+01] [-7.28202938e-01 6.84333376e-01 3.75274848e-02 3.33313926e+01] [ 5.39107358e-02 2.60863093e-03 9.98542351e-01 -1.04377919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.68911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.44, Y:33.34, Z:-1.05 [[ 6.88089053e-01 7.24770484e-01 -3.52306859e-02 -5.64400231e+01] [-7.23960595e-01 6.88987762e-01 3.43062823e-02 3.33422011e+01] [ 4.91376923e-02 1.89985105e-03 9.98790207e-01 -1.04736744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.71911593299998 meters Centerline goodness [0,1] 0.9992781868052548 Centerline is valid? [True, True] Translation: X:-56.43, Y:33.38, Z:-1.00 [[ 6.83480923e-01 7.29057558e-01 -3.64541464e-02 -5.64309695e+01] [-7.28184713e-01 6.84449090e-01 3.57276763e-02 3.33755918e+01] [ 5.09985397e-02 2.12616697e-03 9.98696465e-01 -1.00299423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.74911593299998 meters Centerline goodness [0,1] 0.999712023038157 Centerline is valid? [True, True] Translation: X:-56.46, Y:33.37, Z:-1.03 [[ 6.85501261e-01 7.27204640e-01 -3.55166476e-02 -5.64563870e+01] [-7.26362327e-01 6.86418415e-01 3.50361084e-02 3.33747437e+01] [ 4.98577015e-02 1.78065833e-03 9.98754744e-01 -1.02847075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.77911593299999 meters Centerline goodness [0,1] 0.9997121059450123 Centerline is valid? [True, True] Translation: X:-56.47, Y:33.38, Z:-1.03 [[ 6.87825603e-01 7.25070970e-01 -3.41764287e-02 -5.64714004e+01] [-7.24277856e-01 6.88672704e-01 3.39336731e-02 3.33849688e+01] [ 4.81406949e-02 1.41278134e-03 9.98839565e-01 -1.03309930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.809115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.49, Y:33.39, Z:-1.05 [[ 6.88977470e-01 7.24071193e-01 -3.21084552e-02 -5.64903522e+01] [-7.23359702e-01 6.89724358e-01 3.21099761e-02 3.33908537e+01] [ 4.53958923e-02 1.10291247e-03 9.98968466e-01 -1.04776980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.839115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.50, Y:33.41, Z:-1.04 [[ 6.85442343e-01 7.27443534e-01 -3.15388659e-02 -5.64987132e+01] [-7.26751803e-01 6.86166557e-01 3.17375655e-02 3.34070040e+01] [ 4.47282018e-02 1.16665637e-03 9.98998512e-01 -1.04352661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.869115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-54.96, Y:34.90, Z:-1.68 [[ 7.73217861e-01 -6.32095476e-01 -5.08866244e-02 -5.49554258e+01] [-6.30520501e-01 -7.74886649e-01 4.46607043e-02 3.48963778e+01] [-6.76611950e-02 -2.44739427e-03 -9.97705354e-01 -1.68433511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.899115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.37, Y:33.27, Z:-1.04 [[ 7.42047438e-01 6.69541881e-01 -3.28522301e-02 -5.63677074e+01] [-6.68953867e-01 7.42773428e-01 2.80777123e-02 3.32677116e+01] [ 4.32009679e-02 1.14163189e-03 9.99065750e-01 -1.04120268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.929115933 meters Centerline goodness [0,1] 0.9987230419977299 Centerline is valid? [True, True] Translation: X:-56.35, Y:33.32, Z:-0.98 [[ 7.30190095e-01 6.82284604e-01 -3.61959168e-02 -5.63488107e+01] [-6.81575599e-01 7.31084147e-01 3.11556248e-02 3.33156502e+01] [ 4.77192641e-02 1.92072504e-03 9.98858940e-01 -9.75971253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.959115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.40, Y:33.29, Z:-1.05 [[ 7.32963216e-01 6.79557666e-01 -3.10854201e-02 -5.63962068e+01] [-6.79025032e-01 7.33620825e-01 2.69349435e-02 3.32889262e+01] [ 4.11087589e-02 1.36545557e-03 9.99153745e-01 -1.04906464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.989115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.40, Y:33.31, Z:-1.04 [[ 7.27688436e-01 6.85046309e-01 -3.43670467e-02 -5.64031073e+01] [-6.84392716e-01 7.28497506e-01 2.99665561e-02 3.33073038e+01] [ 4.55647864e-02 1.71424006e-03 9.98959915e-01 -1.03506399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.019115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.42, Y:33.32, Z:-1.04 [[ 7.29449317e-01 6.83343118e-01 -3.07551179e-02 -5.64193672e+01] [-6.82811033e-01 7.30096204e-01 2.69930717e-02 3.33166743e+01] [ 4.08997246e-02 1.30985614e-03 9.99162398e-01 -1.04145252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.049115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.43, Y:33.33, Z:-1.04 [[ 7.27148410e-01 6.85812043e-01 -3.02825370e-02 -5.64308674e+01] [-6.85291452e-01 7.27777539e-01 2.67484622e-02 3.33309713e+01] [ 4.03833677e-02 1.30226199e-03 9.99183410e-01 -1.04253324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.079115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.44, Y:33.35, Z:-1.04 [[ 7.29094212e-01 6.83846014e-01 -2.78614246e-02 -5.64422259e+01] [-6.83397993e-01 7.29625702e-01 2.47692881e-02 3.33453098e+01] [ 3.72667904e-02 9.81297008e-04 9.99304870e-01 -1.03875576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.109115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.46, Y:33.35, Z:-1.05 [[ 7.25025673e-01 6.88181810e-01 -2.72684907e-02 -5.64597460e+01] [-6.87749961e-01 7.25537501e-01 2.43992977e-02 3.33530899e+01] [ 3.65754654e-02 1.06378618e-03 9.99330328e-01 -1.04524452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.139115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.47, Y:33.37, Z:-1.04 [[ 7.20538214e-01 6.92785633e-01 -2.95423137e-02 -5.64682877e+01] [-6.92275970e-01 7.21142438e-01 2.66001049e-02 3.33693519e+01] [ 3.97323866e-02 1.28504178e-03 9.99209531e-01 -1.03641642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.169115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.48, Y:33.39, Z:-1.03 [[ 7.18258582e-01 6.95126353e-01 -3.00659742e-02 -5.64779653e+01] [-6.94593527e-01 7.18886376e-01 2.72435351e-02 3.33857290e+01] [ 4.05517184e-02 1.31572820e-03 9.99176574e-01 -1.03258715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.199115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.49, Y:33.40, Z:-1.03 [[ 7.16261978e-01 6.97142685e-01 -3.09976750e-02 -5.64879824e+01] [-6.96570656e-01 7.16931146e-01 2.82675321e-02 3.34007475e+01] [ 4.19297019e-02 1.34511233e-03 9.99119658e-01 -1.03035134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.229115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.50, Y:33.41, Z:-1.04 [[ 7.13982158e-01 6.99480016e-01 -3.09384118e-02 -5.65021758e+01] [-6.98904752e-01 7.14650883e-01 2.83947593e-02 3.34113303e+01] [ 4.19717300e-02 1.34965154e-03 9.99117887e-01 -1.03600785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.259115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.52, Y:33.42, Z:-1.04 [[ 7.14480216e-01 6.98929018e-01 -3.18786712e-02 -5.65166561e+01] [-6.98309668e-01 7.15189994e-01 2.94428089e-02 3.34218491e+01] [ 4.33777402e-02 1.22487983e-03 9.99057992e-01 -1.03920947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.28911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.53, Y:33.43, Z:-1.05 [[ 7.11589530e-01 7.01918333e-01 -3.08381906e-02 -5.65335044e+01] [-7.01333739e-01 7.12256376e-01 2.86677744e-02 3.34297135e+01] [ 4.20871343e-02 1.22817542e-03 9.99113189e-01 -1.04723509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.31911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.54, Y:33.45, Z:-1.04 [[ 7.08826085e-01 7.04696166e-01 -3.11270732e-02 -5.65389552e+01] [-7.04093074e-01 7.09508129e-01 2.91746167e-02 3.34477826e+01] [ 4.26441520e-02 1.23662727e-03 9.99089559e-01 -1.03634537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.34911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.55, Y:33.46, Z:-1.03 [[ 7.05036916e-01 7.08489115e-01 -3.10824690e-02 -5.65461003e+01] [-7.07876627e-01 7.05720687e-01 2.94786932e-02 3.34588716e+01] [ 4.28208746e-02 1.21898637e-03 9.99082022e-01 -1.03234968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.37911593299998 meters Centerline goodness [0,1] 0.9992934859403703 Centerline is valid? [True, True] Translation: X:-56.54, Y:33.49, Z:-1.00 [[ 7.01861864e-01 7.11622060e-01 -3.13682531e-02 -5.65445093e+01] [-7.10994955e-01 7.02561246e-01 2.98976562e-02 3.34856172e+01] [ 4.33139507e-02 1.31864496e-03 9.99060640e-01 -1.00493971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.40911593299998 meters Centerline goodness [0,1] 0.9995766299745978 Centerline is valid? [True, True] Translation: X:-56.56, Y:33.49, Z:-1.02 [[ 6.95532897e-01 7.17738942e-01 -3.29363035e-02 -5.65643620e+01] [-7.17044253e-01 6.96310389e-01 3.16130003e-02 3.34906308e+01] [ 4.56237717e-02 1.62890545e-03 9.98957366e-01 -1.02292063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.43911593299998 meters Centerline goodness [0,1] 0.9995766299745978 Centerline is valid? [True, True] Translation: X:-56.58, Y:33.50, Z:-1.02 [[ 6.93264362e-01 7.19934813e-01 -3.28388303e-02 -5.65767020e+01] [-7.19237793e-01 6.94039768e-01 3.17143227e-02 3.35027309e+01] [ 4.56236992e-02 1.63251808e-03 9.98957363e-01 -1.02275681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.46911593299998 meters Centerline goodness [0,1] 0.9984472049689441 Centerline is valid? [True, True] Translation: X:-56.56, Y:33.54, Z:-0.98 [[ 6.90678120e-01 7.22381109e-01 -3.36045832e-02 -5.65611061e+01] [-7.21638160e-01 6.91493290e-01 3.27932327e-02 3.35374316e+01] [ 4.69265556e-02 1.60078129e-03 9.98897060e-01 -9.75519642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.49911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.60, Y:33.52, Z:-1.04 [[ 6.89640358e-01 7.23454310e-01 -3.17811104e-02 -5.66035901e+01] [-7.22783129e-01 6.90370718e-01 3.11900835e-02 3.35204067e+01] [ 4.45053483e-02 1.46091006e-03 9.99008078e-01 -1.03741588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.52911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.62, Y:33.53, Z:-1.04 [[ 6.89009667e-01 7.24239038e-01 -2.72670981e-02 -5.66196767e+01] [-7.23738813e-01 6.89547996e-01 2.69386485e-02 3.35293010e+01] [ 3.83119937e-02 1.17326798e-03 9.99265137e-01 -1.04292658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.559115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.63, Y:33.54, Z:-1.05 [[ 6.85220893e-01 7.27786689e-01 -2.82641698e-02 -5.66311748e+01] [-7.27244862e-01 6.85802347e-01 2.81078722e-02 3.35419318e+01] [ 3.98401692e-02 1.29487100e-03 9.99205226e-01 -1.04502733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.589115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.64, Y:33.56, Z:-1.04 [[ 6.80608478e-01 7.32091747e-01 -2.85267178e-02 -5.66425434e+01] [-7.31536319e-01 6.81204526e-01 2.85483496e-02 3.35553459e+01] [ 4.03325404e-02 1.43808133e-03 9.99185277e-01 -1.04345347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.619115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.66, Y:33.57, Z:-1.05 [[ 6.78776938e-01 7.33903112e-01 -2.54576447e-02 -5.66566305e+01] [-7.33455959e-01 6.79252991e-01 2.56462766e-02 3.35659809e+01] [ 3.61140634e-02 1.26396011e-03 9.99346875e-01 -1.04691724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.649115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.16, Y:35.02, Z:-1.68 [[ 7.83472909e-01 -6.19543211e-01 -4.83364309e-02 -5.51554600e+01] [-6.18092380e-01 -7.84955052e-01 4.25132424e-02 3.50202523e+01] [-6.42807164e-02 -3.43159404e-03 -9.97925956e-01 -1.68460259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.679115933 meters Centerline goodness [0,1] 0.9997185477061638 Centerline is valid? [True, True] Translation: X:-56.52, Y:33.44, Z:-1.03 [[ 7.31881411e-01 6.80772957e-01 -2.99629898e-02 -5.65238747e+01] [-6.80292367e-01 7.32492684e-01 2.56273850e-02 3.34433115e+01] [ 3.93941014e-02 1.62738655e-03 9.99222426e-01 -1.03048326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.709115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.55, Y:33.44, Z:-1.06 [[ 7.29394259e-01 6.83435293e-01 -3.00035969e-02 -5.65451287e+01] [-6.82945682e-01 7.30009366e-01 2.59137471e-02 3.34431665e+01] [ 3.96132761e-02 1.58948862e-03 9.99213822e-01 -1.05712826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.739115933 meters Centerline goodness [0,1] 0.9990111597683289 Centerline is valid? [True, True] Translation: X:-56.54, Y:33.48, Z:-1.01 [[ 7.25213653e-01 6.87825665e-01 -3.10002006e-02 -5.65372859e+01] [-6.87300585e-01 7.25873748e-01 2.69296771e-02 3.34789379e+01] [ 4.10251548e-02 1.77668646e-03 9.99156534e-01 -1.01080252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.769115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.57, Y:33.47, Z:-1.05 [[ 7.26161644e-01 6.86865245e-01 -3.00899025e-02 -5.65664597e+01] [-6.86363073e-01 7.26783140e-01 2.63058753e-02 3.34733703e+01] [ 3.99374253e-02 1.55028026e-03 9.99200980e-01 -1.04616764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.799115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.58, Y:33.48, Z:-1.05 [[ 7.25279604e-01 6.87888434e-01 -2.79105498e-02 -5.65819719e+01] [-6.87451229e-01 7.25815138e-01 2.45600050e-02 3.34826457e+01] [ 3.71524429e-02 1.37427107e-03 9.99308665e-01 -1.05100982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.829115933 meters Centerline goodness [0,1] 0.9998576715058355 Centerline is valid? [True, True] Translation: X:-56.60, Y:33.49, Z:-1.06 [[ 7.22309764e-01 6.91016474e-01 -2.76557108e-02 -5.65997324e+01] [-6.90583805e-01 7.22837635e-01 2.44900227e-02 3.34896053e+01] [ 3.69135977e-02 1.40920348e-03 9.99317467e-01 -1.05767356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.859115933 meters Centerline goodness [0,1] 0.9990069513406157 Centerline is valid? [True, True] Translation: X:-56.59, Y:33.53, Z:-1.02 [[ 7.15484173e-01 6.97972613e-01 -3.02759037e-02 -5.65892904e+01] [-6.97452893e-01 7.16122178e-01 2.69905181e-02 3.35272066e+01] [ 4.05198886e-02 1.80472810e-03 9.99177102e-01 -1.01751126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.889115933 meters Centerline goodness [0,1] 0.9997142040583024 Centerline is valid? [True, True] Translation: X:-56.61, Y:33.53, Z:-1.04 [[ 7.15114662e-01 6.98416136e-01 -2.87388357e-02 -5.66106688e+01] [-6.97942074e-01 7.15690064e-01 2.57797044e-02 3.35306902e+01] [ 3.85730607e-02 1.62259801e-03 9.99254465e-01 -1.04025034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.919115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.64, Y:33.53, Z:-1.07 [[ 7.15577406e-01 6.98031400e-01 -2.64790636e-02 -5.66373320e+01] [-6.97623105e-01 7.16065854e-01 2.39101618e-02 3.35280277e+01] [ 3.56507970e-02 1.36283498e-03 9.99363379e-01 -1.06782535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.949115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.65, Y:33.54, Z:-1.07 [[ 7.12828488e-01 7.00782473e-01 -2.79190479e-02 -5.66512507e+01] [-7.00324653e-01 7.13373514e-01 2.53694759e-02 3.35392966e+01] [ 3.76951934e-02 1.46831237e-03 9.99288205e-01 -1.06837322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.979115933 meters Centerline goodness [0,1] 0.9992834623101176 Centerline is valid? [True, True] Translation: X:-56.64, Y:33.58, Z:-1.02 [[ 7.08924008e-01 7.04664938e-01 -2.95647672e-02 -5.66378010e+01] [-7.04148099e-01 7.09538296e-01 2.70344429e-02 3.35790738e+01] [ 4.00275586e-02 1.65260901e-03 9.99197209e-01 -1.02155569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.009115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.68, Y:33.56, Z:-1.08 [[ 7.08900763e-01 7.04847646e-01 -2.54853503e-02 -5.66810579e+01] [-7.04458374e-01 7.09357488e-01 2.34596175e-02 3.35593587e+01] [ 3.46136802e-02 1.32282772e-03 9.99399892e-01 -1.07911382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.03911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.69, Y:33.58, Z:-1.08 [[ 7.03820641e-01 7.09875645e-01 -2.67034427e-02 -5.66897011e+01] [-7.09445333e-01 7.04325396e-01 2.47599514e-02 3.35762884e+01] [ 3.63843993e-02 1.51806801e-03 9.99336716e-01 -1.07731799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.06911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.71, Y:33.58, Z:-1.09 [[ 7.01606130e-01 7.12112837e-01 -2.53800041e-02 -5.67101064e+01] [-7.11720542e-01 7.02063532e-01 2.36784042e-02 3.35803554e+01] [ 3.46800710e-02 1.45055676e-03 9.99397413e-01 -1.09449435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.09911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.72, Y:33.60, Z:-1.09 [[ 6.99248092e-01 7.14456570e-01 -2.45746797e-02 -5.67172257e+01] [-7.14085271e-01 6.99678362e-01 2.30741289e-02 3.35981455e+01] [ 3.36798346e-02 1.41387624e-03 9.99431673e-01 -1.08738446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.12911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.72, Y:33.62, Z:-1.07 [[ 6.99181179e-01 7.14560373e-01 -2.34340047e-02 -5.67209540e+01] [-7.14218159e-01 6.99572660e-01 2.21475592e-02 3.36197824e+01] [ 3.22195571e-02 1.25183512e-03 9.99480031e-01 -1.06987411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.15911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.74, Y:33.62, Z:-1.09 [[ 6.98963658e-01 7.14789743e-01 -2.29222279e-02 -5.67423778e+01] [-7.14458009e-01 6.99338496e-01 2.18041736e-02 3.36228434e+01] [ 3.16157960e-02 1.13664431e-03 9.99499449e-01 -1.08532635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.18911593299998 meters Centerline goodness [0,1] 0.9992922859164898 Centerline is valid? [True, True] Translation: X:-56.74, Y:33.65, Z:-1.05 [[ 6.89955109e-01 7.23364108e-01 -2.65765715e-02 -5.67356314e+01] [-7.22918745e-01 6.90464769e-01 2.54340529e-02 3.36539339e+01] [ 3.67482673e-02 1.66434698e-03 9.99323168e-01 -1.05186083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.21911593299998 meters Centerline goodness [0,1] 0.999858276643991 Centerline is valid? [True, True] Translation: X:-56.76, Y:33.65, Z:-1.08 [[ 6.92434424e-01 7.21110137e-01 -2.31244100e-02 -5.67611722e+01] [-7.20766943e-01 6.92819336e-01 2.22796344e-02 3.36530418e+01] [ 3.20871086e-02 1.24012442e-03 9.99484307e-01 -1.07789526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.24911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.78, Y:33.66, Z:-1.10 [[ 6.88656314e-01 7.24684661e-01 -2.41789822e-02 -5.67832540e+01] [-7.24305743e-01 6.89079328e-01 2.34706281e-02 3.36556836e+01] [ 3.36700410e-02 1.34977937e-03 9.99432092e-01 -1.09841041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.27911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.79, Y:33.67, Z:-1.09 [[ 6.90941855e-01 7.22577188e-01 -2.19444825e-02 -5.67904095e+01] [-7.22259857e-01 6.91289470e-01 2.14375536e-02 3.36733433e+01] [ 3.06602769e-02 1.03751573e-03 9.99529325e-01 -1.08976969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.309115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.80, Y:33.68, Z:-1.09 [[ 6.89705695e-01 7.23779908e-01 -2.11824901e-02 -5.68048447e+01] [-7.23480836e-01 6.90030232e-01 2.08268832e-02 3.36842047e+01] [ 2.96906382e-02 9.60705655e-04 9.99558674e-01 -1.09401370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.339115933 meters Centerline goodness [0,1] 0.9971870604781997 Centerline is valid? [True, True] Translation: X:-56.79, Y:33.72, Z:-1.05 [[ 6.83896560e-01 7.29237078e-01 -2.23333446e-02 -5.67930306e+01] [-7.28903149e-01 6.84260128e-01 2.20969826e-02 3.37198304e+01] [ 3.13957563e-02 1.16679480e-03 9.99506351e-01 -1.04974129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.369115933 meters Centerline goodness [0,1] 0.9997160704145373 Centerline is valid? [True, True] Translation: X:-56.83, Y:33.70, Z:-1.10 [[ 6.84879623e-01 7.28357260e-01 -2.08711147e-02 -5.68336961e+01] [-7.28060293e-01 6.85196922e-01 2.08179702e-02 3.37043351e+01] [ 2.94637433e-02 9.37626327e-04 9.99565410e-01 -1.10412964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.399115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.84, Y:33.72, Z:-1.10 [[ 6.81205900e-01 7.31779648e-01 -2.13791599e-02 -5.68445400e+01] [-7.31465059e-01 6.81540558e-01 2.14786954e-02 3.37188537e+01] [ 3.02884368e-02 1.00669445e-03 9.99540693e-01 -1.10437330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.429115933 meters Centerline goodness [0,1] 0.9997172345539375 Centerline is valid? [True, True] Translation: X:-55.35, Y:35.19, Z:-1.62 [[ 7.85615913e-01 -6.17362390e-01 -4.08817443e-02 -5.53476590e+01] [-6.16317830e-01 -7.86672739e-01 3.60324116e-02 3.51905207e+01] [-5.44056095e-02 -3.11148799e-03 -9.98514070e-01 -1.61533915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.459115933 meters Centerline goodness [0,1] 0.9998583970546587 Centerline is valid? [True, True] Translation: X:-56.73, Y:33.60, Z:-1.10 [[ 7.34808499e-01 6.77947504e-01 -2.10630383e-02 -5.67259499e+01] [-6.77710316e-01 7.35109534e-01 1.79638754e-02 3.35989482e+01] [ 2.76622048e-02 1.07463000e-03 9.99616750e-01 -1.10059220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.489115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.75, Y:33.60, Z:-1.12 [[ 7.39032334e-01 6.73452311e-01 -1.71229160e-02 -5.67472967e+01] [-6.73291348e-01 7.39230396e-01 1.47370742e-02 3.36030280e+01] [ 2.25824966e-02 6.37536832e-04 9.99744780e-01 -1.11807561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.519115933 meters Centerline goodness [0,1] 0.999859392575928 Centerline is valid? [True, True] Translation: X:-56.76, Y:33.62, Z:-1.11 [[ 7.32910509e-01 6.80079508e-01 -1.82770183e-02 -5.67567765e+01] [-6.79895233e-01 7.33137919e-01 1.58513116e-02 3.36190302e+01] [ 2.41797274e-02 8.08864734e-04 9.99707300e-01 -1.11257511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.549115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.77, Y:33.63, Z:-1.11 [[ 7.32929781e-01 6.80098278e-01 -1.67412395e-02 -5.67716004e+01] [-6.79941767e-01 7.33120640e-01 1.46054990e-02 3.36302615e+01] [ 2.22065230e-02 6.78262806e-04 9.99753175e-01 -1.11151034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.579115933 meters Centerline goodness [0,1] 0.9997245558463022 Centerline is valid? [True, True] Translation: X:-56.78, Y:33.65, Z:-1.11 [[ 7.32982451e-01 6.80096558e-01 -1.43317138e-02 -5.67820589e+01] [-6.79980133e-01 7.33122369e-01 1.25941008e-02 3.36454959e+01] [ 1.90721046e-02 5.14025774e-04 9.99817979e-01 -1.10720199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.609115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.79, Y:33.66, Z:-1.11 [[ 7.23752228e-01 6.89852184e-01 -1.69315483e-02 -5.67920548e+01] [-6.89690118e-01 7.23949765e-01 1.49759663e-02 3.36608980e+01] [ 2.25887935e-02 8.38632524e-04 9.99744489e-01 -1.11210225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.639115933 meters Centerline goodness [0,1] 0.9998619356620185 Centerline is valid? [True, True] Translation: X:-56.80, Y:33.68, Z:-1.11 [[ 7.19555002e-01 6.94230645e-01 -1.68644860e-02 -5.67995646e+01] [-6.94068972e-01 7.19752035e-01 1.50090211e-02 3.36783223e+01] [ 2.25579705e-02 9.05300222e-04 9.99745127e-01 -1.10815209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.669115933 meters Centerline goodness [0,1] 0.9990275076410114 Centerline is valid? [True, True] Translation: X:-56.79, Y:33.72, Z:-1.07 [[ 7.14401705e-01 6.99517037e-01 -1.74962699e-02 -5.67900304e+01] [-6.99342476e-01 7.14615154e-01 1.56615019e-02 3.37163399e+01] [ 2.34585870e-02 1.04728111e-03 9.99724261e-01 -1.07158089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.699115933 meters Centerline goodness [0,1] 0.999723871324037 Centerline is valid? [True, True] Translation: X:-56.82, Y:33.71, Z:-1.11 [[ 7.12389634e-01 7.01601410e-01 -1.60147172e-02 -5.68226818e+01] [-7.01453099e-01 7.12569004e-01 1.44555834e-02 3.37068585e+01] [ 2.15536487e-02 9.35565254e-04 9.99767255e-01 -1.11081632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.729115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.84, Y:33.71, Z:-1.12 [[ 7.11279899e-01 7.02774066e-01 -1.37665811e-02 -5.68395300e+01] [-7.02663214e-01 7.11412684e-01 1.25059941e-02 3.37140994e+01] [ 1.85826088e-02 7.78007894e-04 9.99827026e-01 -1.11883975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.759115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.85, Y:33.72, Z:-1.12 [[ 7.10229159e-01 7.03840612e-01 -1.35252833e-02 -5.68534044e+01] [-7.03732364e-01 7.10357551e-01 1.23656144e-02 3.37248259e+01] [ 1.83112087e-02 7.35759699e-04 9.99832065e-01 -1.11700714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.78911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.86, Y:33.74, Z:-1.11 [[ 7.07521097e-01 7.06519350e-01 -1.56302545e-02 -5.68601192e+01] [-7.06373529e-01 7.07693194e-01 1.43798884e-02 3.37422993e+01] [ 2.12210942e-02 8.66723600e-04 9.99774432e-01 -1.10871416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.81911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.88, Y:33.75, Z:-1.11 [[ 7.13041829e-01 7.00997982e-01 -1.31597973e-02 -5.68761257e+01] [-7.00892126e-01 7.13163060e-01 1.21933483e-02 3.37514050e+01] [ 1.79325938e-02 5.29230983e-04 9.99839058e-01 -1.11071099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.84911593299998 meters Centerline goodness [0,1] 0.9989048596851472 Centerline is valid? [True, True] Translation: X:-56.87, Y:33.79, Z:-1.07 [[ 7.13910873e-01 7.00163362e-01 -1.01258534e-02 -5.68665668e+01] [-7.00099622e-01 7.13982599e-01 9.45345764e-03 3.37876438e+01] [ 1.38486478e-02 3.40179940e-04 9.99904045e-01 -1.06780422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.87911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.90, Y:33.77, Z:-1.12 [[ 7.15736964e-01 6.98290614e-01 -1.05269505e-02 -5.69044466e+01] [-6.98220523e-01 7.15814324e-01 9.89715461e-03 3.37722929e+01] [ 1.44464322e-02 2.66373527e-04 9.99895609e-01 -1.11528691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.90911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.91, Y:33.79, Z:-1.10 [[ 7.16494362e-01 6.97539471e-01 -8.63225858e-03 -5.69112433e+01] [-6.97491617e-01 7.16546341e-01 8.17222516e-03 3.37917480e+01] [ 1.18858629e-02 1.65574743e-04 9.99929347e-01 -1.09718771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.93911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.93, Y:33.80, Z:-1.11 [[ 7.11113881e-01 7.02997676e-01 -1.05506266e-02 -5.69275317e+01] [-7.02926011e-01 7.11192092e-01 1.00415175e-02 3.38012143e+01] [ 1.45626857e-02 2.75647327e-04 9.99893920e-01 -1.10595409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.96911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.95, Y:33.81, Z:-1.12 [[ 7.10773320e-01 7.03356316e-01 -9.54882216e-03 -5.69474670e+01] [-7.03296828e-01 7.10837427e-01 9.15008654e-03 3.38071748e+01] [ 1.32234313e-02 2.12018947e-04 9.99912544e-01 -1.11716778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.99911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.95, Y:33.83, Z:-1.11 [[ 7.11952490e-01 7.02172830e-01 -8.77321089e-03 -5.69538188e+01] [-7.02121767e-01 7.12006531e-01 8.46897111e-03 3.38254728e+01] [ 1.21932649e-02 1.30357260e-04 9.99925651e-01 -1.10988717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.02911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.97, Y:33.84, Z:-1.11 [[ 7.11743471e-01 7.02391344e-01 -8.22377872e-03 -5.69651378e+01] [-7.02345914e-01 7.11790975e-01 7.98912452e-03 3.38408512e+01] [ 1.14651034e-02 8.97301594e-05 9.99934270e-01 -1.10834867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.059115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.98, Y:33.86, Z:-1.10 [[ 7.05694992e-01 7.08459352e-01 -8.94007825e-03 -5.69767920e+01] [-7.08405531e-01 7.05751598e-01 8.73418317e-03 3.38558031e+01] [ 1.24972883e-02 1.69531561e-04 9.99921891e-01 -1.09842741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.089115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.98, Y:33.86, Z:-1.11 [[ 6.99178669e-01 7.14900591e-01 -8.14461244e-03 -5.69791831e+01] [-7.14853868e-01 6.99226096e-01 8.17394386e-03 3.38603916e+01] [ 1.15384829e-02 1.07160519e-04 9.99933424e-01 -1.10612563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.119115933 meters Centerline goodness [0,1] 0.9997299486902511 Centerline is valid? [True, True] Translation: X:-56.97, Y:33.89, Z:-1.08 [[ 6.87667985e-01 7.25960427e-01 -9.70572918e-03 -5.69745296e+01] [-7.25895777e-01 6.87736371e-01 9.69560221e-03 3.38897058e+01] [ 1.37136065e-02 3.77992599e-04 9.99905893e-01 -1.08325556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.149115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.00, Y:33.89, Z:-1.11 [[ 6.86057658e-01 7.27493907e-01 -8.80364523e-03 -5.69987814e+01] [-7.27440069e-01 6.86114063e-01 8.85656169e-03 3.38904882e+01] [ 1.24833995e-02 3.28012325e-04 9.99922026e-01 -1.11355419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.179115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.00, Y:33.91, Z:-1.10 [[ 6.81380042e-01 7.31879104e-01 -8.61483003e-03 -5.70016043e+01] [-7.31827208e-01 6.81434404e-01 8.72306287e-03 3.39127831e+01] [ 1.22546690e-02 3.60846064e-04 9.99924844e-01 -1.10371953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.209115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-55.56, Y:35.31, Z:-1.60 [[ 7.79733831e-01 -6.25580655e-01 -2.57681336e-02 -5.55582981e+01] [-6.25150596e-01 -7.80156819e-01 2.32823884e-02 3.53104683e+01] [-3.46681970e-02 -2.04510182e-03 -9.99396785e-01 -1.60398862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.239115933 meters Centerline goodness [0,1] 0.9993450353680902 Centerline is valid? [True, True] Translation: X:-56.89, Y:33.78, Z:-1.12 [[ 7.43651570e-01 6.68527835e-01 -7.27157036e-03 -5.68924593e+01] [-6.68498764e-01 7.43687088e-01 6.23844241e-03 3.37804427e+01] [ 9.57834538e-03 2.21808303e-04 9.99954102e-01 -1.11781537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.269115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.90, Y:33.80, Z:-1.10 [[ 7.46336558e-01 6.65532389e-01 -6.95565776e-03 -5.68998853e+01] [-6.65505012e-01 7.46368960e-01 6.03772085e-03 3.38002698e+01] [ 9.20978583e-03 1.22853298e-04 9.99957581e-01 -1.10328568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.299115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.91, Y:33.81, Z:-1.10 [[ 7.52772521e-01 6.58252492e-01 -6.09828380e-03 -5.69135948e+01] [-6.58230890e-01 7.52797222e-01 5.33271029e-03 3.38137175e+01] [ 8.10104094e-03 -2.38995464e-07 9.99967186e-01 -1.10299255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.329115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.93, Y:33.83, Z:-1.10 [[ 7.50770168e-01 6.60535508e-01 -6.08254962e-03 -5.69276729e+01] [-6.60513836e-01 7.50794807e-01 5.35072805e-03 3.38260421e+01] [ 8.10109254e-03 4.41184778e-07 9.99967186e-01 -1.10280750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.359115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.94, Y:33.84, Z:-1.10 [[ 7.55596811e-01 6.54987143e-01 -8.08098731e-03 -5.69377530e+01] [-6.54948256e-01 7.55640015e-01 7.13787712e-03 3.38438078e+01] [ 1.07815351e-02 -1.00728641e-04 9.99941872e-01 -1.09665966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.389115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.96, Y:33.85, Z:-1.10 [[ 7.56084250e-01 6.54408611e-01 -9.27236247e-03 -5.69570837e+01] [-6.54356834e-01 7.56141088e-01 8.23339356e-03 3.38512298e+01] [ 1.23992179e-02 -1.57705440e-04 9.99923114e-01 -1.10016126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.419115933 meters Centerline goodness [0,1] 0.9994746519569214 Centerline is valid? [True, True] Translation: X:-56.96, Y:33.88, Z:-1.08 [[ 7.57609127e-01 6.52629452e-01 -1.01591800e-02 -5.69588341e+01] [-6.52566439e-01 7.57677200e-01 9.07216814e-03 3.38773170e+01] [ 1.36181431e-02 -2.43617500e-04 9.99907239e-01 -1.07595252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.449115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.98, Y:33.88, Z:-1.10 [[ 7.61517262e-01 6.48102420e-01 -7.39681265e-03 -5.69824688e+01] [-6.48068261e-01 7.61553134e-01 6.65988217e-03 3.38797280e+01] [ 9.94935161e-03 -2.77975725e-04 9.99950465e-01 -1.09884063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.479115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.99, Y:33.89, Z:-1.09 [[ 7.58161720e-01 6.52003094e-01 -9.09793809e-03 -5.69948853e+01] [-6.51951222e-01 7.58216243e-01 8.23000149e-03 3.38942173e+01] [ 1.22641909e-02 -3.08260228e-04 9.99924744e-01 -1.09407169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.509115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.00, Y:33.91, Z:-1.09 [[ 7.54209405e-01 6.56591595e-01 -7.45994722e-03 -5.70036141e+01] [-6.56556432e-01 7.54246263e-01 6.79900729e-03 3.39129800e+01] [ 1.00908084e-02 -2.29998911e-04 9.99949060e-01 -1.08523634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.53911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.02, Y:33.92, Z:-1.09 [[ 7.50547940e-01 6.60766055e-01 -8.12466618e-03 -5.70199228e+01] [-6.60724142e-01 7.50591881e-01 7.44551151e-03 3.39243082e+01] [ 1.10180497e-02 -2.20050230e-04 9.99939275e-01 -1.08942870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.56911593299998 meters Centerline goodness [0,1] 0.9989543850477062 Centerline is valid? [True, True] Translation: X:-57.02, Y:33.95, Z:-1.06 [[ 7.42589606e-01 6.69668458e-01 -1.02388226e-02 -5.70185804e+01] [-6.69602121e-01 7.42660175e-01 9.42681631e-03 3.39541104e+01] [ 1.39168074e-02 -1.44318449e-04 9.99903146e-01 -1.05668522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.59911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.05, Y:33.95, Z:-1.10 [[ 7.46568467e-01 6.65282192e-01 -5.92703960e-03 -5.70523107e+01] [-6.65259379e-01 7.46591974e-01 5.51209667e-03 3.39460449e+01] [ 8.09217995e-03 -1.72138873e-04 9.99967243e-01 -1.09721035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.62911593299998 meters Centerline goodness [0,1] 0.9994805869367615 Centerline is valid? [True, True] Translation: X:-57.06, Y:33.97, Z:-1.07 [[ 7.38912489e-01 6.73753513e-01 -8.03356061e-03 -5.70560318e+01] [-6.73711802e-01 7.38956147e-01 7.49806992e-03 3.39702269e+01] [ 1.09882999e-02 -1.28112910e-04 9.99939619e-01 -1.07453340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.65911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.08, Y:33.97, Z:-1.10 [[ 7.40431155e-01 6.72103682e-01 -6.19234294e-03 -5.70840746e+01] [-6.72078412e-01 7.40457033e-01 5.83020527e-03 3.39672508e+01] [ 8.50366630e-03 -1.55125613e-04 9.99963831e-01 -1.10093386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.68911593299998 meters Centerline goodness [0,1] 0.9998695538742499 Centerline is valid? [True, True] Translation: X:-57.09, Y:33.98, Z:-1.09 [[ 7.35052011e-01 6.77957368e-01 -8.50583896e-03 -5.70940851e+01] [-6.77909761e-01 7.35101209e-01 8.03540031e-03 3.39840701e+01] [ 1.17003114e-02 -1.40245896e-04 9.99931539e-01 -1.08738893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.71911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.11, Y:34.00, Z:-1.09 [[ 7.37056527e-01 6.75809227e-01 -5.43731242e-03 -5.71097049e+01] [-6.75789339e-01 7.37076568e-01 5.18673889e-03 3.39953561e+01] [ 7.51296158e-03 -1.48441992e-04 9.99971766e-01 -1.08636409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.74911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.12, Y:34.01, Z:-1.09 [[ 7.30479872e-01 6.82879191e-01 -8.66991409e-03 -5.71226178e+01] [-6.82828881e-01 7.30531308e-01 8.29014649e-03 3.40094594e+01] [ 1.19948122e-02 -1.35717409e-04 9.99928050e-01 -1.09053521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.77911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.12, Y:34.02, Z:-1.08 [[ 7.21237410e-01 6.92632426e-01 -8.77050052e-03 -5.71240040e+01] [-6.92579936e-01 7.21290730e-01 8.52736498e-03 3.40249110e+01] [ 1.22324102e-02 -7.59819445e-05 9.99925178e-01 -1.07965171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.809115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.14, Y:34.04, Z:-1.09 [[ 7.20927298e-01 6.92979626e-01 -6.56261636e-03 -5.71368294e+01] [-6.92950048e-01 7.20957164e-01 6.40297018e-03 3.40384567e+01] [ 9.16849317e-03 -6.85106672e-05 9.99957966e-01 -1.08915701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.839115933 meters Centerline goodness [0,1] 0.9997411003236246 Centerline is valid? [True, True] Translation: X:-57.15, Y:34.05, Z:-1.09 [[ 7.15593373e-01 6.98478860e-01 -7.30803764e-03 -5.71474776e+01] [-6.98442078e-01 7.15630688e-01 7.16814332e-03 3.40538022e+01] [ 1.02366526e-02 -2.52348669e-05 9.99947604e-01 -1.08507009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.869115933 meters Centerline goodness [0,1] 0.9996161719549642 Centerline is valid? [True, True] Translation: X:-57.15, Y:34.07, Z:-1.08 [[ 7.12742508e-01 7.01388314e-01 -7.24921150e-03 -5.71518472e+01] [-7.01351005e-01 7.12779368e-01 7.23463622e-03 3.40670123e+01] [ 1.02413777e-02 -7.21909857e-05 9.99947553e-01 -1.07582616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.899115933 meters Centerline goodness [0,1] 0.9993514915693904 Centerline is valid? [True, True] Translation: X:-57.17, Y:34.07, Z:-1.09 [[ 7.16809101e-01 6.97232818e-01 -7.14916121e-03 -5.71748980e+01] [-6.97196275e-01 7.16844739e-01 7.13971503e-03 3.40700612e+01] [ 1.01028822e-02 -1.33444149e-04 9.99948956e-01 -1.09108940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.929115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.18, Y:34.09, Z:-1.08 [[ 7.16417124e-01 6.97617108e-01 -8.76782412e-03 -5.71835557e+01] [-6.97561681e-01 7.16470750e-01 8.79571182e-03 3.40884306e+01] [ 1.24179286e-02 -1.85300430e-04 9.99922877e-01 -1.08049089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.959115933 meters Centerline goodness [0,1] 0.999613601236476 Centerline is valid? [True, True] Translation: X:-57.19, Y:34.11, Z:-1.07 [[ 7.13034985e-01 7.01038518e-01 -1.12296719e-02 -5.71881524e+01] [-7.00947152e-01 7.13123381e-01 1.13196146e-02 3.41102271e+01] [ 1.59436274e-02 -1.99874720e-04 9.99872872e-01 -1.06681770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.989115933 meters Centerline goodness [0,1] 0.9991100940757691 Centerline is valid? [True, True] Translation: X:-55.81, Y:35.47, Z:-1.64 [[ 7.54995851e-01 -6.54943305e-01 -3.21019061e-02 -5.58073080e+01] [-6.54318664e-01 -7.55677787e-01 2.86036267e-02 3.54664857e+01] [-4.29924512e-02 -5.90743118e-04 -9.99075222e-01 -1.64300360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.019115933 meters Centerline goodness [0,1] 0.9991064590247638 Centerline is valid? [True, True] Translation: X:-57.08, Y:34.00, Z:-1.05 [[ 7.69018624e-01 6.39116236e-01 -1.18655894e-02 -5.70803246e+01] [-6.39035953e-01 7.69110131e-01 1.01319858e-02 3.40029827e+01] [ 1.56014616e-02 -2.09147573e-04 9.99878268e-01 -1.04521890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.049115933 meters Centerline goodness [0,1] 0.999117053481332 Centerline is valid? [True, True] Translation: X:-57.11, Y:34.00, Z:-1.07 [[ 7.67164106e-01 6.41312126e-01 -1.33413637e-02 -5.71081091e+01] [-6.41209158e-01 7.67280058e-01 1.14946916e-02 3.40011817e+01] [ 1.76082474e-02 -2.63710236e-04 9.99844928e-01 -1.07439988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.079115933 meters Centerline goodness [0,1] 0.9993662061097731 Centerline is valid? [True, True] Translation: X:-57.13, Y:34.01, Z:-1.08 [[ 7.62185769e-01 6.47196877e-01 -1.44587793e-02 -5.71256593e+01] [-6.47075684e-01 7.62322875e-01 1.25257443e-02 3.40116937e+01] [ 1.91288808e-02 -1.91019526e-04 9.99817008e-01 -1.07719229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.109115933 meters Centerline goodness [0,1] 0.9992379984759969 Centerline is valid? [True, True] Translation: X:-57.14, Y:34.03, Z:-1.08 [[ 7.60778955e-01 6.48864052e-01 -1.38139107e-02 -5.71387255e+01] [-6.48752270e-01 7.60904331e-01 1.20453645e-02 3.40261238e+01] [ 1.83268685e-02 -2.02053939e-04 9.99832028e-01 -1.07628072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.139115933 meters Centerline goodness [0,1] 0.9997477931904162 Centerline is valid? [True, True] Translation: X:-57.16, Y:34.03, Z:-1.09 [[ 7.59916841e-01 6.49887967e-01 -1.31158084e-02 -5.71594346e+01] [-6.49786076e-01 7.60029986e-01 1.15098104e-02 3.40317377e+01] [ 1.74484949e-02 -2.24029082e-04 9.99847738e-01 -1.08746348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.169115933 meters Centerline goodness [0,1] 0.9987457669635018 Centerline is valid? [True, True] Translation: X:-57.17, Y:34.05, Z:-1.07 [[ 7.53590219e-01 6.57139587e-01 -1.64117436e-02 -5.71650149e+01] [-6.56980094e-01 7.53768895e-01 1.44778755e-02 3.40544584e+01] [ 2.18846469e-02 -1.28196529e-04 9.99760494e-01 -1.07124706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.199115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.19, Y:34.06, Z:-1.09 [[ 7.53739772e-01 6.57004448e-01 -1.48832890e-02 -5.71888067e+01] [-6.56871554e-01 7.53886677e-01 1.32151449e-02 3.40565648e+01] [ 1.99027223e-02 -1.84371086e-04 9.99801904e-01 -1.08960983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.229115933 meters Centerline goodness [0,1] 0.9997482376636455 Centerline is valid? [True, True] Translation: X:-57.21, Y:34.07, Z:-1.09 [[ 7.50498649e-01 6.60666929e-01 -1.64616552e-02 -5.72065455e+01] [-6.60503366e-01 7.50679148e-01 1.47010406e-02 3.40661561e+01] [ 2.20699126e-02 -1.60132487e-04 9.99756417e-01 -1.09259889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.259115933 meters Centerline goodness [0,1] 0.9991147084861515 Centerline is valid? [True, True] Translation: X:-57.21, Y:34.09, Z:-1.06 [[ 7.47969929e-01 6.63531599e-01 -1.63340763e-02 -5.72078671e+01] [-6.63369267e-01 7.48148245e-01 1.46771465e-02 3.40925682e+01] [ 2.19590609e-02 -1.42539996e-04 9.99758861e-01 -1.06473279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.28911593299998 meters Centerline goodness [0,1] 0.9993680485338726 Centerline is valid? [True, True] Translation: X:-57.22, Y:34.10, Z:-1.07 [[ 7.45780546e-01 6.65994899e-01 -1.61917162e-02 -5.72234593e+01] [-6.65834011e-01 7.45956283e-01 1.46387598e-02 3.41038298e+01] [ 2.18276518e-02 -1.36306956e-04 9.99761739e-01 -1.06538921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.31911593299998 meters Centerline goodness [0,1] 0.9989910455290705 Centerline is valid? [True, True] Translation: X:-57.24, Y:34.11, Z:-1.07 [[ 7.44895555e-01 6.66974886e-01 -1.65865142e-02 -5.72417328e+01] [-6.66804264e-01 7.45080176e-01 1.50865641e-02 3.41123505e+01] [ 2.24206423e-02 -1.77956172e-04 9.99748610e-01 -1.06620040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.34911593299998 meters Centerline goodness [0,1] 0.9996190959878111 Centerline is valid? [True, True] Translation: X:-57.26, Y:34.12, Z:-1.07 [[ 7.44358758e-01 6.67534143e-01 -1.81164875e-02 -5.72570144e+01] [-6.67328374e-01 7.44579147e-01 1.65751460e-02 3.41236177e+01] [ 2.45536347e-02 -2.48209007e-04 9.99698483e-01 -1.06773408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.37911593299998 meters Centerline goodness [0,1] 0.9994955863808322 Centerline is valid? [True, True] Translation: X:-57.27, Y:34.13, Z:-1.08 [[ 7.44081042e-01 6.67868827e-01 -1.71648766e-02 -5.72742235e+01] [-6.67681857e-01 7.44278940e-01 1.58049494e-02 3.41331738e+01] [ 2.33310891e-02 -2.99486514e-04 9.99727748e-01 -1.07612642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.40911593299998 meters Centerline goodness [0,1] 0.9996233521657251 Centerline is valid? [True, True] Translation: X:-57.28, Y:34.15, Z:-1.07 [[ 7.40890406e-01 6.71423596e-01 -1.64851714e-02 -5.72844453e+01] [-6.71249874e-01 7.41073742e-01 1.52746405e-02 3.41497080e+01] [ 2.24724817e-02 -2.51165388e-04 9.99747430e-01 -1.07084149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.43911593299998 meters Centerline goodness [0,1] 0.9978702079679278 Centerline is valid? [True, True] Translation: X:-57.28, Y:34.18, Z:-1.03 [[ 7.39517309e-01 6.72981927e-01 -1.44732444e-02 -5.72792997e+01] [-6.72846567e-01 7.39658885e-01 1.34992944e-02 3.41832521e+01] [ 1.97900450e-02 -2.44689081e-04 9.99804128e-01 -1.03252811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.46911593299998 meters Centerline goodness [0,1] 0.9984888553078958 Centerline is valid? [True, True] Translation: X:-57.30, Y:34.19, Z:-1.04 [[ 7.40367701e-01 6.72075037e-01 -1.30695243e-02 -5.72980949e+01] [-6.71963092e-01 7.40482987e-01 1.22698199e-02 3.41912725e+01] [ 1.79240001e-02 -3.01940353e-04 9.99839307e-01 -1.03902586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.49911593299998 meters Centerline goodness [0,1] 0.9992472713586752 Centerline is valid? [True, True] Translation: X:-57.33, Y:34.18, Z:-1.08 [[ 7.41807825e-01 6.70487568e-01 -1.29449889e-02 -5.73307097e+01] [-6.70376162e-01 7.41920661e-01 1.22284422e-02 3.41846304e+01] [ 1.78031732e-02 -3.93142084e-04 9.99841434e-01 -1.07569269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.52911593299999 meters Centerline goodness [0,1] 0.999124671751907 Centerline is valid? [True, True] Translation: X:-57.33, Y:34.21, Z:-1.04 [[ 7.35870054e-01 6.76954110e-01 -1.51127795e-02 -5.73296185e+01] [-6.76801994e-01 7.36025150e-01 1.43540801e-02 3.42124521e+01] [ 2.08404393e-02 -3.34378386e-04 9.99782759e-01 -1.04467448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.559115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.36, Y:34.21, Z:-1.09 [[ 7.35904656e-01 6.76941777e-01 -1.39344027e-02 -5.73615753e+01] [-6.76810806e-01 7.36036475e-01 1.33206757e-02 3.42080819e+01] [ 1.92735505e-02 -3.71792952e-04 9.99814179e-01 -1.08648856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.589115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.37, Y:34.22, Z:-1.09 [[ 7.30963206e-01 6.82226735e-01 -1.61082129e-02 -5.73741180e+01] [-6.82051066e-01 7.31140597e-01 1.54845443e-02 3.42222164e+01] [ 2.23413385e-02 -3.32008403e-04 9.99750346e-01 -1.08724499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.619115933 meters Centerline goodness [0,1] 0.9988860007426662 Centerline is valid? [True, True] Translation: X:-57.39, Y:34.24, Z:-1.09 [[ 7.26135328e-01 6.87336388e-01 -1.72097190e-02 -5.73858401e+01] [-6.87134841e-01 7.26339191e-01 1.66460321e-02 3.42361778e+01] [ 2.39415170e-02 -2.61874513e-04 9.99713327e-01 -1.08832186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.649115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.40, Y:34.25, Z:-1.09 [[ 7.25641419e-01 6.87914624e-01 -1.47648676e-02 -5.73977797e+01] [-6.87764438e-01 7.25791563e-01 1.43765307e-02 3.42507417e+01] [ 2.06060420e-02 -2.77455283e-04 9.99787634e-01 -1.08512723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.679115933 meters Centerline goodness [0,1] 0.9996217374858152 Centerline is valid? [True, True] Translation: X:-57.40, Y:34.27, Z:-1.06 [[ 7.21213707e-01 6.92617495e-01 -1.14801543e-02 -5.74008828e+01] [-6.92526020e-01 7.21305051e-01 1.12576647e-02 3.42746702e+01] [ 1.60779488e-02 -1.68876566e-04 9.99870727e-01 -1.05558510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.709115933 meters Centerline goodness [0,1] 0.9987542045596113 Centerline is valid? [True, True] Translation: X:-57.40, Y:34.30, Z:-1.03 [[ 7.16580375e-01 6.97457026e-01 -8.14020734e-03 -5.73993122e+01] [-6.97410510e-01 7.16626603e-01 8.05553878e-03 3.43000037e+01] [ 1.14518813e-02 -9.53748487e-05 9.99934421e-01 -1.02545656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.739115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.44, Y:34.29, Z:-1.06 [[ 7.18603865e-01 6.95397737e-01 -5.52019932e-03 -5.74350581e+01] [-6.95375913e-01 7.18625057e-01 5.51061153e-03 3.42910315e+01] [ 7.79902034e-03 -1.21333103e-04 9.99969580e-01 -1.06294654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.769115933 meters Centerline goodness [0,1] 0.9997501561524047 Centerline is valid? [True, True] Translation: X:-57.44, Y:34.31, Z:-1.05 [[ 7.14087688e-01 7.00002319e-01 -8.69070693e-03 -5.74430835e+01] [-6.99948244e-01 7.14140558e-01 8.70166801e-03 3.43090604e+01] [ 1.22975741e-02 -1.30708933e-04 9.99924373e-01 -1.04866086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.799115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.47, Y:34.31, Z:-1.07 [[ 7.15846369e-01 6.98158821e-01 -1.17573884e-02 -5.74667193e+01] [-6.98058646e-01 7.15942870e-01 1.18294041e-02 3.43123025e+01] [ 1.66764212e-02 -2.60689340e-04 9.99860905e-01 -1.06672026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.829115933 meters Centerline goodness [0,1] 0.9996248124062032 Centerline is valid? [True, True] Translation: X:-56.06, Y:35.69, Z:-1.65 [[ 7.54230185e-01 -6.55630489e-01 -3.58537376e-02 -5.60615864e+01] [-6.54862046e-01 -7.55081752e-01 3.17371765e-02 3.56941251e+01] [-4.78803636e-02 -4.57884524e-04 -9.98852973e-01 -1.64560872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.859115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.37, Y:34.19, Z:-1.08 [[ 7.70325288e-01 6.37408263e-01 -1.75970614e-02 -5.73651586e+01] [-6.37231993e-01 7.70526179e-01 1.49931284e-02 3.41934800e+01] [ 2.31157405e-02 -3.36175456e-04 9.99732739e-01 -1.07773120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.889115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.38, Y:34.20, Z:-1.09 [[ 7.65696671e-01 6.43028248e-01 -1.49425576e-02 -5.73809396e+01] [-6.42899940e-01 7.65842424e-01 1.28471099e-02 3.42043115e+01] [ 1.97046991e-02 -2.30419848e-04 9.99805817e-01 -1.08553581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.919115933 meters Centerline goodness [0,1] 0.9996243425995492 Centerline is valid? [True, True] Translation: X:-57.39, Y:34.23, Z:-1.07 [[ 7.62835546e-01 6.46467391e-01 -1.27217348e-02 -5.73856996e+01] [-6.46373594e-01 7.62941597e-01 1.10134834e-02 3.42272578e+01] [ 1.68257985e-02 -1.78483179e-04 9.99858420e-01 -1.06535232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.949115933 meters Centerline goodness [0,1] 0.9988762642027719 Centerline is valid? [True, True] Translation: X:-57.39, Y:34.25, Z:-1.04 [[ 7.56381121e-01 6.54005045e-01 -1.28452153e-02 -5.73888237e+01] [-6.53909210e-01 7.56490182e-01 1.11959710e-02 3.42508448e+01] [ 1.70395008e-02 -6.88165629e-05 9.99854815e-01 -1.04453247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.979115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.42, Y:34.24, Z:-1.09 [[ 7.57172978e-01 6.53062076e-01 -1.41069118e-02 -5.74202470e+01] [-6.52945047e-01 7.57304365e-01 1.23637944e-02 3.42444613e+01] [ 1.87575512e-02 -1.50492846e-04 9.99824050e-01 -1.08846214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.009115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.43, Y:34.26, Z:-1.08 [[ 7.53995626e-01 6.56699801e-01 -1.53612341e-02 -5.74331206e+01] [-6.56560189e-01 7.54152077e-01 1.35411586e-02 3.42581020e+01] [ 2.04771828e-02 -1.24399564e-04 9.99790313e-01 -1.08061237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.03911593299998 meters Centerline goodness [0,1] 0.9983587930816816 Centerline is valid? [True, True] Translation: X:-57.42, Y:34.30, Z:-1.03 [[ 7.51675915e-01 6.59324666e-01 -1.65620829e-02 -5.74219781e+01] [-6.59161212e-01 7.51858345e-01 1.46808218e-02 3.42998393e+01] [ 2.21317681e-02 -1.18137517e-04 9.99755055e-01 -1.02739175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.06911593299998 meters Centerline goodness [0,1] 0.9993690851735015 Centerline is valid? [True, True] Translation: X:-57.45, Y:34.30, Z:-1.05 [[ 7.49166363e-01 6.62037802e-01 -2.13473321e-02 -5.74499634e+01] [-6.61764311e-01 7.49470434e-01 1.90279838e-02 3.42972618e+01] [ 2.85964389e-02 -1.28222932e-04 9.99591030e-01 -1.05411637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.09911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.47, Y:34.30, Z:-1.07 [[ 7.50653656e-01 6.60304673e-01 -2.27338470e-02 -5.74734862e+01] [-6.59989981e-01 7.50997769e-01 2.03856625e-02 3.42993099e+01] [ 3.05338166e-02 -2.98460827e-04 9.99533690e-01 -1.06945143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.12911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.49, Y:34.31, Z:-1.07 [[ 7.47344491e-01 6.63928852e-01 -2.59747986e-02 -5.74885694e+01] [-6.63515205e-01 7.47795695e-01 2.34343986e-02 3.43105665e+01] [ 3.49826159e-02 -2.78894876e-04 9.99387882e-01 -1.07320305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.15911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.51, Y:34.32, Z:-1.08 [[ 7.43972859e-01 6.67550724e-01 -2.96718188e-02 -5.75063463e+01] [-6.67007576e-01 7.44564285e-01 2.69243195e-02 3.43192490e+01] [ 4.00659255e-02 -2.39634981e-04 9.99197010e-01 -1.08041400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.18911593299998 meters Centerline goodness [0,1] 0.9997471554993679 Centerline is valid? [True, True] Translation: X:-57.51, Y:34.34, Z:-1.06 [[ 7.42387288e-01 6.69141426e-01 -3.33296679e-02 -5.75110149e+01] [-6.68449522e-01 7.43135020e-01 3.04233296e-02 3.43419881e+01] [ 4.51259536e-02 -3.06692613e-04 9.98981258e-01 -1.06348931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.21911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.54, Y:34.34, Z:-1.09 [[ 7.41699934e-01 6.69694176e-01 -3.72950168e-02 -5.75353450e+01] [-6.68814852e-01 7.42636826e-01 3.43109069e-02 3.43420402e+01] [ 5.06744674e-02 -5.04936231e-04 9.98715096e-01 -1.09179857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.24911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.55, Y:34.35, Z:-1.09 [[ 7.39593829e-01 6.72025069e-01 -3.71923956e-02 -5.75486365e+01] [-6.71143094e-01 7.40528230e-01 3.44221958e-02 3.43541563e+01] [ 5.06745973e-02 -4.97024119e-04 9.98715094e-01 -1.09163177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.27911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.56, Y:34.37, Z:-1.09 [[ 7.38703077e-01 6.72899518e-01 -3.90384778e-02 -5.75604646e+01] [-6.71916532e-01 7.39733628e-01 3.63639159e-02 3.43681279e+01] [ 5.33473363e-02 -6.31537951e-04 9.98575817e-01 -1.08974145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.309115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.57, Y:34.38, Z:-1.09 [[ 7.37646981e-01 6.73990008e-01 -4.01796035e-02 -5.75708017e+01] [-6.72937947e-01 7.38740096e-01 3.76508991e-02 3.43848120e+01] [ 5.50586140e-02 -7.34692097e-04 9.98482854e-01 -1.08736605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.339115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.59, Y:34.40, Z:-1.09 [[ 7.34809974e-01 6.76965875e-01 -4.20892738e-02 -5.75865275e+01] [-6.75802517e-01 7.36014062e-01 3.96769414e-02 3.43963752e+01] [ 5.78382327e-02 -7.10975072e-04 9.98325715e-01 -1.08784232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.369115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.60, Y:34.41, Z:-1.09 [[ 7.32309122e-01 6.79611046e-01 -4.30369163e-02 -5.76008404e+01] [-6.78384966e-01 7.33572321e-01 4.08103851e-02 3.44097067e+01] [ 5.93058790e-02 -6.90220256e-04 9.98239619e-01 -1.09003056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.399115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.61, Y:34.43, Z:-1.09 [[ 7.24816143e-01 6.87426547e-01 -4.56760436e-02 -5.76107950e+01] [-6.86044382e-01 7.26253869e-01 4.35709000e-02 3.44272315e+01] [ 6.31241967e-02 -2.45098615e-04 9.98005649e-01 -1.08599451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.429115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.63, Y:34.44, Z:-1.09 [[ 7.25521782e-01 6.86800237e-01 -4.38586210e-02 -5.76255649e+01] [-6.85507515e-01 7.26846057e-01 4.21219247e-02 3.44369289e+01] [ 6.08078136e-02 -4.94959553e-04 9.98149370e-01 -1.09009733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.459115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.63, Y:34.46, Z:-1.08 [[ 7.20888561e-01 6.91525556e-01 -4.59574657e-02 -5.76319818e+01] [-6.90098949e-01 7.22351937e-01 4.43972923e-02 3.44572566e+01] [ 6.38993266e-02 -2.90301397e-04 9.97956308e-01 -1.07913279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.489115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.65, Y:34.47, Z:-1.08 [[ 7.21174472e-01 6.91312597e-01 -4.46573003e-02 -5.76473733e+01] [-6.89948114e-01 7.22555634e-01 4.34160831e-02 3.44676807e+01] [ 6.22814691e-02 -4.99350638e-04 9.98058500e-01 -1.08166682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.519115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.67, Y:34.47, Z:-1.09 [[ 7.19715488e-01 6.92769866e-01 -4.56018650e-02 -5.76676828e+01] [-6.91332995e-01 7.21158502e-01 4.45993870e-02 3.44740334e+01] [ 6.37832840e-02 -5.72795702e-04 9.97963609e-01 -1.09396825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.549115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.68, Y:34.49, Z:-1.09 [[ 7.22961179e-01 6.89517026e-01 -4.35132710e-02 -5.76783267e+01] [-6.88183749e-01 7.24268714e-01 4.28714139e-02 3.44879309e+01] [ 6.10758706e-02 -1.04924199e-03 9.98132575e-01 -1.09417506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.579115933 meters Centerline goodness [0,1] 0.9998744034162271 Centerline is valid? [True, True] Translation: X:-57.69, Y:34.50, Z:-1.10 [[ 7.20291145e-01 6.92329704e-01 -4.31305992e-02 -5.76936076e+01] [-6.91008941e-01 7.21580623e-01 4.27556750e-02 3.44983577e+01] [ 6.07232284e-02 -9.92904395e-04 9.98154148e-01 -1.09951168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.609115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.70, Y:34.52, Z:-1.08 [[ 7.17148444e-01 6.95660775e-01 -4.18831147e-02 -5.76998866e+01] [-6.94405783e-01 7.18369904e-01 4.17766564e-02 3.45184054e+01] [ 5.91499502e-02 -8.76187108e-04 9.98248724e-01 -1.08237042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.639115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.71, Y:34.53, Z:-1.08 [[ 7.11924317e-01 7.01132839e-01 -3.97052859e-02 -5.77092969e+01] [-6.99990233e-01 7.13030334e-01 4.00176972e-02 3.45288751e+01] [ 5.63687949e-02 -6.96259420e-04 9.98409773e-01 -1.07988938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.669115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.33, Y:35.90, Z:-1.62 [[ 7.54755624e-01 -6.53211412e-01 -6.04880130e-02 -5.63252183e+01] [-6.51067587e-01 -7.57175389e-01 5.28812520e-02 3.59015889e+01] [-8.03426721e-02 -5.30637654e-04 -9.96767161e-01 -1.62182497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.699115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.61, Y:34.43, Z:-1.08 [[ 7.60570034e-01 6.47889733e-01 -4.20965208e-02 -5.76128764e+01] [-6.46888849e-01 7.61734122e-01 3.59992430e-02 3.44250939e+01] [ 5.53898962e-02 -1.48175576e-04 9.98464790e-01 -1.07792470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.729115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.63, Y:34.43, Z:-1.09 [[ 7.58242305e-01 6.50794457e-01 -3.91814096e-02 -5.76326746e+01] [-6.49919376e-01 7.59253951e-01 3.37378519e-02 3.44324001e+01] [ 5.17050470e-02 -1.16709275e-04 9.98662393e-01 -1.08868793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.759115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.64, Y:34.45, Z:-1.08 [[ 7.53753944e-01 6.56055996e-01 -3.80200254e-02 -5.76396155e+01] [-6.55221636e-01 7.54712217e-01 3.30768587e-02 3.44473238e+01] [ 5.03944491e-02 -2.02694601e-05 9.98729392e-01 -1.08232041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.78911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.65, Y:34.46, Z:-1.08 [[ 7.53793274e-01 6.56227749e-01 -3.40711249e-02 -5.76546855e+01] [-6.55550537e-01 7.54562869e-01 2.98055319e-02 3.44594698e+01] [ 4.52680229e-02 -1.31865252e-04 9.98974869e-01 -1.07739988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.81911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.67, Y:34.47, Z:-1.08 [[ 7.52139284e-01 6.58266855e-01 -3.11648028e-02 -5.76701420e+01] [-6.57694923e-01 7.52784650e-01 2.74346382e-02 3.44706804e+01] [ 4.15196982e-02 -1.37736543e-04 9.99137676e-01 -1.07873620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.84911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.69, Y:34.48, Z:-1.08 [[ 7.50678012e-01 6.59959283e-01 -3.05984861e-02 -5.76853546e+01] [-6.59399644e-01 7.51301335e-01 2.71737782e-02 3.44771247e+01] [ 4.09222706e-02 -2.22126892e-04 9.99162308e-01 -1.08448756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.87911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.70, Y:34.49, Z:-1.09 [[ 7.48916574e-01 6.62133693e-01 -2.65129662e-02 -5.77000867e+01] [-6.61710048e-01 7.49385706e-01 2.36828282e-02 3.44891796e+01] [ 3.55496364e-02 -1.92566384e-04 9.99367893e-01 -1.08507572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.90911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.71, Y:34.50, Z:-1.09 [[ 7.44484404e-01 6.67094524e-01 -2.69790316e-02 -5.77141161e+01] [-6.66651879e-01 7.44973077e-01 2.42978685e-02 3.45001009e+01] [ 3.63076272e-02 -1.03762058e-04 9.99340655e-01 -1.08594641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.93911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.73, Y:34.51, Z:-1.09 [[ 7.44734087e-01 6.66993412e-01 -2.21569160e-02 -5.77307150e+01] [-6.66691354e-01 7.45063593e-01 2.00719003e-02 3.45107710e+01] [ 2.98961367e-02 -1.76404025e-04 9.99552995e-01 -1.09022546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.96911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.74, Y:34.53, Z:-1.08 [[ 7.40626934e-01 6.71569760e-01 -2.15824350e-02 -5.77417317e+01] [-6.71281576e-01 7.40941327e-01 1.96721911e-02 3.45273888e+01] [ 2.92025667e-02 -8.18635532e-05 9.99573511e-01 -1.08341877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.99911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.76, Y:34.54, Z:-1.08 [[ 7.37584329e-01 6.74967176e-01 -1.97147075e-02 -5.77564372e+01] [-6.74724842e-01 7.37847756e-01 1.80852925e-02 3.45389310e+01] [ 2.67534315e-02 -3.74254814e-05 9.99642062e-01 -1.07676338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.02911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.77, Y:34.55, Z:-1.08 [[ 7.34178252e-01 6.78645613e-01 -2.05529994e-02 -5.77705963e+01] [-6.78380552e-01 7.34465882e-01 1.89656574e-02 3.45512878e+01] [ 2.79664370e-02 1.85818316e-05 9.99608863e-01 -1.07862213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.059115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.79, Y:34.56, Z:-1.08 [[ 7.36151891e-01 6.76626775e-01 -1.60187880e-02 -5.77850403e+01] [-6.76463056e-01 7.36326146e-01 1.48842519e-02 3.45636843e+01] [ 2.18661358e-02 -1.20951943e-04 9.99760900e-01 -1.08106336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.089115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.80, Y:34.57, Z:-1.09 [[ 7.28631044e-01 6.84691809e-01 -1.71443352e-02 -5.78015363e+01] [-6.84504328e-01 7.28832713e-01 1.60219253e-02 3.45747604e+01] [ 2.34654333e-02 6.12994956e-05 9.99724647e-01 -1.08734633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.119115933 meters Centerline goodness [0,1] 0.9998795616042394 Centerline is valid? [True, True] Translation: X:-57.81, Y:34.59, Z:-1.07 [[ 7.27632521e-01 6.85780453e-01 -1.60026452e-02 -5.78112840e+01] [-6.85615315e-01 7.27808471e-01 1.50489255e-02 3.45915613e+01] [ 2.19671197e-02 2.15709936e-05 9.99758693e-01 -1.07425328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.149115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.83, Y:34.60, Z:-1.08 [[ 7.26433866e-01 6.87125517e-01 -1.23435450e-02 -5.78276622e+01] [-6.87026057e-01 7.26538729e-01 1.16907478e-02 3.46024493e+01] [ 1.70010746e-02 -1.22180621e-05 9.99855471e-01 -1.07947675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.179115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.84, Y:34.62, Z:-1.08 [[ 7.23774997e-01 6.89969044e-01 -9.61620574e-03 -5.78391451e+01] [-6.89908046e-01 7.23838876e-01 9.17446815e-03 3.46186475e+01] [ 1.32906826e-02 -5.95294936e-06 9.99911675e-01 -1.07636679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.209115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.85, Y:34.63, Z:-1.07 [[ 7.21926920e-01 6.91917642e-01 -8.45570229e-03 -5.78497279e+01] [-6.91869663e-01 7.21976437e-01 8.14828551e-03 3.46324439e+01] [ 1.17427603e-02 -3.22227671e-05 9.99931051e-01 -1.07030303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.239115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.86, Y:34.65, Z:-1.07 [[ 7.16694809e-01 6.97369665e-01 -4.90927860e-03 -5.78614768e+01] [-6.97353317e-01 7.16711623e-01 4.77504690e-03 3.46471323e+01] [ 6.84850989e-03 1.25038945e-06 9.99976549e-01 -1.06800377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.269115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.87, Y:34.66, Z:-1.07 [[ 7.12665767e-01 7.01487164e-01 -4.82318329e-03 -5.78744710e+01] [-7.01471293e-01 7.12682088e-01 4.71870104e-03 3.46616630e+01] [ 6.74750455e-03 2.04679217e-05 9.99977235e-01 -1.06617281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.299115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.89, Y:34.67, Z:-1.07 [[ 7.09327175e-01 7.04878723e-01 -9.72118615e-04 -5.78885253e+01] [-7.04878016e-01 7.09327841e-01 9.98319695e-04 3.46731010e+01] [ 1.39324511e-03 -2.29102482e-05 9.99999029e-01 -1.06940658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.329115933 meters Centerline goodness [0,1] 0.999512432959532 Centerline is valid? [True, True] Translation: X:-57.90, Y:34.69, Z:-1.06 [[ 7.03157618e-01 7.11033334e-01 9.81367160e-04 -5.78975490e+01] [-7.11032750e-01 7.03158300e-01 -9.12366699e-04 3.46912235e+01] [-1.33877960e-03 -5.62465964e-05 9.99999102e-01 -1.06031983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.359115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.91, Y:34.70, Z:-1.06 [[ 7.02576430e-01 7.11581129e-01 6.21750629e-03 -5.79121863e+01] [-7.11555167e-01 7.02603924e-01 -6.08032408e-03 3.47031120e+01] [-8.69508819e-03 -1.52206339e-04 9.99962185e-01 -1.06021267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.389115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.93, Y:34.72, Z:-1.06 [[ 6.95073254e-01 7.18901910e-01 7.29483466e-03 -5.79254548e+01] [-7.18866018e-01 6.95111489e-01 -7.18788798e-03 3.47154135e+01] [-1.02381098e-02 -2.47900056e-04 9.99947558e-01 -1.06246103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.419115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.94, Y:34.73, Z:-1.07 [[ 6.90187678e-01 7.23577884e-01 8.71865059e-03 -5.79423411e+01] [-7.23526183e-01 6.90242664e-01 -8.65609170e-03 3.47256178e+01] [-1.22813411e-02 -3.33844139e-04 9.99924526e-01 -1.06833946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.449115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.96, Y:34.73, Z:-1.08 [[ 6.88811688e-01 7.24871047e-01 1.00211167e-02 -5.79606130e+01] [-7.24801917e-01 6.88884484e-01 -1.00173905e-02 3.47333980e+01] [-1.41647082e-02 -3.63228938e-04 9.99899610e-01 -1.07612980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.479115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.55, Y:36.10, Z:-1.62 [[ 7.75856373e-01 -6.30864963e-01 -7.50251531e-03 -5.65508829e+01] [-6.30819660e-01 -7.75891707e-01 7.65607009e-03 3.60959745e+01] [-1.06510858e-02 -1.20727661e-03 -9.99942547e-01 -1.62372200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.509115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.84, Y:34.61, Z:-1.06 [[ 7.44435156e-01 6.67617180e-01 1.01783719e-02 -5.78409797e+01] [-6.67560806e-01 7.44504662e-01 -8.68207847e-03 3.46144739e+01] [-1.33741501e-02 -3.31437722e-04 9.99910507e-01 -1.06118085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.53911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.85, Y:34.63, Z:-1.06 [[ 7.44043098e-01 6.68038830e-01 1.11350155e-02 -5.78536581e+01] [-6.67971013e-01 7.44126332e-01 -9.52509643e-03 3.46290218e+01] [-1.46489925e-02 -3.50785352e-04 9.99892636e-01 -1.05777788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.56911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.87, Y:34.64, Z:-1.06 [[ 7.38566973e-01 6.74119785e-01 9.01895884e-03 -5.78723868e+01] [-6.74075282e-01 7.38621954e-01 -7.75389217e-03 3.46362410e+01] [-1.18886531e-02 -3.52688551e-04 9.99929265e-01 -1.06304208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.59911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.88, Y:34.65, Z:-1.06 [[ 7.37221327e-01 6.75599188e-01 8.39350967e-03 -5.78838971e+01] [-6.75560289e-01 7.37269038e-01 -7.25689913e-03 3.46491856e+01] [-1.10910300e-02 -3.20381010e-04 9.99938441e-01 -1.05630262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.62911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.90, Y:34.66, Z:-1.06 [[ 7.33576895e-01 6.79562483e-01 7.73117132e-03 -5.79001435e+01] [-6.79529278e-01 7.33617564e-01 -6.72538115e-03 3.46603583e+01] [-1.02420398e-02 -3.19973044e-04 9.99947498e-01 -1.06247549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.65911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.91, Y:34.67, Z:-1.06 [[ 7.34466351e-01 6.78585074e-01 9.02643569e-03 -5.79139874e+01] [-6.78539069e-01 7.34521747e-01 -7.90790983e-03 3.46741108e+01] [-1.19963029e-02 -3.16695591e-04 9.99927992e-01 -1.05794095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.68911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.93, Y:34.69, Z:-1.06 [[ 7.31635782e-01 6.81653872e-01 7.55522878e-03 -5.79298629e+01] [-6.81621469e-01 7.31674736e-01 -6.65233487e-03 3.46856554e+01] [-1.00625598e-02 -2.82719919e-04 9.99949331e-01 -1.06042898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.71911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.94, Y:34.70, Z:-1.06 [[ 7.30073126e-01 6.83321747e-01 8.03873124e-03 -5.79416225e+01] [-6.83284668e-01 7.30117323e-01 -7.12442114e-03 3.47009405e+01] [-1.07374888e-02 -2.91393393e-04 9.99942309e-01 -1.05562442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.74911593299998 meters Centerline goodness [0,1] 0.9998773608045132 Centerline is valid? [True, True] Translation: X:-57.95, Y:34.72, Z:-1.04 [[ 7.29827171e-01 6.83595077e-01 7.07609503e-03 -5.79490652e+01] [-6.83566052e-01 7.29861435e-01 -6.30387000e-03 3.47216129e+01] [-9.47386338e-03 -2.36242734e-04 9.99955094e-01 -1.04193772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.77911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.96, Y:34.73, Z:-1.04 [[ 7.26857087e-01 6.86773707e-01 4.54433716e-03 -5.79639941e+01] [-6.86761753e-01 7.26871272e-01 -4.05573041e-03 3.47323664e+01] [-6.08851714e-03 -1.72940566e-04 9.99981450e-01 -1.04213641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.809115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.98, Y:34.74, Z:-1.06 [[ 7.22879853e-01 6.90956158e-01 4.93015555e-03 -5.79838676e+01] [-6.90941966e-01 7.22896637e-01 -4.43303966e-03 3.47391951e+01] [-6.62702892e-03 -2.01896310e-04 9.99978021e-01 -1.05500876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.839115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.99, Y:34.76, Z:-1.04 [[ 7.21987651e-01 6.91895796e-01 3.74687657e-03 -5.79913088e+01] [-6.91887603e-01 7.21997356e-01 -3.37071037e-03 3.47565735e+01] [-5.03741532e-03 -1.58806189e-04 9.99987300e-01 -1.04171281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.869115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.01, Y:34.77, Z:-1.05 [[ 7.17997494e-01 6.96044240e-01 1.41922012e-03 -5.80068634e+01] [-6.96043108e-01 7.17998892e-01 -1.25806476e-03 3.47676211e+01] [-1.89466720e-03 -8.45510329e-05 9.99998202e-01 -1.04652180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.899115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.02, Y:34.78, Z:-1.04 [[ 7.18465829e-01 6.95557838e-01 2.47915344e-03 -5.80178491e+01] [-6.95554210e-01 7.18470098e-01 -2.24917248e-03 3.47822502e+01] [-3.34562716e-03 -1.08432045e-04 9.99994397e-01 -1.03705870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.929115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.03, Y:34.80, Z:-1.03 [[ 7.15909574e-01 6.98189466e-01 2.22510508e-03 -5.80295012e+01] [-6.98186528e-01 7.15913025e-01 -2.02787770e-03 3.47972642e+01] [-3.00882456e-03 -1.01761334e-04 9.99995468e-01 -1.03185228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.959115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.04, Y:34.81, Z:-1.03 [[ 7.13341705e-01 7.00811564e-01 2.60082066e-03 -5.80420405e+01] [-7.00807488e-01 7.13346436e-01 -2.39312397e-03 3.48119387e+01] [-3.53241510e-03 -1.15559459e-04 9.99993754e-01 -1.03048925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.989115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.06, Y:34.82, Z:-1.03 [[ 7.12912839e-01 7.01249263e-01 2.18042322e-03 -5.80575368e+01] [-7.01246392e-01 7.12916167e-01 -2.00920384e-03 3.48219372e+01] [-2.96341168e-03 -9.66267030e-05 9.99995604e-01 -1.03086499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.019115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.07, Y:34.83, Z:-1.03 [[ 7.12021208e-01 7.02154369e-01 2.24533773e-03 -5.80697902e+01] [-7.02151288e-01 7.12024742e-01 -2.08236376e-03 3.48339073e+01] [-3.06087683e-03 -9.38796170e-05 9.99995311e-01 -1.02514077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.049115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.08, Y:34.84, Z:-1.03 [[ 7.10434474e-01 7.03760172e-01 2.11630188e-03 -5.80824328e+01] [-7.03757437e-01 7.10437620e-01 -1.96407008e-03 3.48440840e+01] [-2.88573477e-03 -9.40200936e-05 9.99995832e-01 -1.03049416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.079115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.09, Y:34.86, Z:-1.02 [[ 7.05199916e-01 7.09007225e-01 -1.35384771e-03 -5.80929768e+01] [-7.09005926e-01 7.05201216e-01 1.35730333e-03 3.48596559e+01] [ 1.91707292e-03 2.71585982e-06 9.99998162e-01 -1.02476633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.109115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.11, Y:34.87, Z:-1.02 [[ 7.05260841e-01 7.08946547e-01 -1.39261227e-03 -5.81065685e+01] [-7.08945163e-01 7.05262216e-01 1.40115310e-03 3.48723295e+01] [ 1.97549947e-03 -8.92679144e-07 9.99998049e-01 -1.02194920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.139115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.12, Y:34.89, Z:-1.02 [[ 7.03126139e-01 7.11063783e-01 -1.38888043e-03 -5.81197882e+01] [-7.11062395e-01 7.03127511e-01 1.40491038e-03 3.48853907e+01] [ 1.97554093e-03 -2.48563926e-07 9.99998049e-01 -1.02176673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.169115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.13, Y:34.90, Z:-1.02 [[ 7.02371010e-01 7.11810946e-01 3.76303832e-04 -5.81296663e+01] [-7.11810876e-01 7.02371110e-01 -3.18331017e-04 3.49008880e+01] [-4.90896443e-04 -4.42706817e-05 9.99999879e-01 -1.02121759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.199115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.14, Y:34.91, Z:-1.02 [[ 7.02856705e-01 7.11330960e-01 8.47222306e-04 -5.81444547e+01] [-7.11330527e-01 7.02857214e-01 -7.86834744e-04 3.49123552e+01] [-1.15517622e-03 -4.96230136e-05 9.99999332e-01 -1.01838731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.229115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.16, Y:34.93, Z:-1.02 [[ 7.00125414e-01 7.14019672e-01 -5.58442577e-04 -5.81566527e+01] [-7.14019416e-01 7.00125637e-01 6.05260683e-04 3.49265571e+01] [ 8.23147999e-04 -2.50195438e-05 9.99999661e-01 -1.01631904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.259115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.17, Y:34.94, Z:-1.02 [[ 7.03613898e-01 7.10581688e-01 1.07113588e-03 -5.81707529e+01] [-7.10580973e-01 7.03614711e-01 -1.00909861e-03 3.49371026e+01] [-1.47071396e-03 -5.11129719e-05 9.99998917e-01 -1.01527043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.28911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-56.80, Y:36.29, Z:-1.66 [[ 7.69170780e-01 -6.38756374e-01 -1.91469877e-02 -5.67994863e+01] [-6.38516840e-01 -7.69408019e-01 1.75369709e-02 3.62946503e+01] [-2.59336978e-02 -1.26325153e-03 -9.99662867e-01 -1.66346343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.31911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.07, Y:34.83, Z:-1.01 [[ 7.56400924e-01 6.54107991e-01 -6.14123158e-04 -5.80711003e+01] [-6.54107771e-01 7.56401174e-01 5.37177184e-04 3.48291027e+01] [ 8.15895366e-04 -4.61858849e-06 9.99999667e-01 -1.00970817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.34911593299998 meters Centerline goodness [0,1] 0.9998750312421895 Centerline is valid? [True, True] Translation: X:-58.08, Y:34.85, Z:-1.00 [[ 7.56679436e-01 6.53785167e-01 1.08913438e-03 -5.80811242e+01] [-6.53784567e-01 7.56680219e-01 -8.86673971e-04 3.48472882e+01] [-1.40382073e-03 -4.11312891e-05 9.99999014e-01 -9.99889652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.37911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.10, Y:34.85, Z:-1.01 [[ 7.55577857e-01 6.55057345e-01 1.40621414e-03 -5.81038380e+01] [-6.55056305e-01 7.55579164e-01 -1.16764703e-03 3.48516632e+01] [-1.82738187e-03 -3.89011963e-05 9.99998330e-01 -1.01027320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.40911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.12, Y:34.86, Z:-1.02 [[ 7.55022752e-01 6.55697960e-01 9.10668247e-04 -5.81231760e+01] [-6.55697540e-01 7.55023301e-01 -7.43171079e-04 3.48583438e+01] [-1.17487151e-03 -3.60118554e-05 9.99999309e-01 -1.02038143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.43911593299998 meters Centerline goodness [0,1] 0.999748838377496 Centerline is valid? [True, True] Translation: X:-58.13, Y:34.88, Z:-1.00 [[ 7.49368852e-01 6.62146835e-01 -2.80950256e-03 -5.81322305e+01] [-6.62142115e-01 7.49374118e-01 2.50012098e-03 3.48760618e+01] [ 3.76081570e-03 -1.32228190e-05 9.99992928e-01 -1.00158588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.46911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.14, Y:34.89, Z:-1.00 [[ 7.49690590e-01 6.61787208e-01 -1.30806259e-03 -5.81449806e+01] [-6.61786123e-01 7.49691730e-01 1.19863428e-03 3.48893676e+01] [ 1.77388454e-03 -3.29471729e-05 9.99998426e-01 -1.00302042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.49911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.16, Y:34.90, Z:-1.00 [[ 7.50359127e-01 6.61030041e-01 6.82275813e-04 -5.81601206e+01] [-6.61029810e-01 7.50359436e-01 -5.54121515e-04 3.49002105e+01] [-8.78243063e-04 -3.52145140e-05 9.99999614e-01 -1.00490872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.52911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.18, Y:34.91, Z:-1.00 [[ 7.47272609e-01 6.64517592e-01 -1.36039665e-04 -5.81752849e+01] [-6.64517571e-01 7.47272620e-01 1.68696328e-04 3.49122218e+01] [ 2.13760394e-04 -3.56613976e-05 9.99999977e-01 -1.00479384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.559115933 meters Centerline goodness [0,1] 0.9996223564954683 Centerline is valid? [True, True] Translation: X:-58.18, Y:34.93, Z:-0.99 [[ 7.44635801e-01 6.67469096e-01 -1.59081259e-03 -5.81808726e+01] [-6.67467473e-01 7.44637499e-01 1.47211637e-03 3.49345047e+01] [ 2.16717089e-03 -3.43748911e-05 9.99997651e-01 -9.87044820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.589115933 meters Centerline goodness [0,1] 0.9993704356585243 Centerline is valid? [True, True] Translation: X:-58.19, Y:34.95, Z:-0.97 [[ 7.40754012e-01 6.71772121e-01 -2.38963935e-03 -5.81891635e+01] [-6.71768518e-01 7.40757866e-01 2.20041610e-03 3.49536943e+01] [ 3.24832234e-03 -2.46825739e-05 9.99994724e-01 -9.74815944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.619115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.22, Y:34.95, Z:-1.00 [[ 7.42130581e-01 6.70255281e-01 -2.41666706e-04 -5.82174627e+01] [-6.70255229e-01 7.42130620e-01 2.67223897e-04 3.49508251e+01] [ 3.58456490e-04 -3.63366526e-05 9.99999935e-01 -1.00272196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.649115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.23, Y:34.97, Z:-0.99 [[ 7.41833923e-01 6.70578743e-01 2.56517381e-03 -5.82274868e+01] [-6.70574830e-01 7.41838358e-01 -2.29098377e-03 3.49676273e+01] [-3.43922934e-03 -2.06115147e-05 9.99994086e-01 -9.92894807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.679115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.25, Y:34.98, Z:-1.00 [[ 7.36492487e-01 6.76444289e-01 1.39303434e-03 -5.82454511e+01] [-6.76443171e-01 7.36493804e-01 -1.23027272e-03 3.49760078e+01] [-1.85817212e-03 -3.62219500e-05 9.99998273e-01 -9.96830786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.709115933 meters Centerline goodness [0,1] 0.9991104333460414 Centerline is valid? [True, True] Translation: X:-58.24, Y:35.01, Z:-0.96 [[ 7.35330776e-01 6.77706190e-01 1.72332311e-03 -5.82430441e+01] [-6.77704435e-01 7.35332795e-01 -1.54265503e-03 3.50064336e+01] [-2.31268286e-03 -3.35419995e-05 9.99997325e-01 -9.59165162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.739115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.27, Y:35.00, Z:-0.99 [[ 7.34190369e-01 6.78942518e-01 1.24892434e-03 -5.82727298e+01] [-6.78941609e-01 7.34191430e-01 -1.11162853e-03 3.50031947e+01] [-1.67168142e-03 -3.17997450e-05 9.99998602e-01 -9.92115894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.769115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.29, Y:35.02, Z:-0.99 [[ 7.34831120e-01 6.78246113e-01 2.33115549e-03 -5.82861833e+01] [-6.78242769e-01 7.34834818e-01 -2.13002467e-03 3.50163199e+01] [-3.15769518e-03 -1.58809359e-05 9.99995014e-01 -9.93417956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.799115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.30, Y:35.03, Z:-1.00 [[ 7.27509339e-01 6.86093662e-01 -2.37666570e-03 -5.83036453e+01] [-6.86089862e-01 7.27513221e-01 2.28364312e-03 3.50258438e+01] [ 3.29584879e-03 -3.07654607e-05 9.99994568e-01 -9.95986693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.829115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.32, Y:35.04, Z:-1.00 [[ 7.24823407e-01 6.88930261e-01 -2.47454369e-03 -5.83184102e+01] [-6.88926116e-01 7.24827631e-01 2.39012456e-03 3.50381208e+01] [ 3.44024678e-03 -2.76404573e-05 9.99994082e-01 -9.97195823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.859115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.33, Y:35.05, Z:-0.99 [[ 7.24550808e-01 6.89217977e-01 -2.16947859e-03 -5.83291745e+01] [-6.89214734e-01 7.24554055e-01 2.11442858e-03 3.50540517e+01] [ 3.02920670e-03 -3.67743304e-05 9.99995411e-01 -9.92886920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.889115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.35, Y:35.06, Z:-0.99 [[ 7.19776240e-01 6.94200039e-01 -2.91032342e-03 -5.83465717e+01] [-6.94194245e-01 7.19782124e-01 2.83645074e-03 3.50635872e+01] [ 4.06386298e-03 -2.12800763e-05 9.99991742e-01 -9.92046121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.919115933 meters Centerline goodness [0,1] 0.9997445068983137 Centerline is valid? [True, True] Translation: X:-58.35, Y:35.08, Z:-0.98 [[ 7.21505455e-01 6.92408712e-01 2.32555650e-04 -5.83538074e+01] [-6.92408691e-01 7.21505491e-01 -1.74547655e-04 3.50837002e+01] [-2.88648496e-04 -3.50864678e-05 9.99999958e-01 -9.82037536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.949115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.37, Y:35.09, Z:-0.99 [[ 7.20266886e-01 6.93695408e-01 1.51439789e-03 -5.83742205e+01] [-6.93693958e-01 7.20268478e-01 -1.41877536e-03 3.50904928e+01] [-2.07497101e-03 -2.86317564e-05 9.99997847e-01 -9.94959626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.979115933 meters Centerline goodness [0,1] 0.9989786799438274 Centerline is valid? [True, True] Translation: X:-58.37, Y:35.12, Z:-0.96 [[ 7.15883541e-01 6.98219691e-01 -1.37737787e-04 -5.83697782e+01] [-6.98219668e-01 7.15883553e-01 1.83964671e-04 3.51216660e+01] [ 2.27051972e-04 -3.55260476e-05 9.99999974e-01 -9.56430478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.00911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.40, Y:35.12, Z:-0.99 [[ 7.17135375e-01 6.96931432e-01 1.85251838e-03 -5.84010788e+01] [-6.96929193e-01 7.17137768e-01 -1.76675383e-03 3.51167717e+01] [-2.55981718e-03 -2.40724687e-05 9.99996723e-01 -9.92548486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.03911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.39, Y:35.15, Z:-0.98 [[ 6.85550567e-01 7.28023628e-01 1.42015248e-03 -5.83945562e+01] [-7.28022379e-01 6.85552029e-01 -1.35291608e-03 3.51487352e+01] [-1.95854329e-03 -1.06410401e-04 9.99998076e-01 -9.75572117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.06911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.41, Y:35.16, Z:-0.97 [[ 6.80201645e-01 7.33024739e-01 -6.74446399e-04 -5.84065150e+01] [-7.33024376e-01 6.80201979e-01 7.28766833e-04 3.51612415e+01] [ 9.92963892e-04 -1.32274769e-06 9.99999507e-01 -9.74355342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.09911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.41, Y:35.18, Z:-0.97 [[ 6.76691219e-01 7.36262554e-01 -2.53901939e-03 -5.84144640e+01] [-7.36257991e-01 6.76695972e-01 2.59464363e-03 3.51782671e+01] [ 3.62848314e-03 1.13600749e-04 9.99993411e-01 -9.68871642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.12911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.06, Y:36.48, Z:-1.71 [[ 7.86948977e-01 -6.16647615e-01 -2.13781856e-02 -5.70624159e+01] [-6.16345515e-01 -7.87236498e-01 1.94139860e-02 3.64770154e+01] [-2.88012761e-02 -2.10146755e-03 -9.99582948e-01 -1.71102106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.15911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.30, Y:35.05, Z:-0.96 [[ 7.35283173e-01 6.77759590e-01 -7.71276676e-04 -5.82965294e+01] [-6.77759257e-01 7.35283577e-01 6.71775133e-04 3.50520411e+01] [ 1.02240911e-03 2.87949555e-05 9.99999477e-01 -9.58777409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.18911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.31, Y:35.06, Z:-0.96 [[ 7.32197328e-01 6.81089279e-01 -2.11358152e-03 -5.83115533e+01] [-6.81086754e-01 7.32200374e-01 1.85628108e-03 3.50637897e+01] [ 2.81185832e-03 8.03683293e-05 9.99996043e-01 -9.59899602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.21911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.32, Y:35.08, Z:-0.95 [[ 7.32717985e-01 6.80525846e-01 -2.98799605e-03 -5.83242146e+01] [-6.80520805e-01 7.32724068e-01 2.62186029e-03 3.50779651e+01] [ 3.97362031e-03 1.12309284e-04 9.99992099e-01 -9.53690729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.24911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.34, Y:35.09, Z:-0.95 [[ 7.32026686e-01 6.81261634e-01 -4.41778652e-03 -5.83375690e+01] [-6.81250623e-01 7.32039997e-01 3.87705676e-03 3.50914242e+01] [ 5.87528645e-03 1.71510809e-04 9.99982726e-01 -9.50964043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.27911593299999 meters Centerline goodness [0,1] 0.9992515903704627 Centerline is valid? [True, True] Translation: X:-58.36, Y:35.10, Z:-0.96 [[ 7.28420566e-01 6.85082373e-01 -8.10075654e-03 -5.83567713e+01] [-6.85045553e-01 7.28465515e-01 7.11216197e-03 3.50990727e+01] [ 1.07735386e-02 3.68742200e-04 9.99941896e-01 -9.56876532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.309115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.37, Y:35.12, Z:-0.95 [[ 7.28751402e-01 6.84744511e-01 -6.80797586e-03 -5.83657224e+01] [-6.84718057e-01 7.28783151e-01 6.02508666e-03 3.51162136e+01] [ 9.08718312e-03 2.70753651e-04 9.99958674e-01 -9.45799998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.339115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.38, Y:35.12, Z:-0.95 [[ 7.25196565e-01 6.88505409e-01 -7.08831230e-03 -5.83828485e+01] [-6.88476597e-01 7.25231141e-01 6.30615003e-03 3.51249093e+01] [ 9.48248322e-03 3.06938803e-04 9.99954993e-01 -9.53944760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.369115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.39, Y:35.14, Z:-0.95 [[ 7.24867820e-01 6.88862161e-01 -5.96382652e-03 -5.83948062e+01] [-6.88841456e-01 7.24892315e-01 5.34602179e-03 3.51402489e+01] [ 8.00580414e-03 2.32971784e-04 9.99967926e-01 -9.47507153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.399115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.41, Y:35.15, Z:-0.94 [[ 7.24411660e-01 6.89354874e-01 -4.19585440e-03 -5.84073156e+01] [-6.89344395e-01 7.24423798e-01 3.80345663e-03 3.51518181e+01] [ 5.66150814e-03 1.37120383e-04 9.99983964e-01 -9.42259317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.429115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.42, Y:35.16, Z:-0.94 [[ 7.21326780e-01 6.92585515e-01 -3.60280668e-03 -5.84204191e+01] [-6.92577719e-01 7.21335767e-01 3.28850393e-03 3.51649863e+01] [ 4.87640351e-03 1.23137681e-04 9.99988103e-01 -9.40165898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.459115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.43, Y:35.18, Z:-0.94 [[ 7.21301164e-01 6.92615790e-01 -2.82797802e-03 -5.84340590e+01] [-6.92610874e-01 7.21306704e-01 2.61077288e-03 3.51763916e+01] [ 3.84810203e-03 7.55348093e-05 9.99992593e-01 -9.41279865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.489115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.45, Y:35.19, Z:-0.94 [[ 7.21174198e-01 6.92752413e-01 -1.36758086e-03 -5.84463380e+01] [-6.92751209e-01 7.21175495e-01 1.29137807e-03 3.51914114e+01] [ 1.88087107e-03 1.60847485e-05 9.99998231e-01 -9.37865691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.519115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.47, Y:35.20, Z:-0.94 [[ 7.17525990e-01 6.96507542e-01 -5.80487659e-03 -5.84664109e+01] [-6.96486892e-01 7.17549445e-01 5.36689563e-03 3.51978449e+01] [ 7.90336927e-03 1.92133351e-04 9.99968749e-01 -9.44126403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.549115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.48, Y:35.21, Z:-0.94 [[ 7.16883919e-01 6.97170101e-01 -5.59447000e-03 -5.84797053e+01] [-6.97150531e-01 7.16905731e-01 5.22591709e-03 3.52086869e+01] [ 7.65406075e-03 1.53811808e-04 9.99970695e-01 -9.42880727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.579115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.48, Y:35.23, Z:-0.93 [[ 7.15201974e-01 6.98900879e-01 -4.86803725e-03 -5.84849172e+01] [-6.98885954e-01 7.15218528e-01 4.56955641e-03 3.52302586e+01] [ 6.67537743e-03 1.34047100e-04 9.99977710e-01 -9.28589503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.609115933 meters Centerline goodness [0,1] 0.9995087202161631 Centerline is valid? [True, True] Translation: X:-58.50, Y:35.24, Z:-0.93 [[ 7.15412045e-01 6.98699229e-01 -2.23473858e-03 -5.84985330e+01] [-6.98695955e-01 7.15415534e-01 2.13917682e-03 3.52420567e+01] [ 3.09340789e-03 3.10099443e-05 9.99995215e-01 -9.31994736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.639115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.51, Y:35.26, Z:-0.92 [[ 7.13198218e-01 7.00949248e-01 -4.29583848e-03 -5.85099687e+01] [-7.00937332e-01 7.13211149e-01 4.08825967e-03 3.52581269e+01] [ 5.92950244e-03 9.53740550e-05 9.99982416e-01 -9.24037454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.669115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.52, Y:35.27, Z:-0.92 [[ 7.10557502e-01 7.03630553e-01 -3.47561539e-03 -5.85233642e+01] [-7.03622646e-01 7.10565999e-01 3.33667070e-03 3.52715160e+01] [ 4.81743758e-03 7.46252989e-05 9.99988393e-01 -9.16530523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.699115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.54, Y:35.28, Z:-0.93 [[ 7.12758308e-01 7.01406449e-01 -2.14178764e-03 -5.85407069e+01] [-7.01403339e-01 7.12761526e-01 2.08876897e-03 3.52804107e+01] [ 2.99165985e-03 1.34695611e-05 9.99995525e-01 -9.26196369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.729115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.55, Y:35.30, Z:-0.91 [[ 7.12500756e-01 7.01669839e-01 1.45233101e-03 -5.85486540e+01] [-7.01668558e-01 