+ python -m lidar_slam --no-model /working/eb25fd27-67ab-4fce-86e4-7b0b1ef33361 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/eb25fd27-67ab-4fce-86e4-7b0b1ef33361 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 0.025529293 Adjusted end_distance from 9.223372036854776e+18 to 61.534169293 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.025529293 meters Centerline goodness [0,1] 0.9992489753878505 Centerline is valid? [0, True] SLAMing on 0.055529293 meters Centerline goodness [0,1] 0.9990578561945955 Centerline is valid? [True, True] Translation: X:-0.03, Y:-0.00, Z:-0.02 [[ 9.99990501e-01 -1.29182034e-03 -4.16294390e-03 -3.16589370e-02] [ 1.29132690e-03 9.99999159e-01 -1.21219192e-04 -1.23618975e-04] [ 4.16309700e-03 1.15842319e-04 9.99991328e-01 -1.83957833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.085529293 meters Centerline goodness [0,1] 0.9990364850976362 Centerline is valid? [True, True] Translation: X:-0.06, Y:-0.00, Z:-0.02 [[ 9.99983451e-01 -1.09422491e-03 -5.64804596e-03 -5.93822116e-02] [ 1.09333748e-03 9.99999389e-01 -1.60206573e-04 -4.95270543e-03] [ 5.64821781e-03 1.54028702e-04 9.99984037e-01 -1.86578516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.115529293 meters Centerline goodness [0,1] 0.9992499249924992 Centerline is valid? [True, True] Translation: X:-0.09, Y:0.00, Z:-0.01 [[ 9.99999319e-01 1.16661958e-03 -2.63364779e-05 -8.72752354e-02] [-1.16661952e-03 9.99999319e-01 2.09629673e-06 1.13396596e-03] [ 2.63389056e-05 -2.06557066e-06 1.00000000e+00 -6.74887579e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.145529293 meters Centerline goodness [0,1] 0.9995515503544887 Centerline is valid? [True, True] Translation: X:-0.12, Y:0.01, Z:-0.01 [[ 9.99990338e-01 3.96947648e-03 1.88864043e-03 -1.19343141e-01] [-3.96958412e-03 9.99992120e-01 5.32484994e-05 8.60124485e-03] [-1.88841418e-03 -6.07451019e-05 9.99998215e-01 -1.07239219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.175529293 meters Centerline goodness [0,1] 0.999380778510879 Centerline is valid? [True, True] Translation: X:-0.15, Y:0.00, Z:-0.01 [[ 9.99988025e-01 4.70342347e-03 1.35178467e-03 -1.50087198e-01] [-4.70347813e-03 9.99988938e-01 3.72577251e-05 4.49783000e-03] [-1.35159448e-03 -4.36153686e-05 9.99999086e-01 -9.69287667e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.205529293 meters Centerline goodness [0,1] 0.9996148414430607 Centerline is valid? [True, True] Translation: X:-0.18, Y:0.00, Z:-0.01 [[ 9.99983726e-01 5.62104484e-03 -9.75965615e-04 -1.81355810e-01] [-5.62107624e-03 9.99984201e-01 -2.94367354e-05 6.03283828e-04] [ 9.75784731e-04 3.49222335e-05 9.99999523e-01 -1.11387153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.235529293 meters Centerline goodness [0,1] 0.9995723114428073 Centerline is valid? [True, True] Translation: X:-0.21, Y:0.01, Z:-0.02 [[ 9.99948744e-01 9.13156231e-03 -4.37304459e-03 -2.12720730e-01] [-9.13220565e-03 9.99958292e-01 -1.27169331e-04 5.67978997e-03] [ 4.37170094e-03 1.67098356e-04 9.99990430e-01 -1.79085930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.265529293 meters Centerline goodness [0,1] 0.9993809371330985 Centerline is valid? [True, True] Translation: X:-0.24, Y:0.01, Z:-0.01 [[ 9.99940177e-01 1.04224004e-02 -3.31908277e-03 -2.40638821e-01] [-1.04227657e-02 9.99945677e-01 -9.27886659e-05 1.01431640e-02] [ 3.31793539e-03 1.27377137e-04 9.99994488e-01 -1.44755004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.295529293 meters Centerline goodness [0,1] 0.999613393758457 Centerline is valid? [True, True] Translation: X:-0.27, Y:0.01, Z:-0.01 [[ 9.99920228e-01 1.25128153e-02 -1.72226872e-03 -2.72475781e-01] [-1.25129216e-02 9.99921709e-01 -5.09569527e-05 1.44465368e-02] [ 1.72149627e-03 7.25035012e-05 9.99998516e-01 -1.38999732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.325529293 meters Centerline goodness [0,1] 0.9992751614897564 Centerline is valid? [True, True] Translation: X:-0.30, Y:0.01, Z:-0.01 [[ 9.99868656e-01 1.61968824e-02 -5.75386494e-04 -3.02474027e-01] [-1.61968950e-02 9.99868822e-01 -1.72403419e-05 1.29391833e-02] [ 5.75031776e-04 2.65575521e-05 9.99999834e-01 -1.15675209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.35552929299999997 meters Centerline goodness [0,1] 0.9994662339603305 Centerline is valid? [True, True] Translation: X:-0.34, Y:0.02, Z:-0.01 [[ 9.99853875e-01 1.70025444e-02 -1.77285319e-03 -3.35567286e-01] [-1.70026704e-02 9.99855443e-01 -5.60417421e-05 1.66424731e-02] [ 1.77164405e-03 8.61767914e-05 9.99998427e-01 -1.38087462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.385529293 meters Centerline goodness [0,1] 0.9992075051405072 Centerline is valid? [True, True] Translation: X:-0.37, Y:0.01, Z:-0.01 [[ 9.99796163e-01 1.96956395e-02 -4.44012930e-03 -3.65091711e-01] [-1.96964061e-02 9.99805999e-01 -1.28974891e-04 5.74775340e-03] [ 4.43672767e-03 2.16403191e-04 9.99990134e-01 -9.85837151e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.415529293 meters Centerline goodness [0,1] 0.9986070931104682 Centerline is valid? [True, True] Translation: X:-0.40, Y:0.02, Z:-0.01 [[ 9.99741559e-01 2.23890589e-02 -3.94283723e-03 -3.97003056e-01] [-2.23896896e-02 9.99749313e-01 -1.15903441e-04 1.51724356e-02] [ 3.93925384e-03 2.04152389e-04 9.99992220e-01 -1.49227623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.445529293 meters Centerline goodness [0,1] 0.9991231259490557 Centerline is valid? [True, True] Translation: X:-0.43, Y:0.02, Z:-0.01 [[ 9.99743895e-01 2.23605064e-02 -3.48588393e-03 -4.28011374e-01] [-2.23610022e-02 9.99749956e-01 -1.03339933e-04 1.58332979e-02] [ 3.48270157e-03 1.81261326e-04 9.99993919e-01 -9.33231557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.47552929299999996 meters Centerline goodness [0,1] 0.9991689396522332 Centerline is valid? [True, True] Translation: X:-0.46, Y:0.02, Z:-0.02 [[ 9.99731564e-01 2.30657203e-02 -2.18448155e-03 -4.60469661e-01] [-2.30659199e-02 9.99733944e-01 -6.62002062e-05 2.40993010e-02] [ 2.18237340e-03 1.16569512e-04 9.99997612e-01 -2.07606680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5055292929999999 meters Centerline goodness [0,1] 0.9992980664922468 Centerline is valid? [True, True] Translation: X:-0.49, Y:0.00, Z:-0.01 [[ 9.99736291e-01 2.29291551e-02 -1.26576099e-03 -4.90951741e-01] [-2.29292264e-02 9.99737090e-01 -4.18518340e-05 2.92012731e-04] [ 1.26446858e-03 7.08637177e-05 9.99999198e-01 -1.29331322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.535529293 meters Centerline goodness [0,1] 0.9993833460916901 Centerline is valid? [True, True] Translation: X:-0.52, Y:-0.01, Z:-0.01 [[ 9.99748237e-01 2.24226412e-02 -8.29609217e-04 -5.22731865e-01] [-2.24226712e-02 9.99748580e-01 -2.69117023e-05 -6.30855885e-03] [ 8.28797205e-04 4.55069817e-05 9.99999656e-01 -1.11112093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.565529293 meters Centerline goodness [0,1] 0.9994041412185312 Centerline is valid? [True, True] Translation: X:-0.55, Y:-0.01, Z:-0.01 [[ 9.99813077e-01 1.93225909e-02 -6.69108101e-04 -5.54323436e-01] [-1.93226092e-02 9.99813301e-01 -2.08988579e-05 -5.92182801e-03] [ 6.68579359e-04 3.38238658e-05 9.99999776e-01 -1.14674987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5955292929999999 meters Centerline goodness [0,1] 0.9990606319385141 Centerline is valid? [True, True] Translation: X:-0.59, Y:-0.00, Z:-0.01 [[ 9.99848824e-01 1.73489661e-02 -1.15892061e-03 -5.85035561e-01] [-1.73490188e-02 9.99849494e-01 -3.53819008e-05 -2.82020560e-03] [ 1.15813235e-03 5.54826873e-05 9.99999328e-01 -7.57736806e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6255292929999999 meters Centerline goodness [0,1] 0.9989315554415882 Centerline is valid? [True, True] Translation: X:-0.62, Y:-0.00, Z:-0.02 [[ 9.99891255e-01 1.45558807e-02 -2.36749978e-03 -6.17452974e-01] [-1.45560929e-02 9.99894052e-01 -7.24258818e-05 -3.90906111e-03] [ 2.36619472e-03 1.06879553e-04 9.99997195e-01 -1.82235637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.655529293 meters Centerline goodness [0,1] 0.9994093076241509 Centerline is valid? [True, True] Translation: X:-0.65, Y:-0.01, Z:-0.02 [[ 9.99903239e-01 1.36712241e-02 -2.57111802e-03 -6.50038575e-01] [-1.36714710e-02 9.99906538e-01 -7.84894664e-05 -1.20659630e-02] [ 2.56980467e-03 1.13632837e-04 9.99996692e-01 -2.41833839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6855292929999999 meters Centerline goodness [0,1] 0.999467903967308 Centerline is valid? [True, True] Translation: X:-0.68, Y:-0.02, Z:-0.02 [[ 9.99916237e-01 1.26057419e-02 -2.93494515e-03 -6.81088718e-01] [-1.26060571e-02 9.99920537e-01 -8.89324523e-05 -2.35063494e-02] [ 2.93359087e-03 1.25923089e-04 9.99995689e-01 -1.68954818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7155292929999999 meters Centerline goodness [0,1] 0.9994251038007026 Centerline is valid? [True, True] Translation: X:-0.71, Y:-0.03, Z:-0.01 [[ 9.99935706e-01 1.10547461e-02 -2.52529581e-03 -7.11379174e-01] [-1.10549739e-02 9.99938889e-01 -7.62795761e-05 -3.28041625e-02] [ 2.52429823e-03 1.04191751e-04 9.99996809e-01 -1.28054269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7455292929999999 meters Centerline goodness [0,1] 0.9991920738189395 Centerline is valid? [True, True] Translation: X:-0.74, Y:-0.03, Z:-0.01 [[ 9.99921054e-01 1.14972200e-02 -5.06957134e-03 -7.42213698e-01] [-1.14981389e-02 9.99933883e-01 -1.52144976e-04 -3.37127987e-02] [ 5.06748691e-03 2.10423600e-04 9.99987138e-01 -1.35761953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.775529293 meters Centerline goodness [0,1] 0.9991914377513458 Centerline is valid? [True, True] Translation: X:-0.77, Y:-0.03, Z:-0.02 [[ 9.99835025e-01 1.57301556e-02 -9.08207014e-03 -7.72441184e-01] [-1.57332583e-02 9.99876188e-01 -2.70286901e-04 -3.15658410e-02] [ 9.07669402e-03 4.13132867e-04 9.99958721e-01 -1.99927609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.805529293 meters Centerline goodness [0,1] 0.9980852693387797 Centerline is valid? [True, True] Translation: X:-0.80, Y:-0.03, Z:-0.02 [[ 9.99769890e-01 2.00297039e-02 -7.67977195e-03 -8.02183812e-01] [-2.00320436e-02 9.99799313e-01 -2.27852545e-04 -3.45502926e-02] [ 7.67366689e-03 3.81641640e-04 9.99970484e-01 -1.77810454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8355292929999999 meters Centerline goodness [0,1] 0.9987732397047315 Centerline is valid? [True, True] Translation: X:-0.83, Y:-0.04, Z:-0.01 [[ 9.99693355e-01 2.46017826e-02 -2.81930481e-03 -8.30748621e-01] [-2.46020926e-02 9.99697320e-01 -7.53008785e-05 -4.23912003e-02] [ 2.81659892e-03 1.44638586e-04 9.99996023e-01 -7.49151004e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8655292929999999 meters Centerline goodness [0,1] 0.998706942236354 Centerline is valid? [True, True] Translation: X:-0.86, Y:-0.04, Z:-0.00 [[ 9.99658895e-01 2.60680173e-02 -1.59776318e-03 -8.62923733e-01] [-2.60681299e-02 9.99660167e-01 -4.96663732e-05 -4.27595062e-02] [ 1.59592550e-03 9.13001298e-05 9.99998722e-01 -7.51557526e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.895529293 meters Centerline goodness [0,1] 0.998664490280457 Centerline is valid? [True, True] Translation: X:-0.89, Y:-0.05, Z:-0.00 [[ 9.99664115e-01 2.58838534e-02 -1.29733917e-03 -8.93814261e-01] [-2.58839311e-02 9.99664954e-01 -4.31882392e-05 -4.98477841e-02] [ 1.29578663e-03 7.67539708e-05 9.99999158e-01 -1.74695800e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9255292929999999 meters Centerline goodness [0,1] 0.998245243128964 Centerline is valid? [True, True] Translation: X:-0.93, Y:-0.05, Z:-0.01 [[ 9.99527392e-01 2.95237936e-02 -8.56375703e-03 -9.25180119e-01] [-2.95270604e-02 9.99563949e-01 -2.55253023e-04 -5.38880696e-02] [ 8.55248675e-03 5.07994959e-04 9.99963298e-01 -1.37268859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9555292929999999 meters Centerline goodness [0,1] 0.9990707889846258 Centerline is valid? [True, True] Translation: X:-0.95, Y:-0.07, Z:-0.01 [[ 9.99612507e-01 2.61221238e-02 -9.61612115e-03 -9.54831460e-01] [-2.61260873e-02 9.99658614e-01 -2.86765068e-04 -7.25230647e-02] [ 9.60534743e-03 5.37885569e-04 9.99953723e-01 -7.92375363e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9855292929999999 meters Centerline goodness [0,1] 0.9990707889846258 Centerline is valid? [True, True] Translation: X:-0.98, Y:-0.07, Z:-0.01 [[ 9.99604868e-01 2.64127167e-02 -9.61650273e-03 -9.82148141e-01] [-2.64165701e-02 9.99650984e-01 -2.73883076e-04 -7.35440996e-02] [ 9.60591242e-03 5.27809874e-04 9.99953723e-01 -7.03054492e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.015529293 meters Centerline goodness [0,1] 0.9984192222573506 Centerline is valid? [True, True] Translation: X:-1.01, Y:-0.09, Z:0.01 [[ 9.99803994e-01 1.90853886e-02 -5.26514480e-03 -1.01193008e+00] [-1.90864693e-02 9.99817825e-01 -1.55066864e-04 -9.44612270e-02] [ 5.26122611e-03 2.55529494e-04 9.99986127e-01 6.58061987e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.045529293 meters Centerline goodness [0,1] 0.999051813143977 Centerline is valid? [True, True] Translation: X:-1.04, Y:-0.13, Z:0.01 [[ 9.99912870e-01 1.28380537e-02 -3.07184371e-03 -1.04027297e+00] [-1.28383905e-02 9.99917580e-01 -8.99279520e-05 -1.32275232e-01] [ 3.07043603e-03 1.29357646e-04 9.99995278e-01 1.46179723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.075529293 meters Centerline goodness [0,1] 0.9987576593459814 Centerline is valid? [True, True] Translation: X:-1.07, Y:-0.16, Z:0.02 [[ 9.99980446e-01 3.86829975e-03 -4.91367767e-03 -1.06996272e+00] [-3.86905789e-03 9.99992505e-01 -1.44795953e-04 -1.63583204e-01] [ 4.91308072e-03 1.63804425e-04 9.99987917e-01 2.23479551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.105529293 meters Centerline goodness [0,1] 0.9983458961474037 Centerline is valid? [True, True] Translation: X:-1.10, Y:-0.18, Z:0.03 [[ 9.99977870e-01 -1.37278628e-03 -6.50958217e-03 -1.09759855e+00] [ 1.37158657e-03 9.99999042e-01 -1.88760363e-04 -1.79509464e-01] [ 6.50983506e-03 1.79827730e-04 9.99978795e-01 2.67142332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1355292929999998 meters Centerline goodness [0,1] 0.9983227104998322 Centerline is valid? [True, True] Translation: X:-1.13, Y:-0.19, Z:0.03 [[ 9.99971864e-01 6.47139781e-04 -7.47347368e-03 -1.12633191e+00] [-6.48776435e-04 9.99999766e-01 -2.16572729e-04 -1.88325069e-01] [ 7.47333178e-03 2.21415249e-04 9.99972050e-01 3.01022785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1655292929999999 meters Centerline goodness [0,1] 0.9977592092312203 Centerline is valid? [True, True] Translation: X:-1.16, Y:-0.20, Z:0.03 [[ 9.99954596e-01 7.61099019e-03 -5.73403732e-03 -1.15620383e+00] [-7.61207456e-03 9.99971014e-01 -1.67310059e-04 -2.03029463e-01] [ 5.73259772e-03 2.10950382e-04 9.99983546e-01 3.08672281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1955292929999999 meters Centerline goodness [0,1] 0.9971984696117581 Centerline is valid? [True, True] Translation: X:-1.18, Y:-0.22, Z:0.04 [[ 9.99885736e-01 1.41108779e-02 -5.42203505e-03 -1.18475328e+00] [-1.41119409e-02 9.99900409e-01 -1.57835394e-04 -2.24963761e-01] [ 5.41926787e-03 2.34332797e-04 9.99985288e-01 4.17885320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.225529293 meters Centerline goodness [0,1] 0.99547322527484 Centerline is valid? [True, True] Translation: X:-1.21, Y:-0.24, Z:0.04 [[ 9.99832985e-01 1.75471687e-02 -5.10864255e-03 -1.21457288e+00] [-1.75481574e-02 9.99846008e-01 -1.48766871e-04 -2.39384616e-01] [ 5.10524542e-03 2.38389288e-04 9.99986940e-01 4.37374257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.255529293 meters Centerline goodness [0,1] 0.9960764775487326 Centerline is valid? [True, True] Translation: X:-1.24, Y:-0.26, Z:0.03 [[ 9.99795213e-01 1.89376307e-02 -7.13430476e-03 -1.24393611e+00] [-1.89395896e-02 9.99820608e-01 -2.07108845e-04 -2.56931597e-01] [ 7.12910278e-03 3.42187236e-04 9.99974529e-01 3.49066677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.285529293 meters Centerline goodness [0,1] 0.9957989280023178 Centerline is valid? [True, True] Translation: X:-1.27, Y:-0.28, Z:0.03 [[ 9.99823005e-01 1.66295126e-02 -8.79874305e-03 -1.27206502e+00] [-1.66323233e-02 9.99861643e-01 -2.46367551e-04 -2.82932532e-01] [ 8.79342871e-03 3.92667484e-04 9.99961260e-01 3.29187720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.315529293 meters Centerline goodness [0,1] 0.9955153226476207 Centerline is valid? [True, True] Translation: X:-1.30, Y:-0.31, Z:0.04 [[ 9.99852816e-01 1.37773696e-02 -1.02239859e-02 -1.29917953e+00] [-1.37810745e-02 9.99904994e-01 -2.92007130e-04 -3.11079783e-01] [ 1.02189914e-02 4.32861663e-04 9.99947691e-01 3.91668284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3455292929999998 meters Centerline goodness [0,1] 0.9953512396694215 Centerline is valid? [True, True] Translation: X:-1.33, Y:-0.34, Z:0.04 [[ 9.99918545e-01 7.36940563e-03 -1.04208789e-02 -1.32785395e+00] [-7.37293051e-03 9.99972775e-01 -2.99874119e-04 -3.38985580e-01] [ 1.04183852e-02 3.76682109e-04 9.99945656e-01 4.43574511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3755292929999998 meters Centerline goodness [0,1] 0.99512749045112 Centerline is valid? [True, True] Translation: X:-1.36, Y:-0.38, Z:0.05 [[ 9.99953774e-01 5.04677315e-04 -9.60180261e-03 -1.35664170e+00] [-5.07351714e-04 9.99999833e-01 -2.76097228e-04 -3.76739191e-01] [ 9.60166167e-03 2.80955956e-04 9.99953864e-01 4.70952136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4055292929999998 meters Centerline goodness [0,1] 0.9947088857778144 Centerline is valid? [True, True] Translation: X:-1.39, Y:-0.40, Z:0.05 [[ 9.99964377e-01 -1.83379342e-03 -8.23900869e-03 -1.38515240e+00] [ 1.83191820e-03 9.99998294e-01 -2.35143490e-04 -4.02723466e-01] [ 8.23942585e-03 2.20041924e-04 9.99966031e-01 4.91511397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4355292929999999 meters Centerline goodness [0,1] 0.9947320767141329 Centerline is valid? [True, True] Translation: X:-1.41, Y:-0.43, Z:0.05 [[ 9.99961647e-01 8.32598685e-04 -8.71843449e-03 -1.41183603e+00] [-8.34782646e-04 9.99999621e-01 -2.46863196e-04 -4.26146963e-01] [ 8.71822565e-03 2.54131726e-04 9.99961963e-01 5.44077090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.465529293 meters Centerline goodness [0,1] 0.9953306436748653 Centerline is valid? [True, True] Translation: X:-1.44, Y:-0.44, Z:0.05 [[ 9.99949730e-01 3.57348384e-03 -9.36845706e-03 -1.44047077e+00] [-3.57612678e-03 9.99993570e-01 -2.65374036e-04 -4.43391859e-01] [ 9.36744852e-03 2.98863486e-04 9.99956080e-01 5.14231888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.495529293 meters Centerline goodness [0,1] 0.9951511166813913 Centerline is valid? [True, True] Translation: X:-1.47, Y:-0.46, Z:0.06 [[ 9.99960054e-01 5.12069581e-03 -7.32584734e-03 -1.46807756e+00] [-5.12234052e-03 9.99986860e-01 -2.05762694e-04 -4.59494794e-01] [ 7.32469742e-03 2.43279960e-04 9.99973144e-01 5.55721545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.525529293 meters Centerline goodness [0,1] 0.9952376064867084 Centerline is valid? [True, True] Translation: X:-1.50, Y:-0.47, Z:0.06 [[ 9.99972949e-01 4.49866633e-03 -5.81913220e-03 -1.49607658e+00] [-4.49964941e-03 9.99989864e-01 -1.55857905e-04 -4.72156256e-01] [ 5.81837206e-03 1.82037744e-04 9.99983057e-01 6.10379989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.555529293 meters Centerline goodness [0,1] 0.9952199245035286 Centerline is valid? [True, True] Translation: X:-1.52, Y:-0.48, Z:0.06 [[ 9.99960575e-01 6.12039460e-03 -6.43345346e-03 -1.52468672e+00] [-6.12162479e-03 9.99981248e-01 -1.71543619e-04 -4.84656074e-01] [ 6.43228291e-03 2.10920044e-04 9.99979290e-01 5.87090829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.585529293 meters Centerline goodness [0,1] 0.9957495504332189 Centerline is valid? [True, True] Translation: X:-1.55, Y:-0.51, Z:0.05 [[ 9.99950509e-01 6.44186866e-03 -7.58173118e-03 -1.55242525e+00] [-6.44358357e-03 9.99979220e-01 -2.01784510e-04 -5.09905623e-01] [ 7.58027376e-03 2.50628042e-04 9.99971238e-01 5.15964179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6155292929999998 meters Centerline goodness [0,1] 0.9950456695481977 Centerline is valid? [True, True] Translation: X:-1.58, Y:-0.53, Z:0.06 [[ 9.99967978e-01 4.71623053e-03 -6.46537087e-03 -1.58146590e+00] [-4.71747839e-03 9.99988857e-01 -1.77769871e-04 -5.34432412e-01] [ 6.46446042e-03 2.08264426e-04 9.99979083e-01 5.51815313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6455292929999998 meters Centerline goodness [0,1] 0.9952628892291986 Centerline is valid? [True, True] Translation: X:-1.61, Y:-0.55, Z:0.07 [[ 9.99982635e-01 1.59053935e-03 -5.67451383e-03 -1.60923029e+00] [-1.59144416e-03 9.99998722e-01 -1.54939802e-04 -5.54257189e-01] [ 5.67426014e-03 1.63967784e-04 9.99983888e-01 6.63213292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6755292929999999 meters Centerline goodness [0,1] 0.9946074640836758 Centerline is valid? [True, True] Translation: X:-1.64, Y:-0.57, Z:0.06 [[ 9.99979216e-01 2.29176924e-03 -6.02624568e-03 -1.63818357e+00] [-2.29275290e-03 9.99997359e-01 -1.56326041e-04 -5.67466184e-01] [ 6.02587151e-03 1.70139484e-04 9.99981830e-01 5.77980882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.705529293 meters Centerline goodness [0,1] 0.9951810181120209 Centerline is valid? [True, True] Translation: X:-1.67, Y:-0.59, Z:0.05 [[ 9.99968632e-01 4.98132775e-04 -7.90490881e-03 -1.66683806e+00] [-4.99776702e-04 9.99999854e-01 -2.05988874e-04 -5.87994400e-01] [ 7.90480505e-03 2.09933102e-04 9.99968735e-01 5.46425298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.735529293 meters Centerline goodness [0,1] 0.9954903481206383 Centerline is valid? [True, True] Translation: X:-1.70, Y:-0.60, Z:0.05 [[ 9.99959848e-01 9.52762894e-04 -8.91037373e-03 -1.69541808e+00] [-9.54858247e-04 9.99999517e-01 -2.30907685e-04 -6.02042044e-01] [ 8.91014943e-03 2.39406558e-04 9.99960275e-01 5.39008379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.765529293 meters Centerline goodness [0,1] 0.9957762859882878 Centerline is valid? [True, True] Translation: X:-1.72, Y:-0.61, Z:0.06 [[ 9.99970783e-01 3.56421021e-04 -7.63587808e-03 -1.72255281e+00] [-3.57964018e-04 9.99999916e-01 -2.00706161e-04 -6.09402584e-01] [ 7.63580590e-03 2.03433667e-04 9.99970826e-01 5.78350336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.795529293 meters Centerline goodness [0,1] 0.9959308032062817 Centerline is valid? [True, True] Translation: X:-1.75, Y:-0.63, Z:0.07 [[ 9.99992024e-01 -1.65490475e-04 -3.99056254e-03 -1.75154623e+00] [ 1.65071185e-04 9.99999981e-01 -1.05399680e-04 -6.29477858e-01] [ 3.99057990e-03 1.04740112e-04 9.99992032e-01 6.53176848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8255292929999998 meters Centerline goodness [0,1] 0.9959822156958721 Centerline is valid? [True, True] Translation: X:-1.78, Y:-0.65, Z:0.07 [[ 9.99994727e-01 1.94342433e-03 -2.60167506e-03 -1.77878234e+00] [-1.94360351e-03 9.99998109e-01 -6.63421824e-05 -6.45537942e-01] [ 2.60154121e-03 7.13984574e-05 9.99996613e-01 6.53737224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8555292929999998 meters Centerline goodness [0,1] 0.9961874859834043 Centerline is valid? [True, True] Translation: X:-1.81, Y:-0.65, Z:0.06 [[ 9.99984683e-01 2.34461364e-03 -5.01368354e-03 -1.80615779e+00] [-2.34529498e-03 9.99997241e-01 -1.30022150e-04 -6.52642863e-01] [ 5.01336485e-03 1.41778726e-04 9.99987423e-01 6.33360493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8855292929999998 meters Centerline goodness [0,1] 0.9958606064313533 Centerline is valid? [True, True] Translation: X:-1.83, Y:-0.66, Z:0.07 [[ 9.99983132e-01 2.47576629e-03 -5.25422047e-03 -1.83413740e+00] [-2.47647414e-03 9.99996925e-01 -1.28218265e-04 -6.56435354e-01] [ 5.25388687e-03 1.41228043e-04 9.99986188e-01 6.61520377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9155292929999999 meters Centerline goodness [0,1] 0.9959795918367347 Centerline is valid? [True, True] Translation: X:-1.86, Y:-0.68, Z:0.06 [[ 9.99988904e-01 -7.86482226e-05 -4.71012783e-03 -1.86253171e+00] [ 7.80770782e-05 9.99999990e-01 -1.21442561e-04 -6.76930747e-01] [ 4.71013733e-03 1.21073461e-04 9.99988900e-01 6.01039932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9455292929999999 meters Centerline goodness [0,1] 0.9956564297075737 Centerline is valid? [True, True] Translation: X:-1.89, Y:-0.70, Z:0.06 [[ 9.99989424e-01 -9.48043971e-04 -4.50032920e-03 -1.89105830e+00] [ 9.47567991e-04 9.99999545e-01 -1.07896739e-04 -6.96572018e-01] [ 4.50042944e-03 1.03631230e-04 9.99989868e-01 6.38146706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.975529293 meters Centerline goodness [0,1] 0.9963959194477816 Centerline is valid? [True, True] Translation: X:-1.92, Y:-0.70, Z:0.06 [[ 9.99995070e-01 -2.24429451e-03 -2.19610890e-03 -1.92004080e+00] [ 2.24417921e-03 9.99997480e-01 -5.49644005e-05 -7.03610050e-01] [ 2.19622673e-03 5.00356676e-05 9.99997587e-01 6.24429044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.005529293 meters Centerline goodness [0,1] 0.9969649440857149 Centerline is valid? [True, True] Translation: X:-1.95, Y:-0.71, Z:0.07 [[ 9.99994219e-01 -3.22052873e-03 -1.09113552e-03 -1.94727397e+00] [ 3.22050321e-03 9.99994814e-01 -2.51410275e-05 -7.09488479e-01] [ 1.09121083e-03 2.16268767e-05 9.99999404e-01 6.80198014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0355292929999997 meters Centerline goodness [0,1] 0.996827140154982 Centerline is valid? [True, True] Translation: X:-1.98, Y:-0.72, Z:0.07 [[ 9.99981628e-01 -5.81208979e-03 -1.72147579e-03 -1.97584821e+00] [ 5.81203718e-03 9.99983109e-01 -3.55578641e-05 -7.21647856e-01] [ 1.72165338e-03 2.55519295e-05 9.99998518e-01 6.91439533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.065529293 meters Centerline goodness [0,1] 0.9964653543786947 Centerline is valid? [True, True] Translation: X:-2.00, Y:-0.74, Z:0.06 [[ 9.99960211e-01 -8.25187493e-03 -3.38856361e-03 -2.00497566e+00] [ 8.25164660e-03 9.99965951e-01 -8.13599615e-05 -7.35808809e-01] [ 3.38911960e-03 5.33954950e-05 9.99994255e-01 6.42268922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.095529293 meters Centerline goodness [0,1] 0.9968138647617502 Centerline is valid? [True, True] Translation: X:-2.03, Y:-0.74, Z:0.06 [[ 9.99960071e-01 -8.30965155e-03 -3.28737622e-03 -2.03366294e+00] [ 8.30943092e-03 9.99965473e-01 -8.07652473e-05 -7.42469892e-01] [ 3.28793385e-03 5.34457968e-05 9.99994593e-01 5.89114317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.125529293 meters Centerline goodness [0,1] 0.9961672544902245 Centerline is valid? [True, True] Translation: X:-2.06, Y:-0.75, Z:0.07 [[ 9.99965329e-01 -7.69541259e-03 -3.18148606e-03 -2.06255013e+00] [ 7.69520366e-03 9.99970388e-01 -7.79071698e-05 -7.45719956e-01] [ 3.18199138e-03 5.34222856e-05 9.99994936e-01 6.61353813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.155529293 meters Centerline goodness [0,1] 0.9969220734217983 Centerline is valid? [True, True] Translation: X:-2.09, Y:-0.75, Z:0.06 [[ 9.99962776e-01 -8.25452484e-03 -2.51172097e-03 -2.09119959e+00] [ 8.25439802e-03 9.99965930e-01 -6.08546299e-05 -7.50801419e-01] [ 2.51213772e-03 4.01196201e-05 9.99996844e-01 5.97192552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.185529293 meters Centerline goodness [0,1] 0.9973733507085845 Centerline is valid? [True, True] Translation: X:-2.12, Y:-0.76, Z:0.06 [[ 9.99964187e-01 -7.83315195e-03 -3.20406895e-03 -2.12019620e+00] [ 7.83294206e-03 9.99969319e-01 -7.80519738e-05 -7.57032543e-01] [ 3.20458204e-03 5.29518921e-05 9.99994864e-01 5.70245827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.215529293 meters Centerline goodness [0,1] 0.9973353403034865 Centerline is valid? [True, True] Translation: X:-2.15, Y:-0.76, Z:0.06 [[ 9.99964852e-01 -7.76370935e-03 -3.16539104e-03 -2.14670609e+00] [ 7.76351192e-03 9.99969861e-01 -7.46556239e-05 -7.62653076e-01] [ 3.16587524e-03 5.00784489e-05 9.99994987e-01 6.23788250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2455292929999997 meters Centerline goodness [0,1] 0.9973640990287719 Centerline is valid? [True, True] Translation: X:-2.18, Y:-0.76, Z:0.06 [[ 9.99977935e-01 -6.49388242e-03 -1.39947735e-03 -2.17601245e+00] [ 6.49384355e-03 9.99978914e-01 -3.23209585e-05 -7.62267048e-01] [ 1.39965773e-03 2.32322584e-05 9.99999020e-01 6.14042650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.275529293 meters Centerline goodness [0,1] 0.9968509376079315 Centerline is valid? [True, True] Translation: X:-2.20, Y:-0.77, Z:0.07 [[ 9.99984935e-01 -5.47856916e-03 3.40511925e-04 -2.20327118e+00] [ 5.47856560e-03 9.99984992e-01 1.14120589e-05 -7.66682586e-01] [-3.40569337e-04 -9.54637007e-06 9.99999942e-01 6.64185125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3055292929999998 meters Centerline goodness [0,1] 0.9968868903493601 Centerline is valid? [True, True] Translation: X:-2.23, Y:-0.77, Z:0.07 [[ 9.99992700e-01 -3.75656984e-03 6.98119701e-04 -2.23331256e+00] [ 3.75655909e-03 9.99992944e-01 1.67086122e-05 -7.72344697e-01] [-6.98177542e-04 -1.40859623e-05 9.99999756e-01 6.90334866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.335529293 meters Centerline goodness [0,1] 0.996670997076973 Centerline is valid? [True, True] Translation: X:-2.27, Y:-0.77, Z:0.06 [[ 9.99992744e-01 -3.69956218e-03 -9.08775665e-04 -2.26526835e+00] [ 3.69954153e-03 9.99993156e-01 -2.44046702e-05 -7.72724544e-01] [ 9.08859732e-04 2.10424398e-05 9.99999587e-01 6.44450162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.365529293 meters Centerline goodness [0,1] 0.996767175650123 Centerline is valid? [True, True] Translation: X:-2.29, Y:-0.77, Z:0.06 [[ 9.99980904e-01 -5.08316719e-03 -3.51455598e-03 -2.29449877e+00] [ 5.08290067e-03 9.99987078e-01 -8.47599892e-05 -7.69795081e-01] [ 3.51494142e-03 6.68942317e-05 9.99993820e-01 6.32970986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.395529293 meters Centerline goodness [0,1] 0.996923761915363 Centerline is valid? [True, True] Translation: X:-2.32, Y:-0.77, Z:0.06 [[ 9.99967508e-01 -7.77174215e-03 -2.14071801e-03 -2.32284300e+00] [ 7.77165042e-03 9.99969799e-01 -5.11660857e-05 -7.71501665e-01] [ 2.14105101e-03 3.45275113e-05 9.99997707e-01 6.37737928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.425529293 meters Centerline goodness [0,1] 0.9972805130494784 Centerline is valid? [True, True] Translation: X:-2.35, Y:-0.78, Z:0.07 [[ 9.99923807e-01 -1.23132998e-02 -8.73575594e-04 -2.35059184e+00] [ 1.23132877e-02 9.99924188e-01 -1.91642403e-05 -7.81752416e-01] [ 8.73745342e-04 8.40619250e-06 9.99999618e-01 6.52447801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4555292929999997 meters Centerline goodness [0,1] 0.9971088850883623 Centerline is valid? [True, True] Translation: X:-2.38, Y:-0.79, Z:0.06 [[ 9.99855871e-01 -1.68971708e-02 -1.65023040e-03 -2.37952102e+00] [ 1.68971308e-02 9.99857233e-01 -3.81676410e-05 -7.94427778e-01] [ 1.65063972e-03 1.02779811e-05 9.99998638e-01 6.21753270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.485529293 meters Centerline goodness [0,1] 0.9963065183862326 Centerline is valid? [True, True] Translation: X:-2.41, Y:-0.80, Z:0.06 [[ 9.99798693e-01 -1.97318994e-02 -3.63678514e-03 -2.40747495e+00] [ 1.97317171e-02 9.99805307e-01 -8.59919515e-05 -7.99588262e-01] [ 3.63777387e-03 1.42146249e-05 9.99993383e-01 6.41117029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5155292929999997 meters Centerline goodness [0,1] 0.996626084835674 Centerline is valid? [True, True] Translation: X:-2.44, Y:-0.79, Z:0.07 [[ 9.99867370e-01 -1.58469137e-02 -3.75724031e-03 -2.43679503e+00] [ 1.58466901e-02 9.99874429e-01 -8.92876269e-05 -7.90400577e-01] [ 3.75818344e-03 2.97359620e-05 9.99992938e-01 6.78486254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.545529293 meters Centerline goodness [0,1] 0.9969459431945434 Centerline is valid? [True, True] Translation: X:-2.47, Y:-0.78, Z:0.07 [[ 9.99897807e-01 -1.42957409e-02 9.02614186e-05 -2.46673958e+00] [ 1.42957407e-02 9.99897811e-01 3.44042211e-06 -7.80638567e-01] [-9.03013782e-05 -2.14971669e-06 9.99999996e-01 7.20995247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5755292929999998 meters Centerline goodness [0,1] 0.9966309465822374 Centerline is valid? [True, True] Translation: X:-2.50, Y:-0.77, Z:0.07 [[ 9.99962732e-01 -8.61645813e-03 5.40279561e-04 -2.49702265e+00] [ 8.61645227e-03 9.99962878e-01 1.31699403e-05 -7.72204212e-01] [-5.40372983e-04 -8.51415646e-06 9.99999854e-01 7.30379459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.605529293 meters Centerline goodness [0,1] 0.9960398050365556 Centerline is valid? [True, True] Translation: X:-2.53, Y:-0.76, Z:0.06 [[ 9.99990534e-01 -2.08606926e-03 -3.81846029e-03 -2.52884987e+00] [ 2.08572804e-03 9.99997821e-01 -9.33409580e-05 -7.60237706e-01] [ 3.81864668e-03 8.53758047e-05 9.99992705e-01 5.87331764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.635529293 meters Centerline goodness [0,1] 0.9962015803050923 Centerline is valid? [True, True] Translation: X:-2.56, Y:-0.76, Z:0.06 [[ 9.99991277e-01 -3.90050401e-03 -1.49374913e-03 -2.55695150e+00] [ 3.90045760e-03 9.99992393e-01 -3.39875187e-05 -7.60052783e-01] [ 1.49387034e-03 2.81609171e-05 9.99998884e-01 6.07273503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6655292929999996 meters Centerline goodness [0,1] 0.9967789640013776 Centerline is valid? [True, True] Translation: X:-2.59, Y:-0.76, Z:0.07 [[ 9.99978909e-01 -5.99459207e-03 2.49915872e-03 -2.58711348e+00] [ 5.99445893e-03 9.99982031e-01 6.07595568e-05 -7.60678802e-01] [-2.49947804e-03 -4.57771710e-05 9.99996875e-01 6.89946491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.695529293 meters Centerline goodness [0,1] 0.996565599089579 Centerline is valid? [True, True] Translation: X:-2.62, Y:-0.76, Z:0.07 [[ 9.99975692e-01 -5.93473234e-03 3.65970022e-03 -2.61810595e+00] [ 5.93447141e-03 9.99982387e-01 8.21544323e-05 -7.59498488e-01] [-3.66012333e-03 -6.04340489e-05 9.99993300e-01 6.87870108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7255292929999997 meters Centerline goodness [0,1] 0.9967447254379361 Centerline is valid? [True, True] Translation: X:-2.65, Y:-0.75, Z:0.05 [[ 9.99969590e-01 -5.46260974e-03 -5.56592465e-03 -2.64965126e+00] [ 5.46193382e-03 9.99985074e-01 -1.36632885e-04 -7.54400119e-01] [ 5.56658795e-03 1.06228018e-04 9.99984501e-01 4.96678738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.755529293 meters Centerline goodness [0,1] 0.9964456901454221 Centerline is valid? [True, True] Translation: X:-2.68, Y:-0.75, Z:0.04 [[ 9.99954932e-01 -4.47009850e-03 -8.37574886e-03 -2.67975319e+00] [ 4.46854573e-03 9.99989995e-01 -2.04094655e-04 -7.51470403e-01] [ 8.37657738e-03 1.66658040e-04 9.99964902e-01 4.29554443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7855292929999997 meters Centerline goodness [0,1] 0.99667390025757 Centerline is valid? [True, True] Translation: X:-2.71, Y:-0.75, Z:0.05 [[ 9.99980534e-01 -5.12173956e-03 -3.56363940e-03 -2.70979254e+00] [ 5.12146374e-03 9.99986881e-01 -8.65194943e-05 -7.47703336e-01] [ 3.56403578e-03 6.82667602e-05 9.99993646e-01 5.00918943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.815529293 meters Centerline goodness [0,1] 0.9968984390837219 Centerline is valid? [True, True] Translation: X:-2.74, Y:-0.74, Z:0.06 [[ 9.99992600e-01 -3.32899955e-03 1.92802109e-03 -2.73944381e+00] [ 3.32891264e-03 9.99994458e-01 4.82837112e-05 -7.40138647e-01] [-1.92817115e-03 -4.18651401e-05 9.99998140e-01 5.92223917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.845529293 meters Centerline goodness [0,1] 0.9977168018917927 Centerline is valid? [True, True] Translation: X:-2.77, Y:-0.73, Z:0.07 [[ 9.99996290e-01 -2.53742386e-03 9.90846046e-04 -2.77102170e+00] [ 2.53740936e-03 9.99996781e-01 1.58892979e-05 -7.34119763e-01] [-9.90883174e-04 -1.33750569e-05 9.99999509e-01 6.79708412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.875529293 meters Centerline goodness [0,1] 0.9964800129470788 Centerline is valid? [True, True] Translation: X:-2.80, Y:-0.73, Z:0.06 [[ 9.99997228e-01 1.99026356e-04 2.34595524e-03 -2.80393611e+00] [-1.99144057e-04 9.99999979e-01 4.99385997e-05 -7.26933792e-01] [-2.34594525e-03 -5.04056443e-05 9.99997247e-01 6.17111986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.905529293 meters Centerline goodness [0,1] 0.9964800129470788 Centerline is valid? [True, True] Translation: X:-2.84, Y:-0.73, Z:0.06 [[ 9.99997245e-01 8.88135137e-05 2.34582234e-03 -2.83645256e+00] [-8.89434028e-05 9.99999995e-01 5.52661160e-05 -7.27594294e-01] [-2.34581742e-03 -5.54746092e-05 9.99997247e-01 6.27736679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9355292929999997 meters Centerline goodness [0,1] 0.9971665081260499 Centerline is valid? [True, True] Translation: X:-2.87, Y:-0.72, Z:0.06 [[ 9.99994617e-01 4.86338072e-04 3.24489867e-03 -2.86984082e+00] [-4.86576695e-04 9.99999879e-01 7.27488889e-05 -7.22766178e-01] [-3.24486289e-03 -7.43273894e-05 9.99994733e-01 6.09271496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.965529293 meters Centerline goodness [0,1] 0.9963272594456394 Centerline is valid? [True, True] Translation: X:-2.90, Y:-0.72, Z:0.06 [[ 9.99998861e-01 -1.32225870e-03 7.28228669e-04 -2.90112974e+00] [ 1.32224687e-03 9.99999126e-01 1.67204667e-05 -7.24302880e-01] [-7.28250141e-04 -1.57575496e-05 9.99999735e-01 5.99197029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9955292929999997 meters Centerline goodness [0,1] 0.9963784333672432 Centerline is valid? [True, True] Translation: X:-2.93, Y:-0.73, Z:0.05 [[ 9.99975408e-01 -4.01501456e-03 -5.75013297e-03 -2.93224226e+00] [ 4.01423557e-03 9.99991932e-01 -1.47008314e-04 -7.28369831e-01] [ 5.75067682e-03 1.23922310e-04 9.99983457e-01 4.81003974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.025529293 meters Centerline goodness [0,1] 0.9969124517570587 Centerline is valid? [True, True] Translation: X:-2.96, Y:-0.73, Z:0.05 [[ 9.99921549e-01 -1.04835047e-02 -6.85501519e-03 -2.96096018e+00] [ 1.04826254e-02 9.99945042e-01 -1.64197285e-04 -7.28168880e-01] [ 6.85635981e-03 9.23258476e-05 9.99976491e-01 4.81174226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0555292929999998 meters Centerline goodness [0,1] 0.9971792113967977 Centerline is valid? [True, True] Translation: X:-2.99, Y:-0.72, Z:0.06 [[ 9.99932191e-01 -1.14590901e-02 -2.07449922e-03 -2.98988214e+00] [ 1.14590070e-02 9.99934342e-01 -5.19289716e-05 -7.20062100e-01] [ 2.07495808e-03 2.81537492e-05 9.99997847e-01 6.21496767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.085529293 meters Centerline goodness [0,1] 0.99698758396092 Centerline is valid? [True, True] Translation: X:-3.02, Y:-0.71, Z:0.07 [[ 9.99943830e-01 -9.85201776e-03 3.90819324e-03 -3.01803531e+00] [ 9.85170079e-03 9.99951466e-01 1.00345386e-04 -7.13639654e-01] [-3.90899216e-03 -6.18373989e-05 9.99992358e-01 7.31788493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.115529293 meters Centerline goodness [0,1] 0.997134728713676 Centerline is valid? [True, True] Translation: X:-3.05, Y:-0.71, Z:0.07 [[ 9.99968116e-01 -6.30806356e-03 4.89654131e-03 -3.05090002e+00] [ 6.30754953e-03 9.99980100e-01 1.20413695e-04 -7.09294048e-01] [-4.89720345e-03 -8.95246786e-05 9.99988005e-01 7.00952418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.145529293 meters Centerline goodness [0,1] 0.9970357135605953 Centerline is valid? [True, True] Translation: X:-3.08, Y:-0.71, Z:0.06 [[ 9.99991394e-01 -3.30185581e-03 -2.51190929e-03 -3.08089749e+00] [ 3.30170851e-03 9.99994547e-01 -6.27866356e-05 -7.05166492e-01] [ 2.51210290e-03 5.44925030e-05 9.99996843e-01 5.95272568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.175529293 meters Centerline goodness [0,1] 0.9970672097759674 Centerline is valid? [True, True] Translation: X:-3.11, Y:-0.69, Z:0.06 [[ 9.99996701e-01 -5.82244931e-04 -2.50179004e-03 -3.11033981e+00] [ 5.82095786e-04 9.99999829e-01 -6.03428379e-05 -6.91262881e-01] [ 2.50182474e-03 5.88863574e-05 9.99996869e-01 5.56860947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2055292929999997 meters Centerline goodness [0,1] 0.9959017224938628 Centerline is valid? [True, True] Translation: X:-3.14, Y:-0.80, Z:0.03 [[ 9.99969822e-01 -4.74643962e-03 -6.15026296e-03 -3.13673213e+00] [ 4.74563454e-03 9.99988729e-01 -1.45487669e-04 -8.00346179e-01] [ 6.15088419e-03 1.16296378e-04 9.99981076e-01 3.01451779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.235529293 meters Centerline goodness [0,1] 0.9960547878689785 Centerline is valid? [True, True] Translation: X:-3.16, Y:-0.80, Z:0.03 [[ 9.99989265e-01 4.35822160e-04 -4.61305609e-03 -3.16466426e+00] [-4.36340842e-04 9.99999899e-01 -1.11431867e-04 -7.97174288e-01] [ 4.61300706e-03 1.13443535e-04 9.99989354e-01 2.88286671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2655292929999997 meters Centerline goodness [0,1] 0.9955595026642984 Centerline is valid? [True, True] Translation: X:-3.19, Y:-0.79, Z:0.02 [[ 9.99978288e-01 4.14890261e-03 -5.11966527e-03 -3.19402891e+00] [-4.14959286e-03 9.99991383e-01 -1.24208821e-04 -7.92640763e-01] [ 5.11910582e-03 1.45450650e-04 9.99986887e-01 2.07402395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.295529293 meters Centerline goodness [0,1] 0.9953032634221395 Centerline is valid? [True, True] Translation: X:-3.22, Y:-0.79, Z:0.02 [[ 9.99972976e-01 4.00920141e-03 -6.16228513e-03 -3.22152664e+00] [-4.01019440e-03 9.99991948e-01 -1.48791841e-04 -7.92875537e-01] [ 6.16163898e-03 1.73499781e-04 9.99981002e-01 2.26860011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3255292929999998 meters Centerline goodness [0,1] 0.9954371235626939 Centerline is valid? [True, True] Translation: X:-3.25, Y:-0.79, Z:0.02 [[ 9.99953907e-01 7.37027036e-03 -6.15332592e-03 -3.25050413e+00] [-7.37132481e-03 9.99972820e-01 -1.48701454e-04 -7.86386008e-01] [ 6.15206271e-03 1.94052764e-04 9.99981057e-01 2.06148846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.355529293 meters Centerline goodness [0,1] 0.9956991864970686 Centerline is valid? [True, True] Translation: X:-3.28, Y:-0.78, Z:0.02 [[ 9.99973324e-01 5.45445903e-03 -4.85809403e-03 -3.27926928e+00] [-5.45509293e-03 9.99985114e-01 -1.17242225e-04 -7.83981438e-01] [ 4.85738222e-03 1.43740452e-04 9.99988193e-01 2.27624096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.385529293 meters Centerline goodness [0,1] 0.9955063457684756 Centerline is valid? [True, True] Translation: X:-3.31, Y:-0.78, Z:0.02 [[ 9.99969746e-01 5.91693187e-03 -5.04948242e-03 -3.30762578e+00] [-5.91757540e-03 9.99982485e-01 -1.12513200e-04 -7.79084151e-01] [ 5.04872825e-03 1.42390489e-04 9.99987245e-01 2.06824427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4155292929999996 meters Centerline goodness [0,1] 0.9947211941022996 Centerline is valid? [True, True] Translation: X:-3.34, Y:-0.79, Z:0.02 [[ 9.99988117e-01 2.41858987e-03 -4.23284703e-03 -3.33565229e+00] [-2.41903168e-03 9.99997069e-01 -9.92603806e-05 -7.85555755e-01] [ 4.23259456e-03 1.09498592e-04 9.99991037e-01 1.57419169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.445529293 meters Centerline goodness [0,1] 0.9956260251503554 Centerline is valid? [True, True] Translation: X:-3.36, Y:-0.79, Z:0.01 [[ 9.99989684e-01 2.36482058e-03 -3.87799457e-03 -3.36483142e+00] [-2.36516458e-03 9.99997199e-01 -8.41234291e-05 -7.86786850e-01] [ 3.87778477e-03 9.32946567e-05 9.99992477e-01 1.04724773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4755292929999997 meters Centerline goodness [0,1] 0.9968005831848372 Centerline is valid? [True, True] Translation: X:-3.39, Y:-0.79, Z:0.01 [[ 9.99996217e-01 1.46729535e-03 -2.32676080e-03 -3.39273658e+00] [-1.46742108e-03 9.99998922e-01 -5.23307368e-05 -7.89766753e-01] [ 2.32668150e-03 5.57448767e-05 9.99997292e-01 1.46561706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.505529293 meters Centerline goodness [0,1] 0.9971536427316955 Centerline is valid? [True, True] Translation: X:-3.42, Y:-0.79, Z:0.01 [[ 9.99995380e-01 2.23442590e-03 -2.06094814e-03 -3.42091842e+00] [-2.23451055e-03 9.99997503e-01 -3.87692384e-05 -7.85553806e-01] [ 2.06085637e-03 4.33742696e-05 9.99997875e-01 1.42699979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5355292929999997 meters Centerline goodness [0,1] 0.9951191735133816 Centerline is valid? [True, True] Translation: X:-3.45, Y:-0.77, Z:0.01 [[ 9.99991005e-01 4.23122122e-03 -2.94765562e-04 -3.45042688e+00] [-4.23122273e-03 9.99991048e-01 -4.50495771e-06 -7.73143969e-01] [ 2.94743861e-04 5.75213593e-06 9.99999957e-01 1.27329248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.565529293 meters Centerline goodness [0,1] 0.9970097385541682 Centerline is valid? [True, True] Translation: X:-3.48, Y:-0.77, Z:0.01 [[ 9.99970216e-01 7.69899099e-03 5.40616361e-04 -3.48120421e+00] [-7.69899896e-03 9.99970362e-01 1.26522374e-05 -7.68415493e-01] [-5.40502929e-04 -1.68140654e-05 9.99999854e-01 1.28357078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.595529293 meters Centerline goodness [0,1] 0.9959835304565454 Centerline is valid? [True, True] Translation: X:-3.51, Y:-0.77, Z:0.01 [[ 9.99956152e-01 9.28011633e-03 1.25409707e-03 -3.51382430e+00] [-9.28015758e-03 9.99956938e-01 2.70711975e-05 -7.66604065e-01] [-1.25379184e-03 -3.87082289e-05 9.99999213e-01 1.38791698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6255292929999996 meters Centerline goodness [0,1] 0.9961910164718277 Centerline is valid? [True, True] Translation: X:-3.54, Y:-0.76, Z:0.02 [[ 9.99918697e-01 1.26400556e-02 1.68172275e-03 -3.54458200e+00] [-1.26401380e-02 9.99920110e-01 3.83525365e-05 -7.58477011e-01] [-1.68110362e-03 -5.96066259e-05 9.99998585e-01 1.78008961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.655529293 meters Centerline goodness [0,1] 0.9970861999190611 Centerline is valid? [True, True] Translation: X:-3.58, Y:-0.74, Z:0.00 [[ 9.99888702e-01 1.49150773e-02 3.53391700e-04 -3.57676206e+00] [-1.49150808e-02 9.99888764e-01 7.11397312e-06 -7.41460657e-01] [-3.53246285e-04 -1.23840471e-05 9.99999938e-01 2.21899670e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6855292929999997 meters Centerline goodness [0,1] 0.9967946767289473 Centerline is valid? [True, True] Translation: X:-3.61, Y:-0.75, Z:0.01 [[ 9.99887231e-01 1.50124661e-02 3.87781573e-04 -3.60742440e+00] [-1.50124701e-02 9.99887306e-01 7.37931609e-06 -7.47508948e-01] [-3.87627091e-04 -1.32000432e-05 9.99999925e-01 8.79769319e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.715529293 meters Centerline goodness [0,1] 0.9963751974403628 Centerline is valid? [True, True] Translation: X:-3.64, Y:-0.75, Z:0.01 [[ 9.99886104e-01 1.49707236e-02 1.91195736e-03 -3.63891866e+00] [-1.49708351e-02 9.99887930e-01 4.40142969e-05 -7.51550925e-01] [-1.91108416e-03 -7.26328822e-05 9.99998171e-01 5.18395840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7455292929999997 meters Centerline goodness [0,1] 0.996331502462555 Centerline is valid? [True, True] Translation: X:-3.67, Y:-0.75, Z:0.00 [[ 9.99891424e-01 1.45218429e-02 2.50128467e-03 -3.67164208e+00] [-1.45220307e-02 9.99894548e-01 5.69568782e-05 -7.46699655e-01] [-2.50019378e-03 -9.32744268e-05 9.99996870e-01 4.48573918e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.775529293 meters Centerline goodness [0,1] 0.9967034078268784 Centerline is valid? [True, True] Translation: X:-3.70, Y:-0.75, Z:-0.00 [[ 9.99914093e-01 1.29852084e-02 1.78651281e-03 -3.70315339e+00] [-1.29852983e-02 9.99915687e-01 3.87405652e-05 -7.48015736e-01] [-1.78585913e-03 -6.19356389e-05 9.99998403e-01 -1.10919785e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8055292929999998 meters Centerline goodness [0,1] 0.9964568443643579 Centerline is valid? [True, True] Translation: X:-3.74, Y:-0.75, Z:0.01 [[ 9.99926055e-01 1.20327569e-02 1.76003161e-03 -3.73555302e+00] [-1.20328454e-02 9.99927602e-01 3.97330664e-05 -7.47579558e-01] [-1.75942609e-03 -6.09083167e-05 9.99998450e-01 5.30669304e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.835529293 meters Centerline goodness [0,1] 0.9963796695184354 Centerline is valid? [True, True] Translation: X:-3.77, Y:-0.74, Z:0.01 [[ 9.99922400e-01 1.20836058e-02 3.03001604e-03 -3.76621241e+00] [-1.20838759e-02 9.99926985e-01 7.08224042e-05 -7.43091338e-01] [-3.02893901e-03 -1.07431246e-04 9.99995407e-01 9.61032812e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.865529293 meters Centerline goodness [0,1] 0.99718258472515 Centerline is valid? [True, True] Translation: X:-3.80, Y:-0.73, Z:0.01 [[ 9.99934615e-01 1.10749043e-02 2.84829568e-03 -3.79905359e+00] [-1.10751373e-02 9.99938667e-01 6.60612409e-05 -7.32990228e-01] [-2.84738936e-03 -9.76021873e-05 9.99995941e-01 5.85029788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8955292929999996 meters Centerline goodness [0,1] 0.9966762685575006 Centerline is valid? [True, True] Translation: X:-3.83, Y:-0.74, Z:0.00 [[ 9.99922993e-01 1.21790091e-02 2.38334409e-03 -3.82987746e+00] [-1.21791762e-02 9.99925830e-01 5.56147357e-05 -7.40260495e-01] [-2.38248998e-03 -8.46376206e-05 9.99997158e-01 6.98825679e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.925529293 meters Centerline goodness [0,1] 0.9968664712422926 Centerline is valid? [True, True] Translation: X:-3.86, Y:-0.75, Z:0.00 [[ 9.99912569e-01 1.24591447e-02 4.42986162e-03 -3.86117145e+00] [-1.24597325e-02 9.99922369e-01 1.05112532e-04 -7.50490567e-01] [-4.42820811e-03 -1.60298232e-04 9.99990183e-01 1.85177823e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9555292929999997 meters Centerline goodness [0,1] 0.9971883407164674 Centerline is valid? [True, True] Translation: X:-3.89, Y:-0.75, Z:0.01 [[ 9.99896655e-01 1.20683484e-02 7.81243361e-03 -3.89161029e+00] [-1.20701824e-02 9.99927135e-01 1.87642813e-04 -7.52373279e-01] [-7.80959982e-03 -2.81920919e-04 9.99969465e-01 1.31819184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.985529293 meters Centerline goodness [0,1] 0.9972736635902821 Centerline is valid? [True, True] Translation: X:-3.92, Y:-0.74, Z:0.01 [[ 9.99885929e-01 1.36600102e-02 6.44462758e-03 -3.92315228e+00] [-1.36612914e-02 9.99906668e-01 1.54811476e-04 -7.41636434e-01] [-6.44191136e-03 -2.42835752e-04 9.99979221e-01 1.09439626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.015529293 meters Centerline goodness [0,1] 0.9978484584001461 Centerline is valid? [True, True] Translation: X:-3.95, Y:-0.74, Z:0.01 [[ 9.99855643e-01 1.61285935e-02 5.34433317e-03 -3.95355893e+00] [-1.61294989e-02 9.99869903e-01 1.26335615e-04 -7.38776018e-01] [-5.34160028e-03 -2.12518794e-04 9.99985711e-01 5.74702128e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0455292929999995 meters Centerline goodness [0,1] 0.996428064051306 Centerline is valid? [True, True] Translation: X:-3.99, Y:-0.74, Z:0.00 [[ 9.99861656e-01 1.60402802e-02 4.40208835e-03 -3.98600834e+00] [-1.60408974e-02 9.99871331e-01 1.04932794e-04 -7.37798827e-01] [-4.39983879e-03 -1.75531725e-04 9.99990305e-01 3.48315361e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.075529293 meters Centerline goodness [0,1] 0.9969680431750652 Centerline is valid? [True, True] Translation: X:-4.02, Y:-0.74, Z:0.00 [[ 9.99883865e-01 1.43734890e-02 5.06556179e-03 -4.01790710e+00] [-1.43742890e-02 9.99896677e-01 1.21556394e-04 -7.39072751e-01] [-5.06329121e-03 -1.94356126e-04 9.99987163e-01 4.32294072e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.105529293 meters Centerline goodness [0,1] 0.9977006857603873 Centerline is valid? [True, True] Translation: X:-4.05, Y:-0.74, Z:0.01 [[ 9.99882366e-01 1.43414175e-02 5.43852110e-03 -4.04864119e+00] [-1.43423450e-02 9.99897135e-01 1.31588751e-04 -7.37772452e-01] [-5.43607449e-03 -2.09574418e-04 9.99985202e-01 5.68049391e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.135529292999999 meters Centerline goodness [0,1] 0.9980421443565316 Centerline is valid? [True, True] Translation: X:-4.08, Y:-0.73, Z:0.01 [[ 9.99878769e-01 1.39895777e-02 6.83661974e-03 -4.08079620e+00] [-1.39910375e-02 9.99902107e-01 1.65756308e-04 -7.31426980e-01] [-6.83363162e-03 -2.61387617e-04 9.99976616e-01 5.41017698e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.165529293 meters Centerline goodness [0,1] 0.997219199613106 Centerline is valid? [True, True] Translation: X:-4.11, Y:-0.73, Z:0.01 [[ 9.99873097e-01 1.44893662e-02 6.62184309e-03 -4.11224510e+00] [-1.44907213e-02 9.99894992e-01 1.56714191e-04 -7.32876945e-01] [-6.61887706e-03 -2.52649586e-04 9.99978063e-01 9.77134605e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.195529293 meters Centerline goodness [0,1] 0.9968270649340151 Centerline is valid? [True, True] Translation: X:-4.14, Y:-0.73, Z:0.01 [[ 9.99876249e-01 1.47143638e-02 5.56547339e-03 -4.14490167e+00] [-1.47153220e-02 9.99891715e-01 1.31261790e-04 -7.33762356e-01] [-5.56293930e-03 -2.13143279e-04 9.99984504e-01 5.92114615e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.225529293 meters Centerline goodness [0,1] 0.9973564192597973 Centerline is valid? [True, True] Translation: X:-4.18, Y:-0.73, Z:0.00 [[ 9.99886972e-01 1.43479899e-02 4.49199163e-03 -4.17692555e+00] [-1.43486319e-02 9.99897047e-01 1.10726443e-04 -7.31845607e-01] [-4.48994046e-03 -1.75167862e-04 9.99989905e-01 4.46063987e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2555292929999995 meters Centerline goodness [0,1] 0.99757065349421 Centerline is valid? [True, True] Translation: X:-4.21, Y:-0.74, Z:0.01 [[ 9.99882308e-01 1.40928492e-02 6.06312274e-03 -4.20727684e+00] [-1.40940275e-02 9.99900663e-01 1.51660916e-04 -7.39191728e-01] [-6.06038312e-03 -2.37096885e-04 9.99981608e-01 1.13563670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.285529293 meters Centerline goodness [0,1] 0.997485705016424 Centerline is valid? [True, True] Translation: X:-4.24, Y:-0.74, Z:0.01 [[ 9.99851641e-01 1.52002041e-02 8.10246552e-03 -4.23985477e+00] [-1.52023353e-02 9.99884418e-01 2.01497231e-04 -7.35253862e-01] [-8.09846622e-03 -3.24643735e-04 9.99967154e-01 1.48161475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.315529293 meters Centerline goodness [0,1] 0.9972561283163522 Centerline is valid? [True, True] Translation: X:-4.27, Y:-0.73, Z:0.02 [[ 9.99845675e-01 1.62175496e-02 6.75398369e-03 -4.27249500e+00] [-1.62190281e-02 9.99868449e-01 1.64194435e-04 -7.27628575e-01] [-6.75043236e-03 -2.73712147e-04 9.99977178e-01 1.51266732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.345529293 meters Centerline goodness [0,1] 0.9972836553080213 Centerline is valid? [True, True] Translation: X:-4.30, Y:-0.72, Z:0.02 [[ 9.99879935e-01 1.44416597e-02 5.61733815e-03 -4.30380970e+00] [-1.44426580e-02 9.99895690e-01 1.37204680e-04 -7.22505509e-01] [-5.61477075e-03 -2.18317501e-04 9.99984213e-01 1.78700897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.375529293 meters Centerline goodness [0,1] 0.9974941901586339 Centerline is valid? [True, True] Translation: X:-4.34, Y:-0.72, Z:0.01 [[ 9.99875781e-01 1.47328768e-02 5.60039580e-03 -4.33635059e+00] [-1.47339039e-02 9.99891440e-01 1.42185523e-04 -7.21945084e-01] [-5.59769302e-03 -2.24683554e-04 9.99984308e-01 1.35439997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.405529293 meters Centerline goodness [0,1] 0.9977994912585295 Centerline is valid? [True, True] Translation: X:-4.37, Y:-0.73, Z:0.01 [[ 9.99850575e-01 1.58724868e-02 6.84776263e-03 -4.36841321e+00] [-1.58740620e-02 9.99873984e-01 1.75748222e-04 -7.32753485e-01] [-6.84411014e-03 -2.84423770e-04 9.99976538e-01 9.51314043e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.435529293 meters Centerline goodness [0,1] 0.9977995801033591 Centerline is valid? [True, True] Translation: X:-4.40, Y:-0.74, Z:0.02 [[ 9.99849758e-01 1.44888552e-02 9.51492861e-03 -4.39935443e+00] [-1.44918570e-02 9.99894957e-01 2.46609331e-04 -7.36698099e-01] [-9.51035605e-03 -3.84461264e-04 9.99954702e-01 1.64217367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4655292929999995 meters Centerline goodness [0,1] 0.9970622201511438 Centerline is valid? [True, True] Translation: X:-4.43, Y:-0.73, Z:0.02 [[ 9.99827829e-01 1.68071037e-02 7.86341250e-03 -4.43010379e+00] [-1.68092259e-02 9.99858694e-01 2.03865344e-04 -7.34746926e-01] [-7.85887497e-03 -3.36008122e-04 9.99969062e-01 2.46476032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.495529293 meters Centerline goodness [0,1] 0.9969856362532875 Centerline is valid? [True, True] Translation: X:-4.46, Y:-0.73, Z:0.02 [[ 9.99844243e-01 1.63563392e-02 6.63028370e-03 -4.46239790e+00] [-1.63577998e-02 9.99866188e-01 1.66115187e-04 -7.26114230e-01] [-6.62667946e-03 -2.74546167e-04 9.99978006e-01 2.14085979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.525529293 meters Centerline goodness [0,1] 0.9982703833313221 Centerline is valid? [True, True] Translation: X:-4.49, Y:-0.73, Z:0.02 [[ 9.99862924e-01 1.49846851e-02 7.04220463e-03 -4.49486137e+00] [-1.49863494e-02 9.99887681e-01 1.83624067e-04 -7.31226424e-01] [-7.03866211e-03 -2.89135835e-04 9.99975187e-01 2.17715486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.555529293 meters Centerline goodness [0,1] 0.9976822460043937 Centerline is valid? [True, True] Translation: X:-4.53, Y:-0.74, Z:0.03 [[ 9.99852793e-01 1.45960314e-02 9.01934349e-03 -4.52712636e+00] [-1.45987186e-02 9.99893406e-01 2.32166218e-04 -7.35200472e-01] [-9.01499337e-03 -3.63802899e-04 9.99959298e-01 2.72730568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.585529293 meters Centerline goodness [0,1] 0.9978368980714026 Centerline is valid? [True, True] Translation: X:-4.56, Y:-0.73, Z:0.03 [[ 9.99837794e-01 1.56045689e-02 8.99347501e-03 -4.55883303e+00] [-1.56073017e-02 9.99878171e-01 2.33762208e-04 -7.33717322e-01] [-8.98873158e-03 -3.74088169e-04 9.99959531e-01 3.12030419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.615529293 meters Centerline goodness [0,1] 0.9976382721033509 Centerline is valid? [True, True] Translation: X:-4.59, Y:-0.72, Z:0.03 [[ 9.99858988e-01 1.53253212e-02 6.86580387e-03 -4.59162587e+00] [-1.53269050e-02 9.99882520e-01 1.78117563e-04 -7.22319684e-01] [-6.86226757e-03 -2.83323970e-04 9.99976414e-01 2.87456199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.645529293 meters Centerline goodness [0,1] 0.9974363115184303 Centerline is valid? [True, True] Translation: X:-4.62, Y:-0.73, Z:0.02 [[ 9.99883214e-01 1.39382601e-02 6.26761763e-03 -4.62257330e+00] [-1.39395628e-02 9.99902826e-01 1.64202104e-04 -7.28566039e-01] [-6.26471989e-03 -2.51550777e-04 9.99980345e-01 2.27839097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.675529292999999 meters Centerline goodness [0,1] 0.9970897332255457 Centerline is valid? [True, True] Translation: X:-4.65, Y:-0.74, Z:0.03 [[ 9.99891939e-01 1.35858979e-02 5.61541124e-03 -4.65275821e+00] [-1.35869399e-02 9.99907682e-01 1.47454681e-04 -7.39853135e-01] [-5.61288954e-03 -2.23735002e-04 9.99984223e-01 3.17483452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.705529293 meters Centerline goodness [0,1] 0.9971697159607803 Centerline is valid? [True, True] Translation: X:-4.68, Y:-0.74, Z:0.03 [[ 9.99886682e-01 1.35407916e-02 6.57804248e-03 -4.68474349e+00] [-1.35422682e-02 9.99908283e-01 1.79989902e-04 -7.38582826e-01] [-6.57500195e-03 -2.69051122e-04 9.99978348e-01 3.29840529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.735529293 meters Centerline goodness [0,1] 0.9969320819457059 Centerline is valid? [True, True] Translation: X:-4.72, Y:-0.74, Z:0.04 [[ 9.99901741e-01 1.24273683e-02 6.48603619e-03 -4.71680730e+00] [-1.24287839e-02 9.99922744e-01 1.77999492e-04 -7.37752337e-01] [-6.48332304e-03 -2.58595544e-04 9.99978950e-01 4.33608367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.765529293 meters Centerline goodness [0,1] 0.9978289540428122 Centerline is valid? [True, True] Translation: X:-4.75, Y:-0.74, Z:0.04 [[ 9.99916046e-01 1.11973111e-02 6.52086346e-03 -4.74820802e+00] [-1.11986911e-02 9.99937277e-01 1.75165595e-04 -7.38703993e-01] [-6.51849307e-03 -2.48176025e-04 9.99978724e-01 3.94046284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7955292929999995 meters Centerline goodness [0,1] 0.9978289540428122 Centerline is valid? [True, True] Translation: X:-4.78, Y:-0.74, Z:0.04 [[ 9.99917273e-01 1.10872421e-02 6.52072760e-03 -4.78073663e+00] [-1.10886515e-02 9.99938503e-01 1.80015366e-04 -7.39470290e-01] [-6.51833072e-03 -2.52306550e-04 9.99978724e-01 4.04673887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.825529293 meters Centerline goodness [0,1] 0.9973881352500507 Centerline is valid? [True, True] Translation: X:-4.81, Y:-0.74, Z:0.04 [[ 9.99922785e-01 1.06679470e-02 6.37328966e-03 -4.81221662e+00] [-1.06692601e-02 9.99943067e-01 1.72071426e-04 -7.39846336e-01] [-6.37109116e-03 -2.40056425e-04 9.99979676e-01 4.33886095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.855529293 meters Centerline goodness [0,1] 0.9972273380421364 Centerline is valid? [True, True] Translation: X:-4.84, Y:-0.73, Z:0.04 [[ 9.99908375e-01 1.13586235e-02 7.36363407e-03 -4.84413775e+00] [-1.13604591e-02 9.99935446e-01 2.07509802e-04 -7.34358562e-01] [-7.36080169e-03 -2.91145053e-04 9.99972867e-01 4.48484382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.885529292999999 meters Centerline goodness [0,1] 0.9972226135608911 Centerline is valid? [True, True] Translation: X:-4.88, Y:-0.74, Z:0.05 [[ 9.99914078e-01 9.64576136e-03 8.87668722e-03 -4.87638438e+00] [-9.64837261e-03 9.99953422e-01 2.51391397e-04 -7.36812269e-01] [-8.87384890e-03 -3.37015383e-04 9.99960570e-01 4.97311543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.915529293 meters Centerline goodness [0,1] 0.9979182667043939 Centerline is valid? [True, True] Translation: X:-4.91, Y:-0.74, Z:0.05 [[ 9.99907374e-01 1.06846157e-02 8.43099015e-03 -4.90724883e+00] [-1.06869789e-02 9.99942865e-01 2.35292220e-04 -7.39086818e-01] [-8.42799443e-03 -3.25372240e-04 9.99964431e-01 5.14849247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.945529293 meters Centerline goodness [0,1] 0.9974937849910059 Centerline is valid? [True, True] Translation: X:-4.94, Y:-0.74, Z:0.05 [[ 9.99936860e-01 8.48870720e-03 7.36327778e-03 -4.93902158e+00] [-8.49047489e-03 9.99963933e-01 2.08842142e-04 -7.41305301e-01] [-7.36123942e-03 -2.71346681e-04 9.99972869e-01 5.12894141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.975529293 meters Centerline goodness [0,1] 0.9977183701490127 Centerline is valid? [True, True] Translation: X:-4.97, Y:-0.74, Z:0.05 [[ 9.99952497e-01 7.19713808e-03 6.57306960e-03 -4.97174651e+00] [-7.19850047e-03 9.99974074e-01 1.83631911e-04 -7.41676823e-01] [-6.57157756e-03 -2.30939432e-04 9.99978380e-01 5.07797828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0055292929999995 meters Centerline goodness [0,1] 0.9970283819843131 Centerline is valid? [True, True] Translation: X:-5.00, Y:-0.74, Z:0.06 [[ 9.99951224e-01 6.94666685e-03 7.02092105e-03 -5.00334353e+00] [-6.94822735e-03 9.99975841e-01 1.97896506e-04 -7.42633722e-01] [-7.01937672e-03 -2.46669809e-04 9.99975333e-01 5.77428559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.035529293 meters Centerline goodness [0,1] 0.9976701782820098 Centerline is valid? [True, True] Translation: X:-5.04, Y:-0.74, Z:0.06 [[ 9.99953110e-01 5.73510422e-03 7.80292980e-03 -5.03553039e+00] [-5.73705984e-03 9.99983517e-01 2.28266330e-04 -7.42074337e-01] [-7.80149206e-03 -2.73021501e-04 9.99969531e-01 5.66683108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.065529293 meters Centerline goodness [0,1] 0.9969115734720416 Centerline is valid? [True, True] Translation: X:-5.07, Y:-0.74, Z:0.07 [[ 9.99954127e-01 5.90328269e-03 7.54289257e-03 -5.06685999e+00] [-5.90508586e-03 9.99982541e-01 2.16806234e-04 -7.42217051e-01] [-7.54148101e-03 -2.61337716e-04 9.99971528e-01 6.65954643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.095529292999999 meters Centerline goodness [0,1] 0.9974269621945784 Centerline is valid? [True, True] Translation: X:-5.10, Y:-0.73, Z:0.07 [[ 9.99958721e-01 5.79828372e-03 6.99546414e-03 -5.09916732e+00] [-5.79983652e-03 9.99983160e-01 2.01705380e-04 -7.32231434e-01] [-6.99417680e-03 -2.42269603e-04 9.99975511e-01 6.53886385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.125529293 meters Centerline goodness [0,1] 0.9971356018283393 Centerline is valid? [True, True] Translation: X:-5.13, Y:-0.73, Z:0.06 [[ 9.99965624e-01 4.37886771e-03 7.04103771e-03 -5.13195292e+00] [-4.38045467e-03 9.99990384e-01 2.09982440e-04 -7.30032494e-01] [-7.04005051e-03 -2.40818168e-04 9.99975190e-01 6.19326762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.155529293 meters Centerline goodness [0,1] 0.9975307142712571 Centerline is valid? [True, True] Translation: X:-5.16, Y:-0.74, Z:0.06 [[ 9.99974999e-01 4.08813200e-03 5.76962358e-03 -5.16383910e+00] [-4.08916444e-03 9.99991625e-01 1.67159185e-04 -7.35195702e-01] [-5.76889189e-03 -1.90747945e-04 9.99983342e-01 6.16997602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.185529293 meters Centerline goodness [0,1] 0.9972220532473589 Centerline is valid? [True, True] Translation: X:-5.20, Y:-0.74, Z:0.07 [[ 9.99978678e-01 4.16994222e-03 5.02543297e-03 -5.19575688e+00] [-4.17072737e-03 9.99991292e-01 1.45766426e-04 -7.39968496e-01] [-5.02478137e-03 -1.66723028e-04 9.99987362e-01 6.61773193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2155292929999995 meters Centerline goodness [0,1] 0.9968040061884211 Centerline is valid? [True, True] Translation: X:-5.23, Y:-0.74, Z:0.07 [[ 9.99970688e-01 5.12768237e-03 5.68589519e-03 -5.22724238e+00] [-5.12873402e-03 9.99986833e-01 1.70391178e-04 -7.38349956e-01] [-5.68494662e-03 -1.99547628e-04 9.99983821e-01 6.77705221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.245529293 meters Centerline goodness [0,1] 0.9973033252230332 Centerline is valid? [True, True] Translation: X:-5.26, Y:-0.73, Z:0.07 [[ 9.99959358e-01 4.20508992e-03 7.97496300e-03 -5.25965520e+00] [-4.20716884e-03 9.99991120e-01 2.43921506e-04 -7.34360573e-01] [-7.97386647e-03 -2.77463608e-04 9.99968170e-01 7.05202989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.275529293 meters Centerline goodness [0,1] 0.9973542281469421 Centerline is valid? [True, True] Translation: X:-5.29, Y:-0.73, Z:0.07 [[ 9.99972056e-01 5.19564846e-03 5.37523503e-03 -5.29105499e+00] [-5.19661055e-03 9.99986484e-01 1.65034132e-04 -7.33002441e-01] [-5.37430492e-03 -1.92962523e-04 9.99985540e-01 6.88821843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.305529292999999 meters Centerline goodness [0,1] 0.9972696523900729 Centerline is valid? [True, True] Translation: X:-5.32, Y:-0.73, Z:0.06 [[ 9.99977677e-01 6.09890602e-03 2.72936726e-03 -5.32302073e+00] [-6.09915455e-03 9.99981397e-01 8.27428217e-05 -7.32057192e-01] [-2.72881185e-03 -9.93878073e-05 9.99996272e-01 6.48816749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.335529293 meters Centerline goodness [0,1] 0.997153487993819 Centerline is valid? [True, True] Translation: X:-5.35, Y:-0.73, Z:0.07 [[ 9.99970385e-01 5.96687597e-03 4.86061326e-03 -5.35460929e+00] [-5.96766827e-03 9.99982182e-01 1.48516815e-04 -7.33782722e-01] [-4.85964047e-03 -1.77518944e-04 9.99988176e-01 7.33685879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.365529293 meters Centerline goodness [0,1] 0.9973302355914242 Centerline is valid? [True, True] Translation: X:-5.39, Y:-0.73, Z:0.08 [[ 9.99963281e-01 5.27642611e-03 6.75245571e-03 -5.38590243e+00] [-5.27791972e-03 9.99986051e-01 2.03394258e-04 -7.34871673e-01] [-6.75128833e-03 -2.39025709e-04 9.99977181e-01 7.83523422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.395529293 meters Centerline goodness [0,1] 0.9972078994028574 Centerline is valid? [True, True] Translation: X:-5.42, Y:-0.73, Z:0.08 [[ 9.99939443e-01 6.05998465e-03 9.18622104e-03 -5.41850376e+00] [-6.06282457e-03 9.99981581e-01 2.81333427e-04 -7.28813105e-01] [-9.18434697e-03 -3.37010837e-04 9.99957766e-01 8.13293051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.425529292999999 meters Centerline goodness [0,1] 0.9978083970859798 Centerline is valid? [True, True] Translation: X:-5.45, Y:-0.73, Z:0.07 [[ 9.99962879e-01 6.84545511e-03 5.23257034e-03 -5.45074478e+00] [-6.84640493e-03 9.99976550e-01 1.63629333e-04 -7.29863596e-01] [-5.23132752e-03 -1.99447554e-04 9.99986297e-01 7.09400305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.455529293 meters Centerline goodness [0,1] 0.9975963497107472 Centerline is valid? [True, True] Translation: X:-5.48, Y:-0.74, Z:0.07 [[ 9.99970867e-01 6.98144674e-03 3.08603897e-03 -5.48145313e+00] [-6.98176757e-03 9.99975623e-01 9.32029952e-05 -7.38019176e-01] [-3.08531305e-03 -1.14746287e-04 9.99995234e-01 6.98251977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.485529293 meters Centerline goodness [0,1] 0.9973938184631673 Centerline is valid? [True, True] Translation: X:-5.51, Y:-0.74, Z:0.07 [[ 9.99974344e-01 6.36969817e-03 3.27686233e-03 -5.51346888e+00] [-6.37006625e-03 9.99979706e-01 1.01900767e-04 -7.37259801e-01] [-3.27614675e-03 -1.22771983e-04 9.99994626e-01 7.11552427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.515529293 meters Centerline goodness [0,1] 0.997593162951027 Centerline is valid? [True, True] Translation: X:-5.54, Y:-0.74, Z:0.08 [[ 9.99977896e-01 4.93114424e-03 4.45997216e-03 -5.54449689e+00] [-4.93181009e-03 9.99987829e-01 1.38309827e-04 -7.39685557e-01] [-4.45923585e-03 -1.60302506e-04 9.99990045e-01 8.20783536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5455292929999995 meters Centerline goodness [0,1] 0.9976377632061255 Centerline is valid? [True, True] Translation: X:-5.58, Y:-0.73, Z:0.07 [[ 9.99982277e-01 4.25448899e-03 4.16473382e-03 -5.57708278e+00] [-4.25507141e-03 9.99990939e-01 1.30994802e-04 -7.30097195e-01] [-4.16413876e-03 -1.48713720e-04 9.99991319e-01 7.45464305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.575529293 meters Centerline goodness [0,1] 0.9976988555370015 Centerline is valid? [True, True] Translation: X:-5.61, Y:-0.73, Z:0.08 [[ 9.99977671e-01 6.46226009e-03 1.70189567e-03 -5.60786929e+00] [-6.46236027e-03 9.99979117e-01 5.33706898e-05 -7.32576686e-01] [-1.70151523e-03 -6.43677610e-05 9.99998550e-01 7.62284758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.605529293 meters Centerline goodness [0,1] 0.9982239461059508 Centerline is valid? [True, True] Translation: X:-5.64, Y:-0.74, Z:0.08 [[ 9.99952751e-01 8.53872273e-03 4.64606639e-03 -5.64032226e+00] [-8.53949247e-03 9.99963527e-01 1.45861936e-04 -7.37870022e-01] [-4.64465147e-03 -1.85530093e-04 9.99989196e-01 7.87903629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.635529292999999 meters Centerline goodness [0,1] 0.9982312399617785 Centerline is valid? [True, True] Translation: X:-5.67, Y:-0.74, Z:0.08 [[ 9.99943258e-01 7.74716859e-03 7.31181969e-03 -5.67219790e+00] [-7.74908312e-03 9.99969948e-01 2.33545997e-04 -7.44150431e-01] [-7.30979063e-03 -2.90192644e-04 9.99973241e-01 8.24589645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.665529293 meters Centerline goodness [0,1] 0.9976623165426678 Centerline is valid? [True, True] Translation: X:-5.70, Y:-0.75, Z:0.09 [[ 9.99936886e-01 6.62933268e-03 9.07056895e-03 -5.70383851e+00] [-6.63220464e-03 9.99977966e-01 2.86581110e-04 -7.48339322e-01] [-9.06846924e-03 -3.46720892e-04 9.99958820e-01 9.28211918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.695529293 meters Centerline goodness [0,1] 0.9980484234921022 Centerline is valid? [True, True] Translation: X:-5.73, Y:-0.75, Z:0.10 [[ 9.99952134e-01 4.83209001e-03 8.50768803e-03 -5.73489310e+00] [-4.83456842e-03 9.99988277e-01 2.70771793e-04 -7.47788370e-01] [-8.50627990e-03 -3.11889832e-04 9.99963772e-01 9.60827432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.725529293 meters Centerline goodness [0,1] 0.9974173343636882 Centerline is valid? [True, True] Translation: X:-5.77, Y:-0.74, Z:0.09 [[ 9.99956656e-01 3.45640042e-03 8.64519021e-03 -5.76709513e+00] [-3.45892365e-03 9.99993980e-01 2.76930579e-04 -7.44374973e-01] [-8.64418098e-03 -3.06821629e-04 9.99962591e-01 9.40496998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7555292929999995 meters Centerline goodness [0,1] 0.997945316950118 Centerline is valid? [True, True] Translation: X:-5.80, Y:-0.75, Z:0.09 [[ 9.99974023e-01 -2.48206527e-04 7.20362370e-03 -5.79887494e+00] [ 2.46510050e-04 9.99999942e-01 2.36390204e-04 -7.54493979e-01] [-7.20368195e-03 -2.34608297e-04 9.99974026e-01 8.90620530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.785529293 meters Centerline goodness [0,1] 0.9983775781297531 Centerline is valid? [True, True] Translation: X:-5.83, Y:-0.76, Z:0.09 [[ 9.99967062e-01 -2.39779513e-03 7.75403838e-03 -5.82934284e+00] [ 2.39588130e-03 9.99997097e-01 2.56096519e-04 -7.57545902e-01] [-7.75462994e-03 -2.37510328e-04 9.99969904e-01 9.38166468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.815529293 meters Centerline goodness [0,1] 0.9973807106598985 Centerline is valid? [True, True] Translation: X:-5.86, Y:-0.75, Z:0.09 [[ 9.99961563e-01 -3.39079223e-03 8.08544163e-03 -5.86228748e+00] [ 3.38878571e-03 9.99994224e-01 2.61851596e-04 -7.48591707e-01] [-8.08628281e-03 -2.34441702e-04 9.99967278e-01 9.35115786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.845529292999999 meters Centerline goodness [0,1] 0.9977100474202569 Centerline is valid? [True, True] Translation: X:-5.89, Y:-0.75, Z:0.10 [[ 9.99963495e-01 -4.58804895e-03 7.20820973e-03 -5.89334466e+00] [ 4.58645519e-03 9.99989454e-01 2.37618009e-04 -7.51330564e-01] [-7.20922392e-03 -2.04549204e-04 9.99973992e-01 9.72874090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.875529293 meters Centerline goodness [0,1] 0.9973337642401228 Centerline is valid? [True, True] Translation: X:-5.92, Y:-0.75, Z:0.10 [[ 9.99974464e-01 -3.77569278e-03 6.06757846e-03 -5.92440769e+00] [ 3.77456314e-03 9.99992857e-01 1.97616464e-04 -7.52624948e-01] [-6.06828126e-03 -1.74708960e-04 9.99981573e-01 9.60668551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.905529293 meters Centerline goodness [0,1] 0.9971306471306471 Centerline is valid? [True, True] Translation: X:-5.96, Y:-0.75, Z:0.10 [[ 9.99981525e-01 -3.59587269e-03 4.90095648e-03 -5.95619857e+00] [ 3.59513754e-03 9.99993525e-01 1.58802621e-04 -7.52039165e-01] [-4.90149578e-03 -1.41180075e-04 9.99987978e-01 1.00030416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.935529293 meters Centerline goodness [0,1] 0.9973359363878551 Centerline is valid? [True, True] Translation: X:-5.99, Y:-0.75, Z:0.10 [[ 9.99986230e-01 -3.09861768e-03 4.23540608e-03 -5.98697582e+00] [ 3.09805205e-03 9.99995191e-01 1.40102644e-04 -7.52418242e-01] [-4.23581984e-03 -1.26979207e-04 9.99991021e-01 1.00060337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9655292929999995 meters Centerline goodness [0,1] 0.9978095527836933 Centerline is valid? [True, True] Translation: X:-6.02, Y:-0.75, Z:0.10 [[ 9.99981114e-01 -2.20678397e-03 5.73599048e-03 -6.02070732e+00] [ 2.20574016e-03 9.99997550e-01 1.88296029e-04 -7.50144820e-01] [-5.73639196e-03 -1.75640368e-04 9.99983531e-01 9.59056373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.995529293 meters Centerline goodness [0,1] 0.9977043718511295 Centerline is valid? [True, True] Translation: X:-6.05, Y:-0.75, Z:0.11 [[ 9.99968300e-01 -3.01384363e-03 7.36998820e-03 -6.05101869e+00] [ 3.01207454e-03 9.99995432e-01 2.51127901e-04 -7.50372117e-01] [-7.37071140e-03 -2.28920986e-04 9.99972810e-01 1.05977283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.025529293 meters Centerline goodness [0,1] 0.9969013913360472 Centerline is valid? [True, True] Translation: X:-6.08, Y:-0.75, Z:0.11 [[ 9.99966575e-01 -3.54095881e-03 7.36962274e-03 -6.08312822e+00] [ 3.53922544e-03 9.99993706e-01 2.48233165e-04 -7.45752011e-01] [-7.37045534e-03 -2.22142111e-04 9.99972813e-01 1.07022966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.055529292999999 meters Centerline goodness [0,1] 0.9975878215393347 Centerline is valid? [True, True] Translation: X:-6.12, Y:-0.74, Z:0.10 [[ 9.99979515e-01 -4.18790449e-03 4.84062578e-03 -6.11545913e+00] [ 4.18717039e-03 9.99991221e-01 1.61778053e-04 -7.44771580e-01] [-4.84126079e-03 -1.41506214e-04 9.99988271e-01 1.04305175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.085529293 meters Centerline goodness [0,1] 0.9975901174564601 Centerline is valid? [True, True] Translation: X:-6.15, Y:-0.75, Z:0.10 [[ 9.99975808e-01 -4.58887737e-03 