7.12502234e-01 -1.34219897e-03 3.52993387e+01] [-1.97656963e-03 -6.27372214e-05 9.99998045e-01 -9.10746014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.75911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.56, Y:35.31, Z:-0.91 [[ 7.10890939e-01 7.03291942e-01 3.81018284e-03 -5.85600717e+01] [-7.03282629e-01 7.10901142e-01 -3.62080251e-03 3.53129747e+01] [-5.25514456e-03 -1.05639708e-04 9.99986186e-01 -9.09115823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.78911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.58, Y:35.32, Z:-0.92 [[ 7.07259344e-01 7.06951282e-01 2.02635786e-03 -5.85819971e+01] [-7.06948687e-01 7.07262242e-01 -1.91683442e-03 3.53174324e+01] [-2.78827495e-03 -7.68319798e-05 9.99996110e-01 -9.23735639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.81911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.59, Y:35.33, Z:-0.92 [[ 7.04127713e-01 7.10070228e-01 2.10619673e-03 -5.85942387e+01] [-7.10067397e-01 7.04130858e-01 -2.00651343e-03 3.53325767e+01] [-2.90780356e-03 -8.26999204e-05 9.99995769e-01 -9.16886557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.84911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.61, Y:35.35, Z:-0.92 [[ 6.99720991e-01 7.14389432e-01 6.18668312e-03 -5.86062634e+01] [-7.14364049e-01 6.99748311e-01 -6.02554077e-03 3.53471376e+01] [-8.63370371e-03 -2.03346647e-04 9.99962708e-01 -9.18190977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.87911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.61, Y:35.37, Z:-0.90 [[ 6.98139612e-01 7.15939440e-01 5.63920353e-03 -5.86144785e+01] [-7.15918173e-01 6.98162363e-01 -5.52122724e-03 3.53650118e+01] [-7.88994400e-03 -1.82620849e-04 9.99968857e-01 -8.99694925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.90911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.63, Y:35.38, Z:-0.89 [[ 6.97133279e-01 7.16873864e-01 9.85160638e-03 -5.86257357e+01] [-7.16807720e-01 6.97202833e-01 -9.74177574e-03 3.53789821e+01] [-1.38521923e-02 -2.70391443e-04 9.99904017e-01 -8.93437008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.93911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.64, Y:35.39, Z:-0.90 [[ 6.92406515e-01 7.21459044e-01 8.37055707e-03 -5.86426853e+01] [-7.21411100e-01 6.92457054e-01 -8.32187649e-03 3.53887183e+01] [-1.18001443e-02 -2.76491283e-04 9.99930338e-01 -9.04803012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.96911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.32, Y:36.68, Z:-1.76 [[ 7.75703192e-01 -6.31028591e-01 -9.35279464e-03 -5.73209771e+01] [-6.30962976e-01 -7.75758614e-01 9.18128769e-03 3.66795360e+01] [-1.30491660e-02 -1.22068702e-03 -9.99914111e-01 -1.76426547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.99911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.54, Y:35.27, Z:-0.91 [[ 7.47273755e-01 6.64500480e-01 4.58770631e-03 -5.85438971e+01] [-6.64489111e-01 7.47287824e-01 -3.88954020e-03 3.52668124e+01] [-6.01293839e-03 -1.41929575e-04 9.99981912e-01 -9.09922713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.02911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.55, Y:35.29, Z:-0.90 [[ 7.45493856e-01 6.66472498e-01 7.30213579e-03 -5.85520486e+01] [-6.66443677e-01 7.45529578e-01 -6.20279194e-03 3.52878261e+01] [-9.57794845e-03 -2.42318951e-04 9.99954101e-01 -8.99906405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.059115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.57, Y:35.30, Z:-0.90 [[ 7.43475324e-01 6.68723698e-01 7.28414538e-03 -5.85659589e+01] [-6.68694779e-01 7.43510966e-01 -6.22383449e-03 3.52999749e+01] [-9.57786758e-03 -2.43602626e-04 9.99954102e-01 -8.99723944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.089115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.58, Y:35.31, Z:-0.90 [[ 7.43817200e-01 6.68323620e-01 8.91694294e-03 -5.85795852e+01] [-6.68279581e-01 7.43870605e-01 -7.67629815e-03 3.53114256e+01] [-1.17633031e-02 -2.49248294e-04 9.99930779e-01 -9.01850933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.119115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.60, Y:35.32, Z:-0.91 [[ 7.43289515e-01 6.68917868e-01 8.34164972e-03 -5.85980367e+01] [-6.68878878e-01 7.43336292e-01 -7.22524912e-03 3.53207647e+01] [-1.10337492e-02 -2.09101389e-04 9.99939104e-01 -9.07792928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.149115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.61, Y:35.33, Z:-0.91 [[ 7.38248370e-01 6.74494209e-01 6.84872220e-03 -5.86109452e+01] [-6.74467972e-01 7.38280104e-01 -5.95347032e-03 3.53285935e+01] [-9.07185659e-03 -2.24104008e-04 9.99958825e-01 -9.10638633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.179115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.62, Y:35.35, Z:-0.90 [[ 7.38489780e-01 6.74175853e-01 1.09436676e-02 -5.86184877e+01] [-6.74106954e-01 7.38570818e-01 -9.64168598e-03 3.53478091e+01] [-1.45828654e-02 -2.56915879e-04 9.99893631e-01 -8.97794574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.209115933 meters Centerline goodness [0,1] 0.9998767714109673 Centerline is valid? [True, True] Translation: X:-58.64, Y:35.36, Z:-0.91 [[ 7.34237658e-01 6.78836330e-01 8.73495391e-03 -5.86368883e+01] [-6.78792317e-01 7.34289571e-01 -7.73404777e-03 3.53567864e+01] [-1.16641382e-02 -2.50590492e-04 9.99931940e-01 -9.07014168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.239115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.65, Y:35.37, Z:-0.91 [[ 7.32044800e-01 6.81189595e-01 9.54705710e-03 -5.86529960e+01] [-6.81136526e-01 7.32107000e-01 -8.50727668e-03 3.53687298e+01] [-1.27845357e-02 -2.75141650e-04 9.99918237e-01 -9.06632786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.269115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.66, Y:35.38, Z:-0.90 [[ 7.26807178e-01 6.86793733e-01 8.10516599e-03 -5.86588966e+01] [-6.86755459e-01 7.26852312e-01 -7.25649325e-03 3.53837225e+01] [-1.08749727e-02 -2.92195603e-04 9.99940823e-01 -8.99778549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.299115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.68, Y:35.39, Z:-0.90 [[ 7.29988721e-01 6.83376866e-01 1.06078749e-02 -5.86754636e+01] [-6.83309409e-01 7.30065753e-01 -9.60457559e-03 3.53940391e+01] [-1.43079910e-02 -2.37228903e-04 9.99897607e-01 -9.04020806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.329115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.69, Y:35.41, Z:-0.90 [[ 7.24182520e-01 6.89558717e-01 8.27371836e-03 -5.86881384e+01] [-6.89517679e-01 7.24229737e-01 -7.52719416e-03 3.54089168e+01] [-1.11825152e-02 -2.53812646e-04 9.99937442e-01 -8.98045129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.359115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.71, Y:35.42, Z:-0.91 [[ 7.23112067e-01 6.90660113e-01 9.87660010e-03 -5.87077378e+01] [-6.90600889e-01 7.23179460e-01 -9.04879705e-03 3.54163600e+01] [-1.33921975e-02 -2.77494480e-04 9.99910282e-01 -9.12110963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.389115933 meters Centerline goodness [0,1] 0.9997533300444006 Centerline is valid? [True, True] Translation: X:-58.72, Y:35.44, Z:-0.90 [[ 7.18365980e-01 6.95628277e-01 7.18465185e-03 -5.87159812e+01] [-6.95596915e-01 7.18401864e-01 -6.61011239e-03 3.54363024e+01] [-9.75964838e-03 -2.49141795e-04 9.99952342e-01 -8.95061866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.419115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.73, Y:35.45, Z:-0.90 [[ 7.20277262e-01 6.93628959e-01 8.91811019e-03 -5.87274461e+01] [-6.93579764e-01 7.20332432e-01 -8.26427059e-03 3.54520723e+01] [-1.21563414e-02 -2.32854574e-04 9.99926082e-01 -8.95497965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.449115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.75, Y:35.46, Z:-0.90 [[ 7.19298848e-01 6.94627868e-01 1.00643558e-02 -5.87462529e+01] [-6.94564432e-01 7.19369216e-01 -9.39048969e-03 3.54604406e+01] [-1.37628836e-02 -2.35775140e-04 9.99905259e-01 -8.99363651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.479115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.76, Y:35.48, Z:-0.89 [[ 7.15871482e-01 6.98157045e-01 1.02353059e-02 -5.87564873e+01] [-6.98090961e-01 7.15944599e-01 -9.60943919e-03 3.54785161e+01] [-1.40368096e-02 -2.66051041e-04 9.99901444e-01 -8.90941985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.50911593299998 meters Centerline goodness [0,1] 0.9995051342323394 Centerline is valid? [True, True] Translation: X:-58.77, Y:35.50, Z:-0.88 [[ 7.12741524e-01 7.01370826e-01 8.85915610e-03 -5.87650559e+01] [-7.01321047e-01 7.12796535e-01 -8.35998482e-03 3.54982383e+01] [-1.21782252e-02 -2.54604307e-04 9.99925810e-01 -8.78140695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.53911593299998 meters Centerline goodness [0,1] 0.9995044598612488 Centerline is valid? [True, True] Translation: X:-58.78, Y:35.51, Z:-0.88 [[ 7.09645759e-01 7.04515988e-01 7.75362815e-03 -5.87758080e+01] [-7.04477663e-01 7.09688074e-01 -7.35258129e-03 3.55105818e+01] [-1.06826685e-02 -2.44529705e-04 9.99942909e-01 -8.77673204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.56911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.80, Y:35.51, Z:-0.91 [[ 7.07179594e-01 7.06976219e-01 9.03589222e-03 -5.88036869e+01] [-7.06923392e-01 7.07237267e-01 -8.64671565e-03 3.55100325e+01] [-1.25035421e-02 -2.72902717e-04 9.99921790e-01 -9.07986754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.59911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.81, Y:35.53, Z:-0.90 [[ 7.07785242e-01 7.06346801e-01 1.06887121e-02 -5.88133793e+01] [-7.06271747e-01 7.07865898e-01 -1.02999689e-02 3.55266180e+01] [-1.48415248e-02 -2.58969419e-04 9.99889825e-01 -8.99833916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.62911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.82, Y:35.54, Z:-0.89 [[ 7.01579553e-01 7.12529319e-01 9.38612985e-03 -5.88208318e+01] [-7.12471293e-01 7.01642271e-01 -9.09835308e-03 3.55403001e+01] [-1.30685488e-02 -3.04129576e-04 9.99914557e-01 -8.94315493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.65911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.84, Y:35.55, Z:-0.90 [[ 7.01586122e-01 7.12546948e-01 7.33214767e-03 -5.88393429e+01] [-7.12510991e-01 7.01624406e-01 -7.16105133e-03 3.55487437e+01] [-1.02469990e-02 -2.00141572e-04 9.99947478e-01 -9.04279265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.68911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.85, Y:35.56, Z:-0.91 [[ 6.94415182e-01 7.19543403e-01 6.69675778e-03 -5.88526843e+01] [-7.19513388e-01 6.94447427e-01 -6.57694074e-03 3.55627741e+01] [-9.38294053e-03 -2.51279379e-04 9.99955948e-01 -9.05161691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.71911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.85, Y:35.59, Z:-0.89 [[ 6.96348441e-01 7.17670239e-01 6.94815259e-03 -5.88548950e+01] [-7.17637423e-01 6.96383074e-01 -6.86607358e-03 3.55876572e+01] [-9.76615253e-03 -2.05074694e-04 9.99952289e-01 -8.89020783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.74911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.87, Y:35.60, Z:-0.89 [[ 6.91778784e-01 7.22062434e-01 8.24356791e-03 -5.88667836e+01] [-7.22015856e-01 6.91827844e-01 -8.20593916e-03 3.56024621e+01] [-1.16283302e-02 -2.75292131e-04 9.99932351e-01 -8.88884894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.77911593299999 meters Centerline goodness [0,1] 0.9998809240295309 Centerline is valid? [True, True] Translation: X:-57.57, Y:36.87, Z:-1.77 [[ 7.76029031e-01 -6.30644973e-01 -8.11552235e-03 -5.75683997e+01] [-6.30593622e-01 -7.76070543e-01 8.13609536e-03 3.68738875e+01] [-1.14292055e-02 -1.19624957e-03 -9.99933969e-01 -1.76711794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.809115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.77, Y:35.48, Z:-0.90 [[ 7.35639180e-01 6.77368398e-01 2.65517388e-03 -5.87737181e+01] [-6.77364680e-01 7.35643958e-01 -2.24895708e-03 3.54832985e+01] [-3.47663508e-03 -1.44100065e-04 9.99993946e-01 -8.97057983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.839115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.79, Y:35.49, Z:-0.90 [[ 7.28775571e-01 6.84752613e-01 -1.59067230e-04 -5.87892510e+01] [-6.84752590e-01 7.28775588e-01 1.80579039e-04 3.54945181e+01] [ 2.39576283e-04 -2.26798942e-05 9.99999971e-01 -8.98350655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.869115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.80, Y:35.51, Z:-0.89 [[ 7.27254429e-01 6.86367678e-01 6.36553497e-04 -5.87995786e+01] [-6.86367497e-01 7.27254705e-01 -5.03443948e-04 3.55117417e+01] [-8.08484180e-04 -7.07777894e-05 9.99999671e-01 -8.89742767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.899115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.82, Y:35.52, Z:-0.90 [[ 7.23394778e-01 6.90434049e-01 9.05634782e-04 -5.88157046e+01] [-6.90433658e-01 7.23395339e-01 -7.40009243e-04 3.55217407e+01] [-1.16605956e-03 -8.99619136e-05 9.99999316e-01 -8.95367247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.929115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.83, Y:35.53, Z:-0.90 [[ 7.22174023e-01 6.91709920e-01 1.43767238e-03 -5.88303297e+01] [-6.91708874e-01 7.22175444e-01 -1.20869204e-03 3.55333696e+01] [-1.87431597e-03 -1.21564748e-04 9.99998236e-01 -9.02072711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.959115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.84, Y:35.55, Z:-0.89 [[ 7.18224018e-01 6.95811903e-01 -2.35331748e-04 -5.88379805e+01] [-6.95811858e-01 7.18224057e-01 2.51231671e-04 3.55536200e+01] [ 3.43830909e-04 -1.66940001e-05 9.99999941e-01 -8.88759317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.989115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.86, Y:35.56, Z:-0.90 [[ 7.17713356e-01 6.96338662e-01 -8.11630697e-05 -5.88568483e+01] [-6.96338653e-01 7.17713360e-01 1.17342556e-04 3.55605978e+01] [ 1.39961977e-04 -2.77013368e-05 9.99999990e-01 -8.99017512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.019115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.87, Y:35.58, Z:-0.90 [[ 7.15323480e-01 6.98792736e-01 1.01520803e-03 -5.88665675e+01] [-6.98792226e-01 7.15324194e-01 -8.50427107e-04 3.55753083e+01] [-1.32047515e-03 -1.01088998e-04 9.99999123e-01 -8.97624273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.049115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.88, Y:35.59, Z:-0.90 [[ 7.13138671e-01 7.01021086e-01 -1.63504803e-03 -5.88814710e+01] [-7.01019469e-01 7.13140541e-01 1.50746174e-03 3.55873746e+01] [ 2.22278150e-03 7.11712379e-05 9.99997527e-01 -8.98329812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.079115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.89, Y:35.60, Z:-0.90 [[ 7.11964190e-01 7.02211896e-01 -2.33354602e-03 -5.88941036e+01] [-7.02208623e-01 7.11968005e-01 2.14698347e-03 3.55999053e+01] [ 3.16904744e-03 1.10060793e-04 9.99994972e-01 -8.99946753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.109115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.91, Y:35.61, Z:-0.90 [[ 7.08698607e-01 7.05506945e-01 -2.49705017e-03 -5.89069436e+01] [-7.05503190e-01 7.08702994e-01 2.30534175e-03 3.56143089e+01] [ 3.39610155e-03 1.27884379e-04 9.99994225e-01 -8.97463077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.139115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.92, Y:35.63, Z:-0.90 [[ 7.05205836e-01 7.08985865e-01 -4.87575781e-03 -5.89215766e+01] [-7.08971748e-01 7.05222629e-01 4.48377010e-03 3.56267242e+01] [ 6.61742436e-03 2.94793699e-04 9.99978061e-01 -8.99758966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.169115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.93, Y:35.64, Z:-0.89 [[ 7.04868731e-01 7.09306987e-01 -6.60835429e-03 -5.89312207e+01] [-7.09280889e-01 7.04899601e-01 6.09698532e-03 3.56440040e+01] [ 8.98286058e-03 3.89605107e-04 9.99959577e-01 -8.94815976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.199115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.95, Y:35.65, Z:-0.90 [[ 7.00548101e-01 7.13541355e-01 -9.54430746e-03 -5.89485852e+01] [-7.13486898e-01 7.00612840e-01 8.83706980e-03 3.56533112e+01] [ 1.29924791e-02 6.18945868e-04 9.99915403e-01 -9.03688913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.229115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.96, Y:35.67, Z:-0.90 [[ 7.02202486e-01 7.11920032e-01 -9.02978064e-03 -5.89581238e+01] [-7.11870481e-01 7.02260350e-01 8.41544955e-03 3.56699755e+01] [ 1.23323840e-02 5.18684692e-04 9.99923819e-01 -8.98250018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.25911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.97, Y:35.68, Z:-0.90 [[ 6.97018583e-01 7.16971848e-01 -1.07919000e-02 -5.89733097e+01] [-7.16900977e-01 6.97101778e-01 1.01045017e-02 3.56817529e+01] [ 1.47676959e-02 6.93698173e-04 9.99890711e-01 -9.04020152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.28911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.98, Y:35.70, Z:-0.90 [[ 6.98607490e-01 7.15448300e-01 -9.01694628e-03 -5.89819616e+01] [-7.15397842e-01 6.98665496e-01 8.51186152e-03 3.56971063e+01] [ 1.23896261e-02 5.04253708e-04 9.99923118e-01 -9.00711036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.31911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.00, Y:35.71, Z:-0.91 [[ 6.95482389e-01 7.18440938e-01 -1.21187803e-02 -5.89966392e+01] [-7.18349393e-01 6.95587600e-01 1.14909208e-02 3.57071648e+01] [ 1.66852212e-02 7.13785404e-04 9.99860537e-01 -9.06129254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.34911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.00, Y:35.73, Z:-0.90 [[ 6.93785342e-01 7.20063578e-01 -1.30515498e-02 -5.90038399e+01] [-7.19956470e-01 6.93907674e-01 1.24427060e-02 3.57266862e+01] [ 1.80161100e-02 7.63980699e-04 9.99837405e-01 -8.96665686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.37911593299998 meters Centerline goodness [0,1] 0.9992961051149695 Centerline is valid? [True, True] Translation: X:-59.01, Y:35.73, Z:-0.90 [[ 6.91384455e-01 7.22363603e-01 -1.33551549e-02 -5.90062153e+01] [-7.22246607e-01 6.91513128e-01 1.30166247e-02 3.57296664e+01] [ 1.86380009e-02 6.46223341e-04 9.99826089e-01 -8.97837752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.40911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.02, Y:35.74, Z:-0.90 [[ 6.86274025e-01 7.27157287e-01 -1.64390397e-02 -5.90199914e+01] [-7.26981744e-01 6.86470207e-01 1.60061954e-02 3.57423982e+01] [ 2.29239327e-02 9.66245592e-04 9.99736745e-01 -8.98156439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.43911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.04, Y:35.75, Z:-0.91 [[ 6.87800986e-01 7.25742365e-01 -1.50938151e-02 -5.90369011e+01] [-7.25591968e-01 6.87966146e-01 1.47945565e-02 3.57511112e+01] [ 2.11210702e-02 7.76240515e-04 9.99776624e-01 -9.09596410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.46911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.05, Y:35.77, Z:-0.90 [[ 6.85140566e-01 7.28219306e-01 -1.67047106e-02 -5.90458286e+01] [-7.28033673e-01 6.85343612e-01 1.64652202e-02 3.57691737e+01] [ 2.34387579e-02 8.80601469e-04 9.99724887e-01 -9.00710911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.49911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.06, Y:35.78, Z:-0.90 [[ 6.84743964e-01 7.28619498e-01 -1.54702952e-02 -5.90603803e+01] [-7.28458195e-01 6.84918280e-01 1.53495213e-02 3.57807477e+01] [ 2.17798485e-02 7.58971223e-04 9.99762503e-01 -9.04497722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.52911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.07, Y:35.80, Z:-0.89 [[ 6.81567621e-01 7.31544027e-01 -1.75759748e-02 -5.90655734e+01] [-7.31334491e-01 6.81793604e-01 1.75312256e-02 3.58024997e+01] [ 2.48080505e-02 9.05200817e-04 9.99691823e-01 -8.87440887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.559115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.09, Y:35.81, Z:-0.91 [[ 6.80288753e-01 7.32737373e-01 -1.74113609e-02 -5.90894730e+01] [-7.32529532e-01 6.80510977e-01 1.74726993e-02 3.58057006e+01] [ 2.46515220e-02 8.67855248e-04 9.99695728e-01 -9.13666637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.589115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-57.81, Y:37.05, Z:-1.76 [[ 7.85004518e-01 -6.18370456e-01 -3.72274988e-02 -5.78112175e+01] [-6.17502963e-01 -7.85881724e-01 3.28634624e-02 3.70490358e+01] [-4.95782051e-02 -2.80987570e-03 -9.98766292e-01 -1.75793087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.619115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.98, Y:35.70, Z:-0.90 [[ 7.36996155e-01 6.75584090e-01 -2.05622294e-02 -5.89808925e+01] [-6.75357643e-01 7.37282296e-01 1.75176841e-02 3.56991599e+01] [ 2.69948364e-02 9.76392967e-04 9.99635096e-01 -8.95963233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.649115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.00, Y:35.71, Z:-0.91 [[ 7.32066573e-01 6.80811697e-01 -2.39575953e-02 -5.89995482e+01] [-6.80502303e-01 7.32457417e-01 2.05608490e-02 3.57070471e+01] [ 3.15459849e-02 1.25128854e-03 9.99501518e-01 -9.07241745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.679115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.01, Y:35.72, Z:-0.90 [[ 7.30885403e-01 6.82058636e-01 -2.45468044e-02 -5.90118180e+01] [-6.81730632e-01 7.31296422e-01 2.11869938e-02 3.57230363e+01] [ 3.24017623e-02 1.24904402e-03 9.99474145e-01 -8.98815119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.709115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.02, Y:35.74, Z:-0.90 [[ 7.30302459e-01 6.82675580e-01 -2.47461129e-02 -5.90238625e+01] [-6.82338495e-01 7.30720619e-01 2.14838258e-02 3.57395794e+01] [ 3.27489782e-02 1.19553463e-03 9.99462893e-01 -8.96531928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.739115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.04, Y:35.75, Z:-0.90 [[ 7.30852178e-01 6.82132373e-01 -2.34631519e-02 -5.90369026e+01] [-6.81825214e-01 7.31227998e-01 2.04937257e-02 3.57544304e+01] [ 3.11363473e-02 1.01988452e-03 9.99514626e-01 -8.95859768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.769115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.05, Y:35.77, Z:-0.89 [[ 7.26375948e-01 6.86838951e-01 -2.51045468e-02 -5.90483340e+01] [-6.86485915e-01 7.26808625e-01 2.20524418e-02 3.57704237e+01] [ 3.33926771e-02 1.21555454e-03 9.99441570e-01 -8.91664926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.799115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.07, Y:35.78, Z:-0.90 [[ 7.23836465e-01 6.89403199e-01 -2.80000436e-02 -5.90661128e+01] [-6.88960640e-01 7.24376498e-01 2.47371444e-02 3.57794855e+01] [ 3.73364400e-02 1.38528079e-03 9.99301792e-01 -9.00747207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.829115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.08, Y:35.79, Z:-0.90 [[ 7.21677798e-01 6.91621255e-01 -2.90033765e-02 -5.90784135e+01] [-6.91142509e-01 7.22258917e-01 2.57699321e-02 3.57949909e+01] [ 3.87709801e-02 1.44787851e-03 9.99247074e-01 -8.95399157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.859115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.09, Y:35.81, Z:-0.89 [[ 7.21101143e-01 6.92314210e-01 -2.67240653e-02 -5.90874834e+01] [-6.91903036e-01 7.21595066e-01 2.38903650e-02 3.58133990e+01] [ 3.58235928e-02 1.26309240e-03 9.99357331e-01 -8.89833015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.889115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.10, Y:35.83, Z:-0.89 [[ 7.19542754e-01 6.93939602e-01 -2.65716551e-02 -5.91001702e+01] [-6.93529300e-01 7.20032151e-01 2.38916713e-02 3.58281110e+01] [ 3.57118228e-02 1.23714242e-03 9.99361364e-01 -8.85912659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.919115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.11, Y:35.84, Z:-0.88 [[ 7.15294401e-01 6.98362306e-01 -2.53773389e-02 -5.91100181e+01] [-6.97985522e-01 7.15743285e-01 2.29730547e-02 3.58422367e+01] [ 3.42071754e-02 1.28051776e-03 9.99413943e-01 -8.79505632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.949115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.12, Y:35.86, Z:-0.88 [[ 7.13291115e-01 7.00410578e-01 -2.53141683e-02 -5.91240256e+01] [-7.00032615e-01 7.13739008e-01 2.30427082e-02 3.58551176e+01] [ 3.42070659e-02 1.28458440e-03 9.99413942e-01 -8.79319175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.979115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.14, Y:35.87, Z:-0.88 [[ 7.10983277e-01 7.02779789e-01 -2.45631584e-02 -5.91371852e+01] [-7.02421094e-01 7.11406329e-01 2.24864764e-02 3.58688188e+01] [ 3.32774275e-02 1.26617194e-03 9.99445351e-01 -8.80952974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.00911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.15, Y:35.88, Z:-0.89 [[ 7.09894514e-01 7.03895728e-01 -2.40953143e-02 -5.91515716e+01] [-7.03547128e-01 7.10302297e-01 2.21829948e-02 3.58812739e+01] [ 3.27294724e-02 1.20460288e-03 9.99463521e-01 -8.85618393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.03911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.16, Y:35.90, Z:-0.88 [[ 7.06955539e-01 7.06849992e-01 -2.40198815e-02 -5.91626139e+01] [-7.06501028e-01 7.07362381e-01 2.22431835e-02 3.58983882e+01] [ 3.27133547e-02 1.24512922e-03 9.99463999e-01 -8.75148259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.06911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.17, Y:35.91, Z:-0.87 [[ 7.00114698e-01 7.13579989e-01 -2.53576347e-02 -5.91742910e+01] [-7.13190745e-01 7.00572049e-01 2.36170511e-02 3.59141073e+01] [ 3.46175052e-02 1.55018579e-03 9.99399432e-01 -8.73378974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.09911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.19, Y:35.92, Z:-0.88 [[ 7.00947828e-01 7.12827412e-01 -2.34355290e-02 -5.91910832e+01] [-7.12490304e-01 7.01338275e-01 2.19588231e-02 3.59249727e+01] [ 3.20890845e-02 1.30559780e-03 9.99484160e-01 -8.77983487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.12911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.20, Y:35.94, Z:-0.88 [[ 7.00893508e-01 7.12944995e-01 -2.13944817e-02 -5.92034130e+01] [-7.12660566e-01 7.01219080e-01 2.01672906e-02 3.59398612e+01] [ 2.93803876e-02 1.11188042e-03 9.99567685e-01 -8.76022255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.15911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.22, Y:35.95, Z:-0.88 [[ 6.98694877e-01 7.15122456e-01 -2.06238226e-02 -5.92195534e+01] [-7.14855880e-01 6.98998359e-01 1.95541531e-02 3.59513552e+01] [ 2.83996321e-02 1.08067429e-03 9.99596065e-01 -8.75035160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.18911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.23, Y:35.97, Z:-0.87 [[ 6.94809113e-01 7.18899544e-01 -2.05849950e-02 -5.92308492e+01] [-7.18632251e-01 6.95113029e-01 1.96358160e-02 3.59662829e+01] [ 2.84250774e-02 1.14989735e-03 9.99595264e-01 -8.72124151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.21911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.24, Y:35.98, Z:-0.87 [[ 6.92515836e-01 7.21124025e-01 -2.00488888e-02 -5.92408104e+01] [-7.20868173e-01 6.92805073e-01 1.92408170e-02 3.59832503e+01] [ 2.77649873e-02 1.12803540e-03 9.99613842e-01 -8.68735502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.24911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.25, Y:36.00, Z:-0.86 [[ 6.90334454e-01 7.23187190e-01 -2.09434872e-02 -5.92492116e+01] [-7.22905635e-01 6.90651055e-01 2.02129282e-02 3.60020365e+01] [ 2.90823723e-02 1.18648409e-03 9.99576314e-01 -8.57250026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.27911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.26, Y:36.02, Z:-0.86 [[ 6.89972579e-01 7.23463803e-01 -2.31941125e-02 -5.92607766e+01] [-7.23114535e-01 6.90361203e-01 2.25117513e-02 3.60184207e+01] [ 3.22987526e-02 1.23950879e-03 9.99477491e-01 -8.55260842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.309115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.28, Y:36.02, Z:-0.87 [[ 6.94294901e-01 7.19412345e-01 -2.00117109e-02 -5.92826337e+01] [-7.19147225e-01 6.94582756e-01 1.95464412e-02 3.60241238e+01] [ 2.79617404e-02 8.20371856e-04 9.99608657e-01 -8.73387492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.339115933 meters Centerline goodness [0,1] 0.9984221386090545 Centerline is valid? [True, True] Translation: X:-59.29, Y:36.04, Z:-0.86 [[ 6.95005779e-01 7.18709877e-01 -2.05689089e-02 -5.92932303e+01] [-7.18426138e-01 6.95309697e-01 2.02066631e-02 3.60416106e+01] [ 2.88244902e-02 7.33494156e-04 9.99584219e-01 -8.64482855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.369115933 meters Centerline goodness [0,1] 0.9961277831558567 Centerline is valid? [True, True] Translation: X:-59.30, Y:36.06, Z:-0.86 [[ 6.91310576e-01 7.22022657e-01 -2.78023409e-02 -5.93021537e+01] [-7.21501365e-01 6.91868567e-01 2.74529725e-02 3.60596362e+01] [ 3.90572339e-02 1.08089670e-03 9.99236391e-01 -8.62630471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.399115933 meters Centerline goodness [0,1] 0.9991613753444352 Centerline is valid? [True, True] Translation: X:-59.33, Y:36.06, Z:-0.90 [[ 6.86132817e-01 7.26551387e-01 -3.66720591e-02 -5.93289427e+01] [-7.25640723e-01 6.87110190e-01 3.64023143e-02 3.60600122e+01] [ 5.16458975e-02 1.63391699e-03 9.98664124e-01 -8.99303804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.429115933 meters Centerline goodness [0,1] 0.9998798654493032 Centerline is valid? [True, True] Translation: X:-59.35, Y:36.07, Z:-0.91 [[ 6.87343901e-01 7.25077706e-01 -4.26694454e-02 -5.93453847e+01] [-7.23826608e-01 6.88665201e-01 4.26061287e-02 3.60703313e+01] [ 6.02777163e-02 1.60021727e-03 9.98180363e-01 -9.10350756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.459115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.35, Y:36.09, Z:-0.90 [[ 6.85944948e-01 7.25868173e-01 -5.09403861e-02 -5.93513378e+01] [-7.24065652e-01 6.87831500e-01 5.11542729e-02 3.60911704e+01] [ 7.21696608e-02 1.79516883e-03 9.97390755e-01 -9.03512487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.489115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.12, Y:37.27, Z:-1.75 [[ 7.72664342e-01 -6.30394715e-01 -7.47817946e-02 -5.81249199e+01] [-6.27052788e-01 -7.76267918e-01 6.49070170e-02 3.72698909e+01] [-9.89677485e-02 -3.25920481e-03 -9.95085304e-01 -1.74592051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.519115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.25, Y:35.97, Z:-0.92 [[ 7.47891622e-01 6.61000212e-01 -6.11297116e-02 -5.92537292e+01] [-6.58941535e-01 7.50384617e-01 5.21438410e-02 3.59717753e+01] [ 8.03378852e-02 1.28296412e-03 9.96766863e-01 -9.17453875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.549115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.27, Y:35.99, Z:-0.92 [[ 7.47573842e-01 6.60888582e-01 -6.60275178e-02 -5.92669320e+01] [-6.58458043e-01 7.50483175e-01 5.66392956e-02 3.59863365e+01] [ 8.69848049e-02 1.13429441e-03 9.96208993e-01 -9.17843708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.579115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.28, Y:36.00, Z:-0.92 [[ 7.45460902e-01 6.62945564e-01 -6.92186581e-02 -5.92839438e+01] [-6.60251141e-01 7.48666670e-01 5.97214156e-02 3.59975526e+01] [ 9.14137498e-02 1.18171763e-03 9.95812297e-01 -9.24012249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.609115933 meters Centerline goodness [0,1] 0.9995213020584012 Centerline is valid? [True, True] Translation: X:-59.30, Y:36.01, Z:-0.93 [[ 7.46723968e-01 6.61235630e-01 -7.19079827e-02 -5.92988008e+01] [-6.58284318e-01 7.50177915e-01 6.24087594e-02 3.60103617e+01] [ 9.52106758e-02 7.33780857e-04 9.95456874e-01 -9.28845004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.639115933 meters Centerline goodness [0,1] 0.9996411053953822 Centerline is valid? [True, True] Translation: X:-59.31, Y:36.03, Z:-0.93 [[ 7.44335487e-01 6.63688007e-01 -7.40466893e-02 -5.93124281e+01] [-6.60539577e-01 7.48009034e-01 6.45751671e-02 3.60250901e+01] [ 9.82453565e-02 8.45180369e-04 9.95161864e-01 -9.27337725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.669115933 meters Centerline goodness [0,1] 0.9992902767920511 Centerline is valid? [True, True] Translation: X:-59.33, Y:36.04, Z:-0.93 [[ 7.39520107e-01 6.68775886e-01 -7.64776177e-02 -5.93277478e+01] [-6.65408318e-01 7.43462910e-01 6.70423104e-02 3.60374472e+01] [ 1.01694553e-01 1.30970640e-03 9.94814808e-01 -9.27956776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.699115933 meters Centerline goodness [0,1] 0.9985778620526191 Centerline is valid? [True, True] Translation: X:-59.34, Y:36.06, Z:-0.92 [[ 7.34781069e-01 6.73892922e-01 -7.72341265e-02 -5.93380899e+01] [-6.70452447e-01 7.38826851e-01 6.80323582e-02 3.60560988e+01] [ 1.02909171e-01 1.79292020e-03 9.94689141e-01 -9.22138293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.729115933 meters Centerline goodness [0,1] 0.9995205561548604 Centerline is valid? [True, True] Translation: X:-59.34, Y:36.08, Z:-0.90 [[ 7.28738080e-01 6.80124199e-01 -7.98240830e-02 -5.93391650e+01] [-6.76416298e-01 7.33093348e-01 7.09586845e-02 3.60758893e+01] [ 1.06779223e-01 2.28401517e-03 9.94280132e-01 -9.03872039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.75911593299998 meters Centerline goodness [0,1] 0.9985795454545454 Centerline is valid? [True, True] Translation: X:-59.37, Y:36.07, Z:-0.93 [[ 7.28096254e-01 6.80695569e-01 -8.08046195e-02 -5.93660256e+01] [-6.76851661e-01 7.32563469e-01 7.22675101e-02 3.60725954e+01] [ 1.08386686e-01 2.07503758e-03 9.94106644e-01 -9.31155877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.78911593299998 meters Centerline goodness [0,1] 0.9991759858740435 Centerline is valid? [True, True] Translation: X:-59.38, Y:36.09, Z:-0.93 [[ 7.25454357e-01 6.83205369e-01 -8.33450599e-02 -5.93795151e+01] [-6.79086804e-01 7.30222864e-01 7.49378541e-02 3.60862185e+01] [ 1.12058413e-01 2.23453755e-03 9.93699109e-01 -9.31536463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.81911593299998 meters Centerline goodness [0,1] 0.9997650099870755 Centerline is valid? [True, True] Translation: X:-59.40, Y:36.09, Z:-0.95 [[ 7.22828409e-01 6.85923691e-01 -8.38318633e-02 -5.93993764e+01] [-6.81723275e-01 7.27669721e-01 7.58297688e-02 3.60920831e+01] [ 1.13015343e-01 2.33822128e-03 9.93590492e-01 -9.46397105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.84911593299998 meters Centerline goodness [0,1] 0.9997653683716565 Centerline is valid? [True, True] Translation: X:-59.42, Y:36.10, Z:-0.96 [[ 7.21680596e-01 6.87183245e-01 -8.34044634e-02 -5.94220514e+01] [-6.82984987e-01 7.26480779e-01 7.58761155e-02 3.60961587e+01] [ 1.12732535e-01 2.20567611e-03 9.93622922e-01 -9.63979869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.87911593299998 meters Centerline goodness [0,1] 0.9997629208155524 Centerline is valid? [True, True] Translation: X:-59.43, Y:36.12, Z:-0.96 [[ 7.18012689e-01 6.90585054e-01 -8.68910917e-02 -5.94290585e+01] [-6.85997124e-01 7.23246809e-01 7.95109970e-02 3.61170119e+01] [ 1.17752811e-01 2.51713425e-03 9.93039747e-01 -9.56734945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.90911593299998 meters Centerline goodness [0,1] 0.9998819083608881 Centerline is valid? [True, True] Translation: X:-59.44, Y:36.14, Z:-0.94 [[ 7.14946305e-01 6.93623161e-01 -8.79698333e-02 -5.94361114e+01] [-6.88885995e-01 7.20332955e-01 8.09723445e-02 3.61375613e+01] [ 1.19531863e-01 2.71030758e-03 9.92826666e-01 -9.44932287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.93911593299998 meters Centerline goodness [0,1] 0.9995295224653022 Centerline is valid? [True, True] Translation: X:-59.45, Y:36.15, Z:-0.95 [[ 7.07875145e-01 7.00688172e-01 -8.91564082e-02 -5.94502011e+01] [-6.95818731e-01 7.13458531e-01 8.25422218e-02 3.61502698e+01] [ 1.21445758e-01 3.60711159e-03 9.92591515e-01 -9.45462302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.96911593299998 meters Centerline goodness [0,1] 0.9997641231277273 Centerline is valid? [True, True] Translation: X:-59.46, Y:36.17, Z:-0.94 [[ 7.01699236e-01 7.06349239e-01 -9.32144519e-02 -5.94595515e+01] [-7.01011843e-01 7.07849536e-01 8.67838205e-02 3.61689522e+01] [ 1.27281492e-01 4.44829412e-03 9.91856660e-01 -9.42669788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.99911593299998 meters Centerline goodness [0,1] 0.9992977528089888 Centerline is valid? [True, True] Translation: X:-59.47, Y:36.18, Z:-0.94 [[ 6.95221975e-01 7.12869751e-01 -9.21038709e-02 -5.94718573e+01] [-7.07653519e-01 7.01277007e-01 8.62383724e-02 3.61837938e+01] [ 1.26067054e-01 5.22281680e-03 9.92007974e-01 -9.42125149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.02911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.49, Y:36.19, Z:-0.96 [[ 6.88344323e-01 7.19355913e-01 -9.33228980e-02 -5.94894609e+01] [-7.13991897e-01 6.94614657e-01 8.78979487e-02 3.61923789e+01] [ 1.28053362e-01 6.12773902e-03 9.91748349e-01 -9.61201294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.059115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.50, Y:36.21, Z:-0.95 [[ 6.83200178e-01 7.24403099e-01 -9.20742461e-02 -5.94996262e+01] [-7.19161871e-01 6.89344874e-01 8.72344385e-02 3.62084094e+01] [ 1.26663807e-01 6.61770327e-03 9.91923629e-01 -9.54376992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.089115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.51, Y:36.22, Z:-0.96 [[ 6.82529605e-01 7.25385634e-01 -8.92693751e-02 -5.95149864e+01] [-7.20407307e-01 6.88314346e-01 8.50686375e-02 3.62201297e+01] [ 1.23152959e-01 6.24844657e-03 9.92368029e-01 -9.63757894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.119115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.53, Y:36.23, Z:-0.97 [[ 6.77613566e-01 7.30049271e-01 -8.87012863e-02 -5.95286606e+01] [-7.25111895e-01 6.83361642e-01 8.50270848e-02 3.62332244e+01] [ 1.22689018e-01 6.70285175e-03 9.92422529e-01 -9.69523943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.149115933 meters Centerline goodness [0,1] 0.9998831639210188 Centerline is valid? [True, True] Translation: X:-59.54, Y:36.25, Z:-0.97 [[ 6.76727104e-01 7.31242363e-01 -8.55864125e-02 -5.95422329e+01] [-7.26598828e-01 6.82088248e-01 8.25213007e-02 3.62466217e+01] [ 1.18720557e-01 6.34258618e-03 9.92907448e-01 -9.66233428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.179115933 meters Centerline goodness [0,1] 0.9996481763809077 Centerline is valid? [True, True] Translation: X:-59.56, Y:36.26, Z:-0.98 [[ 6.72494581e-01 7.35236819e-01 -8.47222478e-02 -5.95585604e+01] [-7.30658611e-01 6.77777878e-01 8.21896748e-02 3.62556489e+01] [ 1.17851740e-01 6.63092904e-03 9.93009062e-01 -9.77980205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.209115933 meters Centerline goodness [0,1] 0.9996493278784336 Centerline is valid? [True, True] Translation: X:-59.57, Y:36.27, Z:-0.99 [[ 6.70551701e-01 7.37503309e-01 -8.03074462e-02 -5.95712177e+01] [-7.33356657e-01 6.75313638e-01 7.83549874e-02 3.62695421e+01] [ 1.12019776e-01 6.35293019e-03 9.93685670e-01 -9.86412584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.239115933 meters Centerline goodness [0,1] 0.9996485473289597 Centerline is valid? [True, True] Translation: X:-59.58, Y:36.29, Z:-0.98 [[ 6.75516597e-01 7.33636694e-01 -7.38547854e-02 -5.95802803e+01] [-7.30063702e-01 6.79523857e-01 7.24866839e-02 3.62868208e+01] [ 1.03364980e-01 4.95274001e-03 9.94631163e-01 -9.76703130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.269115933 meters Centerline goodness [0,1] 0.9998832321345166 Centerline is valid? [True, True] Translation: X:-59.59, Y:36.30, Z:-0.97 [[ 6.67802548e-01 7.40657740e-01 -7.39315140e-02 -5.95899655e+01] [-7.37075813e-01 6.71857857e-01 7.29812751e-02 3.63039034e+01] [ 1.03725615e-01 5.75604933e-03 9.94589294e-01 -9.71329869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.299115933 meters Centerline goodness [0,1] 0.9989505597014925 Centerline is valid? [True, True] Translation: X:-59.61, Y:36.31, Z:-0.98 [[ 6.66028866e-01 7.42463389e-01 -7.17890384e-02 -5.96051627e+01] [-7.39051316e-01 6.69863591e-01 7.13156545e-02 3.63135346e+01] [ 1.01038126e-01 5.55749875e-03 9.94867032e-01 -9.83320019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.329115933 meters Centerline goodness [0,1] 0.997072599531616 Centerline is valid? [True, True] Translation: X:-59.60, Y:36.35, Z:-0.95 [[ 6.66650543e-01 7.42397118e-01 -6.65099414e-02 -5.95979957e+01] [-7.39433414e-01 6.69942306e-01 6.64494739e-02 3.63472055e+01] [ 9.38897215e-02 4.88109511e-03 9.95570638e-01 -9.48297273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.359115933 meters Centerline goodness [0,1] 0.9967749366505414 Centerline is valid? [True, True] Translation: X:-59.62, Y:36.35, Z:-0.96 [[ 6.70638240e-01 7.39361191e-01 -5.99114417e-02 -5.96185594e+01] [-7.36915322e-01 6.73298450e-01 6.02080238e-02 3.63538303e+01] [ 8.48537570e-02 3.77185620e-03 9.96386277e-01 -9.63151828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.389115933 meters Centerline goodness [0,1] 0.9973410404624278 Centerline is valid? [True, True] Translation: X:-58.43, Y:37.49, Z:-1.67 [[ 7.84702347e-01 -6.14821964e-01 -7.89694824e-02 -5.84298859e+01] [-6.11012573e-01 -7.88646419e-01 6.85599097e-02 3.74912053e+01] [-1.04431138e-01 -5.54777548e-03 -9.94516646e-01 -1.66973546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.419115933 meters Centerline goodness [0,1] 0.9982652943217301 Centerline is valid? [True, True] Translation: X:-59.52, Y:36.24, Z:-0.97 [[ 7.26866641e-01 6.84242804e-01 -5.89633016e-02 -5.95194161e+01] [-6.82395649e-01 7.29245275e-01 5.03736783e-02 3.62440927e+01] [ 7.74665360e-02 3.62135410e-03 9.96988376e-01 -9.67844510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.449115933 meters Centerline goodness [0,1] 0.9981306227363009 Centerline is valid? [True, True] Translation: X:-59.52, Y:36.27, Z:-0.95 [[ 7.28854850e-01 6.82453148e-01 -5.50300637e-02 -5.95229979e+01] [-6.80817859e-01 7.30923252e-01 4.73100589e-02 3.62697594e+01] [ 7.25096518e-02 2.98328427e-03 9.97363249e-01 -9.50460348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.479115933 meters Centerline goodness [0,1] 0.9976719823070656 Centerline is valid? [True, True] Translation: X:-59.54, Y:36.29, Z:-0.95 [[ 7.24908947e-01 6.86870919e-01 -5.21091143e-02 -5.95366375e+01] [-6.85398762e-01 7.26772997e-01 4.50504961e-02 3.62850055e+01] [ 6.88153728e-02 3.05801472e-03 9.97624726e-01 -9.46858888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.50911593299998 meters Centerline goodness [0,1] 0.9966470112151694 Centerline is valid? [True, True] Translation: X:-59.55, Y:36.30, Z:-0.94 [[ 7.25324533e-01 6.86959023e-01 -4.46276080e-02 -5.95471062e+01] [-6.85867124e-01 7.26691959e-01 3.87954204e-02 3.63019285e+01] [ 5.90813880e-02 2.46933895e-03 9.98250115e-01 -9.43072131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.53911593299998 meters Centerline goodness [0,1] 0.9920101899027327 Centerline is valid? [True, True] Translation: X:-59.56, Y:36.31, Z:-0.95 [[ 7.18145979e-01 6.94793236e-01 -3.90987529e-02 -5.95632685e+01] [-6.93956726e-01 7.19204891e-01 3.41816743e-02 3.63134486e+01] [ 5.18692104e-02 2.58541058e-03 9.98650540e-01 -9.48892039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.56911593299998 meters Centerline goodness [0,1] 0.9864095713787896 Centerline is valid? [True, True] Translation: X:-59.58, Y:36.32, Z:-0.97 [[ 7.15212090e-01 6.98166252e-01 -3.21799757e-02 -5.95806571e+01] [-6.97593146e-01 7.15932408e-01 2.83652818e-02 3.63198193e+01] [ 4.28423700e-02 2.16133805e-03 9.99079506e-01 -9.65316897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.59911593299998 meters Centerline goodness [0,1] 0.9697712418300654 Centerline is valid? [True, True] Translation: X:-59.59, Y:36.34, Z:-0.96 [[ 7.13144691e-01 7.00706274e-01 -2.08654623e-02 -5.95928811e+01] [-7.00463397e-01 7.13448456e-01 1.85021927e-02 3.63362038e+01] [ 2.78510344e-02 1.42075212e-03 9.99611075e-01 -9.60629262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.62911593299998 meters Centerline goodness [0,1] 0.9677532013969732 Centerline is valid? [True, True] Translation: X:-59.61, Y:36.35, Z:-0.97 [[ 7.07386275e-01 7.06629408e-01 -1.67193883e-02 -5.96094008e+01] [-7.06473093e-01 7.07582709e-01 1.49157139e-02 3.63482908e+01] [ 2.23702321e-02 1.26062663e-03 9.99748960e-01 -9.68869786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.65911593299998 meters Centerline goodness [0,1] 0.9768961493582263 Centerline is valid? [True, True] Translation: X:-59.62, Y:36.36, Z:-0.96 [[ 7.07390004e-01 7.06726676e-01 -1.16956545e-02 -5.96193696e+01] [-7.06648429e-01 7.07486226e-01 1.05469770e-02 3.63603392e+01] [ 1.57283445e-02 8.03889782e-04 9.99875979e-01 -9.64551339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.68911593299998 meters Centerline goodness [0,1] 0.9749223513171518 Centerline is valid? [True, True] Translation: X:-59.63, Y:36.38, Z:-0.96 [[ 7.05120720e-01 7.08965444e-01 -1.31441942e-02 -5.96314438e+01] [-7.08866462e-01 7.05242596e-01 1.18835669e-02 3.63761454e+01] [ 1.76948839e-02 9.38129185e-04 9.99842993e-01 -9.64532326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.71911593299998 meters Centerline goodness [0,1] 0.9830291758688829 Centerline is valid? [True, True] Translation: X:-59.65, Y:36.39, Z:-0.97 [[ 7.02995773e-01 7.11141252e-01 -8.66381921e-03 -5.96481686e+01] [-7.11097669e-01 7.03048894e-01 7.89669725e-03 3.63866602e+01] [ 1.17067557e-02 6.09476856e-04 9.99931288e-01 -9.72905587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.74911593299998 meters Centerline goodness [0,1] 0.991040260646963 Centerline is valid? [True, True] Translation: X:-59.65, Y:36.42, Z:-0.95 [[ 7.00192778e-01 7.13929139e-01 -5.93789352e-03 -5.96488124e+01] [-7.13908422e-01 7.00217830e-01 5.45492989e-03 3.64150788e+01] [ 8.05225231e-03 4.19609680e-04 9.99967492e-01 -9.46827066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.77911593299999 meters Centerline goodness [0,1] 0.9926011560693642 Centerline is valid? [True, True] Translation: X:-59.68, Y:36.41, Z:-0.98 [[ 6.94543157e-01 7.19386837e-01 -9.61155432e-03 -5.96812102e+01] [-7.19332716e-01 6.94609241e-01 8.85700864e-03 3.64084033e+01] [ 1.30478899e-02 7.62330725e-04 9.99914582e-01 -9.82971946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.809115933 meters Centerline goodness [0,1] 0.9974454249883883 Centerline is valid? [True, True] Translation: X:-59.71, Y:36.41, Z:-1.00 [[ 6.92868967e-01 7.21017828e-01 -8.11706565e-03 -5.97058199e+01] [-7.20978787e-01 6.92916221e-01 7.52997306e-03 3.64111359e+01] [ 1.10536913e-02 6.34947488e-04 9.99938704e-01 -1.00360709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.839115933 meters Centerline goodness [0,1] 0.9971134972866874 Centerline is valid? [True, True] Translation: X:-59.71, Y:36.43, Z:-0.99 [[ 6.91410370e-01 7.22416075e-01 -8.16786478e-03 -5.97119398e+01] [-7.22376165e-01 6.91458325e-01 7.61979249e-03 3.64321348e+01] [ 1.11523987e-02 6.31867287e-04 9.99937610e-01 -9.87088791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.869115933 meters Centerline goodness [0,1] 0.9971134972866874 Centerline is valid? [True, True] Translation: X:-59.73, Y:36.45, Z:-0.99 [[ 6.89344684e-01 7.24387705e-01 -8.14615150e-03 -5.97256057e+01] [-7.24347658e-01 6.89392525e-01 7.64306898e-03 3.64451469e+01] [ 1.11524411e-02 6.31936794e-04 9.99937610e-01 -9.86900106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.899115933 meters Centerline goodness [0,1] 0.9994216978949804 Centerline is valid? [True, True] Translation: X:-59.74, Y:36.46, Z:-0.99 [[ 6.85491066e-01 7.28036783e-01 -8.02758756e-03 -5.97399029e+01] [-7.27997662e-01 6.85537759e-01 7.57527232e-03 3.64583087e+01] [ 1.10182913e-02 6.51283484e-04 9.99939085e-01 -9.92413331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.929115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.75, Y:36.47, Z:-0.99 [[ 6.84861279e-01 7.28625180e-01 -8.38906322e-03 -5.97533960e+01] [-7.28582012e-01 6.84912337e-01 7.95874542e-03 3.64725527e+01] [ 1.15447152e-02 6.61484003e-04 9.99933139e-01 -9.92653295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.959115933 meters Centerline goodness [0,1] 0.9992984917572781 Centerline is valid? [True, True] Translation: X:-59.76, Y:36.50, Z:-0.97 [[ 6.81242055e-01 7.31989209e-01 -1.00528677e-02 -5.97576099e+01] [-7.31926956e-01 6.81315719e-01 9.58242079e-03 3.64957774e+01] [ 1.38634054e-02 8.30016842e-04 9.99903554e-01 -9.73929983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.989115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.78, Y:36.50, Z:-0.99 [[ 6.80593848e-01 7.32578257e-01 -1.10050793e-02 -5.97796412e+01] [-7.32502905e-01 6.80682242e-01 1.05441757e-02 3.65010009e+01] [ 1.52153959e-02 8.84951433e-04 9.99883848e-01 -9.88433479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.019115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.79, Y:36.52, Z:-0.99 [[ 6.77456119e-01 7.35462060e-01 -1.21969263e-02 -5.97916406e+01] [-7.35368932e-01 6.77565153e-01 1.17472417e-02 3.65168406e+01] [ 1.69038628e-02 1.01099988e-03 9.99856608e-01 -9.88691690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.049115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.80, Y:36.53, Z:-0.99 [[ 6.77298757e-01 7.35602764e-01 -1.24486069e-02 -5.98049010e+01] [-7.35504612e-01 6.77412425e-01 1.20570287e-02 3.65307200e+01] [ 1.73020246e-02 9.89797221e-04 9.99849819e-01 -9.89082042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.079115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.81, Y:36.55, Z:-0.98 [[ 6.74199329e-01 7.38447177e-01 -1.22894758e-02 -5.98130041e+01] [-7.38350826e-01 6.74310581e-01 1.19707032e-02 3.65503609e+01] [ 1.71266555e-02 1.00330456e-03 9.99852825e-01 -9.79705693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.109115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.83, Y:36.56, Z:-0.98 [[ 6.73024185e-01 7.39483571e-01 -1.42301045e-02 -5.98280465e+01] [-7.39353212e-01 6.73173632e-01 1.39315902e-02 3.65619106e+01] [ 1.98815132e-02 1.14477640e-03 9.99801688e-01 -9.84394889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.139115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.84, Y:36.58, Z:-0.98 [[ 6.70703827e-01 7.41599334e-01 -1.36676154e-02 -5.98365949e+01] [-7.41478014e-01 6.70842159e-01 1.34592780e-02 3.65804237e+01] [ 1.91502042e-02 1.10704703e-03 9.99816005e-01 -9.78782547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.169115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.86, Y:36.59, Z:-0.99 [[ 6.72593994e-01 7.39895865e-01 -1.30930677e-02 -5.98566501e+01] [-7.39782767e-01 6.72720734e-01 1.29719827e-02 3.65879371e+01] [ 1.84058945e-02 9.61148173e-04 9.99830135e-01 -9.92800610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.199115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.87, Y:36.60, Z:-0.99 [[ 6.67243949e-01 7.44687383e-01 -1.50404186e-02 -5.98699923e+01] [-7.44537681e-01 6.67412357e-01 1.49795410e-02 3.66010560e+01] [ 2.11932364e-02 1.20315025e-03 9.99774674e-01 -9.94569651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.229115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.88, Y:36.62, Z:-0.99 [[ 6.64427521e-01 7.47174896e-01 -1.63016483e-02 -5.98788089e+01] [-7.46997687e-01 6.64626140e-01 1.63263437e-02 3.66189703e+01] [ 2.30331358e-02 1.32962148e-03 9.99733818e-01 -9.93013848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.89, Y:36.64, Z:-0.99 [[ 6.63668639e-01 7.47850038e-01 -1.62560305e-02 -5.98897370e+01] [-7.47671922e-01 6.63866447e-01 1.63718614e-02 3.66355756e+01] [ 2.30355304e-02 1.28868659e-03 9.99733816e-01 -9.89318273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.28911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-58.74, Y:37.72, Z:-1.63 [[ 7.96029708e-01 -6.04223346e-01 -3.53673945e-02 -5.87414725e+01] [-6.03417977e-01 -7.96806625e-01 3.13998015e-02 3.77236778e+01] [-4.71534674e-02 -3.65385321e-03 -9.98880974e-01 -1.62999593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.31911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.80, Y:36.52, Z:-1.01 [[ 7.24273986e-01 6.89305467e-01 -1.68868370e-02 -5.98006279e+01] [-6.89155027e-01 7.24469873e-01 1.44482822e-02 3.65150247e+01] [ 2.21932846e-02 1.17313360e-03 9.99753010e-01 -1.01036378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.34911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.82, Y:36.53, Z:-1.01 [[ 7.22755055e-01 6.90817072e-01 -1.99224126e-02 -5.98153861e+01] [-6.90605690e-01 7.23028284e-01 1.71429486e-02 3.65290831e+01] [ 2.62471094e-02 1.36837870e-03 9.99654549e-01 -1.00992202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.37911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.81, Y:36.57, Z:-0.98 [[ 7.17807531e-01 6.95836899e-01 -2.37351523e-02 -5.98087811e+01] [-6.95536576e-01 7.18197634e-01 2.05190247e-02 3.65672951e+01] [ 3.13244247e-02 1.77995611e-03 9.99507685e-01 -9.77050039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.40911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.84, Y:36.56, Z:-1.01 [[ 7.23463145e-01 6.90042159e-01 -2.10450946e-02 -5.98388333e+01] [-6.89801183e-01 7.23768022e-01 1.82805335e-02 3.65615405e+01] [ 2.78461053e-02 1.29163891e-03 9.99611388e-01 -1.00633151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.43911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.85, Y:36.58, Z:-1.00 [[ 7.18588261e-01 6.94973243e-01 -2.53594588e-02 -5.98465530e+01] [-6.94622401e-01 7.19033584e-01 2.21455270e-02 3.65816529e+01] [ 3.36248512e-02 1.70173241e-03 9.99433076e-01 -9.99756717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.46911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.88, Y:36.58, Z:-1.03 [[ 7.22182584e-01 6.91279317e-01 -2.41913513e-02 -5.98772276e+01] [-6.90954008e-01 7.22586349e-01 2.12491721e-02 3.65773556e+01] [ 3.21694534e-02 1.36932910e-03 9.99481491e-01 -1.02804950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.49911593299998 meters Centerline goodness [0,1] 0.9998847660751325 Centerline is valid? [True, True] Translation: X:-59.88, Y:36.60, Z:-1.01 [[ 7.19429814e-01 6.94000012e-01 -2.80129714e-02 -5.98826078e+01] [-6.93562184e-01 7.19973083e-01 2.47033929e-02 3.66018870e+01] [ 3.73127403e-02 1.65638031e-03 9.99302264e-01 -1.01134831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.52911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.89, Y:36.62, Z:-1.00 [[ 7.18454237e-01 6.95068108e-01 -2.65299014e-02 -5.98916465e+01] [-6.94670956e-01 7.18942299e-01 2.35421911e-02 3.66202703e+01] [ 3.54368945e-02 1.51556509e-03 9.99370767e-01 -1.00453878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.559115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.90, Y:36.64, Z:-1.00 [[ 7.15567756e-01 6.97903999e-01 -2.98796886e-02 -5.99035398e+01] [-6.97398019e-01 7.16189104e-01 2.66302551e-02 3.66367030e+01] [ 3.99848689e-02 1.78228373e-03 9.99198696e-01 -1.00173228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.589115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.92, Y:36.64, Z:-1.02 [[ 7.14079583e-01 6.99343404e-01 -3.17671659e-02 -5.99244923e+01] [-6.98767605e-01 7.14783340e-01 2.84361038e-02 3.66443522e+01] [ 4.25932426e-02 1.89222526e-03 9.99090704e-01 -1.01532435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.619115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.94, Y:36.66, Z:-1.02 [[ 7.17953963e-01 6.95489272e-01 -2.89271404e-02 -5.99383354e+01] [-6.95002515e-01 7.18535118e-01 2.60535753e-02 3.66578208e+01] [ 3.89051483e-02 1.39916765e-03 9.99241929e-01 -1.01858195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.649115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.95, Y:36.67, Z:-1.02 [[ 7.12794810e-01 7.00607161e-01 -3.27591940e-02 -5.99507404e+01] [-6.99981201e-01 7.13544962e-01 2.96632083e-02 3.66736053e+01] [ 4.41574140e-02 1.78703906e-03 9.99022987e-01 -1.01931257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.679115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.96, Y:36.69, Z:-1.01 [[ 7.13066254e-01 7.00337004e-01 -3.26281866e-02 -5.99617477e+01] [-6.99709360e-01 7.13810428e-01 2.96897972e-02 3.66902494e+01] [ 4.40832034e-02 1.65945513e-03 9.99026485e-01 -1.01347098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.709115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.98, Y:36.70, Z:-1.02 [[ 7.10532488e-01 7.02813384e-01 -3.45966758e-02 -5.99785715e+01] [-7.02101876e-01 7.11372015e-01 3.16672132e-02 3.67000640e+01] [ 4.68672483e-02 1.78980720e-03 9.98899523e-01 -1.01854687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.739115933 meters Centerline goodness [0,1] 0.9997669269315931 Centerline is valid? [True, True] Translation: X:-59.99, Y:36.72, Z:-1.01 [[ 7.12560709e-01 7.00823762e-01 -3.32158189e-02 -5.99890677e+01] [-7.00158127e-01 7.13332945e-01 3.05729756e-02 3.67181515e+01] [ 4.51202057e-02 1.47122435e-03 9.98980482e-01 -1.01032164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.769115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.00, Y:36.72, Z:-1.02 [[ 7.09281008e-01 7.04211753e-01 -3.17215749e-02 -6.00029930e+01] [-7.03594486e-01 7.09988649e-01 2.95113166e-02 3.67224814e+01] [ 4.33041741e-02 1.38730885e-03 9.99060971e-01 -1.02173732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.799115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.02, Y:36.73, Z:-1.02 [[ 7.09023629e-01 7.04503800e-01 -3.09820725e-02 -6.00193459e+01] [-7.03909689e-01 7.09699063e-01 2.89549599e-02 3.67341377e+01] [ 4.23868271e-02 1.27883030e-03 9.99100456e-01 -1.02085397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.829115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.02, Y:36.76, Z:-1.01 [[ 7.04613531e-01 7.08920141e-01 -3.08545892e-02 -6.00232356e+01] [-7.08327650e-01 7.05287344e-01 2.90121263e-02 3.67566002e+01] [ 4.23286319e-02 1.41282189e-03 9.99102743e-01 -1.00885785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.859115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.04, Y:36.76, Z:-1.02 [[ 7.03415806e-01 7.10240563e-01 -2.76504327e-02 -6.00439810e+01] [-7.09759899e-01 7.03957979e-01 2.61543477e-02 3.67628234e+01] [ 3.80406213e-02 1.22778672e-03 9.99275439e-01 -1.02041525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.889115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.05, Y:36.79, Z:-1.01 [[ 7.02442567e-01 7.11320504e-01 -2.44454664e-02 -6.00496056e+01] [-7.10941084e-01 7.02867021e-01 2.32535335e-02 3.67859790e+01] [ 3.37226273e-02 1.04501458e-03 9.99430684e-01 -1.00646106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.919115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.06, Y:36.81, Z:-1.00 [[ 6.97231020e-01 7.16433596e-01 -2.43270861e-02 -6.00568367e+01] [-7.16057681e-01 6.97654226e-01 2.32374164e-02 3.68079057e+01] [ 3.36199602e-02 1.21774930e-03 9.99433947e-01 -9.98395633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.949115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.07, Y:36.82, Z:-1.00 [[ 6.96861751e-01 7.16909226e-01 -2.06121905e-02 -6.00698686e+01] [-7.16636832e-01 6.97165830e-01 1.97852767e-02 3.68232672e+01] [ 2.85543623e-02 9.83852377e-04 9.99591757e-01 -9.96480195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.979115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.08, Y:36.84, Z:-1.00 [[ 6.90896624e-01 7.22687650e-01 -1.96065383e-02 -6.00824896e+01] [-7.22440163e-01 6.91173929e-01 1.89422913e-02 3.68373293e+01] [ 2.72408881e-02 1.07738564e-03 9.99628318e-01 -9.98812863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.00911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.10, Y:36.85, Z:-1.01 [[ 6.87827032e-01 7.25664566e-01 -1.74617194e-02 -6.01019002e+01] [-7.25466899e-01 6.88047921e-01 1.69657863e-02 3.68454862e+01] [ 2.43259697e-02 9.98373004e-04 9.99703581e-01 -1.00735205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.11, Y:36.86, Z:-1.00 [[ 6.81840034e-01 7.31299104e-01 -1.71984989e-02 -6.01120575e+01] [-7.31107327e-01 6.82055969e-01 1.67848729e-02 3.68627292e+01] [ 2.40051014e-02 1.12935021e-03 9.99711198e-01 -1.00111208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.06911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.12, Y:36.88, Z:-1.00 [[ 6.79195863e-01 7.33844446e-01 -1.28572220e-02 -6.01194408e+01] [-7.33736121e-01 6.79317014e-01 1.26372352e-02 3.68825196e+01] [ 1.80078945e-02 8.50650316e-04 9.99837483e-01 -9.99668369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.09911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.13, Y:36.90, Z:-0.99 [[ 6.74350056e-01 7.38289257e-01 -1.34527076e-02 -6.01284241e+01] [-7.38170635e-01 6.74483513e-01 1.32704101e-02 3.69025337e+01] [ 1.88710307e-02 9.81491949e-04 9.99821444e-01 -9.88290238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.12911593299998 meters Centerline