5.22739346e-03 -6.14778199e+00] [ 4.58801488e-03 9.99989459e-01 1.76974726e-04 -7.49762029e-01] [-5.22815048e-03 -1.52987086e-04 9.99986321e-01 1.02505545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.115529293 meters Centerline goodness [0,1] 0.9972246419382939 Centerline is valid? [True, True] Translation: X:-6.18, Y:-0.75, Z:0.11 [[ 9.99960203e-01 -6.43288517e-03 6.18150066e-03 -6.17968390e+00] [ 6.43169527e-03 9.99979294e-01 2.12353979e-04 -7.54675942e-01] [-6.18273871e-03 -1.72587999e-04 9.99980872e-01 1.08982211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.145529293 meters Centerline goodness [0,1] 0.9977887775388485 Centerline is valid? [True, True] Translation: X:-6.21, Y:-0.76, Z:0.11 [[ 9.99936861e-01 -8.56108767e-03 7.27879779e-03 -6.21110442e+00] [ 8.55946710e-03 9.99963335e-01 2.53764532e-04 -7.56361272e-01] [-7.28070342e-03 -1.91445879e-04 9.99973477e-01 1.05858204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.175529292999999 meters Centerline goodness [0,1] 0.9974432337006148 Centerline is valid? [True, True] Translation: X:-6.24, Y:-0.75, Z:0.11 [[ 9.99938655e-01 -9.05230704e-03 6.38287423e-03 -6.24366478e+00] [ 9.05107075e-03 9.99959013e-01 2.22548413e-04 -7.54426384e-01] [-6.38462719e-03 -1.64762915e-04 9.99979604e-01 1.06546031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.205529293 meters Centerline goodness [0,1] 0.9971674253920081 Centerline is valid? [True, True] Translation: X:-6.27, Y:-0.76, Z:0.11 [[ 9.99901925e-01 -1.23711392e-02 6.56467206e-03 -6.27439754e+00] [ 1.23698869e-02 9.99923463e-01 2.31323172e-04 -7.59090966e-01] [-6.56703135e-03 -1.50096234e-04 9.99978426e-01 1.09073132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.235529293 meters Centerline goodness [0,1] 0.9971284125379171 Centerline is valid? [True, True] Translation: X:-6.31, Y:-0.76, Z:0.11 [[ 9.99878620e-01 -1.40633208e-02 6.70587178e-03 -6.30575673e+00] [ 1.40620420e-02 9.99901096e-01 2.37809769e-04 -7.64837106e-01] [-6.70855294e-03 -1.43482652e-04 9.99977487e-01 1.11642810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.265529293 meters Centerline goodness [0,1] 0.997200515588496 Centerline is valid? [True, True] Translation: X:-6.34, Y:-0.76, Z:0.11 [[ 9.99833375e-01 -1.62408510e-02 8.33406254e-03 -6.33793365e+00] [ 1.62388849e-02 9.99868095e-01 3.03537298e-04 -7.63895911e-01] [-8.33789294e-03 -1.68150840e-04 9.99965225e-01 1.10844138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2955292929999995 meters Centerline goodness [0,1] 0.9970426187003727 Centerline is valid? [True, True] Translation: X:-6.37, Y:-0.76, Z:0.12 [[ 9.99811089e-01 -1.71534545e-02 9.14036152e-03 -6.36920864e+00] [ 1.71511545e-02 9.99852854e-01 3.29965569e-04 -7.61298075e-01] [-9.14467660e-03 -1.73135482e-04 9.99958172e-01 1.21955683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.325529293 meters Centerline goodness [0,1] 0.997208850774645 Centerline is valid? [True, True] Translation: X:-6.40, Y:-0.76, Z:0.12 [[ 9.99774595e-01 -1.92387443e-02 8.97941171e-03 -6.40150293e+00] [ 1.92365949e-02 9.99814907e-01 3.25682027e-04 -7.61450101e-01] [-8.98401540e-03 -1.52875311e-04 9.99959631e-01 1.18657777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.355529293 meters Centerline goodness [0,1] 0.9967787029721024 Centerline is valid? [True, True] Translation: X:-6.43, Y:-0.77, Z:0.12 [[ 9.99755412e-01 -1.96108932e-02 1.02239054e-02 -6.43311960e+00] [ 1.96080866e-02 9.99807673e-01 3.74685959e-04 -7.67893946e-01] [-1.02292870e-02 -1.74123093e-04 9.99947664e-01 1.17612949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.385529292999999 meters Centerline goodness [0,1] 0.9974775501967511 Centerline is valid? [True, True] Translation: X:-6.47, Y:-0.77, Z:0.12 [[ 9.99736887e-01 -1.99637277e-02 1.12963328e-02 -6.46508366e+00] [ 1.99602798e-02 9.99800686e-01 4.17897048e-04 -7.68084235e-01] [-1.13024241e-02 -1.92309130e-04 9.99936107e-01 1.20035380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.415529293 meters Centerline goodness [0,1] 0.9968149656298506 Centerline is valid? [True, True] Translation: X:-6.50, Y:-0.76, Z:0.12 [[ 9.99732990e-01 -1.99430560e-02 1.16714748e-02 -6.49714420e+00] [ 1.99393388e-02 9.99801097e-01 4.34777574e-04 -7.64777441e-01] [-1.16778241e-02 -2.01939995e-04 9.99931791e-01 1.20550526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.445529293 meters Centerline goodness [0,1] 0.996829627834656 Centerline is valid? [True, True] Translation: X:-6.53, Y:-0.76, Z:0.13 [[ 9.99821360e-01 -1.63743425e-02 9.44078385e-03 -6.52736449e+00] [ 1.63717074e-02 9.99865911e-01 3.56338967e-04 -7.57666183e-01] [-9.44535276e-03 -2.01713560e-04 9.99955371e-01 1.25082030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.475529293 meters Centerline goodness [0,1] 0.9974898277293063 Centerline is valid? [True, True] Translation: X:-6.56, Y:-0.75, Z:0.12 [[ 9.99879061e-01 -1.38076382e-02 7.15627592e-03 -6.55882036e+00] [ 1.38060532e-02 9.99904655e-01 2.70841447e-04 -7.53940723e-01] [-7.15933329e-03 -1.72008766e-04 9.99974357e-01 1.17444887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5055292929999995 meters Centerline goodness [0,1] 0.9964486773340866 Centerline is valid? [True, True] Translation: X:-6.59, Y:-0.75, Z:0.11 [[ 9.99901614e-01 -1.35120358e-02 3.76646235e-03 -6.59127918e+00] [ 1.35115976e-02 9.99908704e-01 1.41748487e-04 -7.50051049e-01] [-3.76803380e-03 -9.08436175e-05 9.99992897e-01 1.07456458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.535529293 meters Centerline goodness [0,1] 0.9963005122367672 Centerline is valid? [True, True] Translation: X:-6.62, Y:-0.75, Z:0.11 [[ 9.99907029e-01 -1.36047562e-02 9.18849232e-04 -6.62340412e+00] [ 1.36047311e-02 9.99907451e-01 3.34618403e-05 -7.46206982e-01] [-9.19219434e-04 -2.09580325e-05 9.99999577e-01 1.08113922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.565529293 meters Centerline goodness [0,1] 0.9966374710560757 Centerline is valid? [True, True] Translation: X:-6.65, Y:-0.75, Z:0.11 [[ 9.99888364e-01 -1.39552997e-02 5.33944170e-03 -6.65395153e+00] [ 1.39544055e-02 9.99902612e-01 2.04680584e-04 -7.47503323e-01] [-5.34177808e-03 -1.30148999e-04 9.99985724e-01 1.11946439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.595529292999999 meters Centerline goodness [0,1] 0.9972689203131638 Centerline is valid? [True, True] Translation: X:-6.68, Y:-0.75, Z:0.12 [[ 9.99855221e-01 -1.46012091e-02 8.73735307e-03 -6.68489395e+00] [ 1.45988888e-02 9.99893376e-01 3.29279791e-04 -7.52104341e-01] [-8.74122934e-03 -2.01676473e-04 9.99961774e-01 1.19336673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.625529293 meters Centerline goodness [0,1] 0.9968491213896182 Centerline is valid? [True, True] Translation: X:-6.72, Y:-0.75, Z:0.12 [[ 9.99868217e-01 -1.35329908e-02 8.96701318e-03 -6.71697217e+00] [ 1.35304881e-02 9.99908401e-01 3.39706638e-04 -7.50858554e-01] [-8.97078906e-03 -2.18333805e-04 9.99959738e-01 1.18047496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.655529293 meters Centerline goodness [0,1] 0.996349776146493 Centerline is valid? [True, True] Translation: X:-6.75, Y:-0.75, Z:0.12 [[ 9.99861108e-01 -1.49571523e-02 7.35174457e-03 -6.74945949e+00] [ 1.49555048e-02 9.99888121e-01 2.79019953e-04 -7.49203266e-01] [-7.35509541e-03 -1.69032147e-04 9.99972937e-01 1.17492348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.685529293 meters Centerline goodness [0,1] 0.9962054697749521 Centerline is valid? [True, True] Translation: X:-6.78, Y:-0.75, Z:0.12 [[ 9.99837587e-01 -1.57552640e-02 8.75048591e-03 -6.78066107e+00] [ 1.57529248e-02 9.99875858e-01 3.36185262e-04 -7.50567296e-01] [-8.75469630e-03 -1.98284915e-04 9.99961657e-01 1.21363746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7155292929999995 meters Centerline goodness [0,1] 0.9962054697749521 Centerline is valid? [True, True] Translation: X:-6.81, Y:-0.75, Z:0.12 [[ 9.99832771e-01 -1.60579872e-02 8.75045871e-03 -6.81321140e+00] [ 1.60556533e-02 9.99871043e-01 3.36904816e-04 -7.51651126e-01] [-8.75474029e-03 -1.96354145e-04 9.99961657e-01 1.22427092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.745529293 meters Centerline goodness [0,1] 0.9966013918109726 Centerline is valid? [True, True] Translation: X:-6.85, Y:-0.75, Z:0.12 [[ 9.99821241e-01 -1.67290379e-02 8.81053339e-03 -6.84630394e+00] [ 1.67266735e-02 9.99860041e-01 3.41987175e-04 -7.51459188e-01] [-8.81502139e-03 -1.94555126e-04 9.99961128e-01 1.20622848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.775529293 meters Centerline goodness [0,1] 0.9968654573398855 Centerline is valid? [True, True] Translation: X:-6.88, Y:-0.75, Z:0.11 [[ 9.99797824e-01 -1.85533926e-02 7.75135781e-03 -6.87901297e+00] [ 1.85516035e-02 9.99827858e-01 3.02647455e-04 -7.48258971e-01] [-7.75563862e-03 -1.58786150e-04 9.99969912e-01 1.14996266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.805529292999999 meters Centerline goodness [0,1] 0.9965833046923963 Centerline is valid? [True, True] Translation: X:-6.91, Y:-0.75, Z:0.11 [[ 9.99629910e-01 -2.67924202e-02 4.71273547e-03 -6.91158724e+00] [ 2.67918588e-02 9.99641017e-01 1.82218759e-04 -7.48450610e-01] [-4.71592576e-03 -5.58883784e-05 9.99988878e-01 1.08518619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.835529293 meters Centerline goodness [0,1] 0.9961812010021822 Centerline is valid? [True, True] Translation: X:-6.94, Y:-0.76, Z:0.11 [[ 9.99524467e-01 -3.06071842e-02 3.74709029e-03 -6.94309805e+00] [ 3.06068582e-02 9.99531490e-01 1.44328103e-04 -7.59078025e-01] [-3.74975222e-03 -2.95728089e-05 9.99992969e-01 1.09952589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.865529293 meters Centerline goodness [0,1] 0.9970686936481624 Centerline is valid? [True, True] Translation: X:-6.97, Y:-0.77, Z:0.12 [[ 9.99316236e-01 -3.65139132e-02 5.81330069e-03 -6.97480850e+00] [ 3.65131650e-02 9.99333144e-01 2.34834968e-04 -7.69356505e-01] [-5.81799880e-03 -2.24123892e-05 9.99983075e-01 1.15337202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.895529293 meters Centerline goodness [0,1] 0.9963010874398674 Centerline is valid? [True, True] Translation: X:-7.01, Y:-0.77, Z:0.12 [[ 9.99192434e-01 -3.93885208e-02 7.93880988e-03 -7.00680344e+00] [ 3.93872400e-02 9.99223971e-01 3.17678693e-04 -7.69683118e-01] [-7.94516203e-03 -4.73433586e-06 9.99968437e-01 1.19937096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.925529292999999 meters Centerline goodness [0,1] 0.9969482619240096 Centerline is valid? [True, True] Translation: X:-7.04, Y:-0.77, Z:0.12 [[ 9.99077214e-01 -4.21700624e-02 8.14900470e-03 -7.03928667e+00] [ 4.21687907e-02 9.99110447e-01 3.27885177e-04 -7.67162126e-01] [-8.15558267e-03 1.60510648e-05 9.99966743e-01 1.23038321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.955529293 meters Centerline goodness [0,1] 0.9969366573288458 Centerline is valid? [True, True] Translation: X:-7.07, Y:-0.76, Z:0.12 [[ 9.99028766e-01 -4.29779051e-02 9.71724094e-03 -7.07160565e+00] [ 4.29760891e-02 9.99076023e-01 3.95711623e-04 -7.62034324e-01] [-9.72526928e-03 2.22817182e-05 9.99952708e-01 1.24271194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.985529293 meters Centerline goodness [0,1] 0.9968234699038948 Centerline is valid? [True, True] Translation: X:-7.10, Y:-0.76, Z:0.12 [[ 9.99049690e-01 -4.27675413e-02 8.40555832e-03 -7.10391743e+00] [ 4.27661666e-02 9.99085050e-01 3.43301408e-04 -7.57395995e-01] [-8.41254981e-03 1.64983426e-05 9.99964614e-01 1.19933452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.015529292999999 meters Centerline goodness [0,1] 0.9973701246156336 Centerline is valid? [True, True] Translation: X:-7.14, Y:-0.75, Z:0.12 [[ 9.99113009e-01 -4.13589379e-02 7.91418148e-03 -7.13524221e+00] [ 4.13576605e-02 9.99144353e-01 3.25066171e-04 -7.54942024e-01] [-7.92085413e-03 2.53419029e-06 9.99968630e-01 1.22480871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0455292929999995 meters Centerline goodness [0,1] 0.9968757607725391 Centerline is valid? [True, True] Translation: X:-7.17, Y:-0.75, Z:0.12 [[ 9.99206121e-01 -3.90772942e-02 7.75200046e-03 -7.16783050e+00] [ 3.90759907e-02 9.99236191e-01 3.19603689e-04 -7.50320551e-01] [-7.75856866e-03 -1.64328641e-05 9.99969902e-01 1.20684511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.075529293 meters Centerline goodness [0,1] 0.9959927584874189 Centerline is valid? [True, True] Translation: X:-7.20, Y:-0.74, Z:0.12 [[ 9.99276476e-01 -3.71603704e-02 8.10134621e-03 -7.20035223e+00] [ 3.71588655e-02 9.99309314e-01 3.36250018e-04 -7.40574630e-01] [-8.10824590e-03 -3.49698992e-05 9.99967127e-01 1.19825814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.105529293 meters Centerline goodness [0,1] 0.9961148546105749 Centerline is valid? [True, True] Translation: X:-7.23, Y:-0.73, Z:0.12 [[ 9.99394918e-01 -3.36880311e-02 8.65530520e-03 -7.23329486e+00] [ 3.36861545e-02 9.99432395e-01 3.62551831e-04 -7.32070804e-01] [-8.66260606e-03 -7.07685091e-05 9.99962476e-01 1.15535018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.135529292999999 meters Centerline goodness [0,1] 0.9968020725808084 Centerline is valid? [True, True] Translation: X:-7.27, Y:-0.73, Z:0.11 [[ 9.99504499e-01 -3.04900342e-02 7.81751852e-03 -7.26593087e+00] [ 3.04883959e-02 9.99535067e-01 3.28679640e-04 -7.28036352e-01] [-7.82390535e-03 -9.01731794e-05 9.99969389e-01 1.10581664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.165529293 meters Centerline goodness [0,1] 0.9954850073900103 Centerline is valid? [True, True] Translation: X:-7.30, Y:-0.73, Z:0.11 [[ 9.99571320e-01 -2.83821141e-02 7.18552414e-03 -7.29745706e+00] [ 2.83806631e-02 9.99597142e-01 3.03842333e-04 -7.26225356e-01] [-7.19125308e-03 -9.97821418e-05 9.99974138e-01 1.08287739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.195529293 meters Centerline goodness [0,1] 0.9953030732477629 Centerline is valid? [True, True] Translation: X:-7.33, Y:-0.72, Z:0.11 [[ 9.99572458e-01 -2.84948374e-02 6.55330642e-03 -7.33007676e+00] [ 2.84936309e-02 9.99593936e-01 2.77414255e-04 -7.23678118e-01] [-6.55855023e-03 -9.05681541e-05 9.99978488e-01 1.07519491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.225529292999999 meters Centerline goodness [0,1] 0.9963517704047508 Centerline is valid? [True, True] Translation: X:-7.36, Y:-0.71, Z:0.10 [[ 9.99607769e-01 -2.71338260e-02 6.93275786e-03 -7.36197021e+00] [ 2.71324075e-02 9.99631804e-01 2.98597048e-04 -7.12777863e-01] [-6.93830733e-03 -1.10377518e-04 9.99975924e-01 1.03223436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2555292929999995 meters Centerline goodness [0,1] 0.9968740485131432 Centerline is valid? [True, True] Translation: X:-7.39, Y:-0.71, Z:0.10 [[ 9.99551513e-01 -2.91744977e-02 6.75434426e-03 -7.39481659e+00] [ 2.91732123e-02 9.99574330e-01 2.88775749e-04 -7.07379154e-01] [-6.75989402e-03 -9.16003183e-05 9.99977147e-01 1.02938714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.285529293 meters Centerline goodness [0,1] 0.996784045630145 Centerline is valid? [True, True] Translation: X:-7.43, Y:-0.71, Z:0.10 [[ 9.99558398e-01 -2.87016669e-02 7.69567614e-03 -7.42736326e+00] [ 2.86999582e-02 9.99588016e-01 3.32397733e-04 -7.06315707e-01] [-7.70204602e-03 -1.11385361e-04 9.99970333e-01 9.67768523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.315529293 meters Centerline goodness [0,1] 0.9971685138742821 Centerline is valid? [True, True] Translation: X:-7.46, Y:-0.71, Z:0.09 [[ 9.99451731e-01 -3.22231694e-02 7.60945538e-03 -7.45889787e+00] [ 3.22215844e-02 9.99480695e-01 3.30819704e-04 -7.11655826e-01] [-7.61616381e-03 -8.54496175e-05 9.99970993e-01 9.39949487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.345529292999999 meters Centerline goodness [0,1] 0.9959559195227985 Centerline is valid? [True, True] Translation: X:-7.49, Y:-0.72, Z:0.09 [[ 9.99395185e-01 -3.38532396e-02 7.95120760e-03 -7.49075762e+00] [ 3.38515463e-02 9.99426812e-01 3.47486328e-04 -7.15086443e-01] [-7.95841360e-03 -7.81154908e-05 9.99968328e-01 9.05055952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.375529293 meters Centerline goodness [0,1] 0.9958205684838403 Centerline is valid? [True, True] Translation: X:-7.52, Y:-0.71, Z:0.09 [[ 9.99350948e-01 -3.50540585e-02 8.30032499e-03 -7.52282039e+00] [ 3.50522295e-02 9.99385415e-01 3.65769460e-04 -7.14125751e-01] [-8.30804544e-03 -7.45871599e-05 9.99965485e-01 9.49191916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.405529293 meters Centerline goodness [0,1] 0.9958411944900899 Centerline is valid? [True, True] Translation: X:-7.55, Y:-0.71, Z:0.10 [[ 9.99273586e-01 -3.68261067e-02 9.80503643e-03 -7.55420829e+00] [ 3.68235750e-02 9.99321686e-01 4.38674119e-04 -7.07823697e-01] [-9.81454020e-03 -7.72989646e-05 9.99951833e-01 9.64093363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.435529293 meters Centerline goodness [0,1] 0.996066504460665 Centerline is valid? [True, True] Translation: X:-7.59, Y:-0.70, Z:0.09 [[ 9.99186384e-01 -3.90493778e-02 1.00854830e-02 -7.58684543e+00] [ 3.90468259e-02 9.99237281e-01 4.49888620e-04 -7.03717751e-01] [-1.00953585e-02 -5.57164829e-05 9.99949039e-01 9.46173048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4655292929999995 meters Centerline goodness [0,1] 0.9966869918699187 Centerline is valid? [True, True] Translation: X:-7.62, Y:-0.71, Z:0.09 [[ 9.99160468e-01 -3.95500533e-02 1.06842112e-02 -7.61824960e+00] [ 3.95471765e-02 9.99217589e-01 4.80478430e-04 -7.08925333e-01] [-1.06948547e-02 -5.75446647e-05 9.99942807e-01 8.88232662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.495529293 meters Centerline goodness [0,1] 0.9966665989146121 Centerline is valid? [True, True] Translation: X:-7.65, Y:-0.72, Z:0.09 [[ 9.99148364e-01 -4.01525900e-02 9.50347800e-03 -7.65046255e+00] [ 4.01503328e-02 9.99193559e-01 4.28260679e-04 -7.16091792e-01] [-9.51300978e-03 -4.63281524e-05 9.99954749e-01 8.67752913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.525529293 meters Centerline goodness [0,1] 0.9962691106695324 Centerline is valid? [True, True] Translation: X:-7.68, Y:-0.71, Z:0.09 [[ 9.99146171e-01 -3.98357622e-02 1.09563316e-02 -7.68177353e+00] [ 3.98326938e-02 9.99206239e-01 4.98219470e-04 -7.07724285e-01] [-1.09674819e-02 -6.13738730e-05 9.99939853e-01 8.81480660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.555529292999999 meters Centerline goodness [0,1] 0.997141814643639 Centerline is valid? [True, True] Translation: X:-7.72, Y:-0.69, Z:0.08 [[ 9.99153197e-01 -3.96811120e-02 1.08764981e-02 -7.71568150e+00] [ 3.96780649e-02 9.99212392e-01 4.95890194e-04 -6.94455756e-01] [-1.08876092e-02 -6.39118753e-05 9.99940726e-01 8.25448964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.585529293 meters Centerline goodness [0,1] 0.9968424054758801 Centerline is valid? [True, True] Translation: X:-7.75, Y:-0.70, Z:0.08 [[ 9.99213291e-01 -3.84636282e-02 9.66170265e-03 -7.74698131e+00] [ 3.84611360e-02 9.99259998e-01 4.43689100e-04 -6.95632441e-01] [-9.67161887e-03 -7.17399859e-05 9.99953226e-01 7.96818912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.615529293 meters Centerline goodness [0,1] 0.9965467508988605 Centerline is valid? [True, True] Translation: X:-7.78, Y:-0.71, Z:0.07 [[ 9.99256521e-01 -3.80911671e-02 5.95550768e-03 -7.77812323e+00] [ 3.80901909e-02 9.99274267e-01 2.77285730e-04 -7.05434666e-01] [-5.96174771e-03 -5.02331493e-05 9.99982227e-01 6.68302679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.645529293 meters Centerline goodness [0,1] 0.9963259920836294 Centerline is valid? [True, True] Translation: X:-7.81, Y:-0.70, Z:0.07 [[ 9.99197711e-01 -3.97301978e-02 5.04436441e-03 -7.81014212e+00] [ 3.97295472e-02 9.99210444e-01 2.29154640e-04 -6.99816019e-01] [-5.04948595e-03 -2.85604780e-05 9.99987251e-01 7.03196858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.675529292999999 meters Centerline goodness [0,1] 0.9963619365066461 Centerline is valid? [True, True] Translation: X:-7.84, Y:-0.69, Z:0.08 [[ 9.99190808e-01 -3.88662723e-02 1.03509221e-02 -7.84018807e+00] [ 3.88633173e-02 9.99244417e-01 4.86541273e-04 -6.89640790e-01] [-1.03620112e-02 -8.38763984e-05 9.99946309e-01 8.16955966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.705529293 meters Centerline goodness [0,1] 0.9965067630691742 Centerline is valid? [True, True] Translation: X:-7.87, Y:-0.69, Z:0.09 [[ 9.99175447e-01 -3.86441652e-02 1.24520697e-02 -7.87155702e+00] [ 3.86399327e-02 9.99253030e-01 5.80398890e-04 -6.89370498e-01] [-1.24651974e-02 -9.87731855e-05 9.99922302e-01 8.95168418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.735529293 meters Centerline goodness [0,1] 0.9955273643978206 Centerline is valid? [True, True] Translation: X:-7.90, Y:-0.69, Z:0.09 [[ 9.99223167e-01 -3.72269770e-02 1.29311645e-02 -7.90442377e+00] [ 3.72222642e-02 9.99306828e-01 6.05018550e-04 -6.90090940e-01] [-1.29447240e-02 -1.23221329e-04 9.99916206e-01 9.02937701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.765529292999999 meters Centerline goodness [0,1] 0.9974489275291333 Centerline is valid? [True, True] Translation: X:-7.94, Y:-0.68, Z:0.09 [[ 9.99232799e-01 -3.73697514e-02 1.17181581e-02 -7.93617307e+00] [ 3.73658443e-02 9.99301500e-01 5.52259315e-04 -6.83872748e-01] [-1.17306107e-02 -1.13976751e-04 9.99931188e-01 9.24424307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7955292929999995 meters Centerline goodness [0,1] 0.9965159634074285 Centerline is valid? [True, True] Translation: X:-7.97, Y:-0.68, Z:0.09 [[ 9.99253843e-01 -3.69542974e-02 1.12310621e-02 -7.96872500e+00] [ 3.69506607e-02 9.99316950e-01 5.31206009e-04 -6.78554668e-01] [-1.12430211e-02 -1.15814480e-04 9.99936789e-01 9.36650425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.825529293 meters Centerline goodness [0,1] 0.9953174942486614 Centerline is valid? [True, True] Translation: X:-8.00, Y:-0.68, Z:0.09 [[ 9.99284684e-01 -3.58697455e-02 1.19783819e-02 -8.00146573e+00] [ 3.58654955e-02 9.99356464e-01 5.69498900e-04 -6.79627138e-01] [-1.19911011e-02 -1.39480927e-04 9.99928094e-01 8.96466945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.855529293 meters Centerline goodness [0,1] 0.9970593603601776 Centerline is valid? [True, True] Translation: X:-8.03, Y:-0.68, Z:0.09 [[ 9.99265451e-01 -3.64615695e-02 1.17946099e-02 -8.03403337e+00] [ 3.64574517e-02 9.99335047e-01 5.64017893e-04 -6.83689546e-01] [-1.18073320e-02 -1.33602173e-04 9.99930282e-01 8.72046957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.885529292999999 meters Centerline goodness [0,1] 0.9969480559116157 Centerline is valid? [True, True] Translation: X:-8.07, Y:-0.68, Z:0.09 [[ 9.99333130e-01 -3.45607886e-02 1.17833126e-02 -8.06509910e+00] [ 3.45564712e-02 9.99402584e-01 5.69865402e-04 -6.78236913e-01] [-1.17959681e-02 -1.62295672e-04 9.99930412e-01 9.06339968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.915529293 meters Centerline goodness [0,1] 0.9973508854156053 Centerline is valid? [True, True] Translation: X:-8.10, Y:-0.67, Z:0.09 [[ 9.99355591e-01 -3.35966112e-02 1.26360951e-02 -8.09858698e+00] [ 3.35915796e-02 9.99435457e-01 6.10287463e-04 -6.71805708e-01] [-1.26494651e-02 -1.85427793e-04 9.99919975e-01 8.90278216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.945529293 meters Centerline goodness [0,1] 0.9965217745052173 Centerline is valid? [True, True] Translation: X:-8.13, Y:-0.67, Z:0.09 [[ 9.99348999e-01 -3.35627573e-02 1.32333090e-02 -8.13060701e+00] [ 3.35571736e-02 9.99436592e-01 6.43827491e-04 -6.69784982e-01] [-1.32474619e-02 -1.99335912e-04 9.99912229e-01 8.92241963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.975529292999999 meters Centerline goodness [0,1] 0.9970244767358918 Centerline is valid? [True, True] Translation: X:-8.16, Y:-0.66, Z:0.08 [[ 9.99380052e-01 -3.27419135e-02 1.29413960e-02 -8.16339433e+00] [ 3.27364566e-02 9.99463818e-01 6.33336722e-04 -6.60432675e-01] [-1.29551938e-02 -2.09288636e-04 9.99916056e-01 7.63446234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.005529293 meters Centerline goodness [0,1] 0.9969982847341338 Centerline is valid? [True, True] Translation: X:-8.20, Y:-0.66, Z:0.08 [[ 9.99408082e-01 -3.15973165e-02 1.36049686e-02 -8.19564874e+00] [ 3.15911230e-02 9.99500651e-01 6.69960198e-04 -6.56078670e-01] [-1.36193439e-02 -2.39767402e-04 9.99907224e-01 7.55093212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.035529293 meters Centerline goodness [0,1] 0.9964413535057752 Centerline is valid? [True, True] Translation: X:-8.23, Y:-0.66, Z:0.07 [[ 9.99415425e-01 -3.13409538e-02 1.36584101e-02 -8.22801769e+00] [ 3.13346387e-02 9.99508721e-01 6.76166245e-04 -6.56681349e-01] [-1.36728917e-02 -2.47789630e-04 9.99906491e-01 6.93053374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.065529292999999 meters Centerline goodness [0,1] 0.9966601498859563 Centerline is valid? [True, True] Translation: X:-8.26, Y:-0.67, Z:0.06 [[ 9.99470803e-01 -3.01953226e-02 1.20978149e-02 -8.25954470e+00] [ 3.01902584e-02 9.99543990e-01 6.01055017e-04 -6.65701998e-01] [-1.21104473e-02 -2.35500781e-04 9.99926638e-01 6.18195808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.095529293 meters Centerline goodness [0,1] 0.9973542819928362 Centerline is valid? [True, True] Translation: X:-8.29, Y:-0.67, Z:0.06 [[ 9.99438965e-01 -3.14144139e-02 1.16142416e-02 -8.29200640e+00] [ 3.14098028e-02 9.99506423e-01 5.79263703e-04 -6.65550528e-01] [-1.16267063e-02 -2.14137678e-04 9.99932385e-01 6.43628997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.125529293 meters Centerline goodness [0,1] 0.9971542401821286 Centerline is valid? [True, True] Translation: X:-8.33, Y:-0.66, Z:0.06 [[ 9.99414612e-01 -3.19886354e-02 1.21309692e-02 -8.32521626e+00] [ 3.19835958e-02 9.99488208e-01 6.09257799e-04 -6.57155280e-01] [-1.21442500e-02 -2.20909131e-04 9.99926231e-01 6.31589209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.155529292999999 meters Centerline goodness [0,1] 0.9969081811154957 Centerline is valid? [True, True] Translation: X:-8.36, Y:-0.65, Z:0.07 [[ 9.99442967e-01 -3.07954559e-02 1.28606055e-02 -8.35823747e+00] [ 3.07896400e-02 9.99525675e-01 6.50019372e-04 -6.49249069e-01] [-1.28745231e-02 -2.53683875e-04 9.99917088e-01 6.54276774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.185529293 meters Centerline goodness [0,1] 0.9968781881248725 Centerline is valid? [True, True] Translation: X:-8.39, Y:-0.65, Z:0.06 [[ 9.99433128e-01 -3.06638652e-02 1.38978262e-02 -8.39130763e+00] [ 3.06570108e-02 9.99529714e-01 7.06028406e-04 -6.47889109e-01] [-1.39129398e-02 -2.79562369e-04 9.99903171e-01 5.93732739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.215529293 meters Centerline goodness [0,1] 0.9976173505752979 Centerline is valid? [True, True] Translation: X:-8.42, Y:-0.65, Z:0.06 [[ 9.99448314e-01 -2.99472414e-02 1.43607474e-02 -8.42245239e+00] [ 2.99397645e-02 9.99551434e-01 7.35402786e-04 -6.54233853e-01] [-1.43763290e-02 -3.05039677e-04 9.99896609e-01 6.19590608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.245529292999999 meters Centerline goodness [0,1] 0.9975004064379775 Centerline is valid? [True, True] Translation: X:-8.45, Y:-0.65, Z:0.06 [[ 9.99507127e-01 -2.78166146e-02 1.45512259e-02 -8.45444591e+00] [ 2.78086665e-02 9.99612984e-01 7.48310496e-04 -6.53646738e-01] [-1.45664098e-02 -3.43291487e-04 9.99893845e-01 6.49439109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.275529293 meters Centerline goodness [0,1] 0.9976615559803164 Centerline is valid? [True, True] Translation: X:-8.49, Y:-0.64, Z:0.06 [[ 9.99553946e-01 -2.59922599e-02 1.47075284e-02 -8.48782471e+00] [ 2.59838861e-02 9.99662073e-01 7.60192714e-04 -6.42311828e-01] [-1.47223174e-02 -3.77694886e-04 9.99891549e-01 6.26103936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.305529293 meters Centerline goodness [0,1] 0.9971279001079584 Centerline is valid? [True, True] Translation: X:-8.52, Y:-0.64, Z:0.06 [[ 9.99590233e-01 -2.52387910e-02 1.35044268e-02 -8.51907241e+00] [ 2.52315994e-02 9.99681386e-01 7.02674864e-04 -6.39836621e-01] [-1.35178588e-02 -3.61648643e-04 9.99908564e-01 6.01568786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.335529293 meters Centerline goodness [0,1] 0.997513502496688 Centerline is valid? [True, True] Translation: X:-8.55, Y:-0.64, Z:0.06 [[ 9.99644054e-01 -2.33193860e-02 1.29604139e-02 -8.55170920e+00] [ 2.33126087e-02 9.99727997e-01 6.73777439e-04 -6.40525379e-01] [-1.29726007e-02 -3.71396552e-04 9.99915783e-01 5.51557515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.365529293 meters Centerline goodness [0,1] 0.9971943235880129 Centerline is valid? [True, True] Translation: X:-8.58, Y:-0.64, Z:0.06 [[ 9.99630935e-01 -2.26606200e-02 1.49829750e-02 -8.58303925e+00] [ 2.26513994e-02 9.99743116e-01 7.84845460e-04 -6.42432574e-01] [-1.49969112e-02 -4.45170451e-04 9.99887441e-01 5.90454532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.395529293 meters Centerline goodness [0,1] 0.9976692359591912 Centerline is valid? [True, True] Translation: X:-8.62, Y:-0.64, Z:0.06 [[ 9.99656097e-01 -2.18356730e-02 1.45221190e-02 -8.61584043e+00] [ 2.18268378e-02 9.99761472e-01 7.66631911e-04 -6.38474554e-01] [-1.45353950e-02 -4.49396328e-04 9.99894255e-01 6.39121490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.425529293 meters Centerline goodness [0,1] 0.9975728650390585 Centerline is valid? [True, True] Translation: X:-8.65, Y:-0.64, Z:0.07 [[ 9.99625881e-01 -2.19975136e-02 1.62544627e-02 -8.64693495e+00] [ 2.19864764e-02 9.99757901e-01 8.57432076e-04 -6.36377924e-01] [-1.62693888e-02 -4.99732934e-04 9.99867520e-01 6.51751991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.455529293 meters Centerline goodness [0,1] 0.9974176623696022 Centerline is valid? [True, True] Translation: X:-8.68, Y:-0.63, Z:0.06 [[ 9.99659818e-01 -2.12094248e-02 1.51791983e-02 -8.67962002e+00] [ 2.11996654e-02 9.99774939e-01 8.03579428e-04 -6.34230591e-01] [-1.51928255e-02 -4.81512139e-04 9.99884466e-01 6.21927796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.485529292999999 meters Centerline goodness [0,1] 0.9973358629180374 Centerline is valid? [True, True] Translation: X:-8.71, Y:-0.64, Z:0.06 [[ 9.99652436e-01 -2.14716081e-02 1.52963224e-02 -8.71281491e+00] [ 2.14616726e-02 9.99769341e-01 8.13410416e-04 -6.37171371e-01] [-1.53102594e-02 -4.84843040e-04 9.99882674e-01 5.84852025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.515529293 meters Centerline goodness [0,1] 0.9975954680686311 Centerline is valid? [True, True] Translation: X:-8.74, Y:-0.64, Z:0.07 [[ 9.99693395e-01 -2.01668253e-02 1.43671566e-02 -8.74336859e+00] [ 2.01578547e-02 9.99796514e-01 7.68933145e-04 -6.40008291e-01] [-1.43797400e-02 -4.79086331e-04 9.99896491e-01 6.55970885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.545529293 meters Centerline goodness [0,1] 0.9979326155483687 Centerline is valid? [True, True] Translation: X:-8.78, Y:-0.64, Z:0.07 [[ 9.99685653e-01 -1.96420265e-02 1.55816162e-02 -8.77697536e+00] [ 1.96313582e-02 9.99806936e-01 8.37344417e-04 -6.36914299e-01] [-1.55950551e-02 -5.31192911e-04 9.99878249e-01 6.58096509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.575529292999999 meters Centerline goodness [0,1] 0.9980213369234849 Centerline is valid? [True, True] Translation: X:-8.81, Y:-0.64, Z:0.06 [[ 9.99754749e-01 -1.77191869e-02 1.32842791e-02 -8.80795292e+00] [ 1.77111636e-02 9.99842885e-01 7.21378790e-04 -6.40292373e-01] [-1.32949741e-02 -4.85921831e-04 9.99911500e-01 5.64468660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.605529293 meters Centerline goodness [0,1] 0.9980213369234849 Centerline is valid? [True, True] Translation: X:-8.84, Y:-0.64, Z:0.06 [[ 9.99749448e-01 -1.80156043e-02 1.32845269e-02 -8.84054932e+00] [ 1.80076674e-02 9.99837592e-01 7.16838287e-04 -6.41875809e-01] [-1.32952836e-02 -4.77435340e-04 9.99911500e-01 5.75132800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.635529293 meters Centerline goodness [0,1] 0.997527736346362 Centerline is valid? [True, True] Translation: X:-8.87, Y:-0.64, Z:0.05 [[ 9.99879680e-01 -1.36187035e-02 7.42671528e-03 -8.87094596e+00] [ 1.36160620e-02 9.99907215e-01 4.06122214e-04 -6.41930172e-01] [-7.43155704e-03 -3.04950733e-04 9.99972339e-01 5.30487293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.665529293 meters Centerline goodness [0,1] 0.9979106067434144 Centerline is valid? [True, True] Translation: X:-8.90, Y:-0.65, Z:0.05 [[ 9.99897333e-01 -1.18697333e-02 8.02705721e-03 -8.90241446e+00] [ 1.18666390e-02 9.99929495e-01 4.33003475e-04 -6.46520474e-01] [-8.03163090e-03 -3.37704830e-04 9.99967689e-01 5.17664089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.695529293 meters Centerline goodness [0,1] 0.9980875651041666 Centerline is valid? [True, True] Translation: X:-8.93, Y:-0.65, Z:0.06 [[ 9.99894233e-01 -9.19116215e-03 1.12714034e-02 -8.93491665e+00] [ 9.18482834e-03 9.99957630e-01 6.13572807e-04 -6.45196253e-01] [-1.12765653e-02 -5.09982005e-04 9.99936287e-01 5.73174304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.725529293 meters Centerline goodness [0,1] 0.9976459510357816 Centerline is valid? [True, True] Translation: X:-8.97, Y:-0.65, Z:0.07 [[ 9.99865111e-01 -7.38681209e-03 1.46695351e-02 -8.96638443e+00] [ 7.37579210e-03 9.99972474e-01 8.05177370e-04 -6.54802215e-01] [-1.46750790e-02 -6.96869319e-04 9.99892072e-01 6.90528419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.755529293 meters Centerline goodness [0,1] 0.9967779431857577 Centerline is valid? [True, True] Translation: X:-8.99, Y:-0.67, Z:0.08 [[ 9.99807900e-01 -1.01581592e-02 1.67623073e-02 -8.99477982e+00] [ 1.01439976e-02 9.99948116e-01 9.29660282e-04 -6.74352358e-01] [-1.67708812e-02 -7.59444889e-04 9.99859070e-01 7.78725239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.785529293 meters Centerline goodness [0,1] 0.9969755404445346 Centerline is valid? [True, True] Translation: X:-9.03, Y:-0.68, Z:0.07 [[ 9.99755801e-01 -1.60316364e-02 1.52093927e-02 -9.02627482e+00] [ 1.60206662e-02 9.99871306e-01 8.42851273e-04 -6.76475657e-01] [-1.52209476e-02 -5.98980847e-04 9.99883975e-01 7.12633523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.815529292999999 meters Centerline goodness [0,1] 0.9983327572535226 Centerline is valid? [True, True] Translation: X:-9.06, Y:-0.69, Z:0.07 [[ 9.99649359e-01 -2.22791685e-02 1.43107663e-02 -9.05618327e+00] [ 2.22700832e-02 9.99751676e-01 7.93920988e-04 -6.93286683e-01] [-1.43249005e-02 -4.74940650e-04 9.99897281e-01 6.66409317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.845529293 meters Centerline goodness [0,1] 0.9982285749190642 Centerline is valid? [True, True] Translation: X:-9.09, Y:-0.72, Z:0.07 [[ 9.99511987e-01 -2.79616564e-02 1.39259984e-02 -9.08618812e+00] [ 2.79536055e-02 9.99608923e-01 7.72472934e-04 -7.18436913e-01] [-1.39421519e-02 -3.82814090e-04 9.99902730e-01 6.88359301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.875529293 meters Centerline goodness [0,1] 0.9972905249862489 Centerline is valid? [True, True] Translation: X:-9.12, Y:-0.73, Z:0.08 [[ 9.99369064e-01 -3.17581664e-02 1.59026259e-02 -9.11669747e+00] [ 3.17481359e-02 9.99495511e-01 8.82862611e-04 -7.33806795e-01] [-1.59226413e-02 -3.77426852e-04 9.99873155e-01 7.51662442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.905529292999999 meters Centerline goodness [0,1] 0.9968873970094598 Centerline is valid? [True, True] Translation: X:-9.15, Y:-0.73, Z:0.08 [[ 9.99392791e-01 -3.20463817e-02 1.36776549e-02 -9.14764734e+00] [ 3.20390371e-02 9.99486332e-01 7.55815703e-04 -7.33910863e-01] [-1.36948503e-02 -3.17137872e-04 9.99906171e-01 7.58867462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.935529293 meters Centerline goodness [0,1] 0.997886393659181 Centerline is valid? [True, True] Translation: X:-9.18, Y:-0.73, Z:0.06 [[ 9.99634273e-01 -2.54816701e-02 9.05569917e-03 -9.17927700e+00] [ 2.54781357e-02 9.99675252e-01 5.05464907e-04 -7.28001056e-01] [-9.06563843e-03 -2.74557713e-04 9.99958869e-01 6.20940900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.965529293 meters Centerline goodness [0,1] 0.9979056527043514 Centerline is valid? [True, True] Translation: X:-9.21, Y:-0.73, Z:0.06 [[ 9.99778870e-01 -1.90308203e-02 8.94646781e-03 -9.20903144e+00] [ 1.90271110e-02 9.99818843e-01 4.99552617e-04 -7.31908985e-01] [-8.95435399e-03 -3.29216715e-04 9.99959855e-01 6.41032849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.995529292999999 meters Centerline goodness [0,1] 0.9973829424653088 Centerline is valid? [True, True] Translation: X:-9.24, Y:-0.73, Z:0.06 [[ 9.99863753e-01 -1.31960138e-02 9.91672196e-03 -9.23993111e+00] [ 1.31911750e-02 9.99912840e-01 5.53190733e-04 -7.33249439e-01] [-9.92315753e-03 -4.22302147e-04 9.99950675e-01 5.93958380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.025529293 meters Centerline goodness [0,1] 0.997174050053876 Centerline is valid? [True, True] Translation: X:-9.27, Y:-0.74, Z:0.07 [[ 9.99879556e-01 -1.02961929e-02 1.16130046e-02 -9.27115352e+00] [ 1.02893645e-02 9.99946853e-01 6.47590663e-04 -7.42633591e-01] [-1.16190552e-02 -5.28022226e-04 9.99932357e-01 6.56867639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.055529293 meters Centerline goodness [0,1] 0.9968807599603006 Centerline is valid? [True, True] Translation: X:-9.30, Y:-0.75, Z:0.07 [[ 9.99843205e-01 -1.30615485e-02 1.19566833e-02 -9.30139559e+00] [ 1.30545171e-02 9.99914564e-01 6.65931967e-04 -7.54264033e-01] [-1.19643598e-02 -5.09738826e-04 9.99928295e-01 6.63529716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.085529293 meters Centerline goodness [0,1] 0.9972628292208188 Centerline is valid? [True, True] Translation: X:-9.33, Y:-0.78, Z:0.07 [[ 9.99714594e-01 -1.92650828e-02 1.41275379e-02 -9.33111960e+00] [ 1.92558166e-02 9.99814276e-01 7.91636868e-04 -7.76268272e-01] [-1.41401650e-02 -5.19373651e-04 9.99899888e-01 6.98119789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.115529293 meters Centerline goodness [0,1] 0.9970619820476972 Centerline is valid? [True, True] Translation: X:-9.36, Y:-0.79, Z:0.07 [[ 9.99640788e-01 -2.30334082e-02 1.37024347e-02 -9.36188078e+00] [ 2.30250518e-02 9.99734594e-01 7.67313612e-04 -7.92132937e-01] [-1.37164719e-02 -4.51538715e-04 9.99905823e-01 7.18350971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.145529293 meters Centerline goodness [0,1] 0.9970463281408052 Centerline is valid? [True, True] Translation: X:-9.39, Y:-0.80, Z:0.07 [[ 9.99574238e-01 -2.56550541e-02 1.38982581e-02 -9.39429984e+00] [ 2.56467609e-02 9.99670768e-01 7.74645016e-04 -7.98473617e-01] [-1.39135559e-02 -4.17869899e-04 9.99903114e-01 6.63848983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.175529293 meters Centerline goodness [0,1] 0.9971472504349937 Centerline is valid? [True, True] Translation: X:-9.42, Y:-0.80, Z:0.06 [[ 9.99708530e-01 -2.17523615e-02 1.04732741e-02 -9.42417679e+00] [ 2.17473715e-02 9.99763324e-01 5.90119923e-04 -8.01029294e-01] [-1.04836318e-02 -3.62181739e-04 9.99944980e-01 6.37089300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.205529293 meters Centerline goodness [0,1] 0.9979253955985844 Centerline is valid? [True, True] Translation: X:-9.45, Y:-0.80, Z:0.06 [[ 9.99860861e-01 -1.60319156e-02 4.60828237e-03 -9.45456663e+00] [ 1.60308888e-02 9.99871463e-01 2.59682572e-04 -8.02083122e-01] [-4.61185324e-03 -1.85771578e-04 9.99989348e-01 5.61198550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.235529292999999 meters Centerline goodness [0,1] 0.9976756876932716 Centerline is valid? [True, True] Translation: X:-9.48, Y:-0.81, Z:0.06 [[ 9.99943443e-01 -9.26514829e-03 5.22186359e-03 -9.48297009e+00] [ 9.26373582e-03 9.99957047e-01 2.94615941e-04 -8.14609850e-01] [-5.22436896e-03 -2.46225314e-04 9.99986323e-01 5.90318491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.265529293 meters Centerline goodness [0,1] 0.9971095344935621 Centerline is valid? [True, True] Translation: X:-9.52, Y:-0.83, Z:0.07 [[ 9.99913947e-01 -6.44068711e-03 1.14287120e-02 -9.51541357e+00] [ 6.43382099e-03 9.99979100e-01 6.37443627e-04 -8.25053575e-01] [-1.14325787e-02 -5.63858486e-04 9.99934487e-01 6.79977206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.295529293 meters Centerline goodness [0,1] 0.9976018218093146 Centerline is valid? [True, True] Translation: X:-9.55, Y:-0.83, Z:0.07 [[ 9.99891600e-01 -5.87640924e-03 1.35002414e-02 -9.54691427e+00] [ 5.86669407e-03 9.99982503e-01 7.59119989e-04 -8.32504077e-01] [-1.35044661e-02 -6.79835914e-04 9.99908579e-01 6.90591987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.325529292999999 meters Centerline goodness [0,1] 0.9974627532172289 Centerline is valid? [True, True] Translation: X:-9.58, Y:-0.84, Z:0.06 [[ 9.99892277e-01 -9.99286073e-03 1.07506935e-02 -9.57769052e+00] [ 9.98686764e-03 9.99949943e-01 6.11002589e-04 -8.42631030e-01] [-1.07562610e-02 -5.03571017e-04 9.99942023e-01 6.44773048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.355529293 meters Centerline goodness [0,1] 0.9975483740249215 Centerline is valid? [True, True] Translation: X:-9.61, Y:-0.86, Z:0.06 [[ 9.99854026e-01 -1.40523530e-02 9.71892460e-03 -9.60766420e+00] [ 1.40476397e-02 9.99901174e-01 5.53061635e-04 -8.62059072e-01] [-9.72573594e-03 -4.16452951e-04 9.99952617e-01 5.85410901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.385529293 meters Centerline goodness [0,1] 0.9981785432393596 Centerline is valid? [True, True] Translation: X:-9.64, Y:-0.88, Z:0.06 [[ 9.99814674e-01 -1.72816320e-02 8.48308739e-03 -9.63873245e+00] [ 1.72781676e-02 9.99850605e-01 4.81512760e-04 -8.79176523e-01] [-8.49014139e-03 -3.34851318e-04 9.99963902e-01 5.89982179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.415529292999999 meters Centerline goodness [0,1] 0.9980412350316028 Centerline is valid? [True, True] Translation: X:-9.67, Y:-0.89, Z:0.07 [[ 9.99733558e-01 -2.18046772e-02 7.57417181e-03 -9.66826368e+00] [ 2.18020326e-02 9.99762214e-01 4.31556794e-04 -8.93912845e-01] [-7.58178074e-03 -2.66309468e-04 9.99971222e-01 6.64153232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.445529293 meters Centerline goodness [0,1] 0.9976357904946653 Centerline is valid? [True, True] Translation: X:-9.70, Y:-0.90, Z:0.06 [[ 9.99666905e-01 -2.48130509e-02 7.09865137e-03 -9.70036112e+00] [ 2.48108480e-02 9.99692084e-01 3.98239557e-04 -8.95822705e-01] [-7.10634713e-03 -2.21983346e-04 9.99974725e-01 5.93535391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.475529293 meters Centerline goodness [0,1] 0.9973138910207214 Centerline is valid? [True, True] Translation: X:-9.73, Y:-0.90, Z:0.06 [[ 9.99664873e-01 -2.45255624e-02 8.28488930e-03 -9.73132623e+00] [ 2.45225159e-02 9.99699168e-01 4.69116860e-04 -9.02521498e-01] [-8.29390229e-03 -2.65793316e-04 9.99965570e-01 5.95158680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.505529293 meters Centerline goodness [0,1] 0.9979371852690759 Centerline is valid? [True, True] Translation: X:-9.76, Y:-0.91, Z:0.06 [[ 9.99699968e-01 -2.30921265e-02 8.16875164e-03 -9.76183966e+00] [ 2.30891029e-02 9.99733303e-01 4.64264614e-04 -9.08690865e-01] [-8.17729392e-03 -2.75516172e-04 9.99966527e-01 6.42836397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.535529293 meters Centerline goodness [0,1] 0.9979654324966762 Centerline is valid? [True, True] Translation: X:-9.79, Y:-0.91, Z:0.06 [[ 9.99790073e-01 -1.84970364e-02 8.81301644e-03 -9.79395924e+00] [ 1.84932751e-02 9.99828856e-01 5.08104710e-04 -9.09915895e-01] [-8.82090657e-03 -3.45016508e-04 9.99961036e-01 5.82003088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.565529292999999 meters Centerline goodness [0,1] 0.9976559500474872 Centerline is valid? [True, True] Translation: X:-9.82, Y:-0.91, Z:0.06 [[ 9.99893441e-01 -1.28931863e-02 6.84635511e-03 -9.82462554e+00] [ 1.28907764e-02 9.99916832e-01 3.96019389e-04 -9.14494782e-01] [-6.85089166e-03 -3.07722357e-04 9.99976485e-01 5.90541801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.595529293 meters Centerline goodness [0,1] 0.9973718791064389 Centerline is valid? [True, True] Translation: X:-9.85, Y:-0.92, Z:0.06 [[ 9.99941659e-01 -9.61577483e-03 4.92082494e-03 -9.85418560e+00] [ 9.61448727e-03 9.99953739e-01 2.85244096e-04 -9.16626456e-01] [-4.92334014e-03 -2.37916246e-04 9.99987852e-01 5.64420915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.625529293 meters Centerline goodness [0,1] 0.9978710030617004 Centerline is valid? [True, True] Translation: X:-9.89, Y:-0.91, Z:0.05 [[ 9.99970649e-01 -6.34941941e-03 4.28800273e-03 -9.88517787e+00] [ 6.34841392e-03 9.99979818e-01 2.48057907e-04 -9.09871532e-01] [-4.28949122e-03 -2.20828610e-04 9.99990776e-01 5.32384449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.655529292999999 meters Centerline goodness [0,1] 0.9969691459053162 Centerline is valid? [True, True] Translation: X:-9.92, Y:-0.91, Z:0.06 [[ 9.99980662e-01 -1.56430112e-03 6.01896999e-03 -9.91512415e+00] [ 1.56223356e-03 9.99998719e-01 3.48193130e-04 -9.10881829e-01] [-6.01950696e-03 -3.38783360e-04 9.99981825e-01 5.68432889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.685529293 meters Centerline goodness [0,1] 0.996945422179067 Centerline is valid? [True, True] Translation: X:-9.95, Y:-0.91, Z:0.06 [[ 9.99968516e-01 -1.62638270e-03 7.76666443e-03 -9.94758713e+00] [ 1.62299071e-03 9.99998585e-01 4.43018848e-04 -9.13590445e-01] [-7.76737395e-03 -4.30399676e-04 9.99969741e-01 5.85213999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.715529293 meters Centerline goodness [0,1] 0.9981798325445941 Centerline is valid? [True, True] Translation: X:-9.98, Y:-0.92, Z:0.06 [[ 9.99969523e-01 -8.65043537e-04 7.75919046e-03 -9.97799944e+00] [ 8.61598532e-04 9.99999529e-01 4.47321985e-04 -9.21289399e-01] [-7.75957376e-03 -4.40623045e-04 9.99969797e-01 6.05200442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.745529292999999 meters Centerline goodness [0,1] 0.9979135014686519 Centerline is valid? [True, True] Translation: X:-10.01, Y:-0.92, Z:0.05 [[ 9.99980620e-01 -3.43757246e-03 5.19069706e-03 -1.00106531e+01] [ 3.43608482e-03 9.99994053e-01 2.95487536e-04 -9.22852523e-01] [-5.19168195e-03 -2.77646134e-04 9.99986485e-01 5.33405226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.775529293 meters Centerline goodness [0,1] 0.9976049848789299 Centerline is valid? [True, True] Translation: X:-10.04, Y:-0.93, Z:0.06 [[ 9.99961347e-01 -6.36381619e-03 6.06679523e-03 -1.00405509e+01] [ 6.36178299e-03 9.99979701e-01 3.54373854e-04 -9.31600322e-01] [-6.06892725e-03 -3.15764522e-04 9.99981534e-01 5.64488420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.805529293 meters Centerline goodness [0,1] 0.9975648362352368 Centerline is valid? [True, True] Translation: X:-10.07, Y:-0.94, Z:0.05 [[ 9.99946404e-01 -6.88679853e-03 7.73049961e-03 -1.00727838e+01] [ 6.88355666e-03 9.99976209e-01 4.45890707e-04 -9.36900043e-01] [-7.73338645e-03 -3.92653477e-04 9.99970020e-01 5.26302174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.835529293 meters Centerline goodness [0,1] 0.9982839376564645 Centerline is valid? [True, True] Translation: X:-10.10, Y:-0.95, Z:0.05 [[ 9.99937382e-01 -8.24268382e-03 7.56908879e-03 -1.01028382e+01] [ 8.23955914e-03 9.99965956e-01 4.43912389e-04 -9.48050975e-01] [-7.57249014e-03 -3.81518637e-04 9.99971256e-01 5.41928864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.865529293 meters Centerline goodness [0,1] 0.9973614244279729 Centerline is valid? [True, True] Translation: X:-10.14, Y:-0.95, Z:0.05 [[ 9.99944863e-01 -9.28801936e-03 4.89943579e-03 -1.01354610e+01] [ 9.28675386e-03 9.99956838e-01 2.80982203e-04 -9.50612804e-01] [-4.90183409e-03 -2.35466856e-04 9.99987958e-01 4.94626749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.895529293 meters Centerline goodness [0,1] 0.9977610585553786 Centerline is valid? [True, True] Translation: X:-10.17, Y:-0.95, Z:0.05 [[ 9.99942439e-01 -1.03795161e-02 2.71748362e-03 -1.01673370e+01] [ 1.03791386e-02 9.99946124e-01 1.52988890e-04 -9.53345014e-01] [-2.71892516e-03 -1.24774945e-04 9.99996296e-01 4.89344480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.925529293 meters Centerline goodness [0,1] 0.9969787907052192 Centerline is valid? [True, True] Translation: X:-10.20, Y:-0.96, Z:0.06 [[ 9.99931722e-01 -1.05154489e-02 5.09670887e-03 -1.01980696e+01] [ 1.05140788e-02 9.99944682e-01 2.95550403e-04 -9.62999942e-01] [-5.09953478e-03 -2.41943025e-04 9.99986968e-01 5.59161327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.955529293 meters Centerline goodness [0,1] 0.9969370894289283 Centerline is valid? [True, True] Translation: X:-10.23, Y:-0.96, Z:0.05 [[ 9.99919685e-01 -1.01058868e-02 7.64812798e-03 -1.02307052e+01] [ 1.01027486e-02 9.99948865e-01 4.48841975e-04 -9.58800913e-01] [-7.65227284e-03 -3.71538812e-04 9.99970652e-01 5.48193707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.985529292999999 meters Centerline goodness [0,1] 0.9978009119154259 Centerline is valid? [True, True] Translation: X:-10.26, Y:-0.96, Z:0.06 [[ 9.99908859e-01 -1.04762543e-02 8.51593248e-03 -1.02624335e+01] [ 1.04723452e-02 9.99945037e-01 5.03496987e-04 -9.61126292e-01] [-8.52073918e-03 -4.14269313e-04 9.99963612e-01 5.78613782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.015529293 meters Centerline goodness [0,1] 0.9975826920752588 Centerline is valid? [True, True] Translation: X:-10.30, Y:-0.97, Z:0.06 [[ 9.99928483e-01 -9.61319475e-03 7.11451787e-03 -1.02950412e+01] [ 9.61041245e-03 9.99953729e-01 4.25157340e-04 -9.65735475e-01] [-7.11827579e-03 -3.56753483e-04 9.99974601e-01 5.67323337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.045529293 meters Centerline goodness [0,1] 0.9979339679967592 Centerline is valid? [True, True] Translation: X:-10.33, Y:-0.98, Z:0.05 [[ 9.99948089e-01 -9.62483083e-03 3.34391356e-03 -1.03262930e+01] [ 9.62421701e-03 9.99953666e-01 1.99608243e-04 -9.77359615e-01] [-3.34567982e-03 -1.67415332e-04 9.99994389e-01 5.17308875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.075529292999999 meters Centerline goodness [0,1] 0.9968722253612076 Centerline is valid? [True, True] Translation: X:-10.36, Y:-0.98, Z:0.05 [[ 9.99929830e-01 -1.08509226e-02 4.75322686e-03 -1.03578190e+01] [ 1.08497150e-02 9.99941101e-01 2.79760788e-04 -9.83291721e-01] [-4.75598256e-03 -2.28170000e-04 9.99988664e-01 5.37998446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.105529293 meters Centerline goodness [0,1] 0.998205572805355 Centerline is valid? [True, True] Translation: X:-10.39, Y:-0.98, Z:0.06 [[ 9.99897985e-01 -1.22863716e-02 7.28448550e-03 -1.03894070e+01] [ 1.22834954e-02 9.99924458e-01 4.39449692e-04 -9.82734288e-01] [-7.28933446e-03 -3.49925918e-04 9.99973371e-01 5.65448752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.135529293 meters Centerline goodness [0,1] 0.99844573181809 Centerline is valid? [True, True] Translation: X:-10.42, Y:-0.98, Z:0.06 [[ 9.99928076e-01 -9.81609560e-03 6.89104596e-03 -1.04198297e+01] [ 9.81345884e-03 9.99951760e-01 4.16345837e-04 -9.82643990e-01] [-6.89480043e-03 -3.48690896e-04 9.99976170e-01 5.76006090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.165529292999999 meters Centerline goodness [0,1] 0.9978075468662 Centerline is valid? [True, True] Translation: X:-10.45, Y:-0.99, Z:0.05 [[ 9.99957806e-01 -8.05781777e-03 4.41102894e-03 -1.04514639e+01] [ 8.05672544e-03 9.99967509e-01 2.65350207e-04 -9.88048495e-01] [-4.41302376e-03 -2.29800562e-04 9.99990236e-01 4.83067617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.195529293 meters Centerline goodness [0,1] 0.9973156258830178 Centerline is valid? [True, True] Translation: X:-10.48, Y:-0.99, Z:0.04 [[ 9.99968188e-01 -7.97533599e-03 1.34137070e-04 -1.04827039e+01] [ 7.97533513e-03 9.99968196e-01 6.94988088e-06 -9.91823038e-01] [-1.34188232e-04 -5.87987170e-06 9.99999991e-01 4.35790700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.225529293 meters Centerline goodness [0,1] 0.9977027707808565 Centerline is valid? [True, True] Translation: X:-10.51, Y:-1.00, Z:0.05 [[ 9.99963252e-01 -8.47376135e-03 -1.29963869e-03 -1.05121087e+01] [ 8.47366693e-03 9.99964095e-01 -7.81417443e-05 -9.96605855e-01] [ 1.30025418e-03 6.71261674e-05 9.99999152e-01 4.98116463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.255529293 meters Centerline goodness [0,1] 0.9974383282570547 Centerline is valid? [True, True] Translation: X:-10.54, Y:-1.00, Z:0.05 [[ 9.99953409e-01 -9.17274826e-03 3.00687259e-03 -1.05420621e+01] [ 9.17224029e-03 9.99957917e-01 1.82681625e-04 -9.97984831e-01] [-3.00842174e-03 -1.55093356e-04 9.99995463e-01 5.41419248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.285529293 meters Centerline goodness [0,1] 0.9972510813760763 Centerline is valid? [True, True] Translation: X:-10.57, Y:-1.01, Z:0.06 [[ 9.99923270e-01 -1.06329671e-02 6.35558472e-03 -1.05715549e+01] [ 1.06307380e-02 9.99943418e-01 3.84407668e-04 -1.00962642e+00] [-6.35931250e-03 -3.16813616e-04 9.99979729e-01 6.28150183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.315529292999999 meters Centerline goodness [0,1] 0.9982598138405504 Centerline is valid? [True, True] Translation: X:-10.60, Y:-1.02, Z:0.06 [[ 9.99898591e-01 -1.19081791e-02 7.81039564e-03 -1.06016402e+01] [ 1.19048530e-02 9.99929023e-01 4.72210456e-04 -1.01969820e+00] [-7.81546445e-03 -3.79180957e-04 9.99969387e-01 6.38117771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.345529293 meters Centerline goodness [0,1] 0.9975134853315687 Centerline is valid? [True, True] Translation: X:-10.63, Y:-1.02, Z:0.06 [[ 9.99893185e-01 -1.31599236e-02 6.35889446e-03 -1.06343956e+01] [ 1.31577878e-02 9.99913361e-01 3.77597183e-04 -1.02194141e+00] [-6.36331268e-03 -2.93887866e-04 9.99979711e-01 5.81733242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.375529293 meters Centerline goodness [0,1] 0.9980118885051008 Centerline is valid? [True, True] Translation: X:-10.66, Y:-1.03, Z:0.06 [[ 9.99837119e-01 -1.72438556e-02 5.32768284e-03 -1.06641408e+01] [ 1.72423734e-02 9.99851287e-01 3.24017727e-04 -1.03174185e+00] [-5.33247785e-03 -2.32103054e-04 9.99985755e-01 6.22260124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.405529292999999 meters Centerline goodness [0,1] 0.9975638237899653 Centerline is valid? [True, True] Translation: X:-10.70, Y:-1.03, Z:0.07 [[ 9.99745223e-01 -2.09330774e-02 8.44369856e-03 -1.06951468e+01] [ 2.09294813e-02 9.99780822e-01 5.14039081e-04 -1.03484402e+00] [-8.45260831e-03 -3.37185884e-04 9.99964219e-01 6.68919777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.435529293 meters Centerline goodness [0,1] 0.9974871341267288 Centerline is valid? [True, True] Translation: X:-10.73, Y:-1.03, Z:0.07 [[ 9.99736014e-01 -2.11389705e-02 9.00255524e-03 -1.07263147e+01] [ 2.11349366e-02 9.99776485e-01 5.42998401e-04 -1.03277042e+00] [-9.01202146e-03 -3.52586623e-04 9.99959329e-01 6.66838842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.465529293 meters Centerline goodness [0,1] 0.9981355252606255 Centerline is valid? [True, True] Translation: X:-10.76, Y:-1.03, Z:0.07 [[ 9.99752830e-01 -2.07445571e-02 7.99637328e-03 -1.07589592e+01] [ 2.07413244e-02 9.99784757e-01 4.87003114e-04 -1.03474795e+00] [-8.00475478e-03 -3.21027369e-04 9.99967910e-01 6.76151073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.495529292999999 meters Centerline goodness [0,1] 0.9975087395025515 Centerline is valid? [True, True] Translation: X:-10.79, Y:-1.04, Z:0.05 [[ 9.99803320e-01 -1.93654937e-02 4.27778393e-03 -1.07907108e+01] [ 1.93645557e-02 9.99812455e-01 2.60579746e-04 -1.04391163e+00] [-4.28202791e-03 -1.77691109e-04 9.99990816e-01 4.86359543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.525529293 meters Centerline goodness [0,1] 0.9975087395025515 Centerline is valid? [True, True] Translation: X:-10.82, Y:-1.05, Z:0.05 [[ 9.99797620e-01 -1.96574502e-02 4.27818242e-03 -1.08232211e+01] [ 1.96565426e-02 9.99806759e-01 2.54102769e-04 -1.04572906e+00] [-4.28235071e-03 -1.69957069e-04 9.99990816e-01 4.97002695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.555529293 meters Centerline goodness [0,1] 0.9967799066172919 Centerline is valid? [True, True] Translation: X:-10.85, Y:-1.05, Z:0.05 [[ 9.99848672e-01 -1.73519233e-02 1.24226749e-03 -1.08534534e+01] [ 1.73518415e-02 9.99849443e-01 7.65615227e-05 -1.04729181e+00] [-1.24340895e-03 -5.49943082e-05 9.99999225e-01 5.09720168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.585529292999999 meters Centerline goodness [0,1] 0.9976515927018728 Centerline is valid? [True, True] Translation: X:-10.88, Y:-1.04, Z:0.05 [[ 9.99879094e-01 -1.53438776e-02 2.52250450e-03 -1.08846048e+01] [ 1.53435368e-02 9.99882269e-01 1.54395177e-04 -1.04322370e+00] [-2.52457654e-03 -1.15672369e-04 9.99996807e-01 5.01678600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.615529293 meters Centerline goodness [0,1] 0.9979876846299353 Centerline is valid? [True, True] Translation: X:-10.91, Y:-1.04, Z:0.06 [[ 9.99934315e-01 -1.11732406e-02 2.55422730e-03 -1.09144914e+01] [ 1.11728746e-02 9.99937569e-01 1.57508917e-04 -1.04000132e+00] [-2.55582772e-03 -1.28960509e-04 9.99996726e-01 5.78872400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.645529293 meters Centerline goodness [0,1] 0.9984402183694283 Centerline is valid? [True, True] Translation: X:-10.95, Y:-1.03, Z:0.05 [[ 9.99960037e-01 -7.94443420e-03 4.09999321e-03 -1.09464826e+01] [ 7.94346856e-03 9.99968418e-01 2.51754743e-04 -1.03259015e+00] [-4.10186378e-03 -2.19176515e-04 9.99991563e-01 5.19709314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.675529293 meters Centerline goodness [0,1] 0.9970859542997247 Centerline is valid? [True, True] Translation: X:-10.98, Y:-1.03, Z:0.06 [[ 9.99980038e-01 -3.99596445e-03 4.89441998e-03 -1.09775299e+01] [ 3.99453641e-03 9.99991976e-01 3.01509966e-04 -1.03468705e+00] [-4.89558553e-03 -2.81953008e-04 9.99987977e-01 5.71576935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.705529293 meters Centerline goodness [0,1] 0.9976509797622872 Centerline is valid? [True, True] Translation: X:-11.01, Y:-1.04, Z:0.06 [[ 9.99973458e-01 -2.30010519e-03 6.91327476e-03 -1.10081335e+01] [ 2.29723529e-03 9.99997272e-01 4.23041662e-04 -1.03972677e+00] [-6.91422894e-03 -4.07149015e-04 9.99976014e-01 6.24260372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.735529292999999 meters Centerline goodness [0,1] 0.9983538433742196 Centerline is valid? [True, True] Translation: X:-11.04, Y:-1.04, Z:0.06 [[ 9.99954490e-01 -1.27127217e-03 9.45522806e-03 -1.10389528e+01] [ 1.26584921e-03 9.99999031e-01 5.79503862e-04 -1.03963411e+00] [-9.45595561e-03 -5.67508596e-04 9.99955130e-01 6.48446287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.765529293 meters Centerline goodness [0,1] 0.9980144006097194 Centerline is valid? [True, True] Translation: X:-11.07, Y:-1.04, Z:0.06 [[ 9.99946352e-01 -2.55812803e-03 1.00373504e-02 -1.10699948e+01] [ 2.55205396e-03 9.99996553e-01 6.17908894e-04 -1.04145825e+00] [-1.00388965e-02 -5.92259885e-04 9.99949434e-01 6.43282178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.795529293 meters Centerline goodness [0,1] 0.9978737488215353 Centerline is valid? [True, True] Translation: X:-11.10, Y:-1.04, Z:0.06 [[ 9.99973369e-01 -1.92811215e-03 7.03867775e-03 -1.11017566e+01] [ 1.92507797e-03 9.99998051e-01 4.37822518e-04 -1.04098254e+00] [-7.03950821e-03 -4.24260855e-04 9.99975132e-01 5.68746738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.825529292999999 meters Centerline goodness [0,1] 0.9977072062106555 Centerline is valid? [True, True] Translation: X:-11.13, Y:-1.05, Z:0.04 [[ 9.99996157e-01 -2.77246265e-03 6.98154323e-06 -1.11334422e+01] [ 2.77246266e-03 9.99996157e-01 -1.38212513e-06 -1.04718341e+00] [-6.97768453e-06 1.40147588e-06 1.00000000e+00 4.36885619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.855529293 meters Centerline goodness [0,1] 0.9975945154953294 Centerline is valid? [True, True] Translation: X:-11.16, Y:-1.05, Z:0.04 [[ 9.99987395e-01 -5.00416683e-03 4.08949817e-04 -1.11627699e+01] [ 5.00415681e-03 9.99987479e-01 2.55310646e-05 -1.05391109e+00] [-4.09072458e-04 -2.34842938e-05 9.99999916e-01 4.36030214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.885529293 meters Centerline goodness [0,1] 0.9973681567051733 Centerline is valid? [True, True] Translation: X:-11.19, Y:-1.06, Z:0.05 [[ 9.99979690e-01 -6.33562915e-03 6.91867788e-04 -1.11927235e+01] [ 6.33560078e-03 9.99979929e-01 4.31938602e-05 -1.05718815e+00] [-6.92127562e-04 -3.88095849e-05 9.99999760e-01 4.65321612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.915529292999999 meters Centerline goodness [0,1] 0.9976144177375058 Centerline is valid? [True, True] Translation: X:-11.22, Y:-1.06, Z:0.06 [[ 9.99929418e-01 -9.57449269e-03 7.03472632e-03 -1.12235914e+01] [ 9.57164398e-03 9.99954095e-01 4.38505316e-04 -1.05762778e+00] [-7.03860185e-03 -3.71140469e-04 9.99975160e-01 5.84149589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.945529293 meters Centerline goodness [0,1] 0.9975023667089653 Centerline is valid? [True, True] Translation: X:-11.25, Y:-1.06, Z:0.07 [[ 9.99844777e-01 -1.47335373e-02 9.66146041e-03 -1.12524273e+01] [ 1.47283948e-02 9.99891349e-01 6.03209699e-04 -1.06282301e+00] [-9.66929809e-03 -4.60818264e-04 9.99953145e-01 6.50452785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.975529293 meters Centerline goodness [0,1] 0.9973569869651403 Centerline is valid? [True, True] Translation: X:-11.28, Y:-1.06, Z:0.06 [[ 9.99810033e-01 -1.76082470e-02 8.35753023e-03 -1.12849223e+01] [ 1.76045119e-02 9.99844893e-01 5.20275215e-04 -1.06352312e+00] [-8.36539505e-03 -3.73046140e-04 9.99964940e-01 5.66861626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.005529293 meters Centerline goodness [0,1] 0.9969400491202641 Centerline is valid? [True, True] Translation: X:-11.32, Y:-1.07, Z:0.05 [[ 9.99803763e-01 -1.85386385e-02 6.98247753e-03 -1.13171515e+01] [ 1.85360727e-02 9.99828099e-01 4.32003887e-04 -1.06977880e+00] [-6.98928599e-03 -3.02491401e-04 9.99975529e-01 5.10504499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.035529293 meters Centerline goodness [0,1] 0.9975690607734806 Centerline is valid? [True, True] Translation: X:-11.35, Y:-1.08, Z:0.06 [[ 9.99775757e-01 -1.92932307e-02 8.72962024e-03 -1.13470983e+01] [ 1.92891916e-02 9.99813797e-01 5.46661151e-04 -1.07678658e+00] [-8.73854162e-03 -3.78151249e-04 9.99961747e-01 5.91429391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.065529292999999 meters Centerline goodness [0,1] 0.9979268979953305 Centerline is valid? [True, True] Translation: X:-11.38, Y:-1.08, Z:0.06 [[ 9.99740066e-01 -2.05202710e-02 9.93575999e-03 -1.13789087e+01] [ 2.05151447e-02 9.99789352e-01 6.17598670e-04 -1.08031764e+00] [-9.94634033e-03 -4.13604581e-04 9.99950448e-01 6.10191593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.095529293 meters Centerline goodness [0,1] 0.9970612930310663 Centerline is valid? [True, True] Translation: X:-11.41, Y:-1.07, Z:0.06 [[ 9.99718711e-01 -2.19913599e-02 8.88141657e-03 -1.14113432e+01] [ 2.19873086e-02 9.99758097e-01 5.53549127e-04 -1.07318610e+00] [-8.89144143e-03 -3.58114972e-04 9.99960406e-01 5.95434508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.125529293 meters Centerline goodness [0,1] 0.998170045045045 Centerline is valid? [True, True] Translation: X:-11.44, Y:-1.07, Z:0.05 [[ 9.99789907e-01 -1.97163764e-02 5.60411201e-03 -1.14425781e+01] [ 1.97146976e-02 9.99805584e-01 3.54666402e-04 -1.06795364e+00] [-5.61001521e-03 -2.44108515e-04 9.99984234e-01 4.75003512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.155529292999999 meters Centerline goodness [0,1] 0.9974314724886624 Centerline is valid? [True, True] Translation: X:-11.47, Y:-1.07, Z:0.05 [[ 9.99813251e-01 -1.84646762e-02 5.70244833e-03 -1.14745800e+01] [ 1.84629572e-02 9.99829482e-01 3.53945056e-04 -1.06757954e+00] [-5.70801144e-03 -2.48594898e-04 9.99983678e-01 5.01067611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.185529293 meters Centerline goodness [0,1] 0.9965200949430744 Centerline is valid? [True, True] Translation: X:-11.51, Y:-1.07, Z:0.05 [[ 9.99801414e-01 -1.78472783e-02 8.86606088e-03 -1.15054351e+01] [ 1.78430333e-02 9.99840645e-01 5.57669452e-04 -1.07208241e+00] [-8.87460091e-03 -3.99361287e-04 9.99960540e-01 5.42342770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.215529293 meters Centerline goodness [0,1] 0.9975082388875492 Centerline is valid? [True, True] Translation: X:-11.54, Y:-1.07, Z:0.06 [[ 9.99829217e-01 -1.52998062e-02 1.03659371e-02 -1.15372959e+01] [ 1.52937843e-02 9.99882825e-01 6.59961584e-04 -1.07058176e+00] [-1.03748198e-02 -5.01314467e-04 9.99946054e-01 5.72479463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.245529292999999 meters Centerline goodness [0,1] 0.9983514605657304 Centerline is valid? [True, True] Translation: X:-11.57, Y:-1.06, Z:0.05 [[ 9.99892592e-01 -1.14568331e-02 9.14036455e-03 -1.15691692e+01] [ 1.14519800e-02 9.99934254e-01 5.83114626e-04 -1.06450963e+00] [-9.14644425e-03 -4.78376723e-04 9.99958056e-01 5.36236863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.275529293 meters Centerline goodness [0,1] 0.9972830462083401 Centerline is valid? [True, True] Translation: X:-11.60, Y:-1.06, Z:0.05 [[ 9.99955805e-01 -6.94684010e-03 6.33486004e-03 -1.15997750e+01] [ 6.94441624e-03 9.99975805e-01 4.04538198e-04 -1.05820845e+00] [-6.33751703e-03 -3.60528414e-04 9.99979853e-01 5.10969074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.305529293 meters Centerline goodness [0,1] 0.996708215411172 Centerline is valid? [True, True] Translation: X:-11.63, Y:-1.05, Z:0.05 [[ 9.99984583e-01 -2.51214656e-03 4.95213825e-03 -1.16314051e+01] [ 2.51061138e-03 9.99996798e-01 3.16197258e-04 -1.04906236e+00] [-4.95291672e-03 -3.03759488e-04 9.99987688e-01 4.98993797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.335529292999999 meters Centerline goodness [0,1] 0.9966446998312304 Centerline is valid? [True, True] Translation: X:-11.66, Y:-1.05, Z:0.06 [[ 9.99963298e-01 2.38132086e-03 8.22995732e-03 -1.16611971e+01] [-2.38572685e-03 9.99997016e-01 5.25584911e-04 -1.05287649e+00] [-8.22868118e-03 -5.45200051e-04 9.99965995e-01 5.54684379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.365529293 meters Centerline goodness [0,1] 0.9964264203975105 Centerline is valid? [True, True] Translation: X:-11.69, Y:-1.06, Z:0.06 [[ 9.99900626e-01 4.88788002e-03 1.32229755e-02 -1.16930545e+01] [-4.89940834e-03 9.99987645e-01 8.39586725e-04 -1.05517868e+00] [-1.32187084e-02 -9.04288049e-04 9.99912220e-01 6.37001052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.395529293 meters Centerline goodness [0,1] 0.9979941026618258 Centerline is valid? [True, True] Translation: X:-11.72, Y:-1.06, Z:0.06 [[ 9.99856783e-01 7.38538302e-03 1.52272832e-02 -1.17235162e+01] [-7.40109845e-03 9.99972135e-01 9.75962421e-04 -1.05638340e+00] [-1.52196510e-02 -1.08852127e-03 9.99883582e-01 5.97037174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.425529293 meters Centerline goodness [0,1] 0.997181226971631 Centerline is valid? [True, True] Translation: X:-11.75, Y:-1.05, Z:0.06 [[ 9.99906225e-01 8.49178344e-03 1.07438748e-02 -1.17539322e+01] [-8.49967447e-03 9.99963640e-01 6.89019051e-04 -1.05192999e+00] [-1.07376332e-02 -7.80273877e-04 9.99942046e-01 5.86374129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.455529293 meters Centerline goodness [0,1] 0.9970172716096657 Centerline is valid? [True, True] Translation: X:-11.79, Y:-1.05, Z:0.05 [[ 9.99920929e-01 1.00273152e-02 7.58876139e-03 -1.17852768e+01] [-1.00312925e-02 9.99949567e-01 4.86220299e-04 -1.04864530e+00] [-7.58350318e-03 -5.62306938e-04 9.99971087e-01 5.17576370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.485529292999999 meters Centerline goodness [0,1] 0.9967410328109598 Centerline is valid? [True, True] Translation: X:-11.82, Y:-1.05, Z:0.06 [[ 9.99918835e-01 9.55404824e-03 8.42875544e-03 -1.18175561e+01] [-9.55892865e-03 9.99954167e-01 5.38921869e-04 -1.04890405e+00] [-8.42322024e-03 -6.19447999e-04 9.99964332e-01 5.62462905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.515529293 meters Centerline goodness [0,1] 0.9966160415743464 Centerline is valid? [True, True] Translation: X:-11.85, Y:-1.05, Z:0.06 [[ 9.99891107e-01 8.55887854e-03 1.20216558e-02 -1.18482632e+01] [-8.56877185e-03 9.99962990e-01 7.71690236e-04 -1.05249415e+00] [-1.20146061e-02 -8.74617030e-04 9.99927440e-01 5.62424167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.545529293 meters Centerline goodness [0,1] 0.997079674534762 Centerline is valid? [True, True] Translation: X:-11.88, Y:-1.07, Z:0.05 [[ 9.99891980e-01 8.14582773e-03 1.22341284e-02 -1.18787504e+01] [-8.15601549e-03 9.99966433e-01 7.83070397e-04 -1.06616862e+00] [-1.22273390e-02 -8.82767551e-04 9.99924854e-01 5.18936861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.575529292999999 meters Centerline goodness [0,1] 0.9966668686746257 Centerline is valid? [True, True] Translation: X:-11.91, Y:-1.06, Z:0.05 [[ 9.99938449e-01 4.30001431e-03 1.02278013e-02 -1.19094536e+01] [-4.30696924e-03 9.99990508e-01 6.58073897e-04 -1.06302107e+00] [-1.02248745e-02 -7.02084218e-04 9.99947478e-01 5.48530910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.605529293 meters Centerline goodness [0,1] 0.9966463291446119 Centerline is valid? [True, True] Translation: X:-11.94, Y:-1.06, Z:0.05 [[ 9.99967573e-01 -7.87518005e-04 8.01448602e-03 -1.19407064e+01] [ 7.83407199e-04 9.99999560e-01 5.16048419e-04 -1.05629032e+00] [-8.01488889e-03 -5.09753079e-04 9.99967750e-01 5.18802786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.635529293 meters Centerline goodness [0,1] 0.9978407393954071 Centerline is valid? [True, True] Translation: X:-11.97, Y:-1.07, Z:0.05 [[ 9.99886050e-01 -7.52657141e-03 1.30857535e-02 -1.19692021e+01] [ 7.51618962e-03 9.99971398e-01 8.42365040e-04 -1.06902299e+00] [-1.30917194e-02 -7.43914048e-04 9.99914023e-01 5.28399568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.665529292999999 meters Centerline goodness [0,1] 0.9974069647306687 Centerline is valid? [True, True] Translation: X:-12.00, Y:-1.08, Z:0.07 [[ 9.99816961e-01 -1.03112590e-02 1.61158872e-02 -1.19981330e+01] [ 1.02958764e-02 9.99946458e-01 1.03717679e-03 -1.07974465e+00] [-1.61257189e-02 -8.71059763e-04 9.99869593e-01 6.50010342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.695529293 meters Centerline goodness [0,1] 0.9976811243522271 Centerline is valid? [True, True] Translation: X:-12.03, Y:-1.08, Z:0.06 [[ 9.99760185e-01 -1.24907317e-02 1.79875863e-02 -1.20297736e+01] [ 1.24718847e-02 9.99921551e-01 1.15957867e-03 -1.07773243e+00] [-1.80006592e-02 -9.34961484e-04 9.99837538e-01 6.20503735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.725529293 meters Centerline goodness [0,1] 0.9983739184550218 Centerline is valid? [True, True] Translation: X:-12.06, Y:-1.08, Z:0.06 [[ 9.99769879e-01 -1.60736551e-02 1.42065922e-02 -1.20607220e+01] [ 1.60622563e-02 9.99870574e-01 9.16104759e-04 -1.07542924e+00] [-1.42194786e-02 -6.87704019e-04 9.99898662e-01 6.00794633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.755529293 meters Centerline goodness [0,1] 0.9979437556697913 Centerline is valid? [True, True] Translation: X:-12.09, Y:-1.08, Z:0.05 [[ 9.99792369e-01 -1.78449337e-02 9.83758099e-03 -1.20925163e+01] [ 1.78396006e-02 9.99840663e-01 6.29606585e-04 -1.08188701e+00] [-9.84724879e-03 -4.53977344e-04 9.99951412e-01 4.50550247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.785529293 meters Centerline goodness [0,1] 0.997301814227896 Centerline is valid? [True, True] Translation: X:-12.12, Y:-1.09, Z:0.05 [[ 9.99757771e-01 -1.99778517e-02 9.23492718e-03 -1.21244263e+01] [ 1.99732309e-02 9.99800340e-01 5.92326516e-04 -1.08923629e+00] [-9.24491674e-03 -4.07731705e-04 9.99957182e-01 4.70569980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.815529292999999 meters Centerline goodness [0,1] 0.9975263454267557 Centerline is valid? [True, True] Translation: X:-12.15, Y:-1.09, Z:0.05 [[ 9.99698844e-01 -2.27162336e-02 9.28405759e-03 -1.21548019e+01] [ 2.27116286e-02 9.99741877e-01 6.01158611e-04 -1.09402423e+00] [-9.29531722e-03 -3.90121500e-04 9.99956722e-01 5.27406814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.845529293 meters Centerline goodness [0,1] 0.9975794251134644 Centerline is valid? [True, True] Translation: X:-12.19, Y:-1.10, Z:0.05 [[ 9.99613536e-01 -2.63079109e-02 8.98173822e-03 -1.21860948e+01] [ 2.63037165e-02 9.99653826e-01 5.84821697e-04 -1.09903217e+00] [-8.99401442e-03 -3.48342589e-04 9.99959492e-01 5.40475242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.875529293 meters Centerline goodness [0,1] 0.9974740330598553 Centerline is valid? [True, True] Translation: X:-12.22, Y:-1.11, Z:0.06 [[ 9.99548120e-01 -2.80914047e-02 1.06971082e-02 -1.22178116e+01] [ 2.80855588e-02 9.99605280e-01 6.96359111e-04 -1.10581461e+00] [-1.07124476e-02 -3.95610179e-04 9.99942542e-01 6.15511377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.905529292999999 meters Centerline goodness [0,1] 0.9972922728742322 Centerline is valid? [True, True] Translation: X:-12.25, Y:-1.11, Z:0.07 [[ 9.99487101e-01 -2.88541714e-02 1.38914291e-02 -1.22489887e+01] [ 2.88443749e-02 9.99583505e-01 9.05097833e-04 -1.10636036e+00] [-1.39117592e-02 -5.03944021e-04 9.99903100e-01 7.04227082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.935529293 meters Centerline goodness [0,1] 0.9967023244591008 Centerline is valid? [True, True] Translation: X:-12.28, Y:-1.10, Z:0.08 [[ 9.99402842e-01 -2.96162406e-02 1.77999458e-02 -1.22814478e+01] [ 2.96002020e-02 9.99561140e-01 1.16389077e-03 -1.09999415e+00] [-1.78266042e-02 -6.36313752e-04 9.99840891e-01 7.53398033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.965529293 meters Centerline goodness [0,1] 0.9979648175388397 Centerline is valid? [True, True] Translation: X:-12.31, Y:-1.09, Z:0.07 [[ 9.99450425e-01 -2.86851684e-02 1.66134960e-02 -1.23147166e+01] [ 2.86710554e-02 9.99588310e-01 1.08709880e-03 -1.09448138e+00] [-1.66378400e-02 -6.10174893e-04 9.99861395e-01 6.94360388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.995529292999999 meters Centerline goodness [0,1] 0.9973085884148791 Centerline is valid? [True, True] Translation: X:-12.35, Y:-1.10, Z:0.06 [[ 9.99510575e-01 -2.83588091e-02 1.32056563e-02 -1.23462727e+01] [ 2.83498986e-02 9.99597690e-01 8.61501537e-04 -1.10233090e+00] [-1.32247746e-02 -4.86700881e-04 9.99912430e-01 6.15454096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.025529293 meters Centerline goodness [0,1] 0.9973344641667171 Centerline is valid? [True, True] Translation: X:-12.38, Y:-1.11, Z:0.06 [[ 9.99625445e-01 -2.49192971e-02 1.13136435e-02 -1.23768544e+01] [ 2.49124593e-02 9.99689359e-01 7.44934147e-04 -1.10717161e+00] [-1.13286923e-02 -4.62804444e-04 9.99935721e-01 6.40597661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.055529293 meters Centerline goodness [0,1] 0.9972534685057657 Centerline is valid? [True, True] Translation: X:-12.41, Y:-1.11, Z:0.07 [[ 9.99562562e-01 -2.60871769e-02 1.39335650e-02 -1.24079667e+01] [ 2.60769412e-02 9.99659519e-01 9.15814906e-04 -1.10754056e+00] [-1.39527119e-02 -5.52069538e-04 9.99902504e-01 7.18416525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.085529292999999 meters Centerline goodness [0,1] 0.9972918898162931 Centerline is valid? [True, True] Translation: X:-12.44, Y:-1.10, Z:0.07 [[ 9.99486979e-01 -2.83204818e-02 1.49575745e-02 -1.24401262e+01] [ 2.83089350e-02 9.99598738e-01 9.83178221e-04 -1.10179138e+00] [-1.49794167e-02 -5.59240826e-04 9.99887646e-01 6.95801177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.115529293 meters Centerline goodness [0,1] 0.9973413361799834 Centerline is valid? [True, True] Translation: X:-12.47, Y:-1.10, Z:0.06 [[ 9.99470180e-01 -2.96006785e-02 1.35336639e-02 -1.24720223e+01] [ 2.95913117e-02 9.99561683e-01 8.91879680e-04 -1.10460003e+00] [-1.35541321e-02 -4.90928277e-04 9.99908018e-01 6.47574922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.145529293 meters Centerline goodness [0,1] 0.9986268174474959 Centerline is valid? [True, True] Translation: X:-12.50, Y:-1.11, Z:0.06 [[ 9.99499074e-01 -2.95807724e-02 1.12507636e-02 -1.25048599e+01] [ 2.95742396e-02 9.99562308e-01 7.46620761e-04 -1.10672144e+00] [-1.12679249e-02 -4.13513980e-04 9.99936429e-01 6.02289575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.175529293 meters Centerline goodness [0,1] 0.9971207087486157 Centerline is