goodness [0,1] 0.9997728047256617 Centerline is valid? [True, True] Translation: X:-60.15, Y:36.91, Z:-1.01 [[ 6.69803151e-01 7.42419614e-01 -1.32987384e-02 -6.01501709e+01] [-7.42303261e-01 6.69934351e-01 1.31846225e-02 3.69084972e+01] [ 1.86978040e-02 1.04059519e-03 9.99824639e-01 -1.01073687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.15911593299998 meters Centerline goodness [0,1] 0.999886505504483 Centerline is valid? [True, True] Translation: X:-60.16, Y:36.92, Z:-1.01 [[ 6.64610404e-01 7.47035980e-01 -1.51741558e-02 -6.01625290e+01] [-7.46884032e-01 6.64782367e-01 1.51210644e-02 3.69235173e+01] [ 2.13834904e-02 1.28371795e-03 9.99770523e-01 -1.01101913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.18911593299998 meters Centerline goodness [0,1] 0.9998860658539365 Centerline is valid? [True, True] Translation: X:-60.17, Y:36.94, Z:-1.01 [[ 6.60881200e-01 7.50349332e-01 -1.45574193e-02 -6.01733257e+01] [-7.50208834e-01 6.61040257e-01 1.45768164e-02 3.69405731e+01] [ 2.05607446e-02 1.28756062e-03 9.99787776e-01 -1.00524117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.21911593299998 meters Centerline goodness [0,1] 0.9997723392145703 Centerline is valid? [True, True] Translation: X:-60.18, Y:36.96, Z:-1.00 [[ 6.63028230e-01 7.48490189e-01 -1.24901192e-02 -6.01795291e+01] [-7.48384935e-01 6.63145112e-01 1.25916378e-02 3.69608965e+01] [ 1.77074788e-02 9.98805694e-04 9.99842711e-01 -9.97546251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.24911593299998 meters Centerline goodness [0,1] 0.9998860788334473 Centerline is valid? [True, True] Translation: X:-59.11, Y:37.97, Z:-1.61 [[ 8.00061158e-01 -5.98977258e-01 -3.35914978e-02 -5.91054008e+01] [-5.98242982e-01 -8.00756916e-01 2.98947373e-02 3.79677373e+01] [-4.48048920e-02 -3.82174028e-03 -9.98988446e-01 -1.61256446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.27911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.07, Y:36.87, Z:-0.98 [[ 7.21724100e-01 6.92053217e-01 -1.32916630e-02 -6.00721082e+01] [-6.91960338e-01 7.21845812e-01 1.13804197e-02 3.68677318e+01] [ 1.74703873e-02 9.83780478e-04 9.99846897e-01 -9.77226643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.309115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.08, Y:36.88, Z:-0.97 [[ 7.17337468e-01 6.96542524e-01 -1.59834051e-02 -6.00839362e+01] [-6.96407020e-01 7.17514449e-01 1.37941300e-02 3.68830350e+01] [ 2.10765223e-02 1.23590921e-03 9.99777102e-01 -9.74724409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.339115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.10, Y:36.90, Z:-0.97 [[ 7.16404764e-01 6.97496084e-01 -1.62304398e-02 -6.00988357e+01] [-6.97355506e-01 7.16587509e-01 1.40584616e-02 3.68970904e+01] [ 2.14362524e-02 1.24683764e-03 9.99769440e-01 -9.73665348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.369115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.11, Y:36.91, Z:-0.97 [[ 7.14019670e-01 6.99919003e-01 -1.70088179e-02 -6.01122265e+01] [-6.99763806e-01 7.14220978e-01 1.47989904e-02 3.69120860e+01] [ 2.25061492e-02 1.33538493e-03 9.99745813e-01 -9.74647920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.399115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.13, Y:36.93, Z:-0.97 [[ 7.13044927e-01 7.00928057e-01 -1.63337191e-02 -6.01253393e+01] [-7.00783832e-01 7.13230854e-01 1.42747822e-02 3.69284053e+01] [ 2.16553077e-02 1.26784520e-03 9.99764692e-01 -9.71448164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.429115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.14, Y:36.95, Z:-0.97 [[ 7.08310403e-01 7.05676940e-01 -1.77884319e-02 -6.01370564e+01] [-7.05505748e-01 7.08532170e-01 1.56142134e-02 3.69457012e+01] [ 2.36222666e-02 1.49013116e-03 9.99719845e-01 -9.70689301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.459115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.16, Y:36.95, Z:-0.98 [[ 7.05475392e-01 7.08517776e-01 -1.75223407e-02 -6.01556745e+01] [-7.08350097e-01 7.05691397e-01 1.54852186e-02 3.69520091e+01] [ 2.33369177e-02 1.48751107e-03 9.99726550e-01 -9.79065821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.489115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.16, Y:36.97, Z:-0.96 [[ 7.04281681e-01 7.09737620e-01 -1.61190797e-02 -6.01642755e+01] [-7.09594875e-01 7.04464790e-01 1.42993905e-02 3.69734358e+01] [ 2.15041395e-02 1.36721753e-03 9.99767824e-01 -9.64488176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.519115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.19, Y:36.98, Z:-0.98 [[ 6.99101993e-01 7.14815305e-01 -1.71896180e-02 -6.01863197e+01] [-7.14652956e-01 6.99311512e-01 1.53153685e-02 3.69793608e+01] [ 2.29685576e-02 1.57760668e-03 9.99734943e-01 -9.79122477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.549115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.19, Y:37.00, Z:-0.97 [[ 6.99957197e-01 7.14020435e-01 -1.53212581e-02 -6.01929954e+01] [-7.13889740e-01 7.00123596e-01 1.37255080e-02 3.70023268e+01] [ 2.05270675e-02 1.33042092e-03 9.99788412e-01 -9.65519118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.579115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.21, Y:37.02, Z:-0.97 [[ 6.96854631e-01 7.17046042e-01 -1.54465810e-02 -6.02089914e+01] [-7.16912554e-01 6.97024430e-01 1.39044509e-02 3.70156551e+01] [ 2.07367758e-02 1.38446688e-03 9.99784011e-01 -9.68895799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.609115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.23, Y:37.03, Z:-0.98 [[ 6.96154118e-01 7.17719884e-01 -1.57357121e-02 -6.02279245e+01] [-7.17580243e-01 6.96330554e-01 1.42251398e-02 3.70255404e+01] [ 2.11669228e-02 1.38874644e-03 9.99774991e-01 -9.75688720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.639115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.25, Y:37.04, Z:-0.98 [[ 6.92732165e-01 7.21009401e-01 -1.63582085e-02 -6.02452318e+01] [-7.20857914e-01 6.92923654e-01 1.48552212e-02 3.70372996e+01] [ 2.20457438e-02 1.50125453e-03 9.99755836e-01 -9.77316602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.669115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.26, Y:37.05, Z:-0.98 [[ 6.93344902e-01 7.20454701e-01 -1.47604138e-02 -6.02623737e+01] [-7.20329406e-01 6.93500828e-01 1.34962193e-02 3.70462541e+01] [ 1.99597738e-02 1.27482526e-03 9.99799971e-01 -9.83980162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.699115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.28, Y:37.06, Z:-0.98 [[ 6.93350336e-01 7.20463283e-01 -1.40701763e-02 -6.02778673e+01] [-7.20348457e-01 6.93492081e-01 1.29164403e-02 3.70585998e+01] [ 1.90633768e-02 1.17981155e-03 9.99817581e-01 -9.84417866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.729115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.29, Y:37.07, Z:-0.99 [[ 6.90518429e-01 7.23131281e-01 -1.62926179e-02 -6.02917248e+01] [-7.22976674e-01 6.90709177e-01 1.50187411e-02 3.70734188e+01] [ 2.21139821e-02 1.40846519e-03 9.99754464e-01 -9.86054036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.75911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.31, Y:37.09, Z:-0.99 [[ 6.88890083e-01 7.24683449e-01 -1.62589049e-02 -6.03062322e+01] [-7.24528415e-01 6.89080485e-01 1.50552733e-02 3.70869794e+01] [ 2.21140015e-02 1.40861010e-03 9.99754463e-01 -9.85847210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.78911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.33, Y:37.09, Z:-1.00 [[ 6.88818796e-01 7.24780831e-01 -1.48799476e-02 -6.03290731e+01] [-7.24649124e-01 6.88978402e-01 1.38711202e-02 3.70909235e+01] [ 2.03054845e-02 1.22805270e-03 9.99793068e-01 -9.95671981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.81911593299998 meters Centerline goodness [0,1] 0.999210645015787 Centerline is valid? [True, True] Translation: X:-60.34, Y:37.11, Z:-0.99 [[ 6.84493132e-01 7.28824345e-01 -1.68590409e-02 -6.03351385e+01] [-7.28655194e-01 6.84699100e-01 1.57718148e-02 3.71135028e+01] [ 2.30382527e-02 1.48872878e-03 9.99733476e-01 -9.87782097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.84911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.35, Y:37.13, Z:-0.99 [[ 6.82997635e-01 7.30260132e-01 -1.53091707e-02 -6.03466019e+01] [-7.30119408e-01 6.83167867e-01 1.43984393e-02 3.71295789e+01] [ 2.09733397e-02 1.34342269e-03 9.99779133e-01 -9.88200413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.87911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.35, Y:37.15, Z:-0.98 [[ 6.78840155e-01 7.34076413e-01 -1.75460522e-02 -6.03537581e+01] [-7.33891184e-01 6.79064922e-01 1.65699182e-02 3.71509507e+01] [ 2.40784947e-02 1.62856714e-03 9.99708745e-01 -9.76577647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.90911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.38, Y:37.15, Z:-1.00 [[ 6.76952542e-01 7.35845258e-01 -1.63405306e-02 -6.03782612e+01] [-7.35683619e-01 6.77148002e-01 1.54982893e-02 3.71549516e+01] [ 2.24693003e-02 1.52985440e-03 9.99746363e-01 -9.95461817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.93911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.39, Y:37.17, Z:-0.99 [[ 6.78230612e-01 7.34758267e-01 -1.15553379e-02 -6.03888934e+01] [-7.34676064e-01 6.78328298e-01 1.10363214e-02 3.71721340e+01] [ 1.59473411e-02 1.00425918e-03 9.99872329e-01 -9.87072763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.96911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.40, Y:37.19, Z:-0.99 [[ 6.73832974e-01 7.38735648e-01 -1.47907170e-02 -6.04008092e+01] [-7.38601007e-01 6.73993880e-01 1.41705086e-02 3.71892557e+01] [ 2.04371126e-02 1.37588245e-03 9.99790194e-01 -9.87596770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.99911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.41, Y:37.20, Z:-0.99 [[ 6.71421907e-01 7.40836046e-01 -1.88301646e-02 -6.04137031e+01] [-7.40616326e-01 6.71683561e-01 1.81287444e-02 3.72048591e+01] [ 2.60783393e-02 1.77389118e-03 9.99658328e-01 -9.88975527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.02911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.43, Y:37.22, Z:-1.00 [[ 6.71986253e-01 7.40329334e-01 -1.86266827e-02 -6.04303083e+01] [-7.40111436e-01 6.72242297e-01 1.80376263e-02 3.72164792e+01] [ 2.58754278e-02 1.66478396e-03 9.99663789e-01 -9.96251815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.059115933 meters Centerline goodness [0,1] 0.99943933617403 Centerline is valid? [True, True] Translation: X:-60.44, Y:37.24, Z:-0.99 [[ 6.69002089e-01 7.42983668e-01 -2.02848340e-02 -6.04364800e+01] [-7.42724342e-01 6.69306921e-01 1.97179523e-02 3.72387134e+01] [ 2.82268963e-02 1.87468865e-03 9.99599784e-01 -9.85530011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.089115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.45, Y:37.25, Z:-0.98 [[ 6.62908074e-01 7.48312382e-01 -2.41135857e-02 -6.04467485e+01] [-7.47944332e-01 6.63342165e-01 2.35891502e-02 3.72542609e+01] [ 3.36476113e-02 2.39818163e-03 9.99430882e-01 -9.84287804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.119115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.47, Y:37.26, Z:-0.99 [[ 6.62308237e-01 7.48894125e-01 -2.24808756e-02 -6.04661700e+01] [-7.48571638e-01 6.62686007e-01 2.20852419e-02 3.72624340e+01] [ 3.14372696e-02 2.20130825e-03 9.99503303e-01 -9.93169402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.149115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.48, Y:37.28, Z:-0.99 [[ 6.62487875e-01 7.48741009e-01 -2.22871400e-02 -6.04778201e+01] [-7.48420840e-01 6.62859302e-01 2.19952485e-02 3.72790466e+01] [ 3.12419827e-02 2.10857458e-03 9.99509626e-01 -9.93395991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.179115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.49, Y:37.29, Z:-1.00 [[ 6.60072951e-01 7.50869417e-01 -2.23342064e-02 -6.04917599e+01] [-7.50543185e-01 6.60447388e-01 2.22300602e-02 3.72885692e+01] [ 3.14424406e-02 2.08932493e-03 9.99503381e-01 -1.00059454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.209115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.50, Y:37.31, Z:-1.00 [[ 6.59871448e-01 7.51080969e-01 -2.11435552e-02 -6.05021433e+01] [-7.50786352e-01 6.60207265e-01 2.11239357e-02 3.73073078e+01] [ 2.98249148e-02 1.93521064e-03 9.99553265e-01 -9.95141247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.239115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.51, Y:37.33, Z:-0.99 [[ 6.55093100e-01 7.55158411e-01 -2.42653023e-02 -6.05107089e+01] [-7.54769537e-01 6.55538084e-01 2.43467830e-02 3.73276219e+01] [ 3.42925078e-02 2.36530137e-03 9.99409040e-01 -9.93047358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.269115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-59.52, Y:38.25, Z:-1.62 [[ 8.01653669e-01 -5.96420145e-01 -4.04277992e-02 -5.95247817e+01] [-5.95370573e-01 -8.02659731e-01 3.56544006e-02 3.82462584e+01] [-5.37147692e-02 -4.51295907e-03 -9.98546122e-01 -1.61878983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.299115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.42, Y:37.23, Z:-0.98 [[ 7.15006240e-01 6.98716631e-01 -2.36885406e-02 -6.04152362e+01] [-6.98426832e-01 7.15395513e-01 2.02291985e-02 3.72342025e+01] [ 3.10811531e-02 2.08070918e-03 9.99514699e-01 -9.81265202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.329115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.43, Y:37.25, Z:-0.98 [[ 7.15797841e-01 6.97975900e-01 -2.15196129e-02 -6.04286904e+01] [-6.97733698e-01 7.16119007e-01 1.84730799e-02 3.72507545e+01] [ 2.83043684e-02 1.79196836e-03 9.99597745e-01 -9.77222215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.359115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.44, Y:37.27, Z:-0.97 [[ 7.13766358e-01 7.00041468e-01 -2.18981822e-02 -6.04431254e+01] [-6.99789256e-01 7.14099803e-01 1.88803771e-02 3.72659174e+01] [ 2.88545345e-02 1.84793462e-03 9.99581913e-01 -9.74491082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.389115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.46, Y:37.28, Z:-0.98 [[ 7.12259065e-01 7.01585928e-01 -2.15455297e-02 -6.04626825e+01] [-7.01340274e-01 7.12582526e-01 1.86537901e-02 3.72750439e+01] [ 2.84402046e-02 1.82441660e-03 9.99593831e-01 -9.82306979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.419115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.48, Y:37.29, Z:-0.99 [[ 7.15124314e-01 6.98797057e-01 -1.67298521e-02 -6.04818061e+01] [-6.98646700e-01 7.15318831e-01 1.45519458e-02 3.72859398e+01] [ 2.21360351e-02 1.28180575e-03 9.99754146e-01 -9.91741638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.449115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.50, Y:37.30, Z:-0.99 [[ 7.13621701e-01 7.00376043e-01 -1.47467502e-02 -6.04979669e+01] [-7.00258386e-01 7.13773158e-01 1.28868652e-02 3.72992605e+01] [ 1.95514861e-02 1.13018889e-03 9.99808213e-01 -9.89501621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.479115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.50, Y:37.32, Z:-0.98 [[ 7.09771398e-01 7.04215202e-01 -1.74789169e-02 -6.05049957e+01] [-7.04049631e-01 7.09985162e-01 1.53358225e-02 3.73229454e+01] [ 2.32094910e-02 1.42109681e-03 9.99729613e-01 -9.80387420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.50911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.52, Y:37.34, Z:-0.97 [[ 7.11182769e-01 7.02832147e-01 -1.56857159e-02 -6.05164711e+01] [-7.02697202e-01 7.11354731e-01 1.38234828e-02 3.73421003e+01] [ 2.08736963e-02 1.19128596e-03 9.99781411e-01 -9.73760521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.53, Y:37.36, Z:-0.97 [[ 7.06948260e-01 7.07079197e-01 -1.62223858e-02 -6.05272222e+01] [-7.06934834e-01 7.07133124e-01 1.43487350e-02 3.73633309e+01] [ 2.16170783e-02 1.32435639e-03 9.99765446e-01 -9.66605438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.56911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.54, Y:37.38, Z:-0.96 [[ 7.08879425e-01 7.05170693e-01 -1.49751219e-02 -6.05426451e+01] [-7.05046053e-01 7.09036688e-01 1.33055637e-02 3.73764649e+01] [ 2.00006044e-02 1.12611026e-03 9.99799334e-01 -9.63424561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.59911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.56, Y:37.39, Z:-0.96 [[ 7.06209694e-01 7.07824285e-01 -1.58949382e-02 -6.05566100e+01] [-7.07683378e-01 7.06387466e-01 1.41769129e-02 3.73941731e+01] [ 2.12627483e-02 1.23671021e-03 9.99773157e-01 -9.62807072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.62911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.58, Y:37.41, Z:-0.97 [[ 7.06690425e-01 7.07366872e-01 -1.48577069e-02 -6.05750375e+01] [-7.07242519e-01 7.06845734e-01 1.33089394e-02 3.74064552e+01] [ 1.99164095e-02 1.10270200e-03 9.99801041e-01 -9.66902723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.65911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.60, Y:37.42, Z:-0.98 [[ 7.09167405e-01 7.04915765e-01 -1.32421626e-02 -6.05950795e+01] [-7.04815604e-01 7.09290479e-01 1.19155788e-02 3.74163770e+01] [ 1.77920192e-02 8.83142756e-04 9.99841319e-01 -9.75475361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.68911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.61, Y:37.44, Z:-0.97 [[ 7.10084769e-01 7.04010165e-01 -1.22191809e-02 -6.06050642e+01] [-7.03923897e-01 7.10189492e-01 1.10468233e-02 3.74368125e+01] [ 1.64550098e-02 7.57192460e-04 9.99864320e-01 -9.65320369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.71911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.63, Y:37.45, Z:-0.97 [[ 7.11041349e-01 7.03042530e-01 -1.23045032e-02 -6.06251892e+01] [-7.02954154e-01 7.11147454e-01 1.11694753e-02 3.74474008e+01] [ 1.66029323e-02 7.07542835e-04 9.99861911e-01 -9.71770139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.74911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.64, Y:37.46, Z:-0.98 [[ 7.10726689e-01 7.03341705e-01 -1.33423628e-02 -6.06431774e+01] [-7.03236978e-01 7.10851529e-01 1.21596205e-02 3.74595461e+01] [ 1.80368072e-02 7.40676053e-04 9.99837049e-01 -9.76962603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.77911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.65, Y:37.48, Z:-0.97 [[ 7.08264970e-01 7.05795055e-01 -1.46312210e-02 -6.06549530e+01] [-7.05668582e-01 7.08415577e-01 1.33874148e-02 3.74782460e+01] [ 1.98137561e-02 8.42956023e-04 9.99803333e-01 -9.67022000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.809115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.66, Y:37.50, Z:-0.96 [[ 7.09140239e-01 7.04898470e-01 -1.54359348e-02 -6.06608859e+01] [-7.04756416e-01 7.09307735e-01 1.41750044e-02 3.75041736e+01] [ 2.09407669e-02 8.26508041e-04 9.99780376e-01 -9.56388445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.839115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.68, Y:37.52, Z:-0.96 [[ 7.06925155e-01 7.07104223e-01 -1.61382412e-02 -6.06781659e+01] [-7.06948160e-01 7.07108781e-01 1.48818636e-02 3.75174183e+01] [ 2.19345206e-02 8.88536214e-04 9.99759015e-01 -9.56161993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.869115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.69, Y:37.54, Z:-0.95 [[ 7.06214317e-01 7.07780416e-01 -1.75562219e-02 -6.06889460e+01] [-7.07594371e-01 7.06431874e-01 1.62546674e-02 3.75377130e+01] [ 2.39070100e-02 9.43404911e-04 9.99713741e-01 -9.47403450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.899115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.71, Y:37.55, Z:-0.95 [[ 7.09368655e-01 7.04657103e-01 -1.59523940e-02 -6.07091280e+01] [-7.04501284e-01 7.09547642e-01 1.48352426e-02 3.75483091e+01] [ 2.17727426e-02 7.14826003e-04 9.99762690e-01 -9.53906746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.929115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.72, Y:37.57, Z:-0.95 [[ 7.09500407e-01 7.04552194e-01 -1.46757980e-02 -6.07227570e+01] [-7.04419177e-01 7.09651906e-01 1.37038611e-02 3.75664228e+01] [ 2.00697935e-02 6.15018553e-04 9.99798392e-01 -9.49187916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.959115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.74, Y:37.58, Z:-0.95 [[ 7.09492212e-01 7.04597243e-01 -1.27877459e-02 -6.07425763e+01] [-7.04495348e-01 7.09607269e-01 1.19928534e-02 3.75780270e+01] [ 1.75244089e-02 5.00071428e-04 9.99846311e-01 -9.53128482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.989115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.76, Y:37.59, Z:-0.96 [[ 7.08596637e-01 7.05483298e-01 -1.35691675e-02 -6.07578278e+01] [-7.05367644e-01 7.08726360e-01 1.27841120e-02 3.75918087e+01] [ 1.86358042e-02 5.12472934e-04 9.99826207e-01 -9.56518773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.019115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.77, Y:37.61, Z:-0.95 [[ 7.05433032e-01 7.08650766e-01 -1.33540366e-02 -6.07722079e+01] [-7.08538374e-01 7.05559203e-01 1.26325996e-02 3.76085767e+01] [ 1.83741648e-02 5.50394341e-04 9.99831029e-01 -9.51792758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.049115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.78, Y:37.63, Z:-0.95 [[ 7.04109048e-01 7.09974893e-01 -1.28879578e-02 -6.07847219e+01] [-7.09869499e-01 7.04226791e-01 1.22442332e-02 3.76263158e+01] [ 1.77691433e-02 5.27492747e-04 9.99841977e-01 -9.46885128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.079115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.80, Y:37.65, Z:-0.94 [[ 7.00767070e-01 7.13261567e-01 -1.35443950e-02 -6.07961321e+01] [-7.13144801e-01 7.00897689e-01 1.29198243e-02 3.76454601e+01] [ 1.87084492e-02 6.05327455e-04 9.99824798e-01 -9.43507204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.109115933 meters Centerline goodness [0,1] 0.9997808939526731 Centerline is valid? [True, True] Translation: X:-60.81, Y:37.66, Z:-0.95 [[ 7.01171175e-01 7.12924803e-01 -9.85950183e-03 -6.08148332e+01] [-7.12862245e-01 7.01240376e-01 9.45274542e-03 3.76581281e+01] [ 1.36529774e-02 4.00473995e-04 9.99906714e-01 -9.50500755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.139115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.83, Y:37.68, Z:-0.95 [[ 6.94315939e-01 7.19529479e-01 -1.42374490e-02 -6.08271131e+01] [-7.19399485e-01 6.94461512e-01 1.36963423e-02 3.76761602e+01] [ 1.97422824e-02 7.32824663e-04 9.99804834e-01 -9.45607204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.169115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.84, Y:37.70, Z:-0.94 [[ 6.87701909e-01 7.25801714e-01 -1.66720208e-02 -6.08372981e+01] [-7.25623959e-01 6.87903201e-01 1.60952176e-02 3.76975774e+01] [ 2.31506730e-02 1.02890582e-03 9.99731458e-01 -9.38592226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.199115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.85, Y:37.71, Z:-0.94 [[ 6.89017068e-01 7.24631621e-01 -1.28255007e-02 -6.08518817e+01] [-7.24525234e-01 6.89136047e-01 1.24376125e-02 3.77139404e+01] [ 1.78512021e-02 7.22671584e-04 9.99840393e-01 -9.35686241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.229115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.87, Y:37.73, Z:-0.94 [[ 6.84485999e-01 7.28907441e-01 -1.31476362e-02 -6.08659743e+01] [-7.28795448e-01 6.84611768e-01 1.28032117e-02 3.77309497e+01] [ 1.83333827e-02 8.18318247e-04 9.99831595e-01 -9.36433633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.88, Y:37.75, Z:-0.93 [[ 6.82638216e-01 7.30672977e-01 -1.10483220e-02 -6.08783843e+01] [-7.30593372e-01 6.82727265e-01 1.08077047e-02 3.77485665e+01] [ 1.54398885e-02 6.94078590e-04 9.99880557e-01 -9.33620891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.28911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.90, Y:37.76, Z:-0.94 [[ 6.79083217e-01 7.33985345e-01 -1.05592169e-02 -6.08955627e+01] [-7.33912417e-01 6.79164938e-01 1.03707045e-02 3.77631005e+01] [ 1.47833950e-02 7.06969066e-04 9.99890470e-01 -9.35708625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.31911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.91, Y:37.78, Z:-0.93 [[ 6.76264895e-01 7.36584410e-01 -1.04497885e-02 -6.09068165e+01] [-7.36512662e-01 6.76345236e-01 1.03062953e-02 3.77828218e+01] [ 1.46591212e-02 7.26615842e-04 9.99892285e-01 -9.33367484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.34911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.92, Y:37.80, Z:-0.94 [[ 6.72935798e-01 7.39613735e-01 -1.13548923e-02 -6.09245876e+01] [-7.39528795e-01 6.73031075e-01 1.12398044e-02 3.77957160e+01] [ 1.59553091e-02 8.33603072e-04 9.99872358e-01 -9.36663140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.37911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.94, Y:37.81, Z:-0.94 [[ 6.69131449e-01 7.43070360e-01 -1.04662818e-02 -6.09390048e+01] [-7.42997927e-01 6.69212805e-01 1.04068301e-02 3.78121330e+01] [ 1.47371768e-02 8.12888370e-04 9.99891071e-01 -9.36488398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.40911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.95, Y:37.83, Z:-0.94 [[ 6.65821645e-01 7.46044271e-01 -9.97409699e-03 -6.09546527e+01] [-7.45978222e-01 6.65895856e-01 9.96000422e-03 3.78276623e+01] [ 1.40723139e-02 8.08872747e-04 9.99900653e-01 -9.39607539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.43911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.97, Y:37.85, Z:-0.94 [[ 6.63215083e-01 7.48366438e-01 -9.66583621e-03 -6.09672243e+01] [-7.48304091e-01 6.63285028e-01 9.69326824e-03 3.78459712e+01] [ 1.36653211e-02 8.04263079e-04 9.99906302e-01 -9.36720436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.46911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.99, Y:37.86, Z:-0.94 [[ 6.63352463e-01 7.48268507e-01 -7.59949704e-03 -6.09857109e+01] [-7.48229549e-01 6.63395716e-01 7.65940637e-03 3.78586142e+01] [ 1.07727663e-02 6.05282161e-04 9.99941789e-01 -9.40482174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.49911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.11, Y:38.65, Z:-1.65 [[ 7.97332310e-01 -6.03014556e-01 -2.51919064e-02 -6.01090457e+01] [-6.02593761e-01 -7.97724804e-01 2.27133490e-02 3.86540273e+01] [-3.37926887e-02 -2.92960139e-03 -9.99424570e-01 -1.65304803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.52911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.90, Y:37.76, Z:-0.94 [[ 7.19062060e-01 6.94895009e-01 -8.40717170e-03 -6.08953655e+01] [-6.94857973e-01 7.19110902e-01 7.20467884e-03 3.77647601e+01] [ 1.10521842e-02 6.61179079e-04 9.99938704e-01 -9.35350214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.559115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.91, Y:37.78, Z:-0.94 [[ 7.19123576e-01 6.94851367e-01 -6.54673544e-03 -6.09127288e+01] [-6.94828530e-01 7.19153214e-01 5.65410849e-03 3.77785867e+01] [ 8.63687085e-03 4.82855844e-04 9.99962585e-01 -9.37540505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.589115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.93, Y:37.80, Z:-0.93 [[ 7.16377916e-01 6.97666590e-01 -8.00064482e-03 -6.09271378e+01] [-6.97632439e-01 7.16422325e-01 6.93046654e-03 3.77961673e+01] [ 1.05669955e-02 6.16676186e-04 9.99943978e-01 -9.31176459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.619115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.94, Y:37.82, Z:-0.92 [[ 7.17306106e-01 6.96736418e-01 -5.50575408e-03 -6.09379370e+01] [-6.96720010e-01 7.17327128e-01 4.79788199e-03 3.78175370e+01] [ 7.29228588e-03 3.94418985e-04 9.99973333e-01 -9.19660718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.649115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.95, Y:37.83, Z:-0.92 [[ 7.18314895e-01 6.95697537e-01 -5.35242945e-03 -6.09545570e+01] [-6.95681863e-01 7.18334746e-01 4.68381311e-03 3.78324800e+01] [ 7.10335330e-03 3.59135368e-04 9.99974706e-01 -9.19342853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.679115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.97, Y:37.85, Z:-0.92 [[ 7.16934494e-01 6.97120062e-01 -5.34320429e-03 -6.09710423e+01] [-6.97104349e-01 7.16954315e-01 4.69436739e-03 3.78469411e+01] [ 7.10337106e-03 3.59217037e-04 9.99974706e-01 -9.19108896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.709115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-60.99, Y:37.86, Z:-0.92 [[ 7.14988843e-01 6.99111225e-01 -5.86942248e-03 -6.09897533e+01] [-6.99092032e-01 7.15012828e-01 5.19486775e-03 3.78559202e+01] [ 7.82850272e-03 3.88994008e-04 9.99969281e-01 -9.22212190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.739115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.00, Y:37.87, Z:-0.92 [[ 7.14203382e-01 6.99897741e-01 -7.52872445e-03 -6.10043448e+01] [-6.99866181e-01 7.14242882e-01 6.66595541e-03 3.78729571e+01] [ 1.00428250e-02 5.08251724e-04 9.99949440e-01 -9.19429619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.769115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.02, Y:37.89, Z:-0.93 [[ 7.17415236e-01 6.96626169e-01 -5.23073286e-03 -6.10236355e+01] [-6.96610646e-01 7.17434241e-01 4.66012367e-03 3.78853062e+01] [ 6.99907096e-03 3.00540481e-04 9.99975461e-01 -9.25548656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.799115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.04, Y:37.90, Z:-0.92 [[ 7.20770820e-01 6.93165867e-01 -3.24127688e-03 -6.10387122e+01] [-6.93159772e-01 7.20778093e-01 2.91043502e-03 3.79020149e+01] [ 4.35365558e-03 1.48966105e-04 9.99990512e-01 -9.22515330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.829115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.06, Y:37.92, Z:-0.92 [[ 7.15325653e-01 6.98746243e-01 -7.93080267e-03 -6.10556500e+01] [-6.98710268e-01 7.15369469e-01 7.10525494e-03 3.79175933e+01] [ 1.06382243e-02 4.58762132e-04 9.99943307e-01 -9.23282032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.859115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.07, Y:37.94, Z:-0.91 [[ 7.14569675e-01 6.99501097e-01 -9.40178649e-03 -6.10683716e+01] [-6.99450283e-01 7.14631320e-01 8.44855236e-03 3.79382270e+01] [ 1.26285827e-02 5.39002900e-04 9.99920111e-01 -9.11089624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.889115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.08, Y:37.95, Z:-0.91 [[ 7.15706172e-01 6.98357269e-01 -7.86125359e-03 -6.10835740e+01] [-6.98321277e-01 7.15749229e-01 7.10181520e-03 3.79534926e+01] [ 1.05862905e-02 4.06867670e-04 9.99943881e-01 -9.09074625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.919115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.10, Y:37.97, Z:-0.90 [[ 7.14873555e-01 6.99224008e-01 -6.44875647e-03 -6.10964967e+01] [-6.99199584e-01 7.14902567e-01 5.85334720e-03 3.79721032e+01] [ 8.70303344e-03 3.24564715e-04 9.99962075e-01 -9.01734766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.949115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.11, Y:37.99, Z:-0.90 [[ 7.16865911e-01 6.97185546e-01 -5.96482591e-03 -6.11086813e+01] [-6.97164384e-01 7.16890680e-01 5.43831108e-03 3.79921341e+01] [ 8.06763999e-03 2.59924351e-04 9.99967422e-01 -8.96761219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.979115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.12, Y:38.02, Z:-0.88 [[ 7.11398421e-01 7.02711007e-01 -1.04655203e-02 -6.11155528e+01] [-7.02646257e-01 7.11475180e-01 9.55542112e-03 3.80179513e+01] [ 1.41606575e-02 5.55847172e-04 9.99899578e-01 -8.79499637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.00911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.14, Y:38.03, Z:-0.89 [[ 7.07900104e-01 7.06222599e-01 -1.12730992e-02 -6.11361057e+01] [-7.06147370e-01 7.07989561e-01 1.03282971e-02 3.80295580e+01] [ 1.52753133e-02 6.49066758e-04 9.99883115e-01 -8.85156641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03911593299998 meters Centerline goodness [0,1] 0.9998909725250763 Centerline is valid? [True, True] Translation: X:-61.15, Y:38.05, Z:-0.88 [[ 7.10625085e-01 7.03501574e-01 -9.87547114e-03 -6.11511036e+01] [-7.03443195e-01 7.10693527e-01 9.07646009e-03 3.80477601e+01] [ 1.34037374e-02 4.96872753e-04 9.99910042e-01 -8.84953690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.06911593299998 meters Centerline goodness [0,1] 0.9995685936151855 Centerline is valid? [True, True] Translation: X:-61.16, Y:38.08, Z:-0.86 [[ 7.08035433e-01 7.06131968e-01 -7.96677380e-03 -6.11558058e+01] [-7.06093825e-01 7.08080128e-01 7.35141649e-03 3.80755190e+01] [ 1.08321844e-02 4.20226423e-04 9.99941242e-01 -8.62887719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.09911593299998 meters Centerline goodness [0,1] 0.9993514915693904 Centerline is valid? [True, True] Translation: X:-61.17, Y:38.09, Z:-0.86 [[ 7.03252718e-01 7.10884001e-01 -8.91913049e-03 -6.11721306e+01] [-7.10836303e-01 7.03309070e-01 8.25234563e-03 3.80924997e+01] [ 1.21393659e-02 5.36557255e-04 9.99926171e-01 -8.62766804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.12911593299998 meters Centerline goodness [0,1] 0.9993509303331891 Centerline is valid? [True, True] Translation: X:-61.19, Y:38.10, Z:-0.87 [[ 7.00480664e-01 7.13592447e-01 -1.06141125e-02 -6.11934573e+01] [-7.13524708e-01 7.00560755e-01 9.85496871e-03 3.81038488e+01] [ 1.44682619e-02 6.70216510e-04 9.99895105e-01 -8.68644965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.15911593299998 meters Centerline goodness [0,1] 0.9995684074233924 Centerline is valid? [True, True] Translation: X:-61.21, Y:38.12, Z:-0.87 [[ 6.98789137e-01 7.15277885e-01 -8.44322531e-03 -6.12103930e+01] [-7.15234690e-01 6.98839940e-01 7.87883327e-03 3.81179689e+01] [ 1.15360183e-02 5.33244535e-04 9.99933316e-01 -8.70801223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.18911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.23, Y:38.13, Z:-0.87 [[ 6.94221669e-01 7.19689470e-01 -1.01656596e-02 -6.12270290e+01] [-7.19626827e-01 6.94295736e-01 9.52162597e-03 3.81313774e+01] [ 1.39105881e-02 7.05362303e-04 9.99902994e-01 -8.74734061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.21911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.25, Y:38.14, Z:-0.89 [[ 6.90087114e-01 7.23660041e-01 -9.79383874e-03 -6.12544740e+01] [-7.23601836e-01 6.90156219e-01 9.20737086e-03 3.81356563e+01] [ 1.34222851e-02 7.32951705e-04 9.99909648e-01 -8.92377239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.24911593299998 meters Centerline goodness [0,1] 0.99956938314135 Centerline is valid? [True, True] Translation: X:-61.27, Y:38.15, Z:-0.90 [[ 6.86014950e-01 7.27519059e-01 -9.97532037e-03 -6.12724761e+01] [-7.27458512e-01 6.86087011e-01 9.41947270e-03 3.81479080e+01] [ 1.36967837e-02 7.94732617e-04 9.99905879e-01 -8.95986828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.27911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.28, Y:38.17, Z:-0.89 [[ 6.83857546e-01 7.29546006e-01 -1.00738483e-02 -6.12842360e+01] [-7.29484037e-01 6.83931246e-01 9.54409021e-03 3.81692254e+01] [ 1.38526725e-02 8.21913393e-04 9.99903709e-01 -8.88505786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.309115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.30, Y:38.19, Z:-0.88 [[ 6.82988346e-01 7.30369233e-01 -9.36500985e-03 -6.12983642e+01] [-7.30315299e-01 6.83052131e-01 8.90790868e-03 3.81879644e+01] [ 1.29028524e-02 7.55412157e-04 9.99916469e-01 -8.82699310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.339115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.32, Y:38.20, Z:-0.89 [[ 6.79300738e-01 7.33783973e-01 -1.05635001e-02 -6.13182507e+01] [-7.33715212e-01 6.79382272e-01 1.00854163e-02 3.81996120e+01] [ 1.45771716e-02 8.99570014e-04 9.99893343e-01 -8.88263942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.369115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.33, Y:38.22, Z:-0.88 [[ 6.78040258e-01 7.34956504e-01 -1.00173099e-02 -6.13311945e+01] [-7.34894247e-01 6.78113718e-01 9.60368245e-03 3.82187805e+01] [ 1.38511642e-02 8.49980103e-04 9.99903707e-01 -8.81721935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.399115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.35, Y:38.23, Z:-0.89 [[ 6.73583786e-01 7.39019468e-01 -1.16236722e-02 -6.13521519e+01] [-7.38935640e-01 6.73683240e-01 1.11809019e-02 3.82297279e+01] [ 1.60935773e-02 1.05787143e-03 9.99869930e-01 -8.92343505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.429115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.37, Y:38.25, Z:-0.89 [[ 6.76086994e-01 7.36763735e-01 -9.25065866e-03 -6.13658710e+01] [-7.36709944e-01 6.76149836e-01 8.93636535e-03 3.82473735e+01] [ 1.28388212e-02 7.73291834e-04 9.99917280e-01 -8.85073748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.459115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.38, Y:38.26, Z:-0.89 [[ 6.72118068e-01 7.40345960e-01 -1.20483316e-02 -6.13844779e+01] [-7.40254575e-01 6.72225200e-01 1.16809480e-02 3.82597187e+01] [ 1.67471348e-02 1.06785640e-03 9.99859187e-01 -8.87712026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.489115933 meters Centerline goodness [0,1] 0.9985106382978723 Centerline is valid? [True, True] Translation: X:-61.40, Y:38.27, Z:-0.89 [[ 6.71604488e-01 7.40815902e-01 -1.17987627e-02 -6.14010649e+01] [-7.40727421e-01 6.71707346e-01 1.14946951e-02 3.82713989e+01] [ 1.64407685e-02 1.01977825e-03 9.99864321e-01 -8.85834904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.519115933 meters Centerline goodness [0,1] 0.9987317691819911 Centerline is valid? [True, True] Translation: X:-61.42, Y:38.28, Z:-0.89 [[ 6.69438159e-01 7.42759250e-01 -1.26983836e-02 -6.14209150e+01] [-7.42656358e-01 6.69557646e-01 1.24133926e-02 3.82835153e+01] [ 1.77224620e-02 1.12053663e-03 9.99842317e-01 -8.90925632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.549115933 meters Centerline goodness [0,1] 0.9951235025972649 Centerline is valid? [True, True] Translation: X:-61.45, Y:38.29, Z:-0.91 [[ 6.67928833e-01 7.44103861e-01 -1.34356823e-02 -6.14484224e+01] [-7.43987993e-01 6.68062893e-01 1.31847270e-02 3.82878721e+01] [ 1.87866871e-02 1.18952696e-03 9.99822807e-01 -9.07345823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.579115933 meters Centerline goodness [0,1] 0.9955621301775148 Centerline is valid? [True, True] Translation: X:-61.47, Y:38.29, Z:-0.92 [[ 6.67201128e-01 7.44720879e-01 -1.52796397e-02 -6.14727581e+01] [-7.44569898e-01 6.67374735e-01 1.50542581e-02 3.82934464e+01] [ 2.14084658e-02 1.33254173e-03 9.99769924e-01 -9.19337309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.609115933 meters Centerline goodness [0,1] 0.9943694890045681 Centerline is valid? [True, True] Translation: X:-61.50, Y:38.30, Z:-0.93 [[ 6.66906489e-01 7.44975250e-01 -1.57356935e-02 -6.14958800e+01] [-7.44813769e-01 6.67090764e-01 1.55679928e-02 3.83013634e+01] [ 2.20949051e-02 1.33776574e-03 9.99754983e-01 -9.32488343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.639115933 meters Centerline goodness [0,1] 0.9920626521325008 Centerline is valid? [True, True] Translation: X:-61.52, Y:38.31, Z:-0.94 [[ 6.64125918e-01 7.47351682e-01 -2.00556464e-02 -6.15169061e+01] [-7.47088254e-01 6.64426357e-01 1.99187337e-02 3.83105832e+01] [ 2.82117992e-02 1.75479059e-03 9.99600428e-01 -9.35156300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.669115933 meters Centerline goodness [0,1] 0.9927736450584485 Centerline is valid? [True, True] Translation: X:-61.53, Y:38.33, Z:-0.93 [[ 6.66868221e-01 7.44951552e-01 -1.82745936e-02 -6.15304758e+01] [-7.44729799e-01 6.67116992e-01 1.82330880e-02 3.83269593e+01] [ 2.57740591e-02 1.45056742e-03 9.99666741e-01 -9.32701753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.699115933 meters Centerline goodness [0,1] 0.9927567106945037 Centerline is valid? [True, True] Translation: X:-61.55, Y:38.34, Z:-0.94 [[ 6.64587355e-01 7.46934470e-01 -2.03111883e-02 -6.15498684e+01] [-7.46659162e-01 6.64895625e-01 2.03446172e-02 3.83385060e+01] [ 2.87009160e-02 1.64475950e-03 9.99586691e-01 -9.36507940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.729115933 meters Centerline goodness [0,1] 0.9919140334078094 Centerline is valid? [True, True] Translation: X:-60.67, Y:39.18, Z:-1.64 [[ 7.96922480e-01 -6.02712459e-01 -4.06479060e-02 -6.06669909e+01] [-6.01663973e-01 -7.97948197e-01 3.57650419e-02 3.91809810e+01] [-5.39909596e-02 -4.04558531e-03 -9.98533229e-01 -1.64327266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75911593299998 meters Centerline goodness [0,1] 0.9930444087747459 Centerline is valid? [True, True] Translation: X:-61.47, Y:38.27, Z:-0.91 [[ 7.25652488e-01 6.87644409e-01 -2.39506333e-02 -6.14725244e+01] [-6.87343578e-01 7.26045747e-01 2.04053505e-02 3.82659817e+01] [ 3.14208806e-02 1.65512065e-03 9.99504872e-01 -9.13674685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.78911593299998 meters Centerline goodness [0,1] 0.992412908741184 Centerline is valid? [True, True] Translation: X:-61.49, Y:38.28, Z:-0.92 [[ 7.24093128e-01 6.89195114e-01 -2.64430791e-02 -6.14927612e+01] [-6.88825577e-01 7.24573513e-01 2.26395206e-02 3.82764431e+01] [ 3.47630018e-02 1.82154795e-03 9.99393924e-01 -9.15074830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.81911593299998 meters Centerline goodness [0,1] 0.9935608499678042 Centerline is valid? [True, True] Translation: X:-61.50, Y:38.30, Z:-0.90 [[ 7.22092836e-01 6.91230546e-01 -2.79690431e-02 -6.15035264e+01] [-6.90815313e-01 7.22631628e-01 2.40360821e-02 3.82982422e+01] [ 3.68257893e-02 1.96516055e-03 9.99319768e-01 -9.00076578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.84911593299998 meters Centerline goodness [0,1] 0.9950580146110872 Centerline is valid? [True, True] Translation: X:-61.52, Y:38.32, Z:-0.89 [[ 7.23707061e-01 6.89601032e-01 -2.64292631e-02 -6.15169596e+01] [-6.89225905e-01 7.24187470e-01 2.28070228e-02 3.83166924e+01] [ 3.48674876e-02 1.71012932e-03 9.99390481e-01 -8.94429844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.87911593299998 meters Centerline goodness [0,1] 0.9938438276271736 Centerline is valid? [True, True] Translation: X:-61.53, Y:38.34, Z:-0.88 [[ 7.22215272e-01 6.91004431e-01 -3.02981381e-02 -6.15252616e+01] [-6.90508973e-01 7.22847830e-01 2.62368673e-02 3.83413673e+01] [ 4.00307349e-02 1.97247000e-03 9.99196502e-01 -8.78131223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.90911593299998 meters Centerline goodness [0,1] 0.9937914793406123 Centerline is valid? [True, True] Translation: X:-61.54, Y:38.36, Z:-0.87 [[ 7.17081510e-01 6.96217898e-01 -3.27833401e-02 -6.15419843e+01] [-6.95638275e-01 7.17826605e-01 2.85018404e-02 3.83562080e+01] [ 4.33762452e-02 2.36720347e-03 9.99056003e-01 -8.70295848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.93911593299998 meters Centerline goodness [0,1] 0.9964231519618469 Centerline is valid? [True, True] Translation: X:-61.54, Y:38.39, Z:-0.83 [[ 7.14949297e-01 6.98354567e-01 -3.38880625e-02 -6.15407817e+01] [-6.97732671e-01 7.15747606e-01 2.95716809e-02 3.83927385e+01] [ 4.49068180e-02 2.50255590e-03 9.98988045e-01 -8.32379246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.96911593299998 meters Centerline goodness [0,1] 0.9975153937560765 Centerline is valid? [True, True] Translation: X:-61.56, Y:38.40, Z:-0.84 [[ 7.10989616e-01 7.02190596e-01 -3.77111811e-02 -6.15621768e+01] [-7.01419181e-01 7.11982863e-01 3.30383939e-02 3.84023662e+01] [ 5.00489642e-02 2.96139079e-03 9.98742375e-01 -8.40212209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.99911593299998 meters Centerline goodness [0,1] 0.9980496261783508 Centerline is valid? [True, True] Translation: X:-61.57, Y:38.43, Z:-0.82 [[ 7.07184131e-01 7.06001017e-01 -3.81204543e-02 -6.15686502e+01] [-7.05211971e-01 7.08203689e-01 3.35202998e-02 3.84297539e+01] [ 5.06624121e-02 3.17797666e-03 9.98710779e-01 -8.19051814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.02911593299999 meters Centerline goodness [0,1] 0.9971665213600698 Centerline is valid? [True, True] Translation: X:-61.60, Y:38.43, Z:-0.84 [[ 7.02086873e-01 7.10903113e-01 -4.11191860e-02 -6.15981128e+01] [-7.09985541e-01 7.03280173e-01 3.62977886e-02 3.84308703e+01] [ 5.47225191e-02 3.70982661e-03 9.98494709e-01 -8.38777178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.059115933 meters Centerline goodness [0,1] 0.9962377727614747 Centerline is valid? [True, True] Translation: X:-61.62, Y:38.44, Z:-0.85 [[ 6.99109454e-01 7.13816091e-01 -4.13830859e-02 -6.16193079e+01] [-7.12883674e-01 7.00322559e-01 3.66767152e-02 3.84402072e+01] [ 5.51619381e-02 3.86028798e-03 9.98469959e-01 -8.45224035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.089115933 meters Centerline goodness [0,1] 0.9970617042115573 Centerline is valid? [True, True] Translation: X:-61.65, Y:38.44, Z:-0.87 [[ 6.98606657e-01 7.14412251e-01 -3.95458434e-02 -6.16518975e+01] [-7.13554225e-01 6.99715610e-01 3.51913773e-02 3.84375092e+01] [ 5.28119950e-02 3.63317320e-03 9.98597864e-01 -8.69937142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.119115933 meters Centerline goodness [0,1] 0.9980366492146597 Centerline is valid? [True, True] Translation: X:-61.65, Y:38.47, Z:-0.84 [[ 6.95245181e-01 7.17685860e-01 -3.95113283e-02 -6.16500495e+01] [-7.16826888e-01 6.96356763e-01 3.53053984e-02 3.84722272e+01] [ 5.28521659e-02 3.77687444e-03 9.98595205e-01 -8.37812882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.149115933 meters Centerline goodness [0,1] 0.9971594012891948 Centerline is valid? [True, True] Translation: X:-61.67, Y:38.48, Z:-0.85 [[ 6.93182672e-01 7.19629347e-01 -4.03904277e-02 -6.16738464e+01] [-7.18727231e-01 6.94347385e-01 3.62336511e-02 3.84790275e+01] [ 5.41197866e-02 3.91316117e-03 9.98526783e-01 -8.47629953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.179115933 meters Centerline goodness [0,1] 0.9986912422292508 Centerline is valid? [True, True] Translation: X:-61.69, Y:38.50, Z:-0.84 [[ 6.89504327e-01 7.23238632e-01 -3.88543926e-02 -6.16854332e+01] [-7.22402243e-01 6.90586969e-01 3.49948222e-02 3.84992972e+01] [ 5.21419446e-02 3.93941899e-03 9.98631913e-01 -8.35589394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.209115933 meters Centerline goodness [0,1] 0.9986922406277245 Centerline is valid? [True, True] Translation: X:-61.70, Y:38.52, Z:-0.82 [[ 6.83665315e-01 7.28740217e-01 -3.92356220e-02 -6.16959590e+01] [-7.27889039e-01 6.84776714e-01 3.54739208e-02 3.85212571e+01] [ 5.27189130e-02 4.30688997e-03 9.98600104e-01 -8.24775129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.239115933 meters Centerline goodness [0,1] 0.9984714488481276 Centerline is valid? [True, True] Translation: X:-61.71, Y:38.54, Z:-0.81 [[ 6.78302947e-01 7.33636993e-01 -4.10106708e-02 -6.17054088e+01] [-7.32707856e-01 6.79524623e-01 3.72220969e-02 3.85442079e+01] [ 5.51752679e-02 4.80098268e-03 9.98465142e-01 -8.09353117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.269115933 meters Centerline goodness [0,1] 0.9982553701886381 Centerline is valid? [True, True] Translation: X:-61.72, Y:38.56, Z:-0.81 [[ 6.79516015e-01 7.32699186e-01 -3.75484918e-02 -6.17233960e+01] [-7.31912006e-01 6.80539493e-01 3.42171620e-02 3.85572785e+01] [ 5.06241183e-02 4.23108237e-03 9.98708815e-01 -8.07479856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.299115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.73, Y:38.58, Z:-0.79 [[ 6.72311169e-01 7.39315819e-01 -3.75474531e-02 -6.17305941e+01] [-7.38531951e-01 6.73342875e-01 3.43501067e-02 3.85822857e+01] [ 5.06778873e-02 4.63603335e-03 9.98704290e-01 -7.90166653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.329115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.75, Y:38.59, Z:-0.80 [[ 6.72811896e-01 7.38916409e-01 -3.64237826e-02 -6.17524999e+01] [-7.38171563e-01 6.73782890e-01 3.34568357e-02 3.85914275e+01] [ 4.92635264e-02 4.37684341e-03 9.98776225e-01 -7.98289473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.359115933 meters Centerline goodness [0,1] 0.9976943346508564 Centerline is valid? [True, True] Translation: X:-61.78, Y:38.59, Z:-0.82 [[ 6.69624710e-01 7.41760719e-01 -3.73333938e-02 -6.17844486e+01] [-7.40975213e-01 6.70648823e-01 3.44367648e-02 3.85886478e+01] [ 5.05814360e-02 4.60341079e-03 9.98709331e-01 -8.23043155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.389115933 meters Centerline goodness [0,1] 0.9993390614672836 Centerline is valid? [True, True] Translation: X:-61.79, Y:38.61, Z:-0.81 [[ 6.67263180e-01 7.43861421e-01 -3.78157941e-02 -6.17921246e+01] [-7.43051715e-01 6.68317136e-01 3.50193430e-02 3.86124517e+01] [ 5.13224815e-02 4.73197244e-03 9.98670922e-01 -8.07023598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.419115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.80, Y:38.63, Z:-0.79 [[ 6.62593214e-01 7.47924363e-01 -3.97414101e-02 -6.18019471e+01] [-7.47029269e-01 6.63763546e-01 3.69489648e-02 3.86336480e+01] [ 5.40139303e-02 5.20586321e-03 9.98526612e-01 -7.94522037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.449115933 meters Centerline goodness [0,1] 0.9991258741258742 Centerline is valid? [True, True] Translation: X:-61.83, Y:38.64, Z:-0.81 [[ 6.65775801e-01 7.45253044e-01 -3.66126058e-02 -6.18267185e+01] [-7.44482172e-01 6.66766579e-01 3.41851505e-02 3.86391870e+01] [ 4.98886494e-02 4.49778630e-03 9.98744658e-01 -8.05673599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.479115933 meters Centerline goodness [0,1] 0.9991122947181535 Centerline is valid? [True, True] Translation: X:-61.84, Y:38.66, Z:-0.79 [[ 6.60840377e-01 7.49475871e-01 -3.96977870e-02 -6.18350548e+01] [-7.48569341e-01 6.62011792e-01 3.72065728e-02 3.86621939e+01] [ 5.41658316e-02 5.12894061e-03 9.98518781e-01 -7.90864963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.50911593299998 meters Centerline goodness [0,1] 0.9981171779820578 Centerline is valid? [True, True] Translation: X:-61.87, Y:38.66, Z:-0.81 [[ 6.62633339e-01 7.47978479e-01 -3.80164870e-02 -6.18669309e+01] [-7.47136623e-01 6.63706409e-01 3.57864422e-02 3.86589125e+01] [ 5.19992746e-02 4.69022005e-03 9.98636109e-01 -8.14591907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53911593299998 meters Centerline goodness [0,1] 0.9992295839753467 Centerline is valid? [True, True] Translation: X:-61.88, Y:38.68, Z:-0.80 [[ 6.56891286e-01 7.52943520e-01 -3.96218932e-02 -6.18775085e+01] [-7.52028206e-01 6.58064756e-01 3.74747034e-02 3.86759847e+01] [ 5.42901066e-02 5.17997518e-03 9.98511769e-01 -8.04101224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.56911593299998 meters Centerline goodness [0,1] 0.9992295839753467 Centerline is valid? [True, True] Translation: X:-61.89, Y:38.69, Z:-0.80 [[ 6.55366099e-01 7.54275286e-01 -3.95483101e-02 -6.18927900e+01] [-7.53357747e-01 6.56537831e-01 3.75523811e-02 3.86906639e+01] [ 5.42897947e-02 5.18346824e-03 9.98511768e-01 -8.03878347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.59911593299998 meters Centerline goodness [0,1] 0.999665402632166 Centerline is valid? [True, True] Translation: X:-61.90, Y:38.71, Z:-0.80 [[ 6.51881500e-01 7.57155124e-01 -4.20312785e-02 -6.19045670e+01] [-7.56111713e-01 6.53210947e-01 4.01314841e-02 3.87065084e+01] [ 5.78410500e-02 5.61936990e-03 9.98309990e-01 -7.99937585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.62911593299998 meters Centerline goodness [0,1] 0.9987775061124694 Centerline is valid? [True, True] Translation: X:-61.93, Y:38.71, Z:-0.81 [[ 6.56128301e-01 7.53610643e-01 -3.95809572e-02 -6.19310087e+01] [-7.52670467e-01 6.57302872e-01 3.79486779e-02 3.87099807e+01] [ 5.46152044e-02 4.89221599e-03 9.98495491e-01 -8.11864542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.65911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.93, Y:38.73, Z:-0.79 [[ 6.47344220e-01 7.60988894e-01 -4.29111082e-02 -6.19286371e+01] [-7.59873682e-01 6.48739922e-01 4.15752455e-02 3.87282213e+01] [ 5.94764491e-02 5.69352694e-03 9.98213472e-01 -7.94340462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.68911593299998 meters Centerline goodness [0,1] 0.9990026595744681 Centerline is valid? [True, True] Translation: X:-61.95, Y:38.73, Z:-0.81 [[ 6.48551081e-01 7.59981172e-01 -4.25454354e-02 -6.19528873e+01] [-7.58874915e-01 6.49922099e-01 4.13537044e-02 3.87333821e+01] [ 5.90792554e-02 5.46667397e-03 9.98238327e-01 -8.08198293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.71911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.96, Y:38.75, Z:-0.80 [[ 6.46599315e-01 7.61510127e-01 -4.48514453e-02 -6.19647956e+01] [-7.60273337e-01 6.48127076e-01 4.37692425e-02 3.87521240e+01] [ 6.24001576e-02 5.79819575e-03 9.98034369e-01 -7.99997014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.74911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-61.98, Y:38.77, Z:-0.80 [[ 6.46169175e-01 7.61813700e-01 -4.58833731e-02 -6.19802486e+01] [-7.60508628e-01 6.47769794e-01 4.49546433e-02 3.87668560e+01] [ 6.39689263e-02 5.84639637e-03 9.97934765e-01 -7.95025340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.77911593299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-62.00, Y:38.78, Z:-0.79 [[ 6.44630702e-01 7.63067802e-01 -4.66774922e-02 -6.19984028e+01] [-7.61708417e-01 6.46290999e-01 4.59154879e-02 3.87796211e+01] [ 6.52038735e-02 5.95610552e-03 9.97854188e-01 -7.94695489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.809115933 meters Centerline goodness [0,1] 0.9997761361092455 Centerline is valid? [True, True] Translation: X:-62.02, Y:38.79, Z:-0.80 [[ 6.43367844e-01 7.64155310e-01 -4.63085377e-02 -6.20193107e+01] [-7.62807233e-01 6.45005406e-01 4.57509734e-02 3.87878180e+01] [ 6.48301064e-02 5.88978249e-03 9.97878934e-01 -8.01999053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.839115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-62.03, Y:38.80, Z:-0.80 [[ 6.46080089e-01 7.61889588e-01 -4.58778329e-02 -6.20330942e+01] [-7.60548660e-01 6.47683686e-01 4.55146015e-02 3.88038032e+01] [ 6.43914249e-02 5.48624661e-03 9.97909638e-01 -7.95210305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.869115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-62.05, Y:38.82, Z:-0.80 [[ 6.44921663e-01 7.62761584e-01 -4.76530718e-02 -6.20505937e+01] [-7.61304032e-01 6.46655002e-01 4.74708304e-02 3.88162208e+01] [ 6.70240230e-02 5.66350875e-03 9.97735288e-01 -7.99215368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.899115933 meters Centerline goodness [0,1] 0.9997763113745666 Centerline is valid? [True, True] Translation: X:-62.07, Y:38.82, Z:-0.81 [[ 6.45475728e-01 7.62313129e-01 -4.73262880e-02 -6.20741497e+01] [-7.60860467e-01 6.47185492e-01 4.73528113e-02 3.88218333e+01] [ 6.67265567e-02 5.44361121e-03 9.97756450e-01 -8.09151148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.929115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-62.09, Y:38.84, Z:-0.80 [[ 6.46433335e-01 7.61465306e-01 -4.79012621e-02 -6.20872415e+01] [-7.59961189e-01 6.48184074e-01 4.81289617e-02 3.88382296e+01] [ 6.76973698e-02 5.29093495e-03 9.97691872e-01 -8.00109458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.959115933 meters Centerline goodness [0,1] 0.9997745970923025 Centerline is valid? [True, True] Translation: X:-61.20, Y:39.64, Z:-1.75 [[ 8.06121564e-01 -5.87539813e-01 -7.04627015e-02 -6.12026917e+01] [-5.84381210e-01 -8.09152432e-01 6.14080065e-02 3.96390734e+01] [-9.30947149e-02 -8.32523952e-03 -9.95622451e-01 -1.75445970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.989115933 meters Centerline goodness [0,1] 0.9996638655462184 Centerline is valid? [True, True] Translation: X:-62.00, Y:38.73, Z:-0.79 [[ 7.03724475e-01 7.08328792e-01 -5.51560093e-02 -6.19988390e+01] [-7.06776503e-01 7.05859211e-01 4.72202210e-02 3.87349004e+01] [ 7.23798193e-02 5.75294610e-03 9.97360549e-01 -7.92496507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.019115933 meters Centerline goodness [0,1] 0.9996613995485327 Centerline is valid? [True, True] Translation: X:-62.02, Y:38.75, Z:-0.80 [[ 7.05437429e-01 7.06735011e-01 -5.36997015e-02 -6.20187332e+01] [-7.05244434e-01 7.07458551e-01 4.61810193e-02 3.87450981e+01] [ 7.06280562e-02 5.29359604e-03 9.97488674e-01 -7.98073631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.049115933 meters Centerline goodness [0,1] 0.9994337485843715 Centerline is valid? [True, True] Translation: X:-62.04, Y:38.76, Z:-0.79 [[ 7.04289574e-01 7.07774550e-01 -5.50579920e-02 -6.20352631e+01] [-7.06196848e-01 7.06417739e-01 4.75393518e-02 3.87592092e+01] [ 7.25410856e-02 5.40031058e-03 9.97350805e-01 -7.93453674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.079115933 meters Centerline goodness [0,1] 0.99966231427285 Centerline is valid? [True, True] Translation: X:-62.06, Y:38.77, Z:-0.80 [[ 7.06958075e-01 7.05254843e-01 -5.31590716e-02 -6.20571333e+01] [-7.03763766e-01 7.08937443e-01 4.60897384e-02 3.87664327e+01] [ 7.01914675e-02 4.82791567e-03 9.97521854e-01 -8.02195467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.109115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-62.08, Y:38.78, Z:-0.80 [[ 7.06975920e-01 7.05108706e-01 -5.48339405e-02 -6.20759244e+01] [-7.03507699e-01 7.09082781e-01 4.77339250e-02 3.87776848e+01] [ 7.25394091e-02 4.82936376e-03 9.97353855e-01 -8.04372324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.139115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-62.10, Y:38.78, Z:-0.81 [[ 7.13067835e-01 6.99049281e-01 -5.35197694e-02 -6.20989884e+01] [-6.97493193e-01 7.15062483e-01 4.67855897e-02 3.87839791e+01] [ 7.09754120e-02 3.96837572e-03 9.97470171e-01 -8.12627949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.169115933 meters Centerline goodness [0,1] 0.9995422293430991 Centerline is valid? [True, True] Translation: X:-62.13, Y:38.78, Z:-0.83 [[ 7.13241168e-01 6.98760897e-01 -5.49567606e-02 -6.21269212e+01] [-6.97103717e-01 7.15344702e-01 4.82531422e-02 3.87835793e+01] [ 7.30304364e-02 3.89443461e-03 9.97322109e-01 -8.33784363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.199115933 meters Centerline goodness [0,1] 0.9978278266834343 Centerline is valid? [True, True] Translation: X:-62.15, Y:38.78, Z:-0.85 [[ 7.18679139e-01 6.93247404e-01 -5.39289627e-02 -6.21537763e+01] [-6.91621199e-01 7.20692936e-01 4.75584815e-02 3.87847835e+01] [ 7.18360163e-02 3.11912530e-03 9.97411579e-01 -8.45037928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.229115933 meters Centerline goodness [0,1] 0.9988547869903802 Centerline is valid? [True, True] Translation: X:-62.17, Y:38.80, Z:-0.84 [[ 7.19562674e-01 6.92065415e-01 -5.72277947e-02 -6.21653785e+01] [-6.90214632e-01 7.21828393e-01 5.06708281e-02 3.88038145e+01] [ 7.63761747e-02 3.03862476e-03 9.97074444e-01 -8.36546928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25911593299998 meters Centerline goodness [0,1] 0.9985055753534889 Centerline is valid? [True, True] Translation: X:-62.18, Y:38.81, Z:-0.84 [[ 7.22811468e-01 6.88735235e-01 -5.64566834e-02 -6.21838642e+01] [-6.86907961e-01 7.25008651e-01 5.01986963e-02 3.88149321e+01] [ 7.55051948e-02 2.49635192e-03 9.97142284e-01 -8.39296501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.28911593299998 meters Centerline goodness [0,1] 0.9993112157042819 Centerline is valid? [True, True] Translation: X:-62.19, Y:38.84, Z:-0.82 [[ 7.20106344e-01 6.91223303e-01 -6.04747776e-02 -6.21903775e+01] [-6.89116958e-01 7.22635830e-01 5.39932951e-02 3.88398718e+01] [ 8.10226649e-02 2.79328045e-03 9.96708345e-01 -8.19372462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.31911593299998 meters Centerline goodness [0,1] 0.9985055753534889 Centerline is valid? [True, True] Translation: X:-62.23, Y:38.83, Z:-0.86 [[ 7.21659623e-01 6.89639006e-01 -6.00452357e-02 -6.22264892e+01] [-6.87538145e-01 7.24149262e-01 5.38437145e-02 3.88307571e+01] [ 8.06144388e-02 2.42655529e-03 9.96742406e-01 -8.57993257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.34911593299998 meters Centerline goodness [0,1] 0.9990698755958609 Centerline is valid? [True, True] Translation: X:-62.24, Y:38.85, Z:-0.85 [[ 7.23532646e-01 6.87856064e-01 -5.79184426e-02 -6.22397034e+01] [-6.85877668e-01 7.25844420e-01 5.21699453e-02 3.88465770e+01] [ 7.79251915e-02 1.97830777e-03 9.96957246e-01 -8.50706181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.37911593299998 meters Centerline goodness [0,1] 0.999306117728692 Centerline is valid? [True, True] Translation: X:-62.25, Y:38.87, Z:-0.84 [[ 7.22589353e-01 6.88762252e-01 -5.89167831e-02 -6.22519861e+01] [-6.86701061e-01 7.24984640e-01 5.32815512e-02 3.88652084e+01] [ 7.94120840e-02 1.95753586e-03 9.96839952e-01 -8.43900564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.40911593299998 meters Centerline goodness [0,1] 0.9998842458617896 Centerline is valid? [True, True] Translation: X:-62.26, Y:38.88, Z:-0.84 [[ 7.19164140e-01 6.92221655e-01 -6.02670690e-02 -6.22636236e+01] [-6.90056284e-01 7.21681574e-01 5.47542770e-02 3.88818411e+01] [ 8.13957295e-02 2.21035712e-03 9.96679412e-01 -8.38636575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.43911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-62.28, Y:38.90, Z:-0.84 [[ 7.16633373e-01 6.94794501e-01 -6.08046908e-02 -6.22813850e+01] [-6.92581341e-01 7.19204424e-01 5.54624446e-02 3.88950411e+01] [ 8.22660042e-02 2.36595556e-03 9.96607599e-01 -8.37971853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.46911593299998 meters Centerline goodness [0,1] 0.9997676309980249 Centerline is valid? [True, True] Translation: X:-62.31, Y:38.90, Z:-0.86 [[ 7.15529353e-01 6.96001560e-01 -5.99964478e-02 -6.23078985e+01] [-6.93832112e-01 7.18036577e-01 5.49588467e-02 3.88975847e+01] [ 8.13310870e-02 2.30279408e-03 9.96684479e-01 -8.61078879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.49911593299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-62.31, Y:38.92, Z:-0.85 [[ 7.10334330e-01 7.01152989e-01 -6.17221658e-02 -6.23142523e+01] [-6.98849079e-01 7.13005575e-01 5.68596119e-02 3.89201072e+01] [ 8.38755352e-02 2.74514441e-03 9.96472458e-01 -8.50857966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.52911593299999 meters Centerline goodness [0,1] 0.9997662732265981 Centerline is valid? [True, True] Translation: X:-62.33, Y:38.93, Z:-0.85 [[ 7.09199544e-01 7.02345424e-01 -6.12120325e-02 -6.23314075e+01] [-7.00064362e-01 7.11831190e-01 5.66237262e-02 3.89316398e+01] [ 8.33420490e-02 2.69484170e-03 9.96517356e-01 -8.49505452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.559115933 meters Centerline goodness [0,1] 0.9988306828811974 Centerline is valid? [True, True] Translation: X:-62.36, Y:38.93, Z:-0.88 [[ 7.12387460e-01 6.99193859e-01 -6.02665271e-02 -6.23642028e+01] [-6.96951773e-01 7.14928993e-01 5.59889269e-02 3.89274696e+01] [ 8.22334014e-02 2.11705352e-03 9.96610850e-01 -8.83308733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.589115933 meters Centerline goodness [0,1] 0.9998837074078382 Centerline is valid? [True, True] Translation: X:-62.37, Y:38.95, Z:-0.87 [[ 7.10360196e-01 7.01249854e-01 -6.03078256e-02 -6.23703882e+01] [-6.98992525e-01 7.12912237e-01 5.62635965e-02 3.89515816e+01] [ 8.24490257e-02 2.18729981e-03 9.96592883e-01 -8.68444000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.619115933 meters Centerline goodness [0,1] 0.9997681965693093 Centerline is valid? [True, True] Translation: X:-62.39, Y:38.96, Z:-0.88 [[ 7.08770829e-01 7.02825681e-01 -6.06627918e-02 -6.23928277e+01] [-7.00526871e-01 7.11358689e-01 5.68411669e-02 3.89581540e+01] [ 8.31024359e-02 2.20855470e-03 9.96538563e-01 -8.80336670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.649115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-62.40, Y:38.98, Z:-0.87 [[ 7.07644754e-01 7.04012940e-01 -6.00390140e-02 -6.23998722e+01] [-7.01744043e-01 7.10183925e-01 5.65162871e-02 3.89794178e+01] [ 8.24269400e-02 2.13856636e-03 9.96594815e-01 -8.70908863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.679115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-62.42, Y:38.99, Z:-0.87 [[ 7.06136113e-01 7.05493245e-01 -6.04240904e-02 -6.24160135e+01] [-7.03175898e-01 7.08713484e-01 5.71738928e-02 3.89910344e+01] [ 8.31591629e-02 2.11621357e-03 9.96534031e-01 -8.72647985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.709115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-62.43, Y:39.01, Z:-0.88 [[ 7.00791323e-01 7.10599144e-01 -6.27724269e-02 -6.24313316e+01] [-7.08096447e-01 7.03592094e-01 5.96455208e-02 3.90050550e+01] [ 8.65502394e-02 2.64986898e-03 9.96243963e-01 -8.79092907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.739115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-62.45, Y:39.02, Z:-0.88 [[ 6.97982364e-01 7.13131021e-01 -6.53051771e-02 -6.24481045e+01] [-7.10407781e-01 7.01024824e-01 6.23296165e-02 3.90165597e+01] [ 9.02297333e-02 2.88833286e-03 9.95916790e-01 -8.81079120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.769115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-62.47, Y:39.03, Z:-0.89 [[ 6.94229451e-01 7.16616884e-01 -6.71245966e-02 -6.24663306e+01] [-7.13728896e-01 6.97459525e-01 6.43527360e-02 3.90265181e+01] [ 9.29329464e-02 3.23319969e-03 9.95667120e-01 -8.88418685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.799115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-62.48, Y:39.04, Z:-0.89 [[ 6.96245416e-01 7.14810963e-01 -6.54798361e-02 -6.24840154e+01] [-7.12024766e-01 6.99312578e-01 6.31082467e-02 3.90376847e+01] [ 9.09013396e-02 2.68443749e-03 9.95856285e-01 -8.92622886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.829115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-62.51, Y:39.04, Z:-0.91 [[ 6.96249156e-01 7.14759880e-01 -6.59956578e-02 -6.25077220e+01] [-7.11902009e-01 6.99365505e-01 6.39016478e-02 3.90421277e+01] [ 9.18294206e-02 2.49097294e-03 9.95771637e-01 -9.10786394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.859115933 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-62.52, Y:39.06, Z:-0.91 [[ 6.93036417e-01 7.17882745e-01 -6.59157709e-02 -6.25227009e+01] [-7.15017753e-01 6.96158848e-01 6.41285512e-02 3.90551385e+01] [ 9.19246276e-02 2.68752506e-03 9.95762341e-01 -9.12800830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.889115933 meters Centerline goodness [0,1] 0.9997485857950974 Centerline is valid? [True, True] Translation: X:-62.54, Y:39.06, Z:-0.92 [[ 7.01929551e-01 7.09556875e-01 -6.18380658e-02 -6.25414420e+01] [-7.06975155e-01 7.04647041e-01 6.04870112e-02 3.90647956e+01] [ 8.64929847e-02 1.26035554e-03 9.96251663e-01 -9.19280008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.919115933 meters Centerline goodness [0,1] 0.9921107087428866 Centerline is valid? [True, True] Translation: X:-62.55, Y:39.08, Z:-0.92 [[ 7.11324134e-01 7.00375708e-01 -5.90918176e-02 -6.25523621e+01] [-6.97963356e-01 7.13774378e-01 5.80800482e-02 3.90824272e+01] [ 8.28560802e-02 -6.98167056e-05 9.96561521e-01 -9.18388645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.949115933 meters Centerline goodness [0,1] 0.9852480417754569 Centerline is valid? [True, True] Translation: X:-62.57, Y:39.09, Z:-0.93 [[ 7.16852843e-01 6.94846609e-01 -5.75342681e-02 -6.25731664e+01] [-6.92521565e-01 7.19157441e-01 5.68019172e-02 3.90909955e+01] [ 8.08448166e-02 -8.74894411e-04 9.96726317e-01 -9.26130499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.979115933 meters Centerline goodness [0,1] 0.9811119978717744 Centerline is valid? [True, True] Translation: X:-62.59, Y:39.11, Z:-0.92 [[ 7.28334159e-01 6.83207012e-01 -5.25122023e-02 -6.25866573e+01] [-6.81222328e-01 7.30221547e-01 5.20829295e-02 3.91071335e+01] [ 7.39289643e-02 -2.16129195e-03 9.97261168e-01 -9.20057599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.00911593299998 meters Centerline goodness [0,1] 0.975129111171514 Centerline is valid? [True, True] Translation: X:-62.61, Y:39.12, Z:-0.93 [[ 7.32935727e-01 6.78302305e-01 -5.20692127e-02 -6.26057021e+01] [-6.76319087e-01 7.34777499e-01 5.19087694e-02 3.91161945e+01] [ 7.34691238e-02 -2.83038930e-03 9.97293476e-01 -9.29188911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03911593299998 meters Centerline goodness [0,1] 0.9611767866738312 Centerline is valid? [True, True] Translation: X:-62.63, Y:39.12, Z:-0.94 [[ 7.48779568e-01 6.61173548e-01 -4.66765230e-02 -6.26305322e+01] [-6.59532891e-01 7.50221162e-01 4.67394269e-02 3.91210099e+01] [ 6.59205880e-02 -4.21282569e-03 9.97815979e-01 -9.39933388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.06911593299998 meters Centerline goodness [0,1] 0.9456015346670321 Centerline is valid? [True, False] Translation: X:-62.85, Y:39.22, Z:-1.30 [[ 9.41173027e-01 2.84170617e-01 -1.82867149e-01 -6.28538485e+01] [-3.36072166e-01 8.43710036e-01 -4.18579590e-01 3.92154693e+01] [ 3.53388288e-02 4.55412379e-01 8.89578964e-01 -1.29760580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.09911593299998 meters Centerline goodness [0,1] 0.7222900556233889 Centerline is valid? [False, False] Translation: X:-62.96, Y:39.25, Z:-1.30 [[ 9.65632689e-01 2.26110114e-01 -1.28170692e-01 -6.29585196e+01] [-2.59772436e-01 8.55684955e-01 -4.47572943e-01 3.92500429e+01] [ 8.47296382e-03 4.65486277e-01 8.85014539e-01 -1.29563969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.12911593299998 meters Centerline goodness [0,1] 0.6432764140875133 Centerline is valid? [False, False] Translation: X:-63.07, Y:39.28, Z:-1.28 [[ 9.74985894e-01 2.03726317e-01 -8.88712231e-02 -6.30713802e+01] [-2.21795225e-01 8.65730779e-01 -4.48683738e-01 3.92781722e+01] [-1.44701320e-02 4.57171528e-01 8.89260822e-01 -1.27584603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.15911593299998 meters Centerline goodness [0,1] 0.5769849785407726 Centerline is valid? [False, False] Translation: X:-63.19, Y:39.30, Z:-1.26 [[ 9.77774174e-01 2.00594957e-01 -6.09862901e-02 -6.31862492e+01] [-2.06317607e-01 8.68838561e-01 -4.50058441e-01 3.93036106e+01] [-3.72922131e-02 4.52638066e-01 8.90914178e-01 -1.26049437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.18911593299998 meters Centerline goodness [0,1] 0.15950597818946266 Centerline is valid? [False, False] Translation: X:-63.28, Y:39.32, Z:-1.21 [[ 9.84150253e-01 1.76620115e-01 -1.59252718e-02 -6.32830196e+01] [-1.66924087e-01 8.92302952e-01 -4.19442238e-01 3.93154802e+01] [-5.98717695e-02 4.15452496e-01 9.07642327e-01 -1.20927984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.21911593299998 meters Centerline goodness [0,1] 0.13743836136047538 Centerline is valid? [False, False] Translation: X:-63.35, Y:39.33, Z:-1.19 [[ 9.88770056e-01 1.49331528e-01 5.81994968e-03 -6.33494047e+01] [-1.33477152e-01 8.99968055e-01 -4.15019698e-01 3.93317716e+01] [-6.72132945e-02 4.09582219e-01 9.09793811e-01 -1.19347554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.24911593299998 meters Centerline goodness [0,1] 0.1288098693759071 Centerline is valid? [False, False] Translation: X:-63.40, Y:39.36, Z:-1.19 [[ 9.92325240e-01 1.20404092e-01 2.81686506e-02 -6.33998460e+01] [-9.81075786e-02 9.05270137e-01 -4.13353217e-01 3.93555541e+01] [-7.52696570e-02 4.07417272e-01 9.10134960e-01 -1.18542748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.27911593299999 meters Centerline goodness [0,1] 0.13213420961604982 Centerline is valid? [False, False] Translation: X:-63.46, Y:39.37, Z:-1.18 [[ 9.93152713e-01 1.08675647e-01 4.28636585e-02 -6.34639997e+01] [-8.14627746e-02 9.07228851e-01 -4.12673754e-01 3.93708902e+01] [-8.37347349e-02 4.06356266e-01 9.09869815e-01 -1.17546385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.309115933 meters Centerline goodness [0,1] 0.13559322033898302 Centerline is valid? [False, False] Translation: X:-63.51, Y:39.38, Z:-1.17 [[ 9.94277800e-01 9.10609780e-02 5.58529784e-02 -6.35129624e+01] [-6.02757232e-02 9.09890219e-01 -4.10446862e-01 3.93838045e+01] [-8.81957714e-02 4.04731625e-01 9.10172411e-01 -1.16740429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.339115933 meters Centerline goodness [0,1] 0.1342887473460722 Centerline is valid? [False, False] Translation: X:-63.56, Y:39.40, Z:-1.16 [[ 9.95085637e-01 7.22441193e-02 6.77153009e-02 -6.35586354e+01] [-3.84514456e-02 9.12132820e-01 -4.08087252e-01 3.93965468e+01] [-9.12472525e-02 4.03478012e-01 9.10428159e-01 -1.15942210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.369115933 meters Centerline goodness [0,1] 0.14060642092746733 Centerline is valid? [False, False] Translation: X:-63.60, Y:39.40, Z:-1.15 [[ 9.95587298e-01 5.10580720e-02 7.87337682e-02 -6.36030872e+01] [-1.51182692e-02 9.15332914e-01 -4.02414083e-01 3.94031903e+01] [-9.26140967e-02 3.99448031e-01 9.12065732e-01 -1.14730628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.399115933 meters Centerline goodness [0,1] 0.26383058121093383 Centerline is valid? [False, False] Translation: X:-63.65, Y:39.41, Z:-1.14 [[ 9.96672548e-01 2.88090104e-02 7.62487624e-02 -6.36459984e+01] [ 3.59168780e-03 9.19025097e-01 -3.94182663e-01 3.94061536e+01] [-8.14305386e-02 3.93144900e-01 9.15863611e-01 -1.13554859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.429115933 meters Centerline goodness [0,1] 0.24707354123849523 Centerline is valid? [False, False] Translation: X:-63.68, Y:39.41, Z:-1.13 [[ 9.96718928e-01 3.12315739e-02 7.46724007e-02 -6.36832609e+01] [ 6.75909823e-04 9.19314404e-01 -3.93523277e-01 3.94059824e+01] [-8.09377649e-02 3.92282571e-01 9.16276958e-01 -1.12973619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.459115933 meters Centerline goodness [0,1] 0.22504127204796243 Centerline is valid? [False, False] Translation: X:-63.70, Y:39.40, Z:-1.12 [[ 9.98044916e-01 1.92194711e-02 5.94723291e-02 -6.36950837e+01] [ 5.30659334e-03 9.22051903e-01 -3.87029880e-01 3.94026390e+01] [-6.22750838e-02 3.86588800e-01 9.20147224e-01 -1.12217834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.489115933 meters Centerline goodness [0,1] 0.22504127204796243 Centerline is valid? [False, False] Translation: X:-63.70, Y:39.40, Z:-1.12 [[ 9.98036725e-01 1.91906042e-02 5.96189199e-02 -6.36954944e+01] [ 5.39197897e-03 9.22040161e-01 -3.87056673e-01 3.94026764e+01] [-6.23988899e-02 3.86618239e-01 9.20126467e-01 -1.12214239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.519115933 meters Centerline goodness [0,1] 0.23653198653198648 Centerline is valid? [False, False] Translation: X:-63.72, Y:39.40, Z:-1.12 [[ 9.98174694e-01 1.40807801e-02 5.87282929e-02 -6.37170696e+01] [ 9.71391870e-03 9.22344969e-01 -3.86245255e-01 3.94034412e+01] [-5.96063800e-02 3.86110721e-01 9.20524628e-01 -1.11964009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.549115933 meters Centerline goodness [0,1] 0.23521660352495466 Centerline is valid? [False, False] Translation: X:-63.74, Y:39.40, Z:-1.12 [[ 9.98217161e-01 8.27950849e-03 5.91096438e-02 -6.37401933e+01] [ 1.51818075e-02 9.22539473e-01 -3.85603985e-01 3.94048901e+01] [-5.77235912e-02 3.85813906e-01 9.20769036e-01 -1.11650781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.579115933 meters Centerline goodness [0,1] 0.23121719160104992 Centerline is valid? [False, False] Translation: X:-63.74, Y:39.40, Z:-1.11 [[ 9.98932374e-01 7.38461306e-03 4.56024048e-02 -6.37418540e+01] [ 1.06529975e-02 9.23712698e-01 -3.82937807e-01 3.94009466e+01] [-4.49513680e-02 3.83014775e-01 9.22647851e-01 -1.11279044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.609115933 meters Centerline goodness [0,1] 0.23116533312207876 Centerline is valid? [False, False] Translation: X:-63.75, Y:39.40, Z:-1.11 [[ 9.99063239e-01 -3.16771617e-03 4.31579607e-02 -6.37502194e+01] [ 1.93205208e-02 9.25050049e-01 -3.79353562e-01 3.94008757e+01] [-3.87215892e-02 3.79832033e-01 9.24244700e-01 -1.10912700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.639115933 meters Centerline goodness [0,1] 0.2519276032789546 Centerline is valid? [False, False] Translation: X:-63.75, Y:39.40, Z:-1.11 [[ 9.99048911e-01 -3.17264571e-03 4.34880298e-02 -6.37524544e+01] [ 1.94663444e-02 9.24894822e-01 -3.79724413e-01 3.94017117e+01] [-3.90171225e-02 3.80209814e-01 9.24076924e-01 -1.10900823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.669115933 meters Centerline goodness [0,1] 0.25123742615360056 Centerline is valid? [False, False] Translation: X:-63.77, Y:39.40, Z:-1.11 [[ 9.99000631e-01 3.28051003e-03 4.45755282e-02 -6.37683466e+01] [ 1.39406317e-02 9.24683727e-01 -3.80480832e-01 3.94009344e+01] [-4.24664368e-02 3.80722002e-01 9.23713894e-01 -1.10887108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.699115933 meters Centerline goodness [0,1] 0.26336855587576047 Centerline is valid? [False, False] Translation: X:-63.78, Y:39.40, Z:-1.11 [[ 9.98875613e-01 8.92282039e-03 4.65606407e-02 -6.37840836e+01] [ 9.55774870e-03 9.24059164e-01 -3.82129966e-01 3.94018975e+01] [-4.64344638e-02 3.82145319e-01 9.22934882e-01 -1.10872477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.729115933 meters Centerline goodness [0,1] 0.2677824267782427 Centerline is valid? [False, False] Translation: X:-63.80, Y:39.40, Z:-1.10 [[ 9.98999488e-01 3.74399530e-03 4.45646286e-02 -6.38029949e+01] [ 1.34415157e-02 9.25277824e-01 -3.79051809e-01 3.94015278e+01] [-4.26538308e-02 3.79271579e-01 9.24301747e-01 -1.10480939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75911593299998 meters Centerline goodness [0,1] 0.29510090895085506 Centerline is valid? [False, False] Translation: X:-63.83, Y:39.40, Z:-1.10 [[ 9.99038034e-01 -1.47810160e-03 4.38271813e-02 -6.38266731e+01] [ 1.79410912e-02 9.25735812e-01 -3.77745051e-01 3.94029006e+01] [-4.00140457e-02 3.78167981e-01 9.24871804e-01 -1.10098285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.78911593299998 meters Centerline goodness [0,1] 0.32711229111354057 Centerline is valid? [False, False] Translation: X:-63.84, Y:39.40, Z:-1.10 [[ 9.98888470e-01 5.09065677e-03 4.68605313e-02 -6.38440934e+01] [ 1.30549821e-02 9.25382069e-01 -3.78810763e-01 3.94032401e+01] [-4.52922909e-02 3.79001467e-01 9.24287020e-01 -1.10086586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.81911593299998 meters Centerline goodness [0,1] 0.34569996143463166 Centerline is valid? [False, False] Translation: X:-63.86, Y:39.40, Z:-1.10 [[ 9.98982966e-01 6.45654740e-04 4.50845576e-02 -6.38643087e+01] [ 1.63977629e-02 9.26228440e-01 -3.76605882e-01 3.94039920e+01] [-4.20017569e-02 3.76962146e-01 9.25275847e-01 -1.09894392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.84911593299998 meters Centerline goodness [0,1] 0.358237401844934 Centerline is valid? [False, False] Translation: X:-63.88, Y:39.40, Z:-1.10 [[ 9.98800114e-01 7.66219505e-03 4.83696559e-02 -6.38836488e+01] [ 1.11758500e-02 9.25960791e-01 -3.77454255e-01 3.94042092e+01] [-4.76805329e-02 3.77541924e-01 9.24764112e-01 -1.09756339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.87911593299998 meters Centerline goodness [0,1] 0.39150730311700044 Centerline is valid? [False, False] Translation: X:-63.91, Y:39.41, Z:-1.10 [[ 9.98447205e-01 1.32131536e-02 5.41164606e-02 -6.39060755e+01] [ 8.40838791e-03 9.24585180e-01 -3.80882585e-01 3.94076423e+01] [-5.50679376e-02 3.80746185e-01 9.23038388e-01 -1.09633387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.90911593299998 meters Centerline goodness [0,1] 0.40210349820897795 Centerline is valid? [False, False] Translation: X:-63.95, Y:39.41, Z:-1.09 [[ 9.98082097e-01 3.19070760e-02 5.30477681e-02 -6.39514293e+01] [-9.13505640e-03 9.23466304e-01 -3.83570771e-01 3.94071860e+01] [-6.12264481e-02 3.82350525e-01 9.21986658e-01 -1.09109128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.93911593299998 meters Centerline goodness [0,1] 0.42031484257871066 Centerline is valid? [False, False] Translation: X:-63.98, Y:39.41, Z:-1.09 [[ 9.98125038e-01 2.70492391e-02 5.49067058e-02 -6.39805167e+01] [-3.92758922e-03 9.23508003e-01 -3.83559046e-01 3.94111970e+01] [-6.10817626e-02 3.82624236e-01 9.21882700e-01 -1.08607201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.96911593299998 meters Centerline goodness [0,1] 0.430802570617247 Centerline is valid? [False, False] Translation: X:-64.00, Y:39.41, Z:-1.08 [[ 9.98245293e-01 2.27220274e-02 5.46812936e-02 -6.40025552e+01] [-1.70627143e-04 9.24547234e-01 -3.81067426e-01 3.94125734e+01] [-5.92140632e-02 3.80389434e-01 9.22928802e-01 -1.08206405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.99911593299998 meters Centerline goodness [0,1] 0.44199346405228757 Centerline is valid? [False, False] Translation: X:-64.03, Y:39.41, Z:-1.08 [[ 9.98255653e-01 1.95478992e-02 5.57093412e-02 -6.40274353e+01] [ 2.99183252e-03 9.25634361e-01 -3.78407291e-01 3.94136417e+01] [-5.89635481e-02 3.77913891e-01 9.23961250e-01 -1.07865181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.02911593299999 meters Centerline goodness [0,1] 0.4701427323041072 Centerline is valid? [False, False] Translation: X:-64.05, Y:39.42, Z:-1.07 [[ 9.98335758e-01 1.54589901e-02 5.55583784e-02 -6.40499862e+01] [ 6.59428769e-03 9.26480619e-01 -3.76284703e-01 3.94152048e+01] [-5.72907423e-02 3.76024842e-01 9.24836790e-01 -1.07483697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.059115933 meters Centerline goodness [0,1] 0.4841989758595464 Centerline is valid? [False, False] Translation: X:-64.07, Y:39.42, Z:-1.07 [[ 9.98369183e-01 1.22590343e-02 5.57556398e-02 -6.40733991e+01] [ 9.46036381e-03 9.27638565e-01 -3.73359336e-01 3.94161638e+01] [-5.62981066e-02 3.73277923e-01 9.26009781e-01 -1.07100713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.089115933 meters Centerline goodness [0,1] 0.5110686752952825 Centerline is valid? [False, False] Translation: X:-64.10, Y:39.42, Z:-1.07 [[ 9.98186889e-01 8.69924461e-03 5.95588564e-02 -6.41041977e+01] [ 1.41437200e-02 9.27894841e-01 -3.72573643e-01 3.94205552e+01] [-5.85054648e-02 3.72740509e-01 9.26089425e-01 -1.06654246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.119115933 meters Centerline goodness [0,1] 0.5504195704736168 Centerline is valid? [False, False] Translation: X:-64.13, Y:39.43, Z:-1.07 [[ 9.97022958e-01 -1.34327186e-02 7.59261702e-02 -6.41252836e+01] [ 4.06245148e-02 9.28462380e-01 -3.69198129e-01 3.94320751e+01] [-6.55352581e-02 3.71183474e-01 9.26244006e-01 -1.06623964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.149115933 meters Centerline goodness [0,1] 0.6033423796600486 Centerline is valid? [False, False] Translation: X:-64.15, Y:39.43, Z:-1.06 [[ 9.96787574e-01 -1.72641745e-02 7.82079287e-02 -6.41509525e+01] [ 4.48493508e-02 9.29348392e-01 -3.66469784e-01 3.94345692e+01] [-6.63556145e-02 3.68800101e-01 9.27137216e-01 -1.06245030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.179115933 meters Centerline goodness [0,1] 0.6551326412918108 Centerline is valid? [False, False] Translation: X:-64.17, Y:39.43, Z:-1.06 [[ 9.96694891e-01 -2.09526233e-02 7.84874596e-02 -6.41736098e+01] [ 4.81520926e-02 9.30518293e-01 -3.63066222e-01 3.94340613e+01] [-6.54268271e-02 3.65645584e-01 9.28451742e-01 -1.05878740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.209115933 meters Centerline goodness [0,1] 0.6592210767468499 Centerline is valid? [False, False] Translation: X:-64.18, Y:39.44, Z:-1.06 [[ 9.96660480e-01 -1.99852447e-02 7.91737206e-02 -6.41774095e+01] [ 4.75153419e-02 9.30474088e-01 -3.63263352e-01 3.94368849e+01] [-6.64091885e-02 3.65812193e-01 9.28316357e-01 -1.05624335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.239115933 meters Centerline goodness [0,1] 0.6637357924083208 Centerline is valid? [False, False] Translation: X:-64.20, Y:39.44, Z:-1.05 [[ 9.96570528e-01 -1.21121081e-02 8.18564565e-02 -6.41954835e+01] [ 4.10699853e-02 9.31185111e-01 -3.62225821e-01 3.94368122e+01] [-7.18361952e-02 3.64345421e-01 9.28489082e-01 -1.05094385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.269115933 meters Centerline goodness [0,1] 0.6626084522809963 Centerline is valid? [False, False] Translation: X:-64.20, Y:39.44, Z:-1.05 [[ 9.96487403e-01 -1.11643377e-02 8.29952634e-02 -6.41995246e+01] [ 4.04885869e-02 9.31768128e-01 -3.60789178e-01 3.94368442e+01] [-7.33043690e-02 3.62882231e-01 9.28947230e-01 -1.04732170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.299115933 meters Centerline goodness [0,1] 0.6573382650568776 Centerline is valid? [False, False] Translation: X:-64.20, Y:39.44, Z:-1.04 [[ 9.96529352e-01 -8.11748231e-03 8.28453763e-02 -6.42012391e+01] [ 3.73490743e-02 9.33034917e-01 -3.57841990e-01 3.94375290e+01] [-7.43928528e-02 3.59694245e-01 9.30099862e-01 -1.04465261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.329115933 meters Centerline goodness [0,1] 0.6540967697213365 Centerline is valid? [False, False] Translation: X:-64.23, Y:39.44, Z:-1.04 [[ 9.96440006e-01 -1.19510107e-02 8.34535049e-02 -6.42258041e+01] [ 4.09843163e-02 9.33723681e-01 -3.55640793e-01 3.94362010e+01] [-7.36722468e-02 3.57794999e-01 9.30889434e-01 -1.04136410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.359115933 meters Centerline goodness [0,1] 0.6465433972678349 Centerline is valid? [False, False] Translation: X:-64.23, Y:39.44, Z:-1.04 [[ 9.96383086e-01 -1.08583741e-02 8.42783612e-02 -6.42292591e+01] [ 4.01958198e-02 9.34049762e-01 -3.54873693e-01 3.94363806e+01] [-7.48668319e-02 3.56977783e-01 9.31107845e-01 -1.03852380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.389115933 meters Centerline goodness [0,1] 0.6238581049543241 Centerline is valid? [False, False] Translation: X:-64.23, Y:39.44, Z:-1.04 [[ 9.96336534e-01 -1.01530194e-02 8.49142398e-02 -6.42327811e+01] [ 3.96999672e-02 9.34365601e-01 -3.54097213e-01 3.94363785e+01] [-7.57457888e-02 3.56171082e-01 9.31345658e-01 -1.03510190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.419115933 meters Centerline goodness [0,1] 0.4852560459683021 Centerline is valid? [False, False] Translation: X:-64.25, Y:39.44, Z:-1.03 [[ 9.96031518e-01 -2.25592477e-03 8.89726082e-02 -6.42521006e+01] [ 3.37171489e-02 9.34729530e-01 -3.53756781e-01 3.94350275e+01] [-8.23672755e-02 3.55352807e-01 9.31096136e-01 -1.03287418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.449115933 meters Centerline goodness [0,1] 0.43451517437474607 Centerline is valid? [False, False] Translation: X:-64.29, Y:39.43, Z:-1.03 [[ 9.95542437e-01 -3.92240645e-03 9.42330683e-02 -6.42889392e+01] [ 3.69936831e-02 9.35308265e-01 -3.51894753e-01 3.94311878e+01] [-8.67566933e-02 3.53812188e-01 9.31284173e-01 -1.02768128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.479115933 meters Centerline goodness [0,1] 0.311685367788734 Centerline is valid? [False, False] Translation: X:-64.32, Y:39.42, Z:-1.02 [[ 9.95112856e-01 -7.00435922e-03 9.84953992e-02 -6.43207522e+01] [ 4.10342347e-02 9.36607534e-01 -3.47969135e-01 3.94241635e+01] [-8.98142321e-02 3.50310243e-01 9.32317616e-01 -1.02093267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.50911593299998 meters Centerline goodness [0,1] 0.3164887576652282 Centerline is valid? [False, False] Translation: X:-64.35, Y:39.42, Z:-1.01 [[ 9.94648928e-01 -9.90554393e-03 1.02836714e-01 -6.43519785e+01] [ 4.48929276e-02 9.37945735e-01 -3.43863960e-01 3.94178490e+01] [-9.30490977e-02 3.46640560e-01 9.33371409e-01 -1.01457838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.53911593299998 meters Centerline goodness [0,1] 0.31362315721510814 Centerline is valid? [False, False] Translation: X:-64.38, Y:39.41, Z:-1.01 [[ 9.94252018e-01 -1.33471546e-02 1.06229837e-01 -6.43811767e+01] [ 4.88952257e-02 9.39292611e-01 -3.39615442e-01 3.94100762e+01] [-9.52480014e-02 3.42857470e-01 9.34546186e-01 -1.00752413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.56911593299998 meters Centerline goodness [0,1] 0.3204921555985386 Centerline is valid? [False, False] Translation: X:-64.41, Y:39.40, Z:-1.00 [[ 9.93780985e-01 -1.70176958e-02 1.10044316e-01 -6.44109966e+01] [ 5.32311651e-02 9.40622461e-01 -3.35254871e-01 3.94017623e+01] [-9.78048896e-02 3.39027703e-01 9.35678588e-01 -1.00014136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.59911593299998 meters Centerline goodness [0,1] 0.31558216480226875 Centerline is valid? [False, False] Translation: X:-64.44, Y:39.39, Z:-0.99 [[ 9.93346597e-01 -2.14890571e-02 1.13140438e-01 -6.44390746e+01] [ 5.79917264e-02 9.42122983e-01 -3.30213938e-01 3.93917508e+01] [-9.94962208e-02 3.34578101e-01 9.37100847e-01 -9.91249224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.62911593299998 meters Centerline goodness [0,1] 0.2968371085083329 Centerline is valid? [False, False] Translation: X:-64.48, Y:39.38, Z:-0.98 [[ 9.92533571e-01 -2.40483426e-02 1.19577540e-01 -6.44798132e+01] [ 6.23232162e-02 9.42719695e-01 -3.27712363e-01 3.93819208e+01] [-1.04847162e-01 3.32717979e-01 9.37179715e-01 -9.80092791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.65911593299998 meters Centerline goodness [0,1] 0.2916997722336988 Centerline is valid? [False, False] Translation: X:-64.51, Y:39.37, Z:-0.97 [[ 9.92076896e-01 -2.79114338e-02 1.22492388e-01 -6.45080574e+01] [ 6.64217144e-02 9.44125211e-01 -3.22824629e-01 3.93726820e+01] [-1.06637654e-01 3.28403010e-01 9.38498734e-01 -9.70932702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.68911593299998 meters Centerline goodness [0,1] 0.2828447645304676 Centerline is valid? [False, False] Translation: X:-64.54, Y:39.36, Z:-0.96 [[ 9.91554929e-01 -3.21521271e-02 1.25638622e-01 -6.45363935e+01] [ 7.09322789e-02 9.45484896e-01 -3.17847328e-01 3.93620133e+01] [-1.08569951e-01 3.24074919e-01 9.39780832e-01 -9.61578661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.71911593299998 meters Centerline goodness [0,1] 0.27469404326895197 Centerline is valid? [False, False] Translation: X:-64.56, Y:39.35, Z:-0.95 [[ 9.91033939e-01 -3.61857997e-02 1.28616947e-01 -6.45648929e+01] [ 7.51869562e-02 9.46783690e-01 -3.12965759e-01 3.93518133e+01] [-1.10447512e-01 3.19830005e-01 9.41015470e-01 -9.52362649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.74911593299998 meters Centerline goodness [0,1] 0.2660786260879724 Centerline is valid? [False, False] Translation: X:-64.59, Y:39.34, Z:-0.94 [[ 9.90590639e-01 -4.06677112e-02 1.30676406e-01 -6.45916283e+01] [ 7.94781461e-02 9.48263761e-01 -3.07374467e-01 3.93396781e+01] [-1.11415485e-01 3.14868188e-01 9.42573400e-01 -9.42790442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.77911593299999 meters Centerline goodness [0,1] 0.24715254870230907 Centerline is valid? [False, False] Translation: X:-64.63, Y:39.34, Z:-0.94 [[ 9.90842470e-01 -3.97432378e-02 1.29041364e-01 -6.46315383e+01] [ 7.83925522e-02 9.47456367e-01 -3.10130682e-01 3.93367920e+01] [-1.09935465e-01 3.17406533e-01 9.41895581e-01 -9.40305499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.809115933 meters Centerline goodness [0,1] 0.24361517480783534 Centerline is valid? [False, False] Translation: X:-64.64, Y:39.33, Z:-0.93 [[ 9.90144465e-01 -3.77430026e-02 1.34868099e-01 -6.46446315e+01] [ 7.79947445e-02 9.48450104e-01 -3.07179460e-01 3.93299197e+01] [-1.16321787e-01 3.14671045e-01 9.42046376e-01 -9.32620852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.839115933 meters Centerline goodness [0,1] 0.23769861609431064 Centerline is valid? [False, False] Translation: X:-64.65, Y:39.33, Z:-0.93 [[ 9.89992240e-01 -5.11331538e-02 1.31532375e-01 -6.46512410e+01] [ 8.96252251e-02 9.47760763e-01 -3.06132087e-01 3.93280804e+01] [-1.09007725e-01 3.14857009e-01 9.42858621e-01 -9.27465213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1539.99 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%| | 0/5082 [00:00