valid? [True, True] Translation: X:-12.54, Y:-1.11, Z:0.07 [[ 9.99377311e-01 -3.31166229e-02 1.21770110e-02 -1.25358574e+01] [ 3.31092012e-02 9.99451411e-01 8.10629456e-04 -1.10891614e+00] [-1.21971761e-02 -4.06953579e-04 9.99925529e-01 6.66717587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.205529293 meters Centerline goodness [0,1] 0.997513644633111 Centerline is valid? [True, True] Translation: X:-12.57, Y:-1.10, Z:0.07 [[ 9.99358793e-01 -3.33152003e-02 1.31186737e-02 -1.25671083e+01] [ 3.33066492e-02 9.99444801e-01 8.69825144e-04 -1.10359573e+00] [-1.31403687e-02 -4.32328342e-04 9.99913568e-01 7.24364652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.235529292999999 meters Centerline goodness [0,1] 0.9972358412525473 Centerline is valid? [True, True] Translation: X:-12.60, Y:-1.10, Z:0.07 [[ 9.99299454e-01 -3.40730247e-02 1.54800129e-02 -1.25994976e+01] [ 3.40611328e-02 9.99419219e-01 1.03128991e-03 -1.09816971e+00] [-1.55061616e-02 -5.03300672e-04 9.99879646e-01 7.20856904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.265529293 meters Centerline goodness [0,1] 0.9983790574218908 Centerline is valid? [True, True] Translation: X:-12.63, Y:-1.10, Z:0.07 [[ 9.99341010e-01 -3.24728718e-02 1.62190719e-02 -1.26306867e+01] [ 3.24594998e-02 9.99472460e-01 1.08710006e-03 -1.09815417e+00] [-1.62458169e-02 -5.59920708e-04 9.99867871e-01 7.24347108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.295529293 meters Centerline goodness [0,1] 0.9977797961449187 Centerline is valid? [True, True] Translation: X:-12.66, Y:-1.10, Z:0.07 [[ 9.99359789e-01 -3.14120459e-02 1.71258583e-02 -1.26636872e+01] [ 3.13969299e-02 9.99506332e-01 1.15086608e-03 -1.09602247e+00] [-1.71535549e-02 -6.12429916e-04 9.99852679e-01 6.88426721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.325529292999999 meters Centerline goodness [0,1] 0.9976616510776739 Centerline is valid? [True, True] Translation: X:-12.69, Y:-1.09, Z:0.06 [[ 9.99440506e-01 -3.03275058e-02 1.41038398e-02 -1.26941841e+01] [ 3.03170967e-02 9.99539878e-01 9.51302780e-04 -1.09450429e+00] [-1.41262009e-02 -5.23183056e-04 9.99900083e-01 6.43490092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.355529293 meters Centerline goodness [0,1] 0.9990485637361081 Centerline is valid? [True, True] Translation: X:-12.73, Y:-1.09, Z:0.06 [[ 9.99397747e-01 -3.25281685e-02 1.20856001e-02 -1.27273387e+01] [ 3.25207450e-02 9.99470732e-01 8.10308543e-04 -1.08773054e+00] [-1.21055614e-02 -4.16787815e-04 9.99926638e-01 6.09835036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.385529293 meters Centerline goodness [0,1] 0.9983433674087842 Centerline is valid? [True, True] Translation: X:-12.76, Y:-1.08, Z:0.06 [[ 9.99308569e-01 -3.53473403e-02 1.15303605e-02 -1.27601872e+01] [ 3.53407411e-02 9.99375020e-01 7.75642829e-04 -1.08326876e+00] [-1.15505711e-02 -3.67615041e-04 9.99933222e-01 6.35891150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.415529292999999 meters Centerline goodness [0,1] 0.9983433674087842 Centerline is valid? [True, True] Translation: X:-12.79, Y:-1.09, Z:0.06 [[ 9.99298115e-01 -3.56417026e-02 1.15301966e-02 -1.27926941e+01] [ 3.56350951e-02 9.99364565e-01 7.78064839e-04 -1.08527417e+00] [-1.15506015e-02 -3.66639073e-04 9.99933222e-01 6.46524922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.445529293 meters Centerline goodness [0,1] 0.9976622329705764 Centerline is valid? [True, True] Translation: X:-12.82, Y:-1.09, Z:0.08 [[ 9.99156121e-01 -3.83760484e-02 1.46398649e-02 -1.28228000e+01] [ 3.83655143e-02 9.99263272e-01 9.99817580e-04 -1.08504581e+00] [-1.46674484e-02 -4.37307907e-04 9.99892332e-01 7.60440188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.475529293 meters Centerline goodness [0,1] 0.998088954155016 Centerline is valid? [True, True] Translation: X:-12.85, Y:-1.08, Z:0.08 [[ 9.99074957e-01 -3.98253965e-02 1.62224711e-02 -1.28547020e+01] [ 3.98127067e-02 9.99206549e-01 1.10456468e-03 -1.08270410e+00] [-1.62535891e-02 -4.57682425e-04 9.99867797e-01 7.61568418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.505529293 meters Centerline goodness [0,1] 0.9985456308326264 Centerline is valid? [True, True] Translation: X:-12.89, Y:-1.08, Z:0.07 [[ 9.99086261e-01 -4.02897489e-02 1.42611414e-02 -1.28874216e+01] [ 4.02799581e-02 9.99187959e-01 9.73224662e-04 -1.08348996e+00] [-1.42887717e-02 -3.97897212e-04 9.99897831e-01 6.91852569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.535529293 meters Centerline goodness [0,1] 0.9979433825308492 Centerline is valid? [True, True] Translation: X:-12.92, Y:-1.09, Z:0.07 [[ 9.99079976e-01 -4.15617882e-02 1.05744942e-02 -1.29190082e+01] [ 4.15564711e-02 9.99135896e-01 7.22142099e-04 -1.08694807e+00] [-1.05953702e-02 -2.82039050e-04 9.99943828e-01 6.92667548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.565529292999999 meters Centerline goodness [0,1] 0.9973359704534905 Centerline is valid? [True, True] Translation: X:-12.95, Y:-1.09, Z:0.07 [[ 9.99050458e-01 -4.20920043e-02 1.12448224e-02 -1.29507741e+01] [ 4.20859814e-02 9.99113694e-01 7.71816011e-04 -1.08551122e+00] [-1.12673433e-02 -2.97833753e-04 9.99936477e-01 7.45470695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.595529293 meters Centerline goodness [0,1] 0.9974673366834171 Centerline is valid? [True, True] Translation: X:-12.98, Y:-1.08, Z:0.08 [[ 9.98967606e-01 -4.32994746e-02 1.37433020e-02 -1.29824279e+01] [ 4.32905193e-02 9.99062076e-01 9.48572311e-04 -1.08446374e+00] [-1.37714845e-02 -3.52638330e-04 9.99905106e-01 8.05492921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.625529293 meters Centerline goodness [0,1] 0.9974618778075459 Centerline is valid? [True, True] Translation: X:-13.02, Y:-1.08, Z:0.08 [[ 9.98953202e-01 -4.33781156e-02 1.45202820e-02 -1.30158973e+01] [ 4.33680827e-02 9.99058656e-01 1.00527044e-03 -1.08324883e+00] [-1.45502202e-02 -3.74501331e-04 9.99894070e-01 8.01528058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.655529292999999 meters Centerline goodness [0,1] 0.9982879816310499 Centerline is valid? [True, True] Translation: X:-13.05, Y:-1.08, Z:0.08 [[ 9.98930251e-01 -4.41388832e-02 1.37881234e-02 -1.30494270e+01] [ 4.41298584e-02 9.99025344e-01 9.58251555e-04 -1.07914369e+00] [-1.38169809e-02 -3.48758533e-04 9.99904480e-01 7.90616532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.685529293 meters Centerline goodness [0,1] 0.997484555168736 Centerline is valid? [True, True] Translation: X:-13.08, Y:-1.07, Z:0.08 [[ 9.98871231e-01 -4.59610376e-02 1.19936342e-02 -1.30824489e+01] [ 4.59543093e-02 9.98943193e-01 8.36124922e-04 -1.06911810e+00] [-1.20193884e-02 -2.84021955e-04 9.99927724e-01 7.69482384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.715529293 meters Centerline goodness [0,1] 0.9976544333232231 Centerline is valid? [True, True] Translation: X:-13.11, Y:-1.07, Z:0.08 [[ 9.98855080e-01 -4.66361714e-02 1.06581286e-02 -1.31144559e+01] [ 4.66308712e-02 9.98911911e-01 7.45399393e-04 -1.06997787e+00] [-1.06812942e-02 -2.47548147e-04 9.99942923e-01 7.64097662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.745529292999999 meters Centerline goodness [0,1] 0.9970687529059777 Centerline is valid? [True, True] Translation: X:-13.15, Y:-1.07, Z:0.08 [[ 9.98805051e-01 -4.76281651e-02 1.09557007e-02 -1.31464196e+01] [ 4.76225896e-02 9.98865105e-01 7.69378038e-04 -1.07459136e+00] [-1.09799112e-02 -2.46719834e-04 9.99939689e-01 7.64487479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.775529293 meters Centerline goodness [0,1] 0.9977145861985276 Centerline is valid? [True, True] Translation: X:-13.18, Y:-1.08, Z:0.08 [[ 9.98696006e-01 -4.99167102e-02 1.07055738e-02 -1.31774999e+01] [ 4.99114858e-02 9.98753360e-01 7.54790167e-04 -1.07857498e+00] [-1.07299045e-02 -2.19474827e-04 9.99942409e-01 7.82461897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.805529293 meters Centerline goodness [0,1] 0.9983413904002912 Centerline is valid? [True, True] Translation: X:-13.21, Y:-1.08, Z:0.08 [[ 9.98576891e-01 -5.22878677e-02 1.04962497e-02 -1.32093158e+01] [ 5.22829559e-02 9.98632035e-01 7.41998040e-04 -1.08361187e+00] [-1.05206887e-02 -1.92167137e-04 9.99944638e-01 7.51780220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.835529292999999 meters Centerline goodness [0,1] 0.997925812557896 Centerline is valid? [True, True] Translation: X:-13.24, Y:-1.09, Z:0.08 [[ 9.98334347e-01 -5.66824278e-02 1.07533446e-02 -1.32411592e+01] [ 5.66774929e-02 9.98392247e-01 7.63353407e-04 -1.09334623e+00] [-1.07793246e-02 -1.52609315e-04 9.99941890e-01 7.73909269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.865529293 meters Centerline goodness [0,1] 0.9981056789327315 Centerline is valid? [True, True] Translation: X:-13.27, Y:-1.09, Z:0.08 [[ 9.98275657e-01 -5.74897728e-02 1.18590814e-02 -1.32731671e+01] [ 5.74837798e-02 9.98346082e-01 8.45874051e-04 -1.08911259e+00] [-1.18880966e-02 -1.62710649e-04 9.99929321e-01 8.36326681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.895529293 meters Centerline goodness [0,1] 0.9977567600339518 Centerline is valid? [True, True] Translation: X:-13.31, Y:-1.07, Z:0.09 [[ 9.98197660e-01 -5.87655317e-02 1.21672910e-02 -1.33068767e+01] [ 5.87592763e-02 9.98271801e-01 8.71279234e-04 -1.07189778e+00] [-1.21974647e-02 -1.54767681e-04 9.99925596e-01 8.74198870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.925529293 meters Centerline goodness [0,1] 0.9972681986180298 Centerline is valid? [True, True] Translation: X:-13.34, Y:-1.06, Z:0.08 [[ 9.98136673e-01 -5.99686188e-02 1.12670853e-02 -1.33405046e+01] [ 5.99633140e-02 9.98200254e-01 8.08355060e-04 -1.06157795e+00] [-1.12952834e-02 -1.31237056e-04 9.99936198e-01 8.23981988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.955529293 meters Centerline goodness [0,1] 0.9978610488931937 Centerline is valid? [True, True] Translation: X:-13.37, Y:-1.07, Z:0.08 [[ 9.98160353e-01 -5.97735040e-02 1.01507174e-02 -1.33724881e+01] [ 5.97691567e-02 9.98211958e-01 7.31371809e-04 -1.07036754e+00] [-1.01762841e-02 -1.23326526e-04 9.99948213e-01 7.66395766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.985529292999999 meters Centerline goodness [0,1] 0.9974396193701867 Centerline is valid? [True, True] Translation: X:-13.40, Y:-1.08, Z:0.08 [[ 9.98347939e-01 -5.68111832e-02 8.59553012e-03 -1.34029295e+01] [ 5.68079461e-02 9.98384932e-01 6.20489992e-04 -1.08230870e+00] [-8.61689852e-03 -1.31170493e-04 9.99962865e-01 7.82831150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.015529293 meters Centerline goodness [0,1] 0.997729254100521 Centerline is valid? [True, True] Translation: X:-13.44, Y:-1.08, Z:0.08 [[ 9.98216578e-01 -5.90269518e-02 8.91530520e-03 -1.34355121e+01] [ 5.90235399e-02 9.98256382e-01 6.45552613e-04 -1.08067384e+00] [-8.93786532e-03 -1.18188448e-04 9.99960049e-01 7.51652994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.045529293 meters Centerline goodness [0,1] 0.9974683031555069 Centerline is valid? [True, True] Translation: X:-13.47, Y:-1.07, Z:0.09 [[ 9.98175599e-01 -5.96104504e-02 9.59524012e-03 -1.34672230e+01] [ 5.96064905e-02 9.98221708e-01 6.98396521e-04 -1.07231481e+00] [-9.61980871e-03 -1.25183777e-04 9.99953721e-01 8.50986835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.075529292999999 meters Centerline goodness [0,1] 0.9987631792376318 Centerline is valid? [True, True] Translation: X:-13.50, Y:-1.06, Z:0.08 [[ 9.98005835e-01 -6.25076411e-02 8.78340798e-03 -1.34999347e+01] [ 6.25044222e-02 9.98044481e-01 6.40771811e-04 -1.06416904e+00] [-8.80628499e-03 -9.04921658e-05 9.99961220e-01 7.74537014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.105529293 meters Centerline goodness [0,1] 0.9979897660818714 Centerline is valid? [True, True] Translation: X:-13.53, Y:-1.07, Z:0.08 [[ 9.97852370e-01 -6.52256061e-02 6.02223046e-03 -1.35312872e+01] [ 6.52241478e-02 9.97870542e-01 4.38453179e-04 -1.06685196e+00] [-6.03800475e-03 -4.47166946e-05 9.99981770e-01 7.62994313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.135529293 meters Centerline goodness [0,1] 0.9968721438001422 Centerline is valid? [True, True] Translation: X:-13.56, Y:-1.07, Z:0.07 [[ 9.97612501e-01 -6.88993282e-02 4.70969410e-03 -1.35619624e+01] [ 6.88984470e-02 9.97623617e-01 3.49276517e-04 -1.07147565e+00] [-4.72256699e-03 -2.39520100e-05 9.99988848e-01 7.46742591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.165529292999999 meters Centerline goodness [0,1] 0.997930614729154 Centerline is valid? [True, True] Translation: X:-13.59, Y:-1.08, Z:0.08 [[ 9.97448310e-01 -7.11804081e-02 5.49717041e-03 -1.35898071e+01] [ 7.11792338e-02 9.97463458e-01 4.09221786e-04 -1.07631757e+00] [-5.51235517e-03 -1.68932017e-05 9.99984807e-01 7.94521211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.195529293 meters Centerline goodness [0,1] 0.9975500617546417 Centerline is valid? [True, True] Translation: X:-13.62, Y:-1.08, Z:0.08 [[ 9.97254641e-01 -7.38663231e-02 5.19101568e-03 -1.36205047e+01] [ 7.38653214e-02 9.97268152e-01 3.84675660e-04 -1.07975411e+00] [-5.20524919e-03 -1.83545635e-07 9.99986453e-01 8.09850533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.225529293 meters Centerline goodness [0,1] 0.9970440557175251 Centerline is valid? [True, True] Translation: X:-13.65, Y:-1.08, Z:0.08 [[ 9.96938127e-01 -7.79897263e-02 5.65456718e-03 -1.36510523e+01] [ 7.79886041e-02 9.96954162e-01 4.19026737e-04 -1.08329160e+00] [-5.67002407e-03 2.32480709e-05 9.99983925e-01 8.19820070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.255529292999999 meters Centerline goodness [0,1] 0.9979087143669293 Centerline is valid? [True, True] Translation: X:-13.68, Y:-1.08, Z:0.08 [[ 9.96756340e-01 -8.03321481e-02 4.85231257e-03 -1.36803546e+01] [ 8.03313470e-02 9.96768150e-01 3.60083024e-04 -1.08455153e+00] [-4.86555686e-03 3.08777674e-05 9.99988163e-01 8.32087026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.285529293 meters Centerline goodness [0,1] 0.9978922194523824 Centerline is valid? [True, True] Translation: X:-13.71, Y:-1.09, Z:0.08 [[ 9.96672569e-01 -8.13464681e-02 5.15183082e-03 -1.37099427e+01] [ 8.13455766e-02 9.96685884e-01 3.82686237e-04 -1.08663036e+00] [-5.16588723e-03 3.76657734e-05 9.99986656e-01 7.99508620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.315529292999999 meters Centerline goodness [0,1] 0.9982563561899356 Centerline is valid? [True, True] Translation: X:-13.74, Y:-1.09, Z:0.08 [[ 9.96563022e-01 -8.27796434e-02 3.11032531e-03 -1.37386151e+01] [ 8.27793226e-02 9.96567875e-01 2.31946761e-04 -1.08539060e+00] [-3.11885076e-03 2.63210569e-05 9.99995136e-01 8.31324244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.345529293 meters Centerline goodness [0,1] 0.9974904881405326 Centerline is valid? [True, True] Translation: X:-13.77, Y:-1.08, Z:0.08 [[ 9.96631579e-01 -8.19856815e-02 1.96062981e-03 -1.37682307e+01] [ 8.19855502e-02 9.96633507e-01 1.47379794e-04 -1.08095383e+00] [-1.96611240e-03 1.38599576e-05 9.99998067e-01 8.13211614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.375529293 meters Centerline goodness [0,1] 0.9978905093202978 Centerline is valid? [True, True] Translation: X:-13.80, Y:-1.08, Z:0.08 [[ 9.96619477e-01 -8.21449362e-02 1.35151840e-03 -1.37975235e+01] [ 8.21448731e-02 9.96620394e-01 1.02231360e-04 -1.08063462e+00] [-1.35534859e-03 9.13454346e-06 9.99999081e-01 8.06631774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.405529292999999 meters Centerline goodness [0,1] 0.9977487070276848 Centerline is valid? [True, True] Translation: X:-13.83, Y:-1.08, Z:0.09 [[ 9.96834665e-01 -7.94466575e-02 2.97997465e-03 -1.38259176e+01] [ 7.94463468e-02 9.96839119e-01 2.22698511e-04 -1.07846574e+00] [-2.98824795e-03 1.47545037e-05 9.99995535e-01 8.91069687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.435529293 meters Centerline goodness [0,1] 0.9988594704684318 Centerline is valid? [True, True] Translation: X:-13.85, Y:-1.08, Z:0.09 [[ 9.96815602e-01 -7.96932255e-02 2.76512376e-03 -1.38537741e+01] [ 7.96929581e-02 9.96819437e-01 2.06926987e-04 -1.08102024e+00] [-2.77281979e-03 1.40928430e-05 9.99996156e-01 9.17256026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.465529293 meters Centerline goodness [0,1] 0.9975722262685118 Centerline is valid? [True, True] Translation: X:-13.88, Y:-1.08, Z:0.09 [[ 9.96784109e-01 -8.01241504e-02 1.24952245e-03 -1.38820225e+01] [ 8.01240950e-02 9.96784892e-01 9.43904218e-05 -1.08458193e+00] [-1.25306805e-03 6.02998305e-06 9.99999215e-01 9.16990202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.495529292999999 meters Centerline goodness [0,1] 0.9979330050458994 Centerline is valid? [True, True] Translation: X:-13.91, Y:-1.09, Z:0.09 [[ 9.96597042e-01 -8.24241423e-02 -7.72566371e-04 -1.39099274e+01] [ 8.24241254e-02 9.96597341e-01 -5.38157490e-05 -1.08692670e+00] [ 7.74373308e-04 -1.00454912e-05 9.99999700e-01 9.14435210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.525529293 meters Centerline goodness [0,1] 0.9980004847309744 Centerline is valid? [True, True] Translation: X:-13.94, Y:-1.09, Z:0.10 [[ 9.96612044e-01 -8.22385140e-02 -1.12239184e-03 -1.39379440e+01] [ 8.22384761e-02 9.96612676e-01 -8.00041686e-05 -1.09172865e+00] [ 1.12516936e-03 -1.25706767e-05 9.99999367e-01 9.55491860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.555529293 meters Centerline goodness [0,1] 0.9982041606973506 Centerline is valid? [True, True] Translation: X:-13.97, Y:-1.09, Z:0.10 [[ 9.96495264e-01 -8.36399407e-02 1.24431855e-03 -1.39651149e+01] [ 8.36398882e-02 9.96496041e-01 9.42555961e-05 -1.09371441e+00] [-1.24784205e-03 1.01494097e-05 9.99999221e-01 1.04197237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.585529292999999 meters Centerline goodness [0,1] 0.9984601669503201 Centerline is valid? [True, True] Translation: X:-13.99, Y:-1.09, Z:0.11 [[ 9.96212546e-01 -8.69168266e-02 2.45528755e-03 -1.39922884e+01] [ 8.69166371e-02 9.96215571e-01 1.83964295e-04 -1.09403802e+00] [-2.46198529e-03 3.01377984e-05 9.99996969e-01 1.11513383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.615529293 meters Centerline goodness [0,1] 0.9982998360556197 Centerline is valid? [True, True] Translation: X:-14.02, Y:-1.09, Z:0.11 [[ 9.96202336e-01 -8.70365539e-02 2.35468272e-03 -1.40213396e+01] [ 8.70363843e-02 9.96205118e-01 1.74610732e-04 -1.09191668e+00] [-2.36094450e-03 3.09954512e-05 9.99997212e-01 1.11069285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.645529293 meters Centerline goodness [0,1] 0.9974704037235658 Centerline is valid? [True, True] Translation: X:-14.05, Y:-1.09, Z:0.12 [[ 9.96377908e-01 -8.50168914e-02 1.78656627e-03 -1.40491154e+01] [ 8.50167886e-02 9.96379510e-01 1.33500922e-04 -1.08707436e+00] [-1.79144786e-03 1.88707571e-05 9.99998395e-01 1.15089960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.675529293 meters Centerline goodness [0,1] 0.9985834547514975 Centerline is valid? [True, True] Translation: X:-14.08, Y:-1.08, Z:0.11 [[ 9.96459138e-01 -8.40775754e-02 -3.83772001e-04 -1.40785711e+01] [ 8.40775718e-02 9.96459212e-01 -2.55337923e-05 -1.08450222e+00] [ 3.84559965e-04 -6.82323726e-06 9.99999926e-01 1.12360115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.705529293 meters Centerline goodness [0,1] 0.9980968192585694 Centerline is valid? [True, True] Translation: X:-14.11, Y:-1.09, Z:0.11 [[ 9.96416977e-01 -8.45752739e-02 -4.80502192e-04 -1.41059701e+01] [ 8.45752684e-02 9.96417093e-01 -3.18977142e-05 -1.08772978e+00] [ 4.81478356e-04 -8.85517794e-06 9.99999884e-01 1.14324026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.735529292999999 meters Centerline goodness [0,1] 0.9976730539649137 Centerline is valid? [True, True] Translation: X:-14.13, Y:-1.10, Z:0.12 [[ 9.96362363e-01 -8.52126015e-02 -9.23702339e-04 -1.41336408e+01] [ 8.52125781e-02 9.96362792e-01 -6.47114643e-05 -1.09792381e+00] [ 9.25856874e-04 -1.42349903e-05 9.99999571e-01 1.20299329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.765529293 meters Centerline goodness [0,1] 0.9984408536832301 Centerline is valid? [True, True] Translation: X:-14.16, Y:-1.10, Z:0.12 [[ 9.96301214e-01 -8.59202155e-02 -1.26772647e-03 -1.41616579e+01] [ 8.59201710e-02 9.96302021e-01 -8.96375724e-05 -1.10483968e+00] [ 1.27074012e-03 -1.96172524e-05 9.99999192e-01 1.19579096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.795529293 meters Centerline goodness [0,1] 0.9977953520357598 Centerline is valid? [True, True] Translation: X:-14.19, Y:-1.10, Z:0.13 [[ 9.96367973e-01 -8.51368517e-02 -1.60602015e-03 -1.41884997e+01] [ 8.51367851e-02 9.96369267e-01 -1.09943743e-04 -1.09864280e+00] [ 1.60954938e-03 -2.71869673e-05 9.99998704e-01 1.26440801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.825529292999999 meters Centerline goodness [0,1] 0.9979550516298846 Centerline is valid? [True, True] Translation: X:-14.22, Y:-1.10, Z:0.13 [[ 9.96416488e-01 -8.45823772e-02 -5.79778224e-05 -1.42178417e+01] [ 8.45823773e-02 9.96416490e-01 -1.69821075e-06 -1.09590670e+00] [ 5.79136970e-05 -3.21177686e-06 9.99999998e-01 1.31398679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.855529293 meters Centerline goodness [0,1] 0.9982567803137795 Centerline is valid? [True, True] Translation: X:-14.24, Y:-1.10, Z:0.13 [[ 9.96217066e-01 -8.68937772e-02 1.01399462e-03 -1.42442900e+01] [ 8.68937431e-02 9.96217582e-01 7.76529321e-05 -1.09814207e+00] [-1.01690682e-03 1.07506118e-05 9.99999483e-01 1.32532400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.885529293 meters Centerline goodness [0,1] 0.9975296142553407 Centerline is valid? [True, True] Translation: X:-14.27, Y:-1.10, Z:0.14 [[ 9.96152924e-01 -8.76304728e-02 -5.01786514e-04 -1.42733285e+01] [ 8.76304667e-02 9.96153051e-01 -3.43638647e-05 -1.10169029e+00] [ 5.02867488e-04 -9.74012207e-06 9.99999874e-01 1.36105186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.915529292999999 meters Centerline goodness [0,1] 0.9979788180127739 Centerline is valid? [True, True] Translation: X:-14.30, Y:-1.10, Z:0.14 [[ 9.96218305e-01 -8.68846709e-02 3.77014200e-04 -1.43011743e+01] [ 8.68846656e-02 9.96218377e-01 3.02894846e-05 -1.10161566e+00] [-3.78220166e-04 2.58181365e-06 9.99999928e-01 1.44113839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.945529293 meters Centerline goodness [0,1] 0.9978317696407222 Centerline is valid? [True, True] Translation: X:-14.33, Y:-1.11, Z:0.15 [[ 9.96285065e-01 -8.61141820e-02 6.46039098e-04 -1.43287866e+01] [ 8.61141669e-02 9.96285274e-01 5.11318885e-05 -1.10631193e+00] [-6.48042420e-04 4.69118189e-06 9.99999790e-01 1.48253454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.975529293 meters Centerline goodness [0,1] 0.9981738124708317 Centerline is valid? [True, True] Translation: X:-14.36, Y:-1.11, Z:0.15 [[ 9.96441067e-01 -8.42629816e-02 2.22491445e-03 -1.43568837e+01] [ 8.42628274e-02 9.96443550e-01 1.63144422e-04 -1.11057338e+00] [-2.23074869e-03 2.49137803e-05 9.99997512e-01 1.50356734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.005529292999999 meters Centerline goodness [0,1] 0.9977177710904207 Centerline is valid? [True, True] Translation: X:-14.39, Y:-1.11, Z:0.15 [[ 9.96559502e-01 -8.28779597e-02 6.35173626e-04 -1.43862103e+01] [ 8.28779458e-02 9.96559704e-01 4.80785794e-05 -1.10815871e+00] [-6.36973095e-04 4.72872030e-06 9.99999797e-01 1.50264716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.035529293 meters Centerline goodness [0,1] 0.9974671745825904 Centerline is valid? [True, True] Translation: X:-14.41, Y:-1.10, Z:0.16 [[ 9.96725107e-01 -8.08644529e-02 -4.57357768e-05 -1.44131468e+01] [ 8.08644531e-02 9.96725108e-01 1.04991983e-06 -1.10088005e+00] [ 4.55010959e-05 -4.74488003e-06 9.99999999e-01 1.58107033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.065529292999999 meters Centerline goodness [0,1] 0.9975742998083901 Centerline is valid? [True, True] Translation: X:-14.44, Y:-1.10, Z:0.16 [[ 9.96890940e-01 -7.87906571e-02 -6.97441378e-04 -1.44413251e+01] [ 7.87906441e-02 9.96891184e-01 -4.61885360e-05 -1.09792435e+00] [ 6.98912386e-04 -8.90692233e-06 9.99999756e-01 1.60590640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.095529293 meters Centerline goodness [0,1] 0.9969938862145309 Centerline is valid? [True, True] Translation: X:-14.47, Y:-1.10, Z:0.16 [[ 9.97184380e-01 -7.49886697e-02 -1.06697948e-04 -1.44704953e+01] [ 7.49886696e-02 9.97184386e-01 -5.18515216e-06 -1.09775284e+00] [ 1.06786355e-04 -2.83058441e-06 9.99999994e-01 1.61263514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.125529293 meters Centerline goodness [0,1] 0.997662411578177 Centerline is valid? [True, True] Translation: X:-14.50, Y:-1.11, Z:0.17 [[ 9.97053826e-01 -7.66707453e-02 -2.29436971e-03 -1.44988763e+01] [ 7.66705754e-02 9.97056466e-01 -1.62050548e-04 -1.10959253e+00] [ 2.30004070e-03 -1.43375268e-05 9.99997355e-01 1.65682108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.155529292999999 meters Centerline goodness [0,1] 0.9972138048849932 Centerline is valid? [True, True] Translation: X:-14.53, Y:-1.11, Z:0.17 [[ 9.97086521e-01 -7.62465925e-02 -2.21974738e-03 -1.45271299e+01] [ 7.62464343e-02 9.97088991e-01 -1.55931433e-04 -1.11360312e+00] [ 2.22517492e-03 -1.37706935e-05 9.99997524e-01 1.67941696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.185529293 meters Centerline goodness [0,1] 0.9976013334959548 Centerline is valid? [True, True] Translation: X:-14.56, Y:-1.11, Z:0.18 [[ 9.97146691e-01 -7.54882552e-02 2.20330073e-05 -1.45550237e+01] [ 7.54882551e-02 9.97146691e-01 4.70162650e-06 -1.10752659e+00] [-2.23250579e-05 -3.02497803e-06 1.00000000e+00 1.82935383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.215529293 meters Centerline goodness [0,1] 0.9976833506065964 Centerline is valid? [True, True] Translation: X:-14.58, Y:-1.11, Z:0.18 [[ 9.97233897e-01 -7.43267700e-02 2.92451537e-04 -1.45844046e+01] [ 7.43267664e-02 9.97233940e-01 2.33370888e-05 -1.10509260e+00] [-2.93377169e-04 -1.53555893e-06 9.99999957e-01 1.84413550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.245529292999999 meters Centerline goodness [0,1] 0.9974415204678363 Centerline is valid? [True, True] Translation: X:-14.61, Y:-1.11, Z:0.18 [[ 9.97323761e-01 -7.31085885e-02 6.71439075e-04 -1.46131595e+01] [ 7.31085713e-02 9.97323987e-01 5.02826017e-05 -1.11190711e+00] [-6.73318386e-04 -1.06008188e-06 9.99999773e-01 1.80659068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.275529293 meters Centerline goodness [0,1] 0.9972432804962095 Centerline is valid? [True, True] Translation: X:-14.64, Y:-1.12, Z:0.18 [[ 9.97308479e-01 -7.33196663e-02 -1.56171319e-04 -1.46412524e+01] [ 7.33196658e-02 9.97308491e-01 -8.54984573e-06 -1.12123804e+00] [ 1.56377855e-04 -2.92359530e-06 9.99999988e-01 1.82086300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.305529293 meters Centerline goodness [0,1] 0.9983317736094722 Centerline is valid? [True, True] Translation: X:-14.67, Y:-1.12, Z:0.18 [[ 9.97358096e-01 -7.26414550e-02 2.19772826e-04 -1.46701030e+01] [ 7.26414528e-02 9.97358120e-01 1.81490112e-05 -1.11859564e+00] [-2.20510583e-04 -2.13644590e-06 9.99999976e-01 1.82402627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.335529292999999 meters Centerline goodness [0,1] 0.9983317736094722 Centerline is valid? [True, True] Translation: X:-14.70, Y:-1.12, Z:0.18 [[ 9.97366159e-01 -7.25306662e-02 2.19698299e-04 -1.46974895e+01] [ 7.25306637e-02 9.97366183e-01 1.92021640e-05 -1.12067608e+00] [-2.20512400e-04 -3.21672504e-06 9.99999976e-01 1.83301128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.365529293 meters Centerline goodness [0,1] 0.9975810058137171 Centerline is valid? [True, True] Translation: X:-14.73, Y:-1.11, Z:0.19 [[ 9.97497059e-01 -7.07028435e-02 8.51170314e-04 -1.47258794e+01] [ 7.07028139e-02 9.97497423e-01 6.48273227e-05 -1.10971895e+00] [-8.53623671e-04 -4.48492737e-06 9.99999636e-01 1.94556183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.395529293 meters Centerline goodness [0,1] 0.9981089104884298 Centerline is valid? [True, True] Translation: X:-14.75, Y:-1.11, Z:0.19 [[ 9.97648399e-01 -6.84043529e-02 4.30307058e-03 -1.47548615e+01] [ 6.84036697e-02 9.97657679e-01 3.05905602e-04 -1.10744411e+00] [-4.31391668e-03 -1.08404154e-05 9.99990695e-01 1.93529138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.425529292999999 meters Centerline goodness [0,1] 0.9975865006287268 Centerline is valid? [True, True] Translation: X:-14.78, Y:-1.12, Z:0.20 [[ 9.97770279e-01 -6.66502212e-02 3.49555490e-03 -1.47826242e+01] [ 6.66497570e-02 9.97776402e-01 2.49242444e-04 -1.11522738e+00] [-3.50439425e-03 -1.57088181e-05 9.99993859e-01 1.98303421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.455529293 meters Centerline goodness [0,1] 0.9976969795785269 Centerline is valid? [True, True] Translation: X:-14.81, Y:-1.12, Z:0.19 [[ 9.97884400e-01 -6.49755414e-02 2.21449046e-03 -1.48115919e+01] [ 6.49753495e-02 9.97886857e-01 1.58577382e-04 -1.12125707e+00] [-2.22011458e-03 -1.43546037e-05 9.99997535e-01 1.93623467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.485529292999999 meters Centerline goodness [0,1] 0.9982936193552319 Centerline is valid? [True, True] Translation: X:-14.84, Y:-1.13, Z:0.20 [[ 9.97882171e-01 -6.50473140e-02 1.41251977e-04 -1.48391933e+01] [ 6.50473128e-02 9.97882181e-01 1.30845992e-05 -1.12540336e+00] [-1.41803949e-04 -3.86882676e-06 9.99999990e-01 1.98555678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.515529293 meters Centerline goodness [0,1] 0.9976589377684588 Centerline is valid? [True, True] Translation: X:-14.87, Y:-1.13, Z:0.20 [[ 9.97865867e-01 -6.52800633e-02 1.49132433e-03 -1.48675406e+01] [ 6.52799756e-02 9.97866982e-01 1.07414406e-04 -1.12940457e+00] [-1.49515533e-03 -9.83155346e-06 9.99998882e-01 1.99599574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.545529293 meters Centerline goodness [0,1] 0.9971252064346443 Centerline is valid? [True, True] Translation: X:-14.89, Y:-1.13, Z:0.21 [[ 9.97832293e-01 -6.57535192e-02 2.68139192e-03 -1.48945369e+01] [ 6.57532422e-02 9.97835896e-01 1.91443292e-04 -1.13100436e+00] [-2.68817718e-03 -1.47180867e-05 9.99996387e-01 2.13775481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.575529292999999 meters Centerline goodness [0,1] 0.9980209332217983 Centerline is valid? [True, True] Translation: X:-14.92, Y:-1.13, Z:0.22 [[ 9.97736405e-01 -6.71808529e-02 2.96642590e-03 -1.49231754e+01] [ 6.71805237e-02 9.97740814e-01 2.10595770e-04 -1.13322804e+00] [-2.97387220e-03 -1.08330205e-05 9.99995578e-01 2.18739154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.605529293 meters Centerline goodness [0,1] 0.9978850182010452 Centerline is valid? [True, True] Translation: X:-14.95, Y:-1.13, Z:0.21 [[ 9.97853605e-01 -6.54247162e-02 2.79101537e-03 -1.49522732e+01] [ 6.54244182e-02 9.97857508e-01 1.98039196e-04 -1.13237085e+00] [-2.79799230e-03 -1.50135685e-05 9.99996085e-01 2.11927272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.635529293 meters Centerline goodness [0,1] 0.9981696900675181 Centerline is valid? [True, True] Translation: X:-14.98, Y:-1.13, Z:0.21 [[ 9.97875501e-01 -6.50810554e-02 2.99019982e-03 -1.49802276e+01] [ 6.50807116e-02 9.97879981e-01 2.12247910e-04 -1.13325244e+00] [-2.99767385e-03 -1.71926575e-05 9.99995507e-01 2.13356203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.665529292999999 meters Centerline goodness [0,1] 0.9976279088789825 Centerline is valid? [True, True] Translation: X:-15.01, Y:-1.13, Z:0.22 [[ 9.97913659e-01 -6.45168433e-02 2.43042985e-03 -1.50085599e+01] [ 6.45166149e-02 9.97916618e-01 1.72316190e-04 -1.13275103e+00] [-2.43648364e-03 -1.51535727e-05 9.99997032e-01 2.20489260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.695529293 meters Centerline goodness [0,1] 0.9974693361089002 Centerline is valid? [True, True] Translation: X:-15.04, Y:-1.14, Z:0.22 [[ 9.98114149e-01 -6.13215438e-02 2.79542419e-03 -1.50358846e+01] [ 6.13212291e-02 9.98118063e-01 1.98204095e-04 -1.13596902e+00] [-2.80231756e-03 -2.64114645e-05 9.99996073e-01 2.20929910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.725529293 meters Centerline goodness [0,1] 0.9976746557878633 Centerline is valid? [True, True] Translation: X:-15.07, Y:-1.14, Z:0.22 [[ 9.98257970e-01 -5.89938735e-02 -8.64698384e-04 -1.50650942e+01] [ 5.89938444e-02 9.98258345e-01 -5.90777948e-05 -1.14212170e+00] [ 8.66677606e-04 7.96299759e-06 9.99999624e-01 2.18114010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.755529292999999 meters Centerline goodness [0,1] 0.9975342856560634 Centerline is valid? [True, True] Translation: X:-15.09, Y:-1.15, Z:0.22 [[ 9.98286720e-01 -5.85113601e-02 2.12635415e-04 -1.50921324e+01] [ 5.85113576e-02 9.98286743e-01 1.78499128e-05 -1.14666612e+00] [-2.13315539e-04 -5.37774403e-06 9.99999977e-01 2.21062755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.785529293 meters Centerline goodness [0,1] 0.9978291742747007 Centerline is valid? [True, True] Translation: X:-15.12, Y:-1.14, Z:0.22 [[ 9.98409594e-01 -5.63240440e-02 2.42603007e-03 -1.51208532e+01] [ 5.63237940e-02 9.98412540e-01 1.71277352e-04 -1.14379710e+00] [-2.43182587e-03 -3.43617338e-05 9.99997043e-01 2.24413252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.815529292999999 meters Centerline goodness [0,1] 0.9976573640252597 Centerline is valid? [True, True] Translation: X:-15.15, Y:-1.14, Z:0.23 [[ 9.98495291e-01 -5.47761598e-02 2.59339960e-03 -1.51491159e+01] [ 5.47758678e-02 9.98498658e-01 1.83527608e-04 -1.14052883e+00] [-2.59955895e-03 -4.11957389e-05 9.99996620e-01 2.26992548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.845529293 meters Centerline goodness [0,1] 0.9977409638554217 Centerline is valid? [True, True] Translation: X:-15.18, Y:-1.14, Z:0.23 [[ 9.98438754e-01 -5.55386927e-02 5.95883625e-03 -1.51782163e+01] [ 5.55372011e-02 9.98456532e-01 4.15632223e-04 -1.14258051e+00] [-5.97272265e-03 -8.40462321e-05 9.99982160e-01 2.32693903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.875529293 meters Centerline goodness [0,1] 0.9978205075976698 Centerline is valid? [True, True] Translation: X:-15.21, Y:-1.15, Z:0.24 [[ 9.98550332e-01 -5.30423663e-02 9.15108778e-03 -1.52078026e+01] [ 5.30387721e-02 9.98592252e-01 6.35175677e-04 -1.14618856e+00] [-9.17189657e-03 -1.48892424e-04 9.99957926e-01 2.40798618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.905529292999999 meters Centerline goodness [0,1] 0.9968465810835554 Centerline is valid? [True, True] Translation: X:-15.24, Y:-1.15, Z:0.24 [[ 9.98618871e-01 -5.17324691e-02 9.17070770e-03 -1.52394311e+01] [ 5.17288551e-02 9.98660967e-01 6.31004182e-04 -1.14880481e+00] [-9.19107122e-03 -1.55742474e-04 9.99957749e-01 2.37840426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.935529293 meters Centerline goodness [0,1] 0.9979986112812972 Centerline is valid? [True, True] Translation: X:-15.27, Y:-1.15, Z:0.23 [[ 9.98752742e-01 -4.98242750e-02 3.24082345e-03 -1.52691247e+01] [ 4.98238044e-02 9.98757997e-01 2.25837321e-04 -1.15455458e+00] [-3.24805052e-03 -6.40854894e-05 9.99994723e-01 2.29776016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.965529293 meters Centerline goodness [0,1] 0.9974118078623978 Centerline is valid? [True, True] Translation: X:-15.30, Y:-1.16, Z:0.23 [[ 9.98720520e-01 -5.05439958e-02 1.62123894e-03 -1.52975316e+01] [ 5.05438748e-02 9.98721835e-01 1.15499251e-04 -1.15828118e+00] [-1.62500452e-03 -3.34077738e-05 9.99998679e-01 2.30839603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.995529292999999 meters Centerline goodness [0,1] 0.9973178908869247 Centerline is valid? [True, True] Translation: X:-15.33, Y:-1.16, Z:0.24 [[ 9.98653376e-01 -5.16128813e-02 5.24842675e-03 -1.53263715e+01] [ 5.16116655e-02 9.98667162e-01 3.66914599e-04 -1.16019476e+00] [-5.26036897e-03 -9.55404568e-05 9.99986160e-01 2.38354030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.025529293 meters Centerline goodness [0,1] 0.9967833876221498 Centerline is valid? [True, True] Translation: X:-15.36, Y:-1.16, Z:0.24 [[ 9.98670958e-01 -5.13014354e-02 4.94767466e-03 -1.53559303e+01] [ 5.13003549e-02 9.98683210e-01 3.45136780e-04 -1.15555812e+00] [-4.95886563e-03 -9.08606134e-05 9.99987701e-01 2.39283790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.055529293 meters Centerline goodness [0,1] 0.9970795814066683 Centerline is valid? [True, True] Translation: X:-15.39, Y:-1.15, Z:0.23 [[ 9.98766722e-01 -4.96044449e-02 2.10579785e-03 -1.53866178e+01] [ 4.96042453e-02 9.98768941e-01 1.46923552e-04 -1.15146159e+00] [-2.11049354e-03 -4.22858417e-05 9.99997772e-01 2.30998624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.085529292999999 meters Centerline goodness [0,1] 0.9969004893964111 Centerline is valid? [True, True] Translation: X:-15.41, Y:-1.16, Z:0.24 [[ 9.98757519e-01 -4.98084943e-02 1.59116746e-03 -1.54136785e+01] [ 4.98083762e-02 9.98758786e-01 1.13794226e-04 -1.15824253e+00] [-1.59486040e-03 -3.43993711e-05 9.99998728e-01 2.37562152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.115529293 meters Centerline goodness [0,1] 0.9973783684916474 Centerline is valid? [True, True] Translation: X:-15.44, Y:-1.16, Z:0.24 [[ 9.98736197e-01 -5.01166059e-02 3.78617507e-03 -1.54423971e+01] [ 5.01159614e-02 9.98743371e-01 2.64970440e-04 -1.16452787e+00] [-3.79469667e-03 -7.48877663e-05 9.99992797e-01 2.39956287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.145529293 meters Centerline goodness [0,1] 0.9976203551162365 Centerline is valid? [True, True] Translation: X:-15.47, Y:-1.18, Z:0.25 [[ 9.98659873e-01 -5.14033890e-02 6.01248508e-03 -1.54705576e+01] [ 5.14018021e-02 9.98677966e-01 4.18274847e-04 -1.17630467e+00] [-6.02603712e-03 -1.08661738e-04 9.99981837e-01 2.48400090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.175529292999999 meters Centerline goodness [0,1] 0.997594438668379 Centerline is valid? [True, True] Translation: X:-15.50, Y:-1.18, Z:0.25 [[ 9.98694899e-01 -5.09603475e-02 3.39736903e-03 -1.55017478e+01] [ 5.09598457e-02 9.98700676e-01 2.34159051e-04 -1.17787068e+00] [-3.40488757e-03 -6.07240479e-05 9.99994202e-01 2.46385752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.205529293 meters Centerline goodness [0,1] 0.9979844866548586 Centerline is valid? [True, True] Translation: X:-15.53, Y:-1.18, Z:0.24 [[ 9.98745874e-01 -4.99590549e-02 3.28198495e-03 -1.55297979e+01] [ 4.99585683e-02 9.98751265e-01 2.30119978e-04 -1.17756389e+00] [-3.28938320e-03 -6.58681093e-05 9.99994588e-01 2.44510362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.235529292999999 meters Centerline goodness [0,1] 0.9979432248605058 Centerline is valid? [True, True] Translation: X:-15.56, Y:-1.18, Z:0.25 [[ 9.98753904e-01 -4.95047583e-02 6.31804157e-03 -1.55588530e+01] [ 4.95029737e-02 9.98773880e-01 4.38629459e-04 -1.17715048e+00] [-6.33200914e-03 -1.25321039e-04 9.99979945e-01 2.53684513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.265529293 meters Centerline goodness [0,1] 0.997466250456075 Centerline is valid? [True, True] Translation: X:-15.59, Y:-1.18, Z:0.25 [[ 9.98749982e-01 -4.90043393e-02 9.85127116e-03 -1.55905721e+01] [ 4.90000592e-02 9.98798547e-01 6.75507563e-04 -1.17942501e+00] [-9.87253812e-03 -1.91950297e-04 9.99951247e-01 2.51644914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.295529293 meters Centerline goodness [0,1] 0.9976479175960096 Centerline is valid? [True, True] Translation: X:-15.62, Y:-1.19, Z:0.25 [[ 9.98750459e-01 -4.93373818e-02 7.95889579e-03 -1.56210035e+01] [ 4.93345953e-02 9.98782158e-01 5.46184835e-04 -1.18726658e+00] [-7.97615044e-03 -1.52853452e-04 9.99968178e-01 2.52711646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.325529292999999 meters Centerline goodness [0,1] 0.9978251590479481 Centerline is valid? [True, True] Translation: X:-15.65, Y:-1.19, Z:0.26 [[ 9.98676727e-01 -5.11968434e-02 4.86609020e-03 -1.56515051e+01] [ 5.11958205e-02 9.98688578e-01 3.34626209e-04 -1.19349022e+00] [-4.87684051e-03 -8.50599263e-05 9.99988105e-01 2.55242862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.355529293 meters Centerline goodness [0,1] 0.9983157809297701 Centerline is valid? [True, True] Translation: X:-15.68, Y:-1.19, Z:0.25 [[ 9.98528839e-01 -5.40497051e-02 4.33438602e-03 -1.56812520e+01] [ 5.40488968e-02 9.98538244e-01 3.03498809e-04 -1.19450801e+00] [-4.34445422e-03 -6.87835304e-05 9.99990560e-01 2.54276019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.385529293 meters Centerline goodness [0,1] 0.9974292018380194 Centerline is valid? [True, True] Translation: X:-15.71, Y:-1.19, Z:0.26 [[ 9.98477317e-01 -5.47466945e-02 6.77100260e-03 -1.57104294e+01] [ 5.47447409e-02 9.98500270e-01 4.73667787e-04 -1.19447844e+00] [-6.78677966e-03 -1.02269759e-04 9.99976964e-01 2.58148945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.415529292999999 meters Centerline goodness [0,1] 0.9976607949229079 Centerline is valid? [True, True] Translation: X:-15.74, Y:-1.20, Z:0.26 [[ 9.98447270e-01 -5.51426039e-02 7.89571043e-03 -1.57417794e+01] [ 5.51400279e-02 9.98478483e-01 5.43731765e-04 -1.20200295e+00] [-7.91367976e-03 -1.07517803e-04 9.99968681e-01 2.60728036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.445529293 meters Centerline goodness [0,1] 0.997684668034202 Centerline is valid? [True, True] Translation: X:-15.77, Y:-1.21, Z:0.27 [[ 9.98459971e-01 -5.49339579e-02 7.74256564e-03 -1.57734920e+01] [ 5.49314599e-02 9.98489984e-01 5.35076866e-04 -1.20840792e+00] [-7.76026814e-03 -1.08942398e-04 9.99969883e-01 2.66601099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.475529293 meters Centerline goodness [0,1] 0.9982166018158236 Centerline is valid? [True, True] Translation: X:-15.80, Y:-1.21, Z:0.27 [[ 9.98478426e-01 -5.50431236e-02 3.32968991e-03 -1.58035361e+01] [ 5.50426520e-02 9.98483977e-01 2.33177722e-04 -1.21468694e+00] [-3.33747685e-03 -4.95479619e-05 9.99994429e-01 2.66647260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.505529292999999 meters Centerline goodness [0,1] 0.9987258054729689 Centerline is valid? [True, True] Translation: X:-15.83, Y:-1.22, Z:0.26 [[ 9.98516059e-01 -5.44554139e-02 5.35986765e-04 -1.58331318e+01] [ 5.44554009e-02 9.98516203e-01 3.88531620e-05 -1.21611661e+00] [-5.37307234e-04 -9.60813204e-06 9.99999856e-01 2.60173736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.535529293 meters Centerline goodness [0,1] 0.9981599805888062 Centerline is valid? [True, True] Translation: X:-15.86, Y:-1.22, Z:0.27 [[ 9.98461201e-01 -5.52436471e-02 4.83410711e-03 -1.58610767e+01] [ 5.52426446e-02 9.98472901e-01 3.40771206e-04 -1.22023256e+00] [-4.84555039e-03 -7.31979665e-05 9.99988258e-01 2.74098926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.565529292999999 meters Centerline goodness [0,1] 0.9978365481822961 Centerline is valid? [True, True] Translation: X:-15.89, Y:-1.22, Z:0.29 [[ 9.98486489e-01 -5.36778917e-02 1.19755735e-02 -1.58916624e+01] [ 5.36716798e-02 9.98558284e-01 8.39726574e-04 -1.21612585e+00] [-1.20033829e-02 -1.95706491e-04 9.99927938e-01 2.89112146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.595529293 meters Centerline goodness [0,1] 0.9977010091145834 Centerline is valid? [True, True] Translation: X:-15.92, Y:-1.21, Z:0.29 [[ 9.98569852e-01 -5.19165349e-02 1.27641539e-02 -1.59228925e+01] [ 5.19093984e-02 9.98651402e-01 8.89997024e-04 -1.21463900e+00] [-1.27931457e-02 -2.26144648e-04 9.99918139e-01 2.88640880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.625529293 meters Centerline goodness [0,1] 0.9976180781758958 Centerline is valid? [True, True] Translation: X:-15.95, Y:-1.22, Z:0.28 [[ 9.98683120e-01 -5.11300465e-02 4.21242203e-03 -1.59533089e+01] [ 5.11292507e-02 9.98692000e-01 2.96442585e-04 -1.22013582e+00] [-4.22206931e-03 -8.06742236e-05 9.99991084e-01 2.79155319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.655529292999999 meters Centerline goodness [0,1] 0.9979318734793188 Centerline is valid? [True, True] Translation: X:-15.98, Y:-1.23, Z:0.27 [[ 9.98561533e-01 -5.36174149e-02 -1.92125527e-04 -1.59829317e+01] [ 5.36174135e-02 9.98561552e-01 -1.28814980e-05 -1.23156245e+00] [ 1.92539837e-04 2.56169456e-06 9.99999981e-01 2.73801009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.685529293 meters Centerline goodness [0,1] 0.9988431328773518 Centerline is valid? [True, True] Translation: X:-16.01, Y:-1.24, Z:0.29 [[ 9.98334275e-01 -5.73875681e-02 5.94489371e-03 -1.60109241e+01] [ 5.73860917e-02 9.98351973e-01 4.18772181e-04 -1.24270947e+00] [-5.95912868e-03 -7.69204064e-05 9.99982241e-01 2.87416030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.715529293 meters Centerline goodness [0,1] 0.9986025316455697 Centerline is valid? [True, True] Translation: X:-16.04, Y:-1.24, Z:0.30 [[ 9.98112364e-01 -6.00540803e-02 1.28536666e-02 -1.60400146e+01] [ 6.00474169e-02 9.98195116e-01 9.04052315e-04 -1.24480254e+00] [-1.28847593e-02 -1.30516314e-04 9.99916980e-01 3.00149631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.745529292999999 meters Centerline goodness [0,1] 0.9981985993604016 Centerline is valid? [True, True] Translation: X:-16.07, Y:-1.24, Z:0.30 [[ 9.98066941e-01 -6.14532467e-02 9.26711163e-03 -1.60723049e+01] [ 6.14499026e-02 9.98109960e-01 6.45425668e-04 -1.24278284e+00] [-9.28925992e-03 -7.47149149e-05 9.99956851e-01 2.98089225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.775529293 meters Centerline goodness [0,1] 0.998520560160509 Centerline is valid? [True, True] Translation: X:-16.10, Y:-1.24, Z:0.29 [[ 9.98038664e-01 -6.25638324e-02 2.14309108e-03 -1.61029320e+01] [ 6.25636517e-02 9.98040964e-01 1.51317989e-04 -1.24463650e+00] [-2.14835972e-03 -1.69415999e-05 9.99997692e-01 2.86207573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.805529293 meters Centerline goodness [0,1] 0.9986173803424017 Centerline is valid? [True, True] Translation: X:-16.13, Y:-1.25, Z:0.29 [[ 9.98030819e-01 -6.26859758e-02 2.22552353e-03 -1.61294323e+01] [ 6.26857747e-02 9.98033300e-01 1.60099084e-04 -1.25378529e+00] [-2.23118256e-03 -2.02751531e-05 9.99997511e-01 2.94752464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.835529292999999 meters Centerline goodness [0,1] 0.9985559419936136 Centerline is valid? [True, True] Translation: X:-16.16, Y:-1.25, Z:0.31 [[ 9.97999669e-01 -6.24863372e-02 9.59782702e-03 -1.61590333e+01] [ 6.24827140e-02 9.98045817e-01 6.77189945e-04 -1.25332036e+00] [-9.62138623e-03 -7.61370601e-05 9.99953710e-01 3.10367396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.865529293 meters Centerline goodness [0,1] 0.998378761779309 Centerline is valid? [True, True] Translation: X:-16.19, Y:-1.25, Z:0.31 [[ 9.98018679e-01 -6.25576514e-02 6.72724334e-03 -1.61902395e+01] [ 6.25559179e-02 9.98041351e-01 4.68000534e-04 -1.25156939e+00] [-6.74334404e-03 -4.62443927e-05 9.99977262e-01 3.10071096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.895529293 meters Centerline goodness [0,1] 0.9986994249019489 Centerline is valid? [True, True] Translation: X:-16.22, Y:-1.26, Z:0.31 [[ 9.98063805e-01 -6.20190713e-02 4.71978358e-03 -1.62224848e+01] [ 6.20182204e-02 9.98074964e-01 3.26574307e-04 -1.25514345e+00] [-4.73095166e-03 -3.32294170e-05 9.99988808e-01 3.08288908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.925529292999999 meters Centerline goodness [0,1] 0.9985779872425141 Centerline is valid? [True, True] Translation: X:-16.25, Y:-1.26, Z:0.31 [[ 9.98025236e-01 -6.26072203e-02 5.09557297e-03 -1.62529726e+01] [ 6.26061894e-02 9.98038243e-01 3.61738532e-04 -1.26041455e+00] [-5.10822414e-03 -4.20097770e-05 9.99986952e-01 3.09567364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.955529293 meters Centerline goodness [0,1] 0.9979421772172531 Centerline is valid? [True, True] Translation: X:-16.28, Y:-1.26, Z:0.33 [[ 9.98154311e-01 -6.02081801e-02 7.93391568e-03 -1.62826506e+01] [ 6.02056049e-02 9.98185838e-01 5.63234601e-04 -1.26086319e+00] [-7.95343361e-03 -8.45288519e-05 9.99968367e-01 3.28126006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.985529292999999 meters Centerline goodness [0,1] 0.9982745320937031 Centerline is valid? [True, True] Translation: X:-16.31, Y:-1.26, Z:0.32 [[ 9.98198309e-01 -5.98273273e-02 4.56359989e-03 -1.63138285e+01] [ 5.98264737e-02 9.98208740e-01 3.23454227e-04 -1.25535695e+00] [-4.57477669e-03 -4.98473735e-05 9.99989534e-01 3.23364695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.015529293 meters Centerline goodness [0,1] 0.9987596331767624 Centerline is valid? [True, True] Translation: X:-16.34, Y:-1.25, Z:0.32 [[ 9.98226793e-01 -5.95252763e-02 1.09341912e-04 -1.63439692e+01] [ 5.95252757e-02 9.98226799e-01 8.97868398e-06 -1.25182990e+00] [-1.09682485e-04 -2.45415546e-06 9.99999994e-01 3.19292367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.045529293 meters Centerline goodness [0,1] 0.9981247834328693 Centerline is valid? [True, True] Translation: X:-16.37, Y:-1.26, Z:0.33 [[ 9.98271012e-01 -5.87791208e-02 3.15272134e-05 -1.63713009e+01] [ 5.87791207e-02 9.98271013e-01 5.52642093e-06 -1.25581640e+00] [-3.17975414e-05 -3.66372394e-06 9.99999999e-01 3.26769563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.075529293000002 meters Centerline goodness [0,1] 0.9987549241728411 Centerline is valid? [True, True] Translation: X:-16.40, Y:-1.26, Z:0.34 [[ 9.98362149e-01 -5.70313116e-02 4.52195200e-03 -1.64001198e+01] [ 5.70304380e-02 9.98372388e-01 3.22007934e-04 -1.25887331e+00] [-4.53295655e-03 -6.35916303e-05 9.99989724e-01 3.39970604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.105529293 meters Centerline goodness [0,1] 0.99833173967001 Centerline is valid? [True, True] Translation: X:-16.43, Y:-1.26, Z:0.35 [[ 9.98449946e-01 -5.50827329e-02 7.97477331e-03 -1.64288361e+01] [ 5.50799893e-02 9.98481786e-01 5.63431212e-04 -1.25867027e+00] [-7.99370123e-03 -1.23307435e-04 9.99968042e-01 3.51132663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.135529293 meters Centerline goodness [0,1] 0.9976095940361397 Centerline is valid? [True, True] Translation: X:-16.46, Y:-1.26, Z:0.35 [[ 9.98506843e-01 -5.44143362e-02 4.81290622e-03 -1.64605409e+01] [ 5.44133291e-02 9.98518439e-01 3.40045578e-04 -1.25870386e+00] [-4.82427896e-03 -7.76515865e-05 9.99988360e-01 3.51126421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.165529293000002 meters Centerline goodness [0,1] 0.9979622195504656 Centerline is valid? [True, True] Translation: X:-16.49, Y:-1.27, Z:0.34 [[ 9.98438044e-01 -5.58407057e-02 -1.81322474e-03 -1.64914379e+01] [ 5.58405631e-02 9.98439690e-01 -1.29208903e-04 -1.26536547e+00] [ 1.81761067e-03 2.77555932e-05 9.99998348e-01 3.41769029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.195529293 meters Centerline goodness [0,1] 0.9977631819753137 Centerline is valid? [True, True] Translation: X:-16.52, Y:-1.27, Z:0.35 [[ 9.98312475e-01 -5.80362132e-02 -1.99992084e-03 -1.65186190e+01] [ 5.80360521e-02 9.98314478e-01 -1.38551063e-04 -1.27365354e+00] [ 2.00459091e-03 2.22497444e-05 9.99997991e-01 3.45400044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.225529293 meters Centerline goodness [0,1] 0.9977631819753137 Centerline is valid? [True, True] Translation: X:-16.55, Y:-1.28, Z:0.35 [[ 9.98319159e-01 -5.79211223e-02 -1.99998422e-03 -1.65460115e+01] [ 5.79209628e-02 9.98321162e-01 -1.37653049e-04 -1.27573179e+00] [ 2.00459959e-03 2.15806643e-05 9.99997991e-01 3.46298797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.255529293000002 meters Centerline goodness [0,1] 0.9982439303289568 Centerline is valid? [True, True] Translation: X:-16.58, Y:-1.27, Z:0.36 [[ 9.98272224e-01 -5.85731569e-02 4.66387643e-03 -1.65761535e+01] [ 5.85722528e-02 9.98283117e-01 3.30338898e-04 -1.27277586e+00] [-4.67521809e-03 -5.65943969e-05 9.99989070e-01 3.58355103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.285529293 meters Centerline goodness [0,1] 0.9979010433648516 Centerline is valid? [True, True] Translation: X:-16.61, Y:-1.27, Z:0.36 [[ 9.98372225e-01 -5.67704316e-02 5.47894021e-03 -1.66057119e+01] [ 5.67691550e-02 9.98387256e-01 3.88370644e-04 -1.26901204e+00] [-5.49215205e-03 -7.67036582e-05 9.99984915e-01 3.63305800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.315529293 meters Centerline goodness [0,1] 0.9974486151082808 Centerline is valid? [True, True] Translation: X:-16.64, Y:-1.27, Z:0.35 [[ 9.98390878e-01 -5.66871694e-02 -1.48980733e-03 -1.66372333e+01] [ 5.66870739e-02 9.98391989e-01 -1.06266550e-04 -1.27139424e+00] [ 1.49343565e-03 2.16427360e-05 9.99998885e-01 3.48417264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.345529293000002 meters Centerline goodness [0,1] 0.9976577934377482 Centerline is valid? [True, True] Translation: X:-16.67, Y:-1.28, Z:0.35 [[ 9.98352720e-01 -5.70482081e-02 -6.11138363e-03 -1.66654475e+01] [ 5.70466456e-02 9.98371422e-01 -4.29827852e-04 -1.27966934e+00] [ 6.12595167e-03 8.04858695e-05 9.99981233e-01 3.47115027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.375529293 meters Centerline goodness [0,1] 0.9979774867719463 Centerline is valid? [True, True] Translation: X:-16.69, Y:-1.28, Z:0.36 [[ 9.98433217e-01 -5.58941403e-02 -2.63730800e-03 -1.66942680e+01] [ 5.58938484e-02 9.98436700e-01 -1.84286489e-04 -1.28219244e+00] [ 2.64348563e-03 3.65884583e-05 9.99996505e-01 3.55184079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.405529293 meters Centerline goodness [0,1] 0.997637330183107 Centerline is valid? [True, True] Translation: X:-16.72, Y:-1.28, Z:0.37 [[ 9.98468840e-01 -5.51946020e-02 3.67845859e-03 -1.67237034e+01] [ 5.51940181e-02 9.98475614e-01 2.60133625e-04 -1.28168050e+00] [-3.68720917e-03 -5.67064084e-05 9.99993201e-01 3.68068631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.435529293000002 meters Centerline goodness [0,1] 0.9979615549259025 Centerline is valid? [True, True] Translation: X:-16.75, Y:-1.28, Z:0.37 [[ 9.98455410e-01 -5.54361025e-02 3.69221930e-03 -1.67528502e+01] [ 5.54355122e-02 9.98462235e-01 2.62122520e-04 -1.28300975e+00] [-3.70107259e-03 -5.70375799e-05 9.99993149e-01 3.65235599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.465529293 meters Centerline goodness [0,1] 0.9983103981760443 Centerline is valid? [True, True] Translation: X:-16.78, Y:-1.29, Z:0.36 [[ 9.98462780e-01 -5.54201050e-02 -8.29597166e-04 -1.67820725e+01] [ 5.54200766e-02 9.98463125e-01 -5.71926597e-05 -1.28717755e+00] [ 8.31491802e-04 1.11284036e-05 9.99999654e-01 3.57169519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.495529293 meters Centerline goodness [0,1] 0.9971778563978814 Centerline is valid? [True, True] Translation: X:-16.81, Y:-1.29, Z:0.35 [[ 9.98497903e-01 -5.45783353e-02 -4.81067193e-03 -1.68104018e+01] [ 5.45773461e-02 9.98509489e-01 -3.36761287e-04 -1.29415194e+00] [ 4.82188144e-03 7.37017322e-05 9.99988372e-01 3.54736475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.525529293 meters Centerline goodness [0,1] 0.9980602744201241 Centerline is valid? [True, True] Translation: X:-16.84, Y:-1.30, Z:0.36 [[ 9.98487101e-01 -5.49718967e-02 -1.26496451e-03 -1.68394831e+01] [ 5.49718297e-02 9.98487902e-01 -8.77095634e-05 -1.29767652e+00] [ 1.26787332e-03 1.80394542e-05 9.99999196e-01 3.63093799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.555529293000003 meters Centerline goodness [0,1] 0.9977567501427522 Centerline is valid? [True, True] Translation: X:-16.87, Y:-1.30, Z:0.37 [[ 9.98321085e-01 -5.79116260e-02 1.12046156e-03 -1.68687477e+01] [ 5.79115726e-02 9.98321713e-01 8.00360833e-05 -1.30008827e+00] [-1.12321612e-03 -1.50140187e-05 9.99999369e-01 3.69339523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.585529293 meters Centerline goodness [0,1] 0.9977538185085355 Centerline is valid? [True, True] Translation: X:-16.90, Y:-1.30, Z:0.37 [[ 9.98408267e-01 -5.61773419e-02 5.00384226e-03 -1.68975086e+01] [ 5.61762758e-02 9.98420804e-01 3.53464139e-04 -1.29850942e+00] [-5.01579689e-03 -7.18042957e-05 9.99987418e-01 3.70671594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.615529293 meters Centerline goodness [0,1] 0.9978611783696529 Centerline is valid? [True, True] Translation: X:-16.93, Y:-1.31, Z:0.36 [[ 9.98480261e-01 -5.50573930e-02 2.41892547e-03 -1.69281052e+01] [ 5.50571428e-02 9.98483191e-01 1.69970887e-04 -1.30582599e+00] [-2.42461457e-03 -3.65334511e-05 9.99997060e-01 3.58753832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.645529293000003 meters Centerline goodness [0,1] 0.9984715089263879 Centerline is valid? [True, True] Translation: X:-16.96, Y:-1.31, Z:0.35 [[ 9.98543104e-01 -5.38998237e-02 -2.54536579e-03 -1.69577473e+01] [ 5.38995463e-02 9.98546347e-01 -1.77511265e-04 -1.31234664e+00] [ 2.55123353e-03 4.00585889e-05 9.99996745e-01 3.50967640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.675529293 meters Centerline goodness [0,1] 0.997276865550317 Centerline is valid? [True, True] Translation: X:-16.99, Y:-1.32, Z:0.35 [[ 9.98512977e-01 -5.44228242e-02 -3.16094854e-03 -1.69852210e+01] [ 5.44224042e-02 9.98517979e-01 -2.18798887e-04 -1.31607439e+00] [ 3.16817160e-03 4.64471084e-05 9.99994980e-01 3.52705943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.705529293 meters Centerline goodness [0,1] 0.998369110961613 Centerline is valid? [True, True] Translation: X:-17.01, Y:-1.32, Z:0.36 [[ 9.98384101e-01 -5.68259005e-02 -6.54262391e-05 -1.70133620e+01] [ 5.68259005e-02 9.98384103e-01 -1.77841383e-06 -1.31710681e+00] [ 6.54215770e-05 -1.94236486e-06 9.99999998e-01 3.59661887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.735529293000003 meters Centerline goodness [0,1] 0.998494956068988 Centerline is valid? [True, True] Translation: X:-17.04, Y:-1.32, Z:0.36 [[ 9.98419653e-01 -5.61951758e-02 5.45753289e-04 -1.70416978e+01] [ 5.61951617e-02 9.98419803e-01 4.11841961e-05 -1.31795469e+00] [-5.47205244e-04 -1.04504165e-05 9.99999850e-01 3.59927212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.765529293 meters Centerline goodness [0,1] 0.9983830870909716 Centerline is valid? [True, True] Translation: X:-17.07, Y:-1.32, Z:0.35 [[ 9.98537597e-01 -5.40226300e-02 -2.05498175e-03 -1.70713569e+01] [ 5.40224524e-02 9.98539711e-01 -1.41892496e-04 -1.32047720e+00] [ 2.05964629e-03 3.06698381e-05 9.99997878e-01 3.49313115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.795529293 meters Centerline goodness [0,1] 0.9975587427525175 Centerline is valid? [True, True] Translation: X:-17.10, Y:-1.32, Z:0.35 [[ 9.98629358e-01 -5.21435383e-02 -4.52288848e-03 -1.71007223e+01] [ 5.21426501e-02 9.98639597e-01 -3.14149195e-04 -1.32014922e+00] [ 4.53311638e-03 7.78832175e-05 9.99989722e-01 3.46982038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.825529293000002 meters Centerline goodness [0,1] 0.9978672408189795 Centerline is valid? [True, True] Translation: X:-17.13, Y:-1.32, Z:0.35 [[ 9.98628869e-01 -5.22809982e-02 -2.66060160e-03 -1.71285720e+01] [ 5.22807019e-02 9.98632413e-01 -1.80851310e-04 -1.32422527e+00] [ 2.66641808e-03 4.15052204e-05 9.99996444e-01 3.49134958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.855529293 meters Centerline goodness [0,1] 0.997861899040909 Centerline is valid? [True, True] Translation: X:-17.16, Y:-1.33, Z:0.36 [[ 9.98722220e-01 -5.05363072e-02 -9.73622365e-05 -1.71565532e+01] [ 5.05363071e-02 9.98722224e-01 -3.72422995e-06 -1.32547082e+00] [ 9.74260382e-05 -1.20085668e-06 9.99999995e-01 3.61059769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.885529293 meters Centerline goodness [0,1] 0.9978607228719286 Centerline is valid? [True, True] Translation: X:-17.18, Y:-1.33, Z:0.36 [[ 9.98776079e-01 -4.94444617e-02 1.26025296e-03 -1.71847369e+01] [ 4.94443874e-02 9.98776874e-01 9.00822957e-05 -1.32884218e+00] [-1.26316558e-03 -2.76596064e-05 9.99999202e-01 3.62706697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.915529293000002 meters Centerline goodness [0,1] 0.9978181076672105 Centerline is valid? [True, True] Translation: X:-17.21, Y:-1.33, Z:0.36 [[ 9.98850458e-01 -4.79192631e-02 1.22776004e-03 -1.72138402e+01] [ 4.79191914e-02 9.98851212e-01 8.77303672e-05 -1.33217179e+00] [-1.23055357e-03 -2.87962492e-05 9.99999242e-01 3.58251057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.945529293 meters Centerline goodness [0,1] 0.9982485795165265 Centerline is valid? [True, True] Translation: X:-17.24, Y:-1.34, Z:0.36 [[ 9.98921026e-01 -4.64409513e-02 -1.48827863e-04 -1.72427200e+01] [ 4.64409507e-02 9.98921037e-01 -7.09899968e-06 -1.33946684e+00] [ 1.48996968e-04 1.79632573e-07 9.99999989e-01 3.56948921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.975529293 meters Centerline goodness [0,1] 0.9977482046496531 Centerline is valid? [True, True] Translation: X:-17.27, Y:-1.34, Z:0.36 [[ 9.98840459e-01 -4.80761048e-02 2.53468925e-03 -1.72714310e+01] [ 4.80758091e-02 9.98843674e-01 1.77494492e-04 -1.34046236e+00] [-2.54029157e-03 -5.54314432e-05 9.99996772e-01 3.60309500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.005529293000002 meters Centerline goodness [0,1] 0.9972302553867459 Centerline is valid? [True, True] Translation: X:-17.30, Y:-1.34, Z:0.36 [[ 9.98802454e-01 -4.87806253e-02 3.75609667e-03 -1.72998640e+01] [ 4.87799829e-02 9.98809514e-01 2.62503391e-04 -1.33822297e+00] [-3.76443016e-03 -7.89666998e-05 9.99992911e-01 3.60309216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.035529293 meters Centerline goodness [0,1] 0.9978021978021978 Centerline is valid? [True, True] Translation: X:-17.33, Y:-1.34, Z:0.35 [[ 9.98860705e-01 -4.76942198e-02 1.59788337e-03 -1.73305121e+01] [ 4.76941038e-02 9.98861983e-01 1.10633143e-04 -1.34134440e+00] [-1.60134151e-03 -3.42974844e-05 9.99998717e-01 3.53918968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.065529293 meters Centerline goodness [0,1] 0.9983109139380125 Centerline is valid? [True, True] Translation: X:-17.36, Y:-1.35, Z:0.34 [[ 9.98849857e-01 -4.78400647e-02 -3.20804752e-03 -1.73603529e+01] [ 4.78396002e-02 9.98855006e-01 -2.21435388e-04 -1.35115621e+00] [ 3.21496781e-03 6.77089944e-05 9.99994830e-01 3.44769112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.095529293000002 meters Centerline goodness [0,1] 0.9978070620723264 Centerline is valid? [True, True] Translation: X:-17.39, Y:-1.36, Z:0.35 [[ 9.98814135e-01 -4.86042448e-02 -2.81960863e-03 -1.73890807e+01] [ 4.86038949e-02 9.98818114e-01 -1.92530675e-04 -1.35834634e+00] [ 2.82563398e-03 5.52583987e-05 9.99996006e-01 3.48528060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.125529293 meters Centerline goodness [0,1] 0.9976422764227643 Centerline is valid? [True, True] Translation: X:-17.42, Y:-1.36, Z:0.36 [[ 9.98775840e-01 -4.94505133e-02 1.21188557e-03 -1.74173210e+01] [ 4.94504458e-02 9.98776575e-01 8.56195728e-05 -1.36255228e+00] [-1.21463685e-03 -2.55864790e-05 9.99999262e-01 3.57945693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.155529293 meters Centerline goodness [0,1] 0.9973765024099571 Centerline is valid? [True, True] Translation: X:-17.45, Y:-1.36, Z:0.36 [[ 9.98772174e-01 -4.92468762e-02 5.37486264e-03 -1.74467403e+01] [ 4.92455821e-02 9.98786631e-01 3.72915474e-04 -1.36083434e+00] [-5.38670587e-03 -1.07769359e-04 9.99985486e-01 3.55931501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.185529293000002 meters Centerline goodness [0,1] 0.9981511580658269 Centerline is valid? [True, True] Translation: X:-17.48, Y:-1.36, Z:0.35 [[ 9.98812098e-01 -4.86867109e-02 1.99913760e-03 -1.74772080e+01] [ 4.86865333e-02 9.98814098e-01 1.37416198e-04 -1.36262919e+00] [-2.00345716e-03 -3.99218820e-05 9.99997992e-01 3.52775220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.215529293 meters Centerline goodness [0,1] 0.9979725483040367 Centerline is valid? [True, True] Translation: X:-17.51, Y:-1.36, Z:0.34 [[ 9.98844940e-01 -4.80454827e-02 6.45798983e-04 -1.75058727e+01] [ 4.80454623e-02 9.98845149e-01 4.70296781e-05 -1.36445319e+00] [-6.47312745e-04 -1.59476453e-05 9.99999790e-01 3.43847002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.245529293 meters Centerline goodness [0,1] 0.9978146941583538 Centerline is valid? [True, True] Translation: X:-17.53, Y:-1.37, Z:0.35 [[ 9.98882234e-01 -4.72634742e-02 6.68377902e-04 -1.75335203e+01] [ 4.72634519e-02 9.98882457e-01 4.90689907e-05 -1.36991475e+00] [-6.69950133e-04 -1.74242962e-05 9.99999775e-01 3.48152103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.275529293 meters Centerline goodness [0,1] 0.9976283623537997 Centerline is valid? [True, True] Translation: X:-17.56, Y:-1.38, Z:0.35 [[ 9.98824596e-01 -4.83531613e-02 3.37618107e-03 -1.75611135e+01] [ 4.83526439e-02 9.98830299e-01 2.34757292e-04 -1.37758055e+00] [-3.38358320e-03 -7.12340766e-05 9.99994273e-01 3.52981483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.305529293000003 meters Centerline goodness [0,1] 0.9981151577795343 Centerline is valid? [True, True] Translation: X:-17.59, Y:-1.38, Z:0.35 [[ 9.98812804e-01 -4.84182027e-02 5.35356552e-03 -1.75911691e+01] [ 4.84169209e-02 9.98827145e-01 3.68847197e-04 -1.38005042e+00] [-5.36514548e-03 -1.09206144e-04 9.99985602e-01 3.51972250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.335529293 meters Centerline goodness [0,1] 0.9983980858139346 Centerline is valid? [True, True] Translation: X:-17.62, Y:-1.38, Z:0.35 [[ 9.98813963e-01 -4.85131865e-02 4.13980938e-03 -1.76228606e+01] [ 4.85124515e-02 9.98822539e-01 2.77839137e-04 -1.38078914e+00] [-4.14841378e-03 -7.66773075e-05 9.99991392e-01 3.50360366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.365529293 meters Centerline goodness [0,1] 0.9979782459261656 Centerline is valid? [True, True] Translation: X:-17.65, Y:-1.38, Z:0.35 [[ 9.98826791e-01 -4.82674572e-02 3.91088664e-03 -1.76527906e+01] [ 4.82667722e-02 9.98834444e-01 2.69400476e-04 -1.38121724e+00] [-3.91933155e-03 -8.03185387e-05 9.99992316e-01 3.52260325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.395529293000003 meters Centerline goodness [0,1] 0.9980774679240701 Centerline is valid? [True, True] Translation: X:-17.68, Y:-1.38, Z:0.35 [[ 9.98857025e-01 -4.76713890e-02 3.47603805e-03 -1.76831586e+01] [ 4.76708424e-02 9.98863070e-01 2.39997033e-04 -1.38449608e+00] [-3.48352703e-03 -7.40170600e-05 9.99993930e-01 3.52244736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.425529293 meters Centerline goodness [0,1] 0.9981369729861083 Centerline is valid? [True, True] Translation: X:-17.71, Y:-1.39, Z:0.35 [[ 9.98813566e-01 -4.85553342e-02 3.72008628e-03 -1.77120534e+01] [ 4.85547122e-02 9.98820491e-01 2.57393587e-04 -1.39329681e+00] [-3.72819624e-03 -7.64604876e-05 9.99993047e-01 3.54692211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.455529293 meters Centerline goodness [0,1] 0.9986991605520438 Centerline is valid? [True, True] Translation: X:-17.74, Y:-1.40, Z:0.35 [[ 9.98730722e-01 -4.99678287e-02 6.33724042e-03 -1.77423676e+01] [ 4.99660704e-02 9.98750821e-01 4.35569610e-04 -1.40128988e+00] [-6.35108854e-03 -1.18369750e-04 9.99979825e-01 3.54689511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.485529293000003 meters Centerline goodness [0,1] 0.9982396503581401 Centerline is valid? [True, True] Translation: X:-17.77, Y:-1.40, Z:0.36 [[ 9.98620936e-01 -5.20036260e-02 7.20064509e-03 -1.77747741e+01] [ 5.20014382e-02 9.98646889e-01 4.90852900e-04 -1.40136648e+00] [-7.21642795e-03 -1.15732081e-04 9.99973955e-01 3.59471944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.515529293 meters Centerline goodness [0,1] 0.9979370601084054 Centerline is valid? [True, True] Translation: X:-17.81, Y:-1.40, Z:0.35 [[ 9.98600809e-01 -5.25336961e-02 6.05271626e-03 -1.78075219e+01] [ 5.25321397e-02 9.98619147e-01 4.15946914e-04 -1.40430284e+00] [-6.06620958e-03 -9.74027887e-05 9.99981596e-01 3.53371197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.545529293 meters Centerline goodness [0,1] 0.9981741459060294 Centerline is valid? [True, True] Translation: X:-17.84, Y:-1.41, Z:0.35 [[ 9.98666749e-01 -5.15205089e-02 3.21883597e-03 -1.78389085e+01] [ 5.15200590e-02 9.98671935e-01 2.22615008e-04 -1.40649142e+00] [-3.22603038e-03 -5.64835874e-05 9.99994795e-01 3.50899493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.575529293000002 meters Centerline goodness [0,1] 0.9979461525947617 Centerline is valid? [True, True] Translation: X:-17.87, Y:-1.41, Z:0.36 [[ 9.98611773e-01 -5.26181475e-02 2.42027994e-03 -1.78682678e+01] [ 5.26178927e-02 9.98614705e-01 1.68895845e-04 -1.41050400e+00] [-2.42581413e-03 -4.13113487e-05 9.99997057e-01 3.56780896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.605529293 meters Centerline goodness [0,1] 0.9984555670710642 Centerline is valid? [True, True] Translation: X:-17.90, Y:-1.41, Z:0.36 [[ 9.98573282e-01 -5.32246280e-02 4.30569005e-03 -1.78973932e+01] [ 5.32238247e-02 9.98582562e-01 3.01008000e-04 -1.41228325e+00] [-4.31560805e-03 -7.14132544e-05 9.99990685e-01 3.57372646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.635529293 meters Centerline goodness [0,1] 0.9984811049455223 Centerline is valid? [True, True] Translation: X:-17.93, Y:-1.42, Z:0.36 [[ 9.98570414e-01 -5.31080279e-02 6.05521149e-03 -1.79286723e+01] [ 5.31064598e-02 9.98588768e-01 4.19563479e-04 -1.41817665e+00] [-6.06894837e-03 -9.73928311e-05 9.99981579e-01 3.58514062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.665529293000002 meters Centerline goodness [0,1] 0.9982332514265987 Centerline is valid? [True, True] Translation: X:-17.96, Y:-1.43, Z:0.36 [[ 9.98549699e-01 -5.34012719e-02 6.84118370e-03 -1.79597282e+01] [ 5.33993103e-02 9.98573129e-01 4.69198323e-04 -1.42565748e+00] [-6.85647800e-03 -1.03203353e-04 9.99976489e-01 3.62868631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.695529293 meters Centerline goodness [0,1] 0.9977019441958839 Centerline is valid? [True, True] Translation: X:-17.99, Y:-1.43, Z:0.37 [[ 9.98580723e-01 -5.27057641e-02 7.65782235e-03 -1.79926174e+01] [ 5.27032753e-02 9.98610078e-01 5.26579976e-04 -1.42519673e+00] [-7.67493237e-03 -1.22240293e-04 9.99970540e-01 3.66768994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.725529293 meters Centerline goodness [0,1] 0.99774064198335 Centerline is valid? [True, True] Translation: X:-18.03, Y:-1.42, Z:0.36 [[ 9.98602606e-01 -5.26131334e-02 4.96930282e-03 -1.80253441e+01] [ 5.26120889e-02 9.98614967e-01 3.40777414e-04 -1.42391259e+00] [-4.98034954e-03 -7.88558117e-05 9.99987595e-01 3.61880516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.755529293000002 meters Centerline goodness [0,1] 0.9983548622958811 Centerline is valid? [True, True] Translation: X:-18.06, Y:-1.43, Z:0.36 [[ 9.98517199e-01 -5.42635400e-02 4.34404525e-03 -1.80566254e+01] [ 5.42627548e-02 9.98526647e-01 2.98497262e-04 -1.43013475e+00] [-4.35384246e-03 -6.23347877e-05 9.99990520e-01 3.56520258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.785529293 meters Centerline goodness [0,1] 0.9988439775285456 Centerline is valid? [True, True] Translation: X:-18.09, Y:-1.43, Z:0.36 [[ 9.98504876e-01 -5.43964858e-02 5.38842202e-03 -1.80876691e+01] [ 5.43952316e-02 9.98519411e-01 3.79156608e-04 -1.43295190e+00] [-5.40106877e-03 -8.54852578e-05 9.99985410e-01 3.60449546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.815529293 meters Centerline goodness [0,1] 0.998293168610558 Centerline is valid? [True, True] Translation: X:-18.12, Y:-1.43, Z:0.37 [[ 9.98569118e-01 -5.30565259e-02 6.68748612e-03 -1.81189799e+01] [ 5.30545791e-02 9.98591504e-01 4.68302863e-04 -1.43087322e+00] [-6.70291335e-03 -1.12831015e-04 9.99977529e-01 3.66767312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.845529293000002 meters Centerline goodness [0,1] 0.9982530622194236 Centerline is valid? [True, True] Translation: X:-18.15, Y:-1.43, Z:0.37 [[ 9.98573939e-01 -5.28864410e-02 7.28787098e-03 -1.81524678e+01] [ 5.28841438e-02 9.98600526e-01 5.07698513e-04 -1.43209728e+00] [-7.30452216e-03 -1.21561688e-04 9.99973314e-01 3.66484739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.875529293 meters Centerline goodness [0,1] 0.9978722541946988 Centerline is valid? [True, True] Translation: X:-18.18, Y:-1.44, Z:0.37 [[ 9.98558325e-01 -5.34325240e-02 5.12226095e-03 -1.81828238e+01] [ 5.34313810e-02 9.98571459e-01 3.59827506e-04 -1.44255454e+00] [-5.13417008e-03 -8.56192746e-05 9.99986816e-01 3.65022581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.905529293 meters Centerline goodness [0,1] 0.9979781641730692 Centerline is valid? [True, True] Translation: X:-18.21, Y:-1.45, Z:0.37 [[ 9.98470615e-01 -5.47313218e-02 7.80474701e-03 -1.82146853e+01] [ 5.47286640e-02 9.98501110e-01 5.53857218e-04 -1.44723168e+00] [-7.82336189e-03 -1.25866780e-04 9.99969389e-01 3.70631569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.935529293000002 meters Centerline goodness [0,1] 0.999086720922209 Centerline is valid? [True, True] Translation: X:-18.25, Y:-1.45, Z:0.37 [[ 9.98345641e-01 -5.65851928e-02 1.02028137e-02 -1.82467840e+01] [ 5.65807744e-02 9.98397764e-01 7.21419807e-04 -1.44857292e+00] [-1.02272880e-02 -1.42943220e-04 9.99947690e-01 3.73419670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.965529293 meters Centerline goodness [0,1] 0.9986406979103266 Centerline is valid? [True, True] Translation: X:-18.28, Y:-1.45, Z:0.37 [[ 9.98338945e-01 -5.70078871e-02 8.33377946e-03 -1.82777167e+01] [ 5.70049458e-02 9.98373721e-01 5.90233672e-04 -1.45489833e+00] [-8.35387439e-03 -1.14186615e-04 9.99965099e-01 3.72874130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.995529293 meters Centerline goodness [0,1] 0.9986834643117557 Centerline is valid? [True, True] Translation: X:-18.31, Y:-1.45, Z:0.37 [[ 9.98424034e-01 -5.59081792e-02 4.87063520e-03 -1.83093607e+01] [ 5.59071437e-02 9.98435912e-01 3.48597574e-04 -1.45473071e+00] [-4.88250655e-03 -7.57448949e-05 9.99988078e-01 3.71948643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.025529293 meters Centerline goodness [0,1] 0.9986569806483121 Centerline is valid? [True, True] Translation: X:-18.34, Y:-1.45, Z:0.37 [[ 9.98304491e-01 -5.81307996e-02 2.99217567e-03 -1.83409286e+01] [ 5.81304385e-02 9.98308975e-01 2.07580688e-04 -1.45399009e+00] [-2.99918265e-03 -3.32922497e-05 9.99995502e-01 3.68749497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.055529293 meters Centerline goodness [0,1] 0.9986178299930891 Centerline is valid? [True, True] Translation: X:-18.37, Y:-1.46, Z:0.37 [[ 9.98273378e-01 -5.86301215e-02 3.57384220e-03 -1.83711032e+01] [ 5.86295750e-02 9.98279774e-01 2.57581691e-04 -1.45844093e+00] [-3.58279643e-03 -4.76040953e-05 9.99993581e-01 3.70327544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.085529293 meters Centerline goodness [0,1] 0.9984972788563073 Centerline is valid? [True, True] Translation: X:-18.40, Y:-1.47, Z:0.38 [[ 9.98152808e-01 -6.04513404e-02 6.05041546e-03 -1.84012318e+01] [ 6.04498105e-02 9.98171143e-01 4.35569578e-04 -1.46636956e+00] [-6.06568088e-03 -6.90185285e-05 9.99981601e-01 3.76246347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.115529293 meters Centerline goodness [0,1] 0.9982167825082575 Centerline is valid? [True, True] Translation: X:-18.43, Y:-1.47, Z:0.39 [[ 9.98112081e-01 -6.08541789e-02 8.30914789e-03 -1.84333415e+01] [ 6.08513536e-02 9.98146663e-01 5.92649269e-04 -1.46837552e+00] [-8.32981342e-03 -8.59074991e-05 9.99965303e-01 3.85780131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.145529293000003 meters Centerline goodness [0,1] 0.9982167825082575 Centerline is valid? [True, True] Translation: X:-18.47, Y:-1.47, Z:0.39 [[ 9.98093779e-01 -6.11536430e-02 8.30905898e-03 -1.84658325e+01] [ 6.11508177e-02 9.98128361e-01 5.93893221e-04 -1.47051996e+00] [-8.32982615e-03 -8.46553788e-05 9.99965303e-01 3.86843151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.175529293 meters Centerline goodness [0,1] 0.9988451018133928 Centerline is valid? [True, True] Translation: X:-18.50, Y:-1.47, Z:0.39 [[ 9.98101506e-01 -6.09057896e-02 9.15800927e-03 -1.84983884e+01] [ 6.09023043e-02 9.98143514e-01 6.59231022e-04 -1.47004506e+00] [-9.18115854e-03 -1.00235607e-04 9.99957847e-01 3.88497551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.205529293 meters Centerline goodness [0,1] 0.9984539333157028 Centerline is valid? [True, True] Translation: X:-18.53, Y:-1.47, Z:0.38 [[ 9.98126096e-01 -6.08721336e-02 6.23533341e-03 -1.85294952e+01] [ 6.08705056e-02 9.98145570e-01 4.50698049e-04 -1.47483148e+00] [-6.25120538e-03 -7.03055861e-05 9.99980459e-01 3.82520001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.235529293000003 meters Centerline goodness [0,1] 0.9988042641157634 Centerline is valid? [True, True] Translation: X:-18.56, Y:-1.48, Z:0.39 [[ 9.98155389e-01 -6.05909680e-02 3.81500939e-03 -1.85617966e+01] [ 6.05903747e-02 9.98162679e-01 2.70995257e-04 -1.47703269e+00] [-3.82441985e-03 -3.93425278e-05 9.99992686e-01 3.85502672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.265529293 meters Centerline goodness [0,1] 0.9982709871646224 Centerline is valid? [True, True] Translation: X:-18.59, Y:-1.48, Z:0.39 [[ 9.98070046e-01 -6.18441186e-02 5.61150146e-03 -1.85925127e+01] [ 6.18427820e-02 9.98085818e-01 4.11568425e-04 -1.47570566e+00] [-5.62621312e-03 -6.37432549e-05 9.99984171e-01 3.86675925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.295529293 meters Centerline goodness [0,1] 0.9980694588388302 Centerline is valid? [True, True] Translation: X:-18.62, Y:-1.48, Z:0.40 [[ 9.98092230e-01 -6.10050998e-02 9.50145028e-03 -1.86235084e+01] [ 6.10012838e-02 9.98137448e-01 6.91181248e-04 -1.47610801e+00] [-9.52591892e-03 -1.10261968e-04 9.99954621e-01 4.00004509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.325529293000002 meters Centerline goodness [0,1] 0.9979321250456149 Centerline is valid? [True, True] Translation: X:-18.66, Y:-1.48, Z:0.40 [[ 9.98276284e-01 -5.81534163e-02 7.91459335e-03 -1.86563659e+01] [ 5.81506444e-02 9.98307651e-01 5.80092639e-04 -1.47754030e+00] [-7.93493347e-03 -1.18854020e-04 9.99968511e-01 3.95871697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.355529293 meters Centerline goodness [0,1] 0.999148193968402 Centerline is valid? [True, True] Translation: X:-18.69, Y:-1.48, Z:0.39 [[ 9.98411675e-01 -5.61330841e-02 4.81699808e-03 -1.86874068e+01] [ 5.61320298e-02 9.98423292e-01 3.53893486e-04 -1.48099048e+00] [-4.82926821e-03 -8.29435082e-05 9.99988336e-01 3.86259646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.385529293 meters Centerline goodness [0,1] 0.9987797933783454 Centerline is valid? [True, True] Translation: X:-18.72, Y:-1.48, Z:0.39 [[ 9.98399522e-01 -5.64590220e-02 3.28224711e-03 -1.87195029e+01] [ 5.64585572e-02 9.98404916e-01 2.34173987e-04 -1.48499361e+00] [-3.29023289e-03 -4.84882601e-05 9.99994586e-01 3.89349689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.415529293000002 meters Centerline goodness [0,1] 0.9986639405655985 Centerline is valid? [True, True] Translation: X:-18.75, Y:-1.49, Z:0.39 [[ 9.98371698e-01 -5.68685873e-02 4.46272129e-03 -1.87494729e+01] [ 5.68676804e-02 9.98381670e-01 3.29959847e-04 -1.48622211e+00] [-4.47426348e-03 -7.56379650e-05 9.99989988e-01 3.91838724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.445529293 meters Centerline goodness [0,1] 0.9980544747081712 Centerline is valid? [True, True] Translation: X:-18.78, Y:-1.49, Z:0.40 [[ 9.98296543e-01 -5.80517123e-02 5.83186274e-03 -1.87815193e+01] [ 5.80502220e-02 9.98313574e-01 4.24635889e-04 -1.49004303e+00] [-5.84667857e-03 -8.53716135e-05 9.99982904e-01 3.95730884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.475529293 meters Centerline goodness [0,1] 0.9985426281272771 Centerline is valid? [True, True] Translation: X:-18.81, Y:-1.49, Z:0.40 [[ 9.98283040e-01 -5.80418617e-02 7.88121140e-03 -1.88131946e+01] [ 5.80391006e-02 9.98314143e-01 5.78795265e-04 -1.49316712e+00] [-7.90151916e-03 -1.20383076e-04 9.99968775e-01 3.99772680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.505529293000002 meters Centerline goodness [0,1] 0.9987860640148909 Centerline is valid? [True, True] Translation: X:-18.85, Y:-1.50, Z:0.40 [[ 9.98121757e-01 -6.08260181e-02 7.29070485e-03 -1.88455474e+01] [ 6.08237194e-02 9.98148379e-01 5.36804032e-04 -1.49614360e+00] [-7.30985688e-03 -9.23479968e-05 9.99973278e-01 3.98049382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.535529293 meters Centerline goodness [0,1] 0.9989849776695088 Centerline is valid? [True, True] Translation: X:-18.88, Y:-1.50, Z:0.40 [[ 9.98053376e-01 -6.22665459e-02 3.51214951e-03 -1.88762966e+01] [ 6.22660232e-02 9.98059555e-01 2.58085632e-04 -1.50023640e+00] [-3.52140448e-03 -3.88956541e-05 9.99993799e-01 3.97003556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.565529293 meters Centerline goodness [0,1] 0.9986906512499245 Centerline is valid? [True, True] Translation: X:-18.91, Y:-1.51, Z:0.40 [[ 9.97918215e-01 -6.43905557e-02 3.61846479e-03 -1.89068311e+01] [ 6.43899958e-02 9.97924774e-01 2.71128602e-04 -1.50711810e+00] [-3.62841378e-03 -3.75712376e-05 9.99993417e-01 3.95298266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.595529293000002 meters Centerline goodness [0,1] 0.9980641648686254 Centerline is valid? [True, True] Translation: X:-18.94, Y:-1.52, Z:0.40 [[ 9.97771306e-01 -6.65129735e-02 5.33332947e-03 -1.89377630e+01] [ 6.65117928e-02 9.97785559e-01 3.98648728e-04 -1.51528307e+00] [-5.34803444e-03 -4.30309573e-05 9.99985698e-01 4.02236136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.625529293 meters Centerline goodness [0,1] 0.9988476234761337 Centerline is valid? [True, True] Translation: X:-18.97, Y:-1.51, Z:0.41 [[ 9.97732079e-01 -6.70621190e-02 5.77668156e-03 -1.89701531e+01] [ 6.70607748e-02 9.97748801e-01 4.26286099e-04 -1.51465326e+00] [-5.79226475e-03 -3.79305746e-05 9.99983224e-01 4.08197630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.655529293 meters Centerline goodness [0,1] 0.9986251516376871 Centerline is valid? [True, True] Translation: X:-19.00, Y:-1.52, Z:0.40 [[ 9.97786562e-01 -6.63877391e-02 3.82696785e-03 -1.90014586e+01] [ 6.63871500e-02 9.97793900e-01 2.80890451e-04 -1.51501354e+00] [-3.83717286e-03 -2.62072285e-05 9.99992638e-01 4.03706285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.685529293000002 meters Centerline goodness [0,1] 0.9983457069076824 Centerline is valid? [True, True] Translation: X:-19.03, Y:-1.52, Z:0.40 [[ 9.97760274e-01 -6.68591822e-02 2.07014236e-03 -1.90319262e+01] [ 6.68590044e-02 9.97762421e-01 1.55058608e-04 -1.52159682e+00] [-2.07587734e-03 -1.63036623e-05 9.99997845e-01 4.01391995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.715529293 meters Centerline goodness [0,1] 0.998844235370453 Centerline is valid? [True, True] Translation: X:-19.06, Y:-1.53, Z:0.41 [[ 9.97867146e-01 -6.51942398e-02 3.29700777e-03 -1.90605439e+01] [ 6.51937695e-02 9.97872592e-01 2.50031295e-04 -1.52815615e+00] [-3.30629429e-03 -3.45536501e-05 9.99994534e-01 4.08406151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.745529293 meters Centerline goodness [0,1] 0.997952481349335 Centerline is valid? [True, True] Translation: X:-19.09, Y:-1.53, Z:0.42 [[ 9.97846682e-01 -6.52384054e-02 6.77861948e-03 -1.90907480e+01] [ 6.52364391e-02 9.97869704e-01 5.11020144e-04 -1.52784657e+00] [-6.79751715e-03 -6.77067580e-05 9.99976894e-01 4.19398005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.775529293 meters Centerline goodness [0,1] 0.9986047922353655 Centerline is valid? [True, True] Translation: X:-19.13, Y:-1.52, Z:0.42 [[ 9.97902850e-01 -6.43108467e-02 7.34963524e-03 -1.91250927e+01] [ 6.43085623e-02 9.97929912e-01 5.46971084e-04 -1.51932795e+00] [-7.36959702e-03 -7.31795279e-05 9.99972841e-01 4.18001374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.805529293 meters Centerline goodness [0,1] 0.9978919203794543 Centerline is valid? [True, True] Translation: X:-19.16, Y:-1.52, Z:0.42 [[ 9.98106922e-01 -6.12539585e-02 5.52487218e-03 -1.91564982e+01] [ 6.12526155e-02 9.98122211e-01 4.12126303e-04 -1.51908640e+00] [-5.53974200e-03 -7.29332441e-05 9.99984653e-01 4.16788386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.835529293 meters Centerline goodness [0,1] 0.9982736910516268 Centerline is valid? [True, True] Translation: X:-19.19, Y:-1.53, Z:0.42 [[ 9.98293759e-01 -5.81863018e-02 4.89125230e-03 -1.91886968e+01] [ 5.81851908e-02 9.98305738e-01 3.69257722e-04 -1.52857685e+00] [-4.90445098e-03 -8.40292316e-05 9.99987970e-01 4.15717047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.865529293 meters Centerline goodness [0,1] 0.9992089570402823 Centerline is valid? [True, True] Translation: X:-19.22, Y:-1.53, Z:0.42 [[ 9.98347471e-01 -5.73900636e-02 2.95084332e-03 -1.92201209e+01] [ 5.73896711e-02 9.98351831e-01 2.17604182e-04 -1.52792576e+00] [-2.95846815e-03 -4.78966568e-05 9.99995623e-01 4.17516765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.895529293000003 meters Centerline goodness [0,1] 0.9988232191044292 Centerline is valid? [True, True] Translation: X:-19.25, Y:-1.53, Z:0.42 [[ 9.98287014e-01 -5.84757380e-02 1.90395158e-03 -1.92492569e+01] [ 5.84755684e-02 9.98288829e-01 1.44669398e-04 -1.52839802e+00] [-1.90915324e-03 -3.30869303e-05 9.99998177e-01 4.18760283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.925529293 meters Centerline goodness [0,1] 0.9991701748704663 Centerline is valid? [True, True] Translation: X:-19.28, Y:-1.52, Z:0.42 [[ 9.98279047e-01 -5.86149268e-02 1.79854345e-03 -1.92781803e+01] [ 5.86147702e-02 9.98280667e-01 1.39710139e-04 -1.52404192e+00] [-1.80364025e-03 -3.40484939e-05 9.99998373e-01 4.15441751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.955529293 meters Centerline goodness [0,1] 0.9988241972105092 Centerline is valid? [True, True] Translation: X:-19.31, Y:-1.53, Z:0.41 [[ 9.98319041e-01 -5.78842427e-02 2.91674829e-03 -1.93079923e+01] [ 5.78838361e-02 9.98323300e-01 2.23702039e-04 -1.52716370e+00] [-2.92480660e-03 -5.44934250e-05 9.99995721e-01 4.14202018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.985529293000003 meters Centerline goodness [0,1] 0.9978289099910721 Centerline is valid? [True, True] Translation: X:-19.34, Y:-1.54, Z:0.42 [[ 9.98247766e-01 -5.90617111e-02 3.62095073e-03 -1.93365038e+01] [ 5.90610986e-02 9.98254332e-01 2.75943298e-04 -1.54116604e+00] [-3.63092743e-03 -6.16024525e-05 9.99993406e-01 4.21407999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.015529293 meters Centerline goodness [0,1] 0.9987620748437374 Centerline is valid? [True, True] Translation: X:-19.37, Y:-1.54, Z:0.42 [[ 9.98260830e-01 -5.88923556e-02 2.64694962e-03 -1.93681055e+01] [ 5.88920302e-02 9.98264338e-01 2.00774232e-04 -1.54297090e+00] [-2.65417948e-03 -4.45408146e-05 9.99996477e-01 4.19651058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.045529293 meters Centerline goodness [0,1] 0.9984607283185483 Centerline is valid? [True, True] Translation: X:-19.40, Y:-1.54, Z:0.43 [[ 9.98095814e-01 -6.16553792e-02 1.83308711e-03 -1.93977391e+01] [ 6.16552252e-02 9.98097497e-01 1.40483683e-04 -1.54162553e+00] [-1.83826123e-03 -2.71967775e-05 9.99998310e-01 4.28674350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.075529293000002 meters Centerline goodness [0,1] 0.9983147550303547 Centerline is valid? [True, True] Translation: X:-19.43, Y:-1.54, Z:0.43 [[ 9.98119241e-01 -6.12552536e-02 2.40319134e-03 -1.94266260e+01] [ 6.12549839e-02 9.98122133e-01 1.85706934e-04 -1.53741172e+00] [-2.41005400e-03 -3.81502172e-05 9.99997095e-01 4.30524086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.105529293 meters Centerline goodness [0,1] 0.9981969571118899 Centerline is valid? [True, True] Translation: X:-19.46, Y:-1.54, Z:0.43 [[ 9.98252262e-01 -5.90102432e-02 3.19560972e-03 -1.94559579e+01] [ 5.90097621e-02 9.98257376e-01 2.44703248e-04 -1.54237095e+00] [-3.20448097e-03 -5.57034015e-05 9.99994864e-01 4.28266884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.135529293 meters Centerline goodness [0,1] 0.9986004624558842 Centerline is valid? [True, True] Translation: X:-19.48, Y:-1.56, Z:0.43 [[ 9.98254875e-01 -5.88183933e-02 5.25363960e-03 -1.94849849e+01] [ 5.88171039e-02 9.98268696e-01 3.99739932e-04 -1.55575557e+00] [-5.26805602e-03 -9.00384698e-05 9.99986120e-01 4.32561154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.165529293000002 meters Centerline goodness [0,1] 0.9985158076649385 Centerline is valid? [True, True] Translation: X:-19.52, Y:-1.56, Z:0.43 [[ 9.98223363e-01 -5.93652827e-02 5.08726481e-03 -1.95167092e+01] [ 5.93641162e-02 9.98236323e-01 3.80131263e-04 -1.55784828e+00] [-5.10085912e-03 -7.74549281e-05 9.99986988e-01 4.34158658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.195529293 meters Centerline goodness [0,1] 0.9985372691627897 Centerline is valid? [True, True] Translation: X:-19.55, Y:-1.55, Z:0.43 [[ 9.98163567e-01 -6.05460753e-02 1.91494836e-03 -1.95492725e+01] [ 6.05459209e-02 9.98165403e-01 1.38578693e-04 -1.55347980e+00] [-1.91982560e-03 -2.23818911e-05 9.99998157e-01 4.34925571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.225529293 meters Centerline goodness [0,1] 0.9991295546558705 Centerline is valid? [True, True] Translation: X:-19.58, Y:-1.56, Z:0.43 [[ 9.98232408e-01 -5.94311049e-02 -6.25430800e-05 -1.95785261e+01] [ 5.94311048e-02 9.98232410e-01 -3.58107500e-06 -1.55563401e+00] [ 6.26453567e-05 -1.42259224e-07 9.99999998e-01 4.30320607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.255529293000002 meters Centerline goodness [0,1] 0.9988203469806984 Centerline is valid? [True, True] Translation: X:-19.61, Y:-1.57, Z:0.43 [[ 9.98196859e-01 -6.00034158e-02 1.61877839e-03 -1.96065514e+01] [ 6.00032895e-02 9.98198171e-01 1.26487354e-04 -1.56514310e+00] [-1.62345130e-03 -2.91272511e-05 9.99998682e-01 4.31656798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.285529293 meters Centerline goodness [0,1] 0.9987625770853619 Centerline is valid? [True, True] Translation: X:-19.64, Y:-1.57, Z:0.45 [[ 9.97990206e-01 -6.30696237e-02 6.14588642e-03 -1.96365069e+01] [ 6.30679196e-02 9.98009126e-01 4.70881168e-04 -1.56799965e+00] [-6.16334903e-03 -8.23265234e-05 9.99981003e-01 4.48379492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.315529293 meters Centerline goodness [0,1] 0.9982379746835442 Centerline is valid? [True, True] Translation: X:-19.67, Y:-1.57, Z:0.45 [[ 9.98061695e-01 -6.18916566e-02 6.50195639e-03 -1.96683536e+01] [ 6.18897504e-02 9.98082870e-01 4.94164123e-04 -1.56729730e+00] [-6.52007593e-03 -9.08018243e-05 9.99978740e-01 4.47883362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.345529293000002 meters Centerline goodness [0,1] 0.9982200647249191 Centerline is valid? [True, True] Translation: X:-19.70, Y:-1.57, Z:0.44 [[ 9.98146562e-01 -6.07847550e-02 2.94184118e-03 -1.96995130e+01] [ 6.07843567e-02 9.98150896e-01 2.24684773e-04 -1.57163837e+00] [-2.95005882e-03 -4.54504103e-05 9.99995648e-01 4.40355064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.375529293 meters Centerline goodness [0,1] 0.9982570276240854 Centerline is valid? [True, True] Translation: X:-19.73, Y:-1.58, Z:0.43 [[ 9.98112849e-01 -6.13949670e-02 -1.18233983e-03 -1.97301815e+01] [ 6.13949018e-02 9.98113549e-01 -9.13633739e-05 -1.57920534e+00] [ 1.18571866e-03 1.86013194e-05 9.99999297e-01 4.34274913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.405529293 meters Centerline goodness [0,1] 0.9983596597812879 Centerline is valid? [True, True] Translation: X:-19.76, Y:-1.58, Z:0.44 [[ 9.97917723e-01 -6.44928191e-02 9.45724299e-04 -1.97593128e+01] [ 6.44927775e-02 9.97918171e-01 7.43897960e-05 -1.57803502e+00] [-9.48553070e-04 -1.32425091e-05 9.99999550e-01 4.43064074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.435529293000002 meters Centerline goodness [0,1] 0.9988055471201539 Centerline is valid? [True, True] Translation: X:-19.79, Y:-1.58, Z:0.45 [[ 9.97873324e-01 -6.51264305e-02 2.71615881e-03 -1.97889337e+01] [ 6.51261011e-02 9.97877020e-01 2.09616291e-04 -1.58012517e+00] [-2.72404402e-03 -3.22776722e-05 9.99996289e-01 4.45772532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.465529293 meters Centerline goodness [0,1] 0.9984797810884768 Centerline is valid? [True, True] Translation: X:-19.82, Y:-1.59, Z:0.45 [[ 9.97844496e-01 -6.55212947e-02 3.65001135e-03 -1.98183195e+01] [ 6.55207084e-02 9.97851170e-01 2.80082565e-04 -1.59025065e+00] [-3.66051947e-03 -4.03275164e-05 9.99993299e-01 4.51659194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.495529293 meters Centerline goodness [0,1] 0.998599951302654 Centerline is valid? [True, True] Translation: X:-19.85, Y:-1.59, Z:0.46 [[ 9.97832770e-01 -6.57983498e-02 5.83878372e-04 -1.98499696e+01] [ 6.57983359e-02 9.97832940e-01 4.30471224e-05 -1.59217261e+00] [-5.85445502e-04 -4.53560413e-06 9.99999829e-01 4.57590920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.525529293 meters Centerline goodness [0,1] 0.9983206879109763 Centerline is valid? [True, True] Translation: X:-19.88, Y:-1.59, Z:0.45 [[ 9.97742513e-01 -6.71555610e-02 -9.24882891e-05 -1.98796684e+01] [ 6.71555609e-02 9.97742517e-01 -4.68761467e-06 -1.58939522e+00] [ 9.25942977e-05 -1.53407049e-06 9.99999996e-01 4.54034574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.555529293 meters Centerline goodness [0,1] 0.9988021763846029 Centerline is valid? [True, True] Translation: X:-19.91, Y:-1.59, Z:0.46 [[ 9.97858023e-01 -6.53887893e-02 1.91604623e-03 -1.99072948e+01] [ 6.53886212e-02 9.97859863e-01 1.50297095e-04 -1.58900607e+00] [-1.92177337e-03 -2.46875413e-05 9.99998153e-01 4.61875880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.585529293 meters Centerline goodness [0,1] 0.9984639637818828 Centerline is valid? [True, True] Translation: X:-19.94, Y:-1.59, Z:0.46 [[ 9.98005744e-01 -6.29739479e-02 4.33783507e-03 -1.99357447e+01] [ 6.29730925e-02 9.98015169e-01 3.33636211e-04 -1.59432933e+00] [-4.35023559e-03 -5.98039665e-05 9.99990536e-01 4.64498171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.615529293 meters Centerline goodness [0,1] 0.9977558529780437 Centerline is valid? [True, True] Translation: X:-19.97, Y:-1.60, Z:0.47 [[ 9.98306256e-01 -5.81246250e-02 2.47929981e-03 -1.99665731e+01] [ 5.81243356e-02 9.98309334e-01 1.88671079e-04 -1.59845769e+00] [-2.48607458e-03 -4.42438641e-05 9.99996909e-01 4.65372458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.645529293000003 meters Centerline goodness [0,1] 0.9978085749649981 Centerline is valid? [True, True] Translation: X:-20.00, Y:-1.60, Z:0.46 [[ 9.98299337e-01 -5.82929040e-02 -6.09062373e-04 -1.99973332e+01] [ 5.82928864e-02 9.98299523e-01 -4.66535734e-05 -1.59880088e+00] [ 6.10746248e-04 1.10702277e-05 9.99999813e-01 4.63124967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.675529293 meters Centerline goodness [0,1] 0.9980324942698932 Centerline is valid? [True, True] Translation: X:-20.03, Y:-1.59, Z:0.46 [[ 9.98393889e-01 -5.66156005e-02 -2.07739376e-03 -2.00260901e+01] [ 5.66153974e-02 9.98396050e-01 -1.56478295e-04 -1.59468153e+00] [ 2.08292084e-03 3.86145003e-05 9.99997830e-01 4.59693765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.705529293 meters Centerline goodness [0,1] 0.9978881104680678 Centerline is valid? [True, True] Translation: X:-20.05, Y:-1.59, Z:0.46 [[ 9.98508665e-01 -5.45847544e-02 -9.74816463e-04 -2.00543280e+01] [ 5.45847114e-02 9.98509141e-01 -7.06790986e-05 -1.59014227e+00] [ 9.77221150e-04 1.73636171e-05 9.99999522e-01 4.64031001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.735529293000003 meters Centerline goodness [0,1] 0.9973401555298369 Centerline is valid? [True, True] Translation: X:-20.08, Y:-1.59, Z:0.47 [[ 9.98675328e-01 -5.14522663e-02 5.04099219e-04 -2.00831253e+01] [ 5.14522522e-02 9.98675455e-01 4.09053015e-05 -1.59300955e+00] [-5.05536187e-04 -1.49140753e-05 9.99999872e-01 4.69294722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.765529293 meters Centerline goodness [0,1] 0.9970370971669779 Centerline is valid? [True, True] Translation: X:-20.11, Y:-1.60, Z:0.47 [[ 9.98875681e-01 -4.73828703e-02 -1.49558578e-03 -2.01129959e+01] [ 4.73827548e-02 9.98876800e-01 -1.12639450e-04 -1.59576536e+00] [ 1.49924312e-03 4.16478332e-05 9.99998875e-01 4.67307146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.795529293 meters Centerline goodness [0,1] 0.9979500710371423 Centerline is valid? [True, True] Translation: X:-20.14, Y:-1.60, Z:0.46 [[ 9.98879956e-01 -4.71519248e-02 -3.94064000e-03 -2.01417234e+01] [ 4.71511162e-02 9.98887723e-01 -2.97890210e-04 -1.59682421e+00] [ 3.95030302e-03 1.11750985e-04 9.99992191e-01 4.59933590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.825529293000002 meters Centerline goodness [0,1] 0.9973590655154901 Centerline is valid? [True, True] Translation: X:-20.17, Y:-1.60, Z:0.46 [[ 9.98922307e-01 -4.62560094e-02 -3.82167418e-03 -2.01690271e+01] [ 4.62552464e-02 9.98929612e-01 -2.87843822e-04 -1.59987072e+00] [ 3.83089801e-03 1.10761134e-04 9.99992656e-01 4.63799239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.855529293 meters Centerline goodness [0,1] 0.997147804828359 Centerline is valid? [True, True] Translation: X:-20.20, Y:-1.60, Z:0.47 [[ 9.98920075e-01 -4.64537333e-02 -8.57386399e-04 -2.01982426e+01] [ 4.64536960e-02 9.98920442e-01 -6.33665519e-05 -1.59686927e+00] [ 8.59404414e-04 2.34693536e-05 9.99999630e-01 4.70461263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.885529293 meters Centerline goodness [0,1] 0.9969624072412949 Centerline is valid? [True, True] Translation: X:-20.23, Y:-1.60, Z:0.47 [[ 9.98982855e-01 -4.50906671e-02 -2.94088714e-04 -2.02263317e+01] [ 4.50906633e-02 9.98982899e-01 -1.93546934e-05 -1.59854201e+00] [ 2.94662312e-04 6.07435174e-06 9.99999957e-01 4.70176788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.915529293000002 meters Centerline goodness [0,1] 0.9966794328552803 Centerline is valid? [True, True] Translation: X:-20.26, Y:-1.60, Z:0.46 [[ 9.98948627e-01 -4.55461216e-02 -5.21455377e-03 -2.02561483e+01] [ 4.55446810e-02 9.98962225e-01 -3.94747253e-04 -1.60167707e+00] [ 5.22712144e-03 1.56837038e-04 9.99986326e-01 4.60298636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.945529293 meters Centerline goodness [0,1] 0.996157677529529 Centerline is valid? [True, True] Translation: X:-20.28, Y:-1.61, Z:0.47 [[ 9.98902735e-01 -4.65601975e-02 -5.04725631e-03 -2.02841329e+01] [ 4.65588685e-02 9.98915475e-01 -3.80548928e-04 -1.60838234e+00] [ 5.05950087e-03 1.45136822e-04 9.99987190e-01 4.65043510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.975529293 meters Centerline goodness [0,1] 0.9972050632911392 Centerline is valid? [True, True] Translation: X:-20.31, Y:-1.61, Z:0.47 [[ 9.98810608e-01 -4.87564477e-02 4.20919801e-04 -2.03138307e+01] [ 4.87564385e-02 9.98810697e-01 3.21970677e-05 -1.61156482e+00] [-4.21989015e-04 -1.16362223e-05 9.99999911e-01 4.71536341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.005529293000002 meters Centerline goodness [0,1] 0.9966097565927039 Centerline is valid? [True, True] Translation: X:-20.34, Y:-1.61, Z:0.48 [[ 9.98847975e-01 -4.79660518e-02 1.40755425e-03 -2.03410807e+01] [ 4.79659450e-02 9.98848966e-01 1.09569755e-04 -1.61084855e+00] [-1.41118973e-03 -4.19288579e-05 9.99999003e-01 4.80275577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.035529293 meters Centerline goodness [0,1] 0.9966097565927039 Centerline is valid? [True, True] Translation: X:-20.37, Y:-1.61, Z:0.48 [[ 9.98851438e-01 -4.78938821e-02 1.40760455e-03 -2.03693187e+01] [ 4.78937761e-02 9.98852429e-01 1.08906970e-04 -1.61308589e+00] [-1.41120520e-03 -4.13663870e-05 9.99999003e-01 4.81202080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.065529293 meters Centerline goodness [0,1] 0.9965343926067042 Centerline is valid? [True, True] Translation: X:-20.40, Y:-1.61, Z:0.47 [[ 9.98878126e-01 -4.72706694e-02 -2.82372862e-03 -2.03992757e+01] [ 4.72702575e-02 9.98882114e-01 -2.12448806e-04 -1.61200632e+00] [ 2.83061461e-03 7.87320856e-05 9.99995991e-01 4.73285053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.095529293000002 meters Centerline goodness [0,1] 0.9974265972320723 Centerline is valid? [True, True] Translation: X:-20.43, Y:-1.62, Z:0.46 [[ 9.98895180e-01 -4.65060933e-02 -6.75290833e-03 -2.04279124e+01] [ 4.65037158e-02 9.98917987e-01 -5.08753857e-04 -1.61750461e+00] [ 6.76926175e-03 1.94156446e-04 9.99977069e-01 4.61803829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.125529293 meters Centerline goodness [0,1] 0.9973805510995594 Centerline is valid? [True, True] Translation: X:-20.46, Y:-1.63, Z:0.46 [[ 9.98851212e-01 -4.76795464e-02 -4.78720055e-03 -2.04573439e+01] [ 4.76783656e-02 9.98862675e-01 -3.60540697e-04 -1.62522557e+00] [ 4.79894636e-03 1.31880614e-04 9.99988476e-01 4.64106481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.155529293 meters Centerline goodness [0,1] 0.9967138626313441 Centerline is valid? [True, True] Translation: X:-20.49, Y:-1.63, Z:0.48 [[ 9.98790922e-01 -4.91079160e-02 2.25967454e-03 -2.04855214e+01] [ 4.91076538e-02 9.98793477e-01 1.71412103e-04 -1.63345583e+00] [-2.26536588e-03 -6.02375379e-05 9.99997432e-01 4.79662768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.185529293000002 meters Centerline goodness [0,1] 0.9975708502024292 Centerline is valid? [True, True] Translation: X:-20.52, Y:-1.63, Z:0.48 [[ 9.98869028e-01 -4.73622032e-02 4.18163061e-03 -2.05156204e+01] [ 4.73612955e-02 9.98877774e-01 3.15884048e-04 -1.63289484e+00] [-4.19189885e-03 -1.17479349e-04 9.99991207e-01 4.83607754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.215529293 meters Centerline goodness [0,1] 0.9967400827204009 Centerline is valid? [True, True] Translation: X:-20.55, Y:-1.63, Z:0.48 [[ 9.98886252e-01 -4.71826466e-02 -2.32917274e-04 -2.05482318e+01] [ 4.71826434e-02 9.98886279e-01 -1.94196615e-05 -1.62870183e+00] [ 2.33574140e-04 8.40838022e-06 9.99999973e-01 4.77823442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.245529293 meters Centerline goodness [0,1] 0.996851257465567 Centerline is valid? [True, True] Translation: X:-20.58, Y:-1.63, Z:0.47 [[ 9.98889674e-01 -4.69538431e-02 -3.84130491e-03 -2.05772596e+01] [ 4.69530783e-02 9.98897054e-01 -2.89093053e-04 -1.62759902e+00] [ 3.85064219e-03 1.08410975e-04 9.99992580e-01 4.72949103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.275529293 meters Centerline goodness [0,1] 0.9965249015052026 Centerline is valid? [True, True] Translation: X:-20.60, Y:-1.64, Z:0.47 [[ 9.98889126e-01 -4.70653569e-02 -2.31666874e-03 -2.06041365e+01] [ 4.70650863e-02 9.98891810e-01 -1.71188543e-04 -1.63545778e+00] [ 2.32215848e-03 6.19641604e-05 9.99997302e-01 4.73747016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.305529293 meters Centerline goodness [0,1] 0.9966532119023955 Centerline is valid? [True, True] Translation: X:-20.63, Y:-1.64, Z:0.48 [[ 9.98941834e-01 -4.59794964e-02 -1.04817993e-03 -2.06318785e+01] [ 4.59794414e-02 9.98942383e-01 -7.65843383e-05 -1.64474395e+00] [ 1.05059267e-03 2.83085717e-05 9.99999448e-01 4.77383916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.335529293 meters Centerline goodness [0,1] 0.9981139728249848 Centerline is valid? [True, True] Translation: X:-20.66, Y:-1.65, Z:0.48 [[ 9.98875280e-01 -4.74046515e-02 -9.86467830e-04 -2.06598817e+01] [ 4.74046048e-02 9.98875767e-01 -7.06720022e-05 -1.64710359e+00] [ 9.88708992e-04 2.38293984e-05 9.99999511e-01 4.78853494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.365529293 meters Centerline goodness [0,1] 0.996170057550458 Centerline is valid? [True, True] Translation: X:-20.69, Y:-1.64, Z:0.47 [[ 9.98842620e-01 -4.80515672e-02 -2.11368802e-03 -2.06896189e+01] [ 4.80513437e-02 9.98844855e-01 -1.56413850e-04 -1.64341147e+00] [ 2.11876233e-03 5.46672697e-05 9.99997754e-01 4.71518818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.395529293000003 meters Centerline goodness [0,1] 0.9973169641042319 Centerline is valid? [True, True] Translation: X:-20.72, Y:-1.65, Z:0.47 [[ 9.98760565e-01 -4.97187887e-02 -2.31864600e-03 -2.07165301e+01] [ 4.97185253e-02 9.98763255e-01 -1.71128359e-04 -1.65303687e+00] [ 2.32428672e-03 5.56365965e-05 9.99997297e-01 4.74572735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.425529293 meters Centerline goodness [0,1] 0.996829783774996 Centerline is valid? [True, True] Translation: X:-20.74, Y:-1.66, Z:0.48 [[ 9.98764234e-01 -4.96394692e-02 -2.43480105e-03 -2.07443866e+01] [ 4.96391804e-02 9.98767200e-01 -1.78931977e-04 -1.65561379e+00] [ 2.44068151e-03 5.78493308e-05 9.99997020e-01 4.77832569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.455529293 meters Centerline goodness [0,1] 0.9964145293051113 Centerline is valid? [True, True] Translation: X:-20.77, Y:-1.66, Z:0.48 [[ 9.98788187e-01 -4.91069771e-02 -3.26528652e-03 -2.07716436e+01] [ 4.91064499e-02 9.98793521e-01 -2.41506092e-04 -1.65980928e+00] [ 3.27320666e-03 8.08668031e-05 9.99994640e-01 4.80053945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.485529293000003 meters Centerline goodness [0,1] 0.9969579589932872 Centerline is valid? [True, True] Translation: X:-20.80, Y:-1.66, Z:0.48 [[ 9.98717924e-01 -5.06174840e-02 -6.14894167e-04 -2.08007607e+01] [ 5.06174664e-02 9.98718113e-01 -4.41735847e-05 -1.66442910e+00] [ 6.16341898e-04 1.29925659e-05 9.99999810e-01 4.78346869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.515529293 meters Centerline goodness [0,1] 0.9969529536036402 Centerline is valid? [True, True] Translation: X:-20.83, Y:-1.67, Z:0.49 [[ 9.98680020e-01 -5.13211761e-02 2.08682104e-03 -2.08290561e+01] [ 5.13209582e-02 9.98682199e-01 1.57866637e-04 -1.66756812e+00] [-2.09217293e-03 -5.05606012e-05 9.99997810e-01 4.85367426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.545529293 meters Centerline goodness [0,1] 0.9976958991046345 Centerline is valid? [True, True] Translation: X:-20.86, Y:-1.66, Z:0.48 [[ 9.98658902e-01 -5.17724776e-02 -9.28004183e-05 -2.08597803e+01] [ 5.17724773e-02 9.98658906e-01 -6.32792072e-06 -1.66218077e+00] [ 9.30035763e-05 1.51492681e-06 9.99999996e-01 4.83109966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.575529293000002 meters Centerline goodness [0,1] 0.9975741893749495 Centerline is valid? [True, True] Translation: X:-20.89, Y:-1.67, Z:0.47 [[ 9.98748477e-01 -4.99856282e-02 -1.70811550e-03 -2.08882376e+01] [ 4.99854871e-02 9.98749936e-01 -1.25197031e-04 -1.66816952e+00] [ 1.71223830e-03 3.96593585e-05 9.99998533e-01 4.74464109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.605529293 meters Centerline goodness [0,1] 0.9967048073424171 Centerline is valid? [True, True] Translation: X:-20.92, Y:-1.68, Z:0.48 [[ 9.98750691e-01 -4.99460430e-02 -1.56500061e-03 -2.09162159e+01] [ 4.99459251e-02 9.98751917e-01 -1.14376418e-04 -1.68182714e+00] [ 1.56876001e-03 3.60681230e-05 9.99998769e-01 4.76526731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.635529293 meters Centerline goodness [0,1] 0.9979383110320572 Centerline is valid? [True, True] Translation: X:-20.94, Y:-1.69, Z:0.48 [[ 9.98650748e-01 -5.19115806e-02 1.36799933e-03 -2.09440524e+01] [ 5.19114862e-02 9.98651684e-01 1.04458571e-04 -1.68880662e+00] [-1.37157745e-03 -3.33027513e-05 9.99999059e-01 4.84191756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.665529293000002 meters Centerline goodness [0,1] 0.9976120127898976 Centerline is valid? [True, True] Translation: X:-20.97, Y:-1.69, Z:0.48 [[ 9.98542430e-01 -5.38827661e-02 3.10853746e-03 -2.09741876e+01] [ 5.38823023e-02 9.98547266e-01 2.32819717e-04 -1.68688889e+00] [-3.11656655e-03 -6.49852110e-05 9.99995141e-01 4.84320350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.695529293 meters Centerline goodness [0,1] 0.9970496109932303 Centerline is valid? [True, True] Translation: X:-21.01, Y:-1.68, Z:0.49 [[ 9.98554637e-01 -5.36664409e-02 2.92410324e-03 -2.10055342e+01] [ 5.36660362e-02 9.98558916e-01 2.16733039e-04 -1.68054174e+00] [-2.93152065e-03 -5.94947511e-05 9.99995701e-01 4.88317767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.725529293 meters Centerline goodness [0,1] 0.9967463573348423 Centerline is valid? [True, True] Translation: X:-21.04, Y:-1.68, Z:0.48 [[ 9.98630604e-01 -5.23127455e-02 5.42229822e-04 -2.10363847e+01] [ 5.23127331e-02 9.98630751e-01 3.69368181e-05 -1.67822272e+00] [-5.43419640e-04 -8.52071302e-06 9.99999852e-01 4.83300427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.755529293000002 meters Centerline goodness [0,1] 0.9973718791064389 Centerline is valid? [True, True] Translation: X:-21.07, Y:-1.68, Z:0.48 [[ 9.98609938e-01 -5.26607029e-02 -2.24544949e-03 -2.10656652e+01] [ 5.26604666e-02 9.98612462e-01 -1.64276018e-04 -1.68330034e+00] [ 2.25098473e-03 4.58012461e-05 9.99997465e-01 4.78591698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.785529293 meters Centerline goodness [0,1] 0.9966442274647745 Centerline is valid? [True, True] Translation: X:-21.09, Y:-1.70, Z:0.48 [[ 9.98497139e-01 -5.47771209e-02 -1.71204811e-03 -2.10935929e+01] [ 5.47769868e-02 9.98498606e-01 -1.25143881e-04 -1.69762346e+00] [ 1.71633267e-03 3.11749707e-05 9.99998527e-01 4.75260268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.815529293 meters Centerline goodness [0,1] 0.9967447126855109 Centerline is valid? [True, True] Translation: X:-21.12, Y:-1.70, Z:0.48 [[ 9.98263621e-01 -5.89008894e-02 6.54501943e-04 -2.11230081e+01] [ 5.89008693e-02 9.98263835e-01 4.99219318e-05 -1.70085560e+00] [-6.56306066e-04 -1.12845150e-05 9.99999785e-01 4.80638633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.845529293000002 meters Centerline goodness [0,1] 0.9971856651143957 Centerline is valid? [True, True] Translation: X:-21.15, Y:-1.69, Z:0.49 [[ 9.98199284e-01 -5.99666000e-02 1.48173661e-03 -2.11517670e+01] [ 5.99664989e-02 9.98200384e-01 1.12604768e-04 -1.69080820e+00] [-1.48582258e-03 -2.35474421e-05 9.99998896e-01 4.88442569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.875529293 meters Centerline goodness [0,1] 0.9967145045553495 Centerline is valid? [True, True] Translation: X:-21.18, Y:-1.69, Z:0.47 [[ 9.98356012e-01 -5.73134655e-02 -6.62597839e-04 -2.11821921e+01] [ 5.73134462e-02 9.98356232e-01 -4.80472048e-05 -1.69035446e+00] [ 6.64262434e-04 9.99245020e-06 9.99999779e-01 4.74362475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.905529293 meters Centerline goodness [0,1] 0.9963086232980333 Centerline is valid? [True, True] Translation: X:-21.21, Y:-1.70, Z:0.48 [[ 9.98424571e-01 -5.60840078e-02 -1.72025752e-03 -2.12092571e+01] [ 5.60838760e-02 9.98426053e-01 -1.24777459e-04 -1.70457199e+00] [ 1.72454795e-03 2.81021716e-05 9.99998513e-01 4.76361602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.935529293000002 meters Centerline goodness [0,1] 0.9971090670170828 Centerline is valid? [True, True] Translation: X:-21.24, Y:-1.70, Z:0.49 [[ 9.98368851e-01 -5.70924669e-02 -2.94932452e-04 -2.12366904e+01] [ 5.70924638e-02 9.98368895e-01 -1.88902446e-05 -1.70295033e+00] [ 2.95529876e-04 2.02101152e-06 9.99999956e-01 4.86900685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.965529293 meters Centerline goodness [0,1] 0.9971123944913372 Centerline is valid? [True, True] Translation: X:-21.27, Y:-1.69, Z:0.49 [[ 9.98324379e-01 -5.78092890e-02 2.55354783e-03 -2.12667455e+01] [ 5.78089894e-02 9.98327644e-01 1.91025876e-04 -1.69199488e+00] [-2.56032046e-03 -4.30877693e-05 9.99996721e-01 4.88039892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.995529293 meters Centerline goodness [0,1] 0.9975422055683146 Centerline is valid? [True, True] Translation: X:-21.30, Y:-1.69, Z:0.48 [[ 9.98454634e-01 -5.54851161e-02 3.12180073e-03 -2.12976513e+01] [ 5.54846657e-02 9.98459513e-01 2.30754227e-04 -1.69032906e+00] [-3.12979506e-03 -5.71855575e-05 9.99995101e-01 4.84744664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.025529293 meters Centerline goodness [0,1] 0.9967948717948718 Centerline is valid? [True, True] Translation: X:-21.33, Y:-1.70, Z:0.48 [[ 9.98647252e-01 -5.19947836e-02 4.56486114e-04 -2.13268487e+01] [ 5.19947736e-02 9.98647356e-01 3.38303357e-05 -1.69856217e+00] [-4.57627652e-04 -1.00496797e-05 9.99999895e-01 4.83946915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.055529293 meters Centerline goodness [0,1] 0.9967532467532467 Centerline is valid? [True, True] Translation: X:-21.36, Y:-1.70, Z:0.49 [[ 9.98669811e-01 -5.15610334e-02 2.62136197e-04 -2.13556147e+01] [ 5.15610294e-02 9.98669845e-01 2.18501746e-05 -1.69991127e+00] [-2.62914133e-04 -8.30509754e-06 9.99999965e-01 4.89634335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.085529293 meters Centerline goodness [0,1] 0.9976708389030664 Centerline is valid? [True, True] Translation: X:-21.38, Y:-1.70, Z:0.49 [[ 9.98730850e-01 -5.02983208e-02 2.60163964e-03 -2.13842290e+01] [ 5.02979823e-02 9.98734236e-01 1.95434703e-04 -1.69607473e+00] [-2.60817662e-03 -6.43294421e-05 9.99996597e-01 4.93969829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.115529293 meters Centerline goodness [0,1] 0.9976555710503446 Centerline is valid? [True, True] Translation: X:-21.41, Y:-1.70, Z:0.50 [[ 9.98662772e-01 -5.12848468e-02 6.52170935e-03 -2.14143876e+01] [ 5.12827907e-02 9.98684056e-01 4.82222809e-04 -1.69977520e+00] [-6.53785786e-03 -1.47126511e-04 9.99978617e-01 4.96552378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.145529293 meters Centerline goodness [0,1] 0.9974909451447765 Centerline is valid? [True, True] Translation: X:-21.45, Y:-1.70, Z:0.49 [[ 9.98751200e-01 -4.96791429e-02 5.29361517e-03 -2.14472327e+01] [ 4.96778041e-02 9.98765222e-01 3.84170304e-04 -1.69824729e+00] [-5.30616398e-03 -1.20715375e-04 9.99985915e-01 4.92914497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.175529293 meters Centerline goodness [0,1] 0.9971470195459512 Centerline is valid? [True, True] Translation: X:-21.48, Y:-1.69, Z:0.48 [[ 9.98773131e-01 -4.95036957e-02 1.27146634e-03 -2.14793350e+01] [ 4.95036171e-02 9.98773940e-01 9.32063146e-05 -1.68991489e+00] [-1.27452150e-03 -3.01497798e-05 9.99999187e-01 4.84254257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.205529293 meters Centerline goodness [0,1] 0.997375169099683 Centerline is valid? [True, True] Translation: X:-21.51, Y:-1.69, Z:0.49 [[ 9.98726711e-01 -5.04458217e-02 4.20009802e-04 -2.15086191e+01] [ 5.04458121e-02 9.98726799e-01 3.34705232e-05 -1.69041102e+00] [-4.21163493e-04 -1.22401700e-05 9.99999911e-01 4.86630236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.235529293000003 meters Centerline goodness [0,1] 0.9970132271369648 Centerline is valid? [True, True] Translation: X:-21.54, Y:-1.69, Z:0.49 [[ 9.98722422e-01 -5.05150089e-02 1.32564653e-03 -2.15359700e+01] [ 5.05149190e-02 9.98723301e-01 1.01235985e-04 -1.69341141e+00] [-1.32906801e-03 -3.41417211e-05 9.99999116e-01 4.92487166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.265529293 meters Centerline goodness [0,1] 0.9967781807866102 Centerline is valid? [True, True] Translation: X:-21.56, Y:-1.70, Z:0.49 [[ 9.98675172e-01 -5.14254075e-02 1.82462363e-03 -2.15638053e+01] [ 5.14252401e-02 9.98676837e-01 1.38543110e-04 -1.69903054e+00] [-1.82933399e-03 -4.45278557e-05 9.99998326e-01 4.92096826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.295529293 meters Centerline goodness [0,1] 0.9977370080012932 Centerline is valid? [True, True] Translation: X:-21.59, Y:-1.70, Z:0.49 [[ 9.98626206e-01 -5.23989983e-02 -2.14209891e-04 -2.15932365e+01] [ 5.23989967e-02 9.98626229e-01 -1.32678295e-05 -1.69847487e+00] [ 2.14610836e-04 2.02521888e-06 9.99999977e-01 4.85853856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.325529293000002 meters Centerline goodness [0,1] 0.9968662178281879 Centerline is valid? [True, True] Translation: X:-21.62, Y:-1.70, Z:0.49 [[ 9.98531930e-01 -5.41343347e-02 -1.85969458e-03 -2.16203272e+01] [ 5.41341786e-02 9.98533661e-01 -1.34207882e-04 -1.70145965e+00] [ 1.86423289e-03 3.33378167e-05 9.99998262e-01 4.89710534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.355529293 meters Centerline goodness [0,1] 0.9972467406267714 Centerline is valid? [True, True] Translation: X:-21.65, Y:-1.70, Z:0.49 [[ 9.98489248e-01 -5.49466010e-02 -3.05114192e-04 -2.16488482e+01] [ 5.49465980e-02 9.98489294e-01 -1.82059219e-05 -1.69833873e+00] [ 3.05653608e-04 1.41343040e-06 9.99999953e-01 4.91848721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.385529293 meters Centerline goodness [0,1] 0.9980578595994335 Centerline is valid? [True, True] Translation: X:-21.68, Y:-1.70, Z:0.50 [[ 9.98509263e-01 -5.45105392e-02 2.80241232e-03 -2.16781043e+01] [ 5.45101713e-02 9.98513194e-01 2.07548766e-04 -1.69762537e+00] [-2.80955927e-03 -5.44793894e-05 9.99996052e-01 4.99464382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.415529293000002 meters Centerline goodness [0,1] 0.9969009096031555 Centerline is valid? [True, True] Translation: X:-21.71, Y:-1.70, Z:0.50 [[ 9.98492933e-01 -5.46652713e-02 4.85506540e-03 -2.17079152e+01] [ 5.46641796e-02 9.98504732e-01 3.57369538e-04 -1.70069052e+00] [-4.86734148e-03 -9.14327906e-05 9.99988150e-01 4.99236486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.445529293 meters Centerline goodness [0,1] 0.9974221094395102 Centerline is valid? [True, True] Translation: X:-21.74, Y:-1.70, Z:0.50 [[ 9.98515744e-01 -5.43694202e-02 3.20546081e-03 -2.17389393e+01] [ 5.43689660e-02 9.98520888e-01 2.28730056e-04 -1.70371915e+00] [-3.21315549e-03 -5.41129718e-05 9.99994836e-01 5.03536995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.475529293 meters Centerline goodness [0,1] 0.9974330988762228 Centerline is valid? [True, True] Translation: X:-21.77, Y:-1.70, Z:0.50 [[ 9.98616119e-01 -5.25834547e-02 -9.09576289e-04 -2.17695334e+01] [ 5.25834165e-02 9.98616533e-01 -6.59164410e-05 -1.69603366e+00] [ 9.11784034e-04 1.79965917e-05 9.99999584e-01 4.95290966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.505529293000002 meters Centerline goodness [0,1] 0.9972723966541399 Centerline is valid? [True, True] Translation: X:-21.80, Y:-1.69, Z:0.50 [[ 9.98655257e-01 -5.18420948e-02 2.71981107e-04 -2.17973613e+01] [ 5.18420904e-02 9.98655294e-01 2.31145032e-05 -1.69464134e+00] [-2.72813677e-04 -8.98335098e-06 9.99999963e-01 4.98385292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.535529293 meters Centerline goodness [0,1] 0.9970799959444389 Centerline is valid? [True, True] Translation: X:-21.83, Y:-1.70, Z:0.50 [[ 9.98608087e-01 -5.26191410e-02 3.62153648e-03 -2.18271106e+01] [ 5.26185142e-02 9.98614650e-01 2.68186198e-04 -1.69692365e+00] [-3.63063112e-03 -7.72530368e-05 9.99993406e-01 5.00703088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.565529293 meters Centerline goodness [0,1] 0.9975601395358216 Centerline is valid? [True, True] Translation: X:-21.86, Y:-1.70, Z:0.50 [[ 9.98661966e-01 -5.15906843e-02 3.56078668e-03 -2.18564185e+01] [ 5.15900743e-02 9.98668311e-01 2.63018519e-04 -1.70128852e+00] [-3.56961412e-03 -7.89653417e-05 9.99993626e-01 5.03990368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.595529293000002 meters Centerline goodness [0,1] 0.9966375660839798 Centerline is valid? [True, True] Translation: X:-21.89, Y:-1.70, Z:0.50 [[ 9.98743400e-01 -5.01095135e-02 -8.11205747e-04 -2.18876118e+01] [ 5.01094808e-02 9.98743729e-01 -6.06112738e-05 -1.70251473e+00] [ 8.13223854e-04 1.98860109e-05 9.99999669e-01 4.96870611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.625529293 meters Centerline goodness [0,1] 0.9968046595344511 Centerline is valid? [True, True] Translation: X:-21.92, Y:-1.70, Z:0.50 [[ 9.98771853e-01 -4.95005586e-02 -2.11689061e-03 -2.19161228e+01] [ 4.95003445e-02 9.98774095e-01 -1.53434450e-04 -1.70331292e+00] [ 2.12189060e-03 4.84591955e-05 9.99997748e-01 4.99051853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.655529293 meters Centerline goodness [0,1] 0.9970095572932453 Centerline is valid? [True, True] Translation: X:-21.94, Y:-1.70, Z:0.51 [[ 9.98721575e-01 -5.05456327e-02 5.95489824e-04 -2.19447875e+01] [ 5.05456140e-02 9.98721752e-01 4.63638556e-05 -1.70307958e+00] [-5.97072131e-04 -1.62051842e-05 9.99999822e-01 5.08276216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.685529293000002 meters Centerline goodness [0,1] 0.9965815769246329 Centerline is valid? [True, True] Translation: X:-21.97, Y:-1.70, Z:0.52 [[ 9.98732106e-01 -5.02235280e-02 3.43172688e-03 -2.19739999e+01] [ 5.02229513e-02 9.98737999e-01 2.54087866e-04 -1.70026395e+00] [-3.44015723e-03 -8.14142576e-05 9.99994079e-01 5.17671389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.715529293 meters Centerline goodness [0,1] 0.9976647743286227 Centerline is valid? [True, True] Translation: X:-22.01, Y:-1.70, Z:0.50 [[ 9.98900496e-01 -4.68779007e-02 5.11713269e-04 -2.20051892e+01] [ 4.68778871e-02 9.98900627e-01 3.86790294e-05 -1.69703043e+00] [-5.12963897e-04 -1.46484648e-05 9.99999868e-01 5.01429045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.745529293 meters Centerline goodness [0,1] 0.997655381505811 Centerline is valid? [True, True] Translation: X:-22.03, Y:-1.71, Z:0.50 [[ 9.98867616e-01 -4.75710246e-02 -6.95198776e-04 -2.20326773e+01] [ 4.75710029e-02 9.98867858e-01 -4.77151927e-05 -1.70621835e+00] [ 6.96681572e-04 1.45898577e-05 9.99999757e-01 5.04831685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.775529293 meters Centerline goodness [0,1] 0.9970585272489171 Centerline is valid? [True, True] Translation: X:-22.06, Y:-1.71, Z:0.51 [[ 9.98800438e-01 -4.89652791e-02 -2.95069031e-04 -2.20607191e+01] [ 4.89652758e-02 9.98800481e-01 -1.84666153e-05 -1.70983078e+00] [ 2.95619313e-04 3.99632701e-06 9.99999956e-01 5.05647300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.805529293 meters Centerline goodness [0,1] 0.9966220316355839 Centerline is valid? [True, True] Translation: X:-22.09, Y:-1.71, Z:0.52 [[ 9.98672585e-01 -5.14016075e-02 3.30787648e-03 -2.20904675e+01] [ 5.14010848e-02 9.98678061e-01 2.42916158e-04 -1.71245769e+00] [-3.31598995e-03 -7.25652678e-05 9.99994499e-01 5.15830668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.835529293 meters Centerline goodness [0,1] 0.9979735343587249 Centerline is valid? [True, True] Translation: X:-22.12, Y:-1.71, Z:0.52 [[ 9.98693321e-01 -5.08634003e-02 4.95622771e-03 -2.21203074e+01] [ 5.08622219e-02 9.98705613e-01 3.63609322e-04 -1.71413554e+00] [-4.96830684e-03 -1.11049448e-04 9.99987652e-01 5.17345051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.865529293 meters Centerline goodness [0,1] 0.9971458067650453 Centerline is valid? [True, True] Translation: X:-22.15, Y:-1.71, Z:0.52 [[ 9.98776833e-01 -4.93360518e-02 3.28502147e-03 -2.21521634e+01] [ 4.93355309e-02 9.98782233e-01 2.39462007e-04 -1.70650854e+00] [-3.29283519e-03 -7.71008264e-05 9.99994576e-01 5.15130788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.895529293 meters Centerline goodness [0,1] 0.9961442961826513 Centerline is valid? [True, True] Translation: X:-22.18, Y:-1.71, Z:0.51 [[ 9.98793781e-01 -4.91004695e-02 3.56497938e-04 -2.21828510e+01] [ 4.91004633e-02 9.98793845e-01 2.61232217e-05 -1.70707113e+00] [-3.57350608e-04 -8.58749747e-06 9.99999936e-01 5.08111531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.925529293 meters Centerline goodness [0,1] 0.9966048259973324 Centerline is valid? [True, True] Translation: X:-22.21, Y:-1.72, Z:0.51 [[ 9.98881956e-01 -4.72698525e-02 -6.31892275e-04 -2.22098520e+01] [ 4.72698347e-02 9.98882156e-01 -4.31779586e-05 -1.71938074e+00] [ 6.33226934e-04 1.32602403e-05 9.99999799e-01 5.10817918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.955529293 meters Centerline goodness [0,1] 0.9966048259973324 Centerline is valid? [True, True] Translation: X:-22.24, Y:-1.72, Z:0.51 [[ 9.98887330e-01 -4.71561470e-02 -6.31945508e-04 -2.22372486e+01] [ 4.71561296e-02 9.98887530e-01 -4.24476113e-05 -1.72152460e+00] [ 6.33244154e-04 1.26002769e-05 9.99999799e-01 5.11716879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.985529293000003 meters Centerline goodness [0,1] 0.9972920539972516 Centerline is valid? [True, True] Translation: X:-22.27, Y:-1.72, Z:0.52 [[ 9.98826122e-01 -4.83312813e-02 3.23488038e-03 -2.22663307e+01] [ 4.83307654e-02 9.98831357e-01 2.37486154e-04 -1.72456334e+00] [-3.24257798e-03 -8.08631290e-05 9.99994740e-01 5.22905594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.015529293 meters Centerline goodness [0,1] 0.997278774440637 Centerline is valid? [True, True] Translation: X:-22.30, Y:-1.72, Z:0.52 [[ 9.98852864e-01 -4.75797040e-02 5.39699029e-03 -2.22956639e+01] [ 4.75782658e-02 9.98867435e-01 3.94637137e-04 -1.72315748e+00] [-5.40965457e-03 -1.37404996e-04 9.99985358e-01 5.22042503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.045529293 meters Centerline goodness [0,1] 0.9969296650911 Centerline is valid? [True, True] Translation: X:-22.33, Y:-1.73, Z:0.53 [[ 9.98849494e-01 -4.77858588e-02 4.02481473e-03 -2.23264178e+01] [ 4.77850800e-02 9.98857599e-01 2.89503307e-04 -1.72557967e+00] [-4.03405094e-03 -9.68441376e-05 9.99991858e-01 5.25275811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.075529293000002 meters Centerline goodness [0,1] 0.9970709437621202 Centerline is valid? [True, True] Translation: X:-22.36, Y:-1.73, Z:0.52 [[ 9.98875620e-01 -4.74017187e-02 7.56638860e-04 -2.23576755e+01] [ 4.74016907e-02 9.98875907e-01 5.48233390e-05 -1.72611765e+00] [-7.58387048e-04 -1.88957355e-05 9.99999712e-01 5.16456694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.105529293 meters Centerline goodness [0,1] 0.9971728023586907 Centerline is valid? [True, True] Translation: X:-22.39, Y:-1.73, Z:0.52 [[ 9.98958437e-01 -4.56125331e-02 -1.24020310e-03 -2.23859941e+01] [ 4.56124589e-02 9.98959206e-01 -8.81318130e-05 -1.72714310e+00] [ 1.24293222e-03 3.14713054e-05 9.99999227e-01 5.20329710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.135529293 meters Centerline goodness [0,1] 0.9968789266750435 Centerline is valid? [True, True] Translation: X:-22.42, Y:-1.72, Z:0.52 [[ 9.98980305e-01 -4.51466058e-02 3.65359715e-04 -2.24152898e+01] [ 4.51465981e-02 9.98980372e-01 2.92298387e-05 -1.72226574e+00] [-3.66306812e-04 -1.27052850e-05 9.99999933e-01 5.18206214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.165529293000002 meters Centerline goodness [0,1] 0.9972095844707309 Centerline is valid? [True, True] Translation: X:-22.44, Y:-1.74, Z:0.53 [[ 9.98876294e-01 -4.72505010e-02 3.67971444e-03 -2.24421425e+01] [ 4.72498247e-02 9.98883067e-01 2.70569123e-04 -1.73690073e+00] [-3.68838897e-03 -9.63992203e-05 9.99993193e-01 5.31207968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.195529293 meters Centerline goodness [0,1] 0.9966648474925717 Centerline is valid? [True, True] Translation: X:-22.47, Y:-1.74, Z:0.53 [[ 9.98895172e-01 -4.68584091e-02 3.56715440e-03 -2.24729985e+01] [ 4.68577782e-02 9.98901537e-01 2.60266406e-04 -1.73850624e+00] [-3.57543168e-03 -9.28299266e-05 9.99993604e-01 5.31537727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.225529293 meters Centerline goodness [0,1] 0.9966298710471616 Centerline is valid? [True, True] Translation: X:-22.50, Y:-1.73, Z:0.53 [[ 9.98918811e-01 -4.64858467e-02 5.24234177e-04 -2.25033230e+01] [ 4.64858324e-02 9.98918949e-01 3.94714259e-05 -1.72998320e+00] [-5.25502316e-04 -1.50592878e-05 9.99999862e-01 5.31111882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.255529293000002 meters Centerline goodness [0,1] 0.9965599579100732 Centerline is valid? [True, True] Translation: X:-22.53, Y:-1.73, Z:0.53 [[ 9.98890323e-01 -4.70963094e-02 2.45735642e-04 -2.25325184e+01] [ 4.70963058e-02 9.98890353e-01 2.03189311e-05 -1.72950262e+00] [-2.46419909e-04 -8.72314266e-06 9.99999970e-01 5.26877914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.285529293 meters Centerline goodness [0,1] 0.9963802552021193 Centerline is valid? [True, True] Translation: X:-22.56, Y:-1.74, Z:0.54 [[ 9.98831540e-01 -4.82954288e-02 1.76220706e-03 -2.25595313e+01] [ 4.82952714e-02 9.98833094e-01 1.31817386e-04 -1.74106942e+00] [-1.76651691e-03 -4.65570949e-05 9.99998439e-01 5.35161678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.315529293 meters Centerline goodness [0,1] 0.9964009866957823 Centerline is valid? [True, True] Translation: X:-22.59, Y:-1.74, Z:0.54 [[ 9.98806261e-01 -4.88055128e-02 2.01865833e-03 -2.25883200e+01] [ 4.88053110e-02 9.98808300e-01 1.49130760e-04 -1.74427020e+00] [-2.02353110e-03 -5.04314893e-05 9.99997951e-01 5.36651961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.345529293000002 meters Centerline goodness [0,1] 0.9969007008872504 Centerline is valid? [True, True] Translation: X:-22.62, Y:-1.74, Z:0.53 [[ 9.98812471e-01 -4.86745120e-02 2.10714662e-03 -2.26180909e+01] [ 4.86742924e-02 9.98814692e-01 1.55379139e-04 -1.73631823e+00] [-2.11221201e-03 -5.26307511e-05 9.99997768e-01 5.32758733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.375529293 meters Centerline goodness [0,1] 0.9971868042906294 Centerline is valid? [True, True] Translation: X:-22.65, Y:-1.73, Z:0.54 [[ 9.98862981e-01 -4.76674584e-02 7.47076118e-04 -2.26474816e+01] [ 4.76674303e-02 9.98863260e-01 5.53668532e-05 -1.73395835e+00] [-7.48866085e-04 -1.96927012e-05 9.99999719e-01 5.36663721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.405529293 meters Centerline goodness [0,1] 0.9966794225434813 Centerline is valid? [True, True] Translation: X:-22.68, Y:-1.74, Z:0.53 [[ 9.98991240e-01 -4.49039545e-02 3.69627324e-04 -2.26767775e+01] [ 4.49039470e-02 9.98991309e-01 2.85551503e-05 -1.73889679e+00] [-3.70536723e-04 -1.19286193e-05 9.99999931e-01 5.32343814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.435529293000002 meters Centerline goodness [0,1] 0.9959283717538386 Centerline is valid? [True, True] Translation: X:-22.71, Y:-1.75, Z:0.54 [[ 9.98940322e-01 -4.60177356e-02 7.74704267e-04 -2.27052446e+01] [ 4.60177042e-02 9.98940623e-01 5.84027658e-05 -1.74728339e+00] [-7.76571126e-04 -2.26907659e-05 9.99999698e-01 5.37565690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.465529293 meters Centerline goodness [0,1] 0.9969400988895193 Centerline is valid? [True, True] Translation: X:-22.73, Y:-1.75, Z:0.55 [[ 9.98956951e-01 -4.55068528e-02 3.75979294e-03 -2.27331039e+01] [ 4.55061439e-02 9.98964021e-01 2.73923397e-04 -1.74952679e+00] [-3.76836327e-03 -1.02544003e-04 9.99992894e-01 5.47046347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.495529293 meters Centerline goodness [0,1] 0.9972518590365341 Centerline is valid? [True, True] Translation: X:-22.76, Y:-1.74, Z:0.55 [[ 9.98889559e-01 -4.68903559e-02 4.57641421e-03 -2.27645387e+01] [ 4.68893303e-02 9.98900036e-01 3.31205402e-04 -1.74203221e+00] [-4.58691066e-03 -1.16252620e-04 9.99989473e-01 5.46161434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.525529293 meters Centerline goodness [0,1] 0.9967452391541665 Centerline is valid? [True, True] Translation: X:-22.79, Y:-1.75, Z:0.55 [[ 9.98933629e-01 -4.61377305e-02 1.70709554e-03 -2.27948910e+01] [ 4.61375887e-02 9.98935087e-01 1.22355572e-04 -1.74765666e+00] [-1.71092284e-03 -4.34638236e-05 9.99998535e-01 5.48699519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.555529293 meters Centerline goodness [0,1] 0.99636577739879 Centerline is valid? [True, True] Translation: X:-22.82, Y:-1.75, Z:0.55 [[ 9.98936532e-01 -4.60911019e-02 1.18998873e-03 -2.28239100e+01] [ 4.60910271e-02 9.98937240e-01 9.01961819e-05 -1.75154045e+00] [-1.19288130e-03 -3.52524582e-05 9.99999288e-01 5.50628329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.585529293 meters Centerline goodness [0,1] 0.9963609162404221 Centerline is valid? [True, True] Translation: X:-22.85, Y:-1.75, Z:0.55 [[ 9.98976893e-01 -4.51511987e-02 2.55646871e-03 -2.28528748e+01] [ 4.51508677e-02 9.98980162e-01 1.87063537e-04 -1.75087452e+00] [-2.56230767e-03 -7.14453702e-05 9.99996715e-01 5.48863224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.615529293 meters Centerline goodness [0,1] 0.9956919218478217 Centerline is valid? [True, True] Translation: X:-22.88, Y:-1.75, Z:0.55 [[ 9.98855186e-01 -4.76077514e-02 4.67107110e-03 -2.28827824e+01] [ 4.76066895e-02 9.98866101e-01 3.38316388e-04 -1.74895493e+00] [-4.68188106e-03 -1.15554848e-04 9.99989033e-01 5.53006248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.645529293 meters Centerline goodness [0,1] 0.9967450417483775 Centerline is valid? [True, True] Translation: X:-22.91, Y:-1.75, Z:0.55 [[ 9.98943363e-01 -4.58775182e-02 2.72216221e-03 -2.29135098e+01] [ 4.58771560e-02 9.98947070e-01 1.95382439e-04 -1.75263639e+00] [-2.72825962e-03 -7.02909305e-05 9.99996276e-01 5.49222272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.675529293 meters Centerline goodness [0,1] 0.9973460829399728 Centerline is valid? [True, True] Translation: X:-22.94, Y:-1.76, Z:0.55 [[ 9.98992927e-01 -4.48654108e-02 4.75284025e-04 -2.29414769e+01] [ 4.48653992e-02 9.98993040e-01 3.48722746e-05 -1.75902497e+00] [-4.76369992e-04 -1.35133482e-05 9.99999886e-01 5.51050861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.705529293 meters Centerline goodness [0,1] 0.9965928793193822 Centerline is valid? [True, True] Translation: X:-22.97, Y:-1.75, Z:0.55 [[ 9.99029622e-01 -4.40300793e-02 1.08049723e-03 -2.29711516e+01] [ 4.40300180e-02 9.99030205e-01 8.04561117e-05 -1.75302883e+00] [-1.08299185e-03 -3.28037265e-05 9.99999413e-01 5.47429291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.735529293000003 meters Centerline goodness [0,1] 0.9970973896805099 Centerline is valid? [True, True] Translation: X:-23.00, Y:-1.75, Z:0.55 [[ 9.98985461e-01 -4.50159747e-02 1.26946957e-03 -2.29995484e+01] [ 4.50158919e-02 9.98986267e-01 9.37715187e-05 -1.75369792e+00] [-1.27240388e-03 -3.65300789e-05 9.99999190e-01 5.53403049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.765529293 meters Centerline goodness [0,1] 0.9961192521475493 Centerline is valid? [True, True] Translation: X:-23.03, Y:-1.76, Z:0.56 [[ 9.98935755e-01 -4.59380623e-02 4.12928320e-03 -2.30272538e+01] [ 4.59372186e-02 9.98944284e-01 2.98997514e-04 -1.75937404e+00] [-4.13865921e-03 -1.08991522e-04 9.99991430e-01 5.63989908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.795529293 meters Centerline goodness [0,1] 0.9960938290594831 Centerline is valid? [True, True] Translation: X:-23.06, Y:-1.76, Z:0.56 [[ 9.98881280e-01 -4.71294416e-02 3.87350918e-03 -2.30570206e+01] [ 4.71287165e-02 9.98888786e-01 2.78316209e-04 -1.76357637e+00] [-3.88232177e-03 -9.54513354e-05 9.99992459e-01 5.62455376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.825529293000002 meters Centerline goodness [0,1] 0.9962961471878901 Centerline is valid? [True, True] Translation: X:-23.09, Y:-1.76, Z:0.56 [[ 9.98906588e-01 -4.66993298e-02 2.19110953e-03 -2.30877826e+01] [ 4.66990960e-02 9.98908990e-01 1.57767620e-04 -1.76493501e+00] [-2.19608665e-03 -5.52722808e-05 9.99997587e-01 5.55945236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.855529293 meters Centerline goodness [0,1] 0.9967305661603444 Centerline is valid? [True, True] Translation: X:-23.12, Y:-1.77, Z:0.56 [[ 9.98842699e-01 -4.80840545e-02 1.08918537e-03 -2.31157602e+01] [ 4.80839944e-02 9.98843292e-01 8.13237842e-05 -1.76971689e+00] [-1.09183588e-03 -2.88572848e-05 9.99999404e-01 5.56333001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.885529293 meters Centerline goodness [0,1] 0.9957090231955633 Centerline is valid? [True, True] Translation: X:-23.14, Y:-1.77, Z:0.56 [[ 9.98735097e-01 -5.01516738e-02 3.60780383e-03 -2.31441458e+01] [ 5.01510578e-02 9.98741610e-01 2.61063288e-04 -1.77382777e+00] [-3.61635657e-03 -7.97978895e-05 9.99993458e-01 5.64094425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.915529293000002 meters Centerline goodness [0,1] 0.9972039307061088 Centerline is valid? [True, True] Translation: X:-23.17, Y:-1.77, Z:0.56 [[ 9.98587214e-01 -5.29461741e-02 4.50313260e-03 -2.31749755e+01] [ 5.29452531e-02 9.98597364e-01 3.23574889e-04 -1.77498139e+00] [-4.51394840e-03 -8.46982517e-05 9.99989808e-01 5.63754627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.945529293 meters Centerline goodness [0,1] 0.9964605370219691 Centerline is valid? [True, True] Translation: X:-23.21, Y:-1.78, Z:0.56 [[ 9.98594426e-01 -5.29516545e-02 2.30091933e-03 -2.32055004e+01] [ 5.29514141e-02 9.98597076e-01 1.65333731e-04 -1.78040563e+00] [-2.30644601e-03 -4.32644106e-05 9.99997339e-01 5.63076762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.975529293 meters Centerline goodness [0,1] 0.9963210769946029 Centerline is valid? [True, True] Translation: X:-23.23, Y:-1.79, Z:0.57 [[ 9.98520818e-01 -5.43337106e-02 2.00608348e-03 -2.32337969e+01] [ 5.43335261e-02 9.98522832e-01 1.46389944e-04 -1.78722950e+00] [-2.01107407e-03 -3.71758176e-05 9.99997977e-01 5.65907510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.005529293000002 meters Centerline goodness [0,1] 0.9943207172122834 Centerline is valid? [True, True] Translation: X:-23.26, Y:-1.79, Z:0.57 [[ 9.98359816e-01 -5.71095538e-02 4.02207034e-03 -2.32629354e+01] [ 5.71088477e-02 9.98367916e-01 2.90278029e-04 -1.78860490e+00] [-4.03208364e-03 -6.01061165e-05 9.99991869e-01 5.71782234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.035529293 meters Centerline goodness [0,1] 0.9974002762206515 Centerline is valid? [True, True] Translation: X:-23.29, Y:-1.78, Z:0.57 [[ 9.98381246e-01 -5.67908851e-02 3.11173523e-03 -2.32940614e+01] [ 5.67904652e-02 9.98386094e-01 2.23196556e-04 -1.78494991e+00] [-3.11938872e-03 -4.61183640e-05 9.99995134e-01 5.71433874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.065529293 meters Centerline goodness [0,1] 0.9962817015257148 Centerline is valid? [True, True] Translation: X:-23.32, Y:-1.79, Z:0.57 [[ 9.98517159e-01 -5.43237585e-02 3.52305380e-03 -2.33239092e+01] [ 5.43232013e-02 9.98523372e-01 2.53727770e-04 -1.78638425e+00] [-3.53163501e-03 -6.19679716e-05 9.99993762e-01 5.65968163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.095529293000002 meters Centerline goodness [0,1] 0.9967793554659806 Centerline is valid? [True, True] Translation: X:-23.35, Y:-1.79, Z:0.57 [[ 9.98606147e-01 -5.26999286e-02 2.91232341e-03 -2.33545725e+01] [ 5.26995438e-02 9.98610392e-01 2.08790181e-04 -1.78994198e+00] [-2.91927965e-03 -5.50210430e-05 9.99995737e-01 5.66382587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.125529293 meters Centerline goodness [0,1] 0.9959260610482792 Centerline is valid? [True, True] Translation: X:-23.38, Y:-1.79, Z:0.58 [[ 9.98633206e-01 -5.22476937e-02 1.37757887e-03 -2.33828463e+01] [ 5.22476048e-02 9.98634156e-01 1.00508944e-04 -1.79375392e+00] [-1.38094867e-03 -2.83963725e-05 9.99999046e-01 5.75039852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.155529293 meters Centerline goodness [0,1] 0.9969099410449278 Centerline is valid? [True, True] Translation: X:-23.41, Y:-1.79, Z:0.58 [[ 9.98706235e-01 -5.08277386e-02 1.54813343e-03 -2.34118359e+01] [ 5.08276241e-02 9.98707435e-01 1.13243800e-04 -1.79077824e+00] [-1.55188829e-03 -3.44093456e-05 9.99998795e-01 5.76319556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.185529293000002 meters Centerline goodness [0,1] 0.9971894777281275 Centerline is valid? [True, True] Translation: X:-23.44, Y:-1.79, Z:0.57 [[ 9.98790943e-01 -4.89642581e-02 4.37640744e-03 -2.34414359e+01] [ 4.89633463e-02 9.98800526e-01 3.15323540e-04 -1.78753910e+00] [-4.38659764e-03 -1.00658743e-04 9.99990374e-01 5.74442522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.215529293 meters Centerline goodness [0,1] 0.9968099497264229 Centerline is valid? [True, True] Translation: X:-23.47, Y:-1.79, Z:0.58 [[ 9.98886111e-01 -4.68062772e-02 5.97573189e-03 -2.34718474e+01] [ 4.68045588e-02 9.98903975e-01 4.27171452e-04 -1.78518009e+00] [-5.98917664e-03 -1.47004136e-04 9.99982054e-01 5.78774569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.245529293 meters Centerline goodness [0,1] 0.9976253298153034 Centerline is valid? [True, True] Translation: X:-23.50, Y:-1.79, Z:0.58 [[ 9.98988314e-01 -4.47991115e-02 3.92284516e-03 -2.35024823e+01] [ 4.47983597e-02 9.98996010e-01 2.79369720e-04 -1.78679373e+00] [-3.93142218e-03 -1.03350057e-04 9.99992267e-01 5.79346457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.275529293 meters Centerline goodness [0,1] 0.9978135438809597 Centerline is valid? [True, True] Translation: X:-23.53, Y:-1.79, Z:0.58 [[ 9.99075432e-01 -4.29594434e-02 1.66363379e-03 -2.35333710e+01] [ 4.29593048e-02 9.99076816e-01 1.18984922e-04 -1.78545287e+00] [-1.66720948e-03 -4.74063614e-05 9.99998609e-01 5.75113339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.305529293 meters Centerline goodness [0,1] 0.9980971659919028 Centerline is valid? [True, True] Translation: X:-23.56, Y:-1.79, Z:0.57 [[ 9.99069032e-01 -4.31336577e-02 7.46471762e-04 -2.35625722e+01] [ 4.31336285e-02 9.99069310e-01 5.51425167e-05 -1.78637859e+00] [-7.48155527e-04 -2.28931451e-05 9.99999720e-01 5.72888822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.335529293 meters Centerline goodness [0,1] 0.9983426307704746 Centerline is valid? [True, True] Translation: X:-23.59, Y:-1.79, Z:0.58 [[ 9.99038956e-01 -4.37959655e-02 1.75462241e-03 -2.35905184e+01] [ 4.37958077e-02 9.99040495e-01 1.28237092e-04 -1.78879282e+00] [-1.75855511e-03 -5.12687443e-05 9.99998452e-01 5.76474398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.365529293 meters Centerline goodness [0,1] 0.9975451410022317 Centerline is valid? [True, True] Translation: X:-23.62, Y:-1.79, Z:0.59 [[ 9.99007276e-01 -4.44724996e-02 2.58037116e-03 -2.36180618e+01] [ 4.44721664e-02 9.99010606e-01 1.86394772e-04 -1.79336229e+00] [-2.58610760e-03 -7.14550385e-05 9.99996653e-01 5.86452998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.395529293 meters Centerline goodness [0,1] 0.9976287949414292 Centerline is valid? [True, True] Translation: X:-23.65, Y:-1.80, Z:0.59 [[ 9.98868043e-01 -4.74021223e-02 3.95867718e-03 -2.36461576e+01] [ 4.74013693e-02 9.98875883e-01 2.83881918e-04 -1.80088173e+00] [-3.96768376e-03 -9.59138576e-05 9.99992124e-01 5.92586001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.425529293 meters Centerline goodness [0,1] 0.9981796484698934 Centerline is valid? [True, True] Translation: X:-23.68, Y:-1.80, Z:0.59 [[ 9.98870833e-01 -4.74040392e-02 3.14884655e-03 -2.36767423e+01] [ 4.74035619e-02 9.98875794e-01 2.26082799e-04 -1.79792030e+00] [-3.15602383e-03 -7.65609712e-05 9.99995017e-01 5.87324495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.455529293 meters Centerline goodness [0,1] 0.9981822588463403 Centerline is valid? [True, True] Translation: X:-23.71, Y:-1.80, Z:0.59 [[ 9.98807279e-01 -4.85728294e-02 4.96979693e-03 -2.37067200e+01] [ 4.85716649e-02 9.98819637e-01 3.54825169e-04 -1.79648374e+00] [-4.98116563e-03 -1.13010651e-04 9.99987588e-01 5.89978800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.485529293000003 meters Centerline goodness [0,1] 0.997707585255513 Centerline is valid? [True, True] Translation: X:-23.74, Y:-1.80, Z:0.59 [[ 9.98810462e-01 -4.84076626e-02 5.86166036e-03 -2.37379491e+01] [ 4.84060716e-02 9.98827654e-01 4.13075059e-04 -1.80064556e+00] [-5.87478446e-03 -1.28843739e-04 9.99982735e-01 5.93093753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.515529293 meters Centerline goodness [0,1] 0.9977887326800966 Centerline is valid? [True, True] Translation: X:-23.77, Y:-1.80, Z:0.59 [[ 9.98816284e-01 -4.84599396e-02 4.20307565e-03 -2.37692317e+01] [ 4.84591370e-02 9.98825123e-01 2.92629020e-04 -1.80483688e+00] [-4.21231834e-03 -8.86052110e-05 9.99991124e-01 5.92426466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.545529293 meters Centerline goodness [0,1] 0.9976698006159831 Centerline is valid? [True, True] Translation: X:-23.80, Y:-1.81, Z:0.58 [[ 9.98813174e-01 -4.86720608e-02 -1.80957689e-03 -2.38006063e+01] [ 4.86719049e-02 9.98814812e-01 -1.30117783e-04 -1.80505460e+00] [ 1.81376530e-03 4.18878019e-05 9.99998354e-01 5.83285235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.575529293000002 meters Centerline goodness [0,1] 0.997955631122986 Centerline is valid? [True, True] Translation: X:-23.83, Y:-1.80, Z:0.59 [[ 9.98797985e-01 -4.89573301e-02 2.40108143e-03 -2.38303693e+01] [ 4.89570556e-02 9.98800869e-01 1.72977491e-04 -1.80453387e+00] [-2.40667073e-03 -5.52196926e-05 9.99997102e-01 5.91830261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.605529293 meters Centerline goodness [0,1] 0.9982173243659347 Centerline is valid? [True, True] Translation: X:-23.86, Y:-1.80, Z:0.60 [[ 9.98889969e-01 -4.65376955e-02 7.28515662e-03 -2.38601695e+01] [ 4.65351253e-02 9.98916518e-01 5.21996685e-04 -1.80357072e+00] [-7.30155581e-03 -1.82401576e-04 9.99973327e-01 6.03477738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.635529293 meters Centerline goodness [0,1] 0.9973238722757223 Centerline is valid? [True, True] Translation: X:-23.89, Y:-1.81, Z:0.60 [[ 9.98962648e-01 -4.51837357e-02 5.66193739e-03 -2.38925478e+01] [ 4.51822066e-02 9.98978683e-01 3.97761223e-04 -1.80569441e+00] [-5.67412710e-03 -1.41529780e-04 9.99983892e-01 6.01342019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.665529293000002 meters Centerline goodness [0,1] 0.9972544665388109 Centerline is valid? [True, True] Translation: X:-23.92, Y:-1.81, Z:0.59 [[ 9.99021222e-01 -4.42035966e-02 1.62463502e-03 -2.39241950e+01] [ 4.42034673e-02 9.99022542e-01 1.15423636e-04 -1.80561487e+00] [-1.62814915e-03 -4.34961608e-05 9.99998674e-01 5.93314935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.695529293 meters Centerline goodness [0,1] 0.9982394009916017 Centerline is valid? [True, True] Translation: X:-23.95, Y:-1.80, Z:0.60 [[ 9.99086338e-01 -4.27181953e-02 1.28271255e-03 -2.39518504e+01] [ 4.27181084e-02 9.99087160e-01 9.50538800e-05 -1.80483399e+00] [-1.28560217e-03 -4.01719792e-05 9.99999173e-01 5.98067459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.725529293 meters Centerline goodness [0,1] 0.9980126541207008 Centerline is valid? [True, True] Translation: X:-23.98, Y:-1.80, Z:0.60 [[ 9.99164239e-01 -4.07678464e-02 2.96764260e-03 -2.39802308e+01] [ 4.07673874e-02 9.99168641e-01 2.15004260e-04 -1.80466549e+00] [-2.97394069e-03 -9.38415324e-05 9.99995573e-01 6.03389253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.755529293000002 meters Centerline goodness [0,1] 0.9980550265407837 Centerline is valid? [True, True] Translation: X:-24.01, Y:-1.81, Z:0.60 [[ 9.99258566e-01 -3.82907767e-02 4.01686832e-03 -2.40102321e+01] [ 3.82899250e-02 9.99266630e-01 2.88740347e-04 -1.80603997e+00] [-4.02497857e-03 -1.34720678e-04 9.99991891e-01 6.02900047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.785529293 meters Centerline goodness [0,1] 0.9980145062603833 Centerline is valid? [True, True] Translation: X:-24.04, Y:-1.81, Z:0.60 [[ 9.99212566e-01 -3.94939960e-02 3.80431884e-03 -2.40399379e+01] [ 3.94932474e-02 9.99219800e-01 2.71712483e-04 -1.81315029e+00] [-3.81208172e-03 -1.21253622e-04 9.99992727e-01 6.04699514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.815529293 meters Centerline goodness [0,1] 0.9981125635001907 Centerline is valid? [True, True] Translation: X:-24.07, Y:-1.81, Z:0.60 [[ 9.99161948e-01 -4.07440004e-02 3.91515784e-03 -2.40710775e+01] [ 4.07432147e-02 9.99169611e-01 2.80276297e-04 -1.81042621e+00] [-3.92332632e-03 -1.20525295e-04 9.99992296e-01 5.98936166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.845529293000002 meters Centerline goodness [0,1] 0.9981125635001907 Centerline is valid? [True, True] Translation: X:-24.10, Y:-1.81, Z:0.60 [[ 9.99161948e-01 -4.07440004e-02 3.91515784e-03 -2.41010114e+01] [ 4.07432147e-02 9.99169611e-01 2.80276297e-04 -1.81256910e+00] [-3.92332632e-03 -1.20525295e-04 9.99992296e-01 5.99917237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.875529293 meters Centerline goodness [0,1] 0.9985458951832777 Centerline is valid? [True, True] Translation: X:-24.13, Y:-1.82, Z:0.60 [[ 9.99256229e-01 -3.84810999e-02 2.48855067e-03 -2.41306649e+01] [ 3.84807754e-02 9.99259325e-01 1.78149080e-04 -1.81505992e+00] [-2.49356284e-03 -8.22552185e-05 9.99996888e-01 6.00952659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.905529293 meters Centerline goodness [0,1] 0.9985234627831715 Centerline is valid? [True, True] Translation: X:-24.16, Y:-1.81, Z:0.59 [[ 9.99221473e-01 -3.94060239e-02 1.90085836e-03 -2.41601560e+01] [ 3.94058317e-02 9.99223279e-01 1.38451764e-04 -1.80858290e+00] [-1.90483775e-03 -6.34390712e-05 9.99998184e-01 5.94373718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.935529293000002 meters Centerline goodness [0,1] 0.998705972744551 Centerline is valid? [True, True] Translation: X:-24.19, Y:-1.81, Z:0.60 [[ 9.99191425e-01 -4.01543719e-02 2.03066580e-03 -2.41889600e+01] [ 4.01541553e-02 9.99193486e-01 1.47339569e-04 -1.80599710e+00] [-2.03494437e-03 -6.56807644e-05 9.99997927e-01 5.96982078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.965529293 meters Centerline goodness [0,1] 0.9978316817638357 Centerline is valid? [True, True] Translation: X:-24.22, Y:-1.82, Z:0.61 [[ 9.99175518e-01 -4.05465085e-02 2.06521303e-03 -2.42161138e+01] [ 4.05462833e-02 9.99177650e-01 1.50831557e-04 -1.81698298e+00] [-2.06963040e-03 -6.69704865e-05 9.99997856e-01 6.06381868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.995529293 meters Centerline goodness [0,1] 0.9975264086291843 Centerline is valid? [True, True] Translation: X:-24.24, Y:-1.82, Z:0.61 [[ 9.99157183e-01 -4.10193654e-02 1.52823550e-03 -2.42447077e+01] [ 4.10192429e-02 9.99158350e-01 1.11457862e-04 -1.82453648e+00] [-1.53152119e-03 -4.86768608e-05 9.99998826e-01 6.07402033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.025529293 meters Centerline goodness [0,1] 0.9981388950700949 Centerline is valid? [True, True] Translation: X:-24.27, Y:-1.82, Z:0.61 [[ 9.99162024e-01 -4.08688036e-02 2.23419093e-03 -2.42737102e+01] [ 4.08685445e-02 9.99164519e-01 1.61536310e-04 -1.82332793e+00] [-2.23892611e-03 -7.00928148e-05 9.99997491e-01 6.08067049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.055529293 meters Centerline goodness [0,1] 0.9978138979414206 Centerline is valid? [True, True] Translation: X:-24.30, Y:-1.82, Z:0.61 [[ 9.99100644e-01 -4.22164972e-02 3.95854928e-03 -2.43025710e+01] [ 4.22157055e-02 9.99108480e-01 2.83379719e-04 -1.82008769e+00] [-3.96698345e-03 -1.16011909e-04 9.99992125e-01 6.14532868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.085529293 meters Centerline goodness [0,1] 0.9980376686694584 Centerline is valid? [True, True] Translation: X:-24.33, Y:-1.82, Z:0.61 [[ 9.99130579e-01 -4.14863806e-02 4.11900080e-03 -2.43321892e+01] [ 4.14855207e-02 9.99139062e-01 2.94020291e-04 -1.81649275e+00] [-4.12765243e-03 -1.22885770e-04 9.99991474e-01 6.12811064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.115529293 meters Centerline goodness [0,1] 0.9975453402036759 Centerline is valid? [True, True] Translation: X:-24.36, Y:-1.82, Z:0.61 [[ 9.99185980e-01 -4.02550412e-02 2.62863412e-03 -2.43625380e+01] [ 4.02546888e-02 9.99189434e-01 1.86848746e-04 -1.82253720e+00] [-2.63402504e-03 -8.08817988e-05 9.99996528e-01 6.07054178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.145529293 meters Centerline goodness [0,1] 0.9980997816770437 Centerline is valid? [True, True] Translation: X:-24.39, Y:-1.83, Z:0.60 [[ 9.99199681e-01 -3.99495042e-02 2.00843574e-03 -2.43914932e+01] [ 3.99492935e-02 9.99201698e-01 1.44953424e-04 -1.82799931e+00] [-2.01262322e-03 -6.46018257e-05 9.99997973e-01 6.04269811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.175529293 meters Centerline goodness [0,1] 0.998229332030773 Centerline is valid? [True, True] Translation: X:-24.42, Y:-1.83, Z:0.61 [[ 9.99171699e-01 -4.05817905e-02 3.00556275e-03 -2.44190593e+01] [ 4.05813229e-02 9.99176215e-01 2.16426107e-04 -1.82752983e+00] [-3.01186978e-03 -9.42771287e-05 9.99995460e-01 6.05034099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.205529293 meters Centerline goodness [0,1] 0.9981656985631305 Centerline is valid? [True, True] Translation: X:-24.45, Y:-1.82, Z:0.61 [[ 9.99054530e-01 -4.32513732e-02 4.40060374e-03 -2.44486997e+01] [ 4.32504136e-02 9.99064214e-01 3.13040322e-04 -1.82443115e+00] [-4.41002514e-03 -1.22416420e-04 9.99990268e-01 6.14153822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.235529293000003 meters Centerline goodness [0,1] 0.9981885164152978 Centerline is valid? [True, True] Translation: X:-24.48, Y:-1.83, Z:0.61 [[ 9.99088007e-01 -4.25500464e-02 3.55636515e-03 -2.44787352e+01] [ 4.25494186e-02 9.99094332e-01 2.52052311e-04 -1.82599566e+00] [-3.56386910e-03 -1.00501172e-04 9.99993644e-01 6.10964745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.265529293 meters Centerline goodness [0,1] 0.9973879765930306 Centerline is valid? [True, True] Translation: X:-24.51, Y:-1.83, Z:0.60 [[ 9.99106981e-01 -4.21916039e-02 2.26038922e-03 -2.45083336e+01] [ 4.21913469e-02 9.99109536e-01 1.61300088e-04 -1.83424228e+00] [-2.26518194e-03 -6.57871784e-05 9.99997432e-01 6.04994783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.295529293 meters Centerline goodness [0,1] 0.9985364068788877 Centerline is valid? [True, True] Translation: X:-24.54, Y:-1.84, Z:0.60 [[ 9.99109595e-01 -4.21243629e-02 2.35694361e-03 -2.45368836e+01] [ 4.21240810e-02 9.99112373e-01 1.69155351e-04 -1.83661377e+00] [-2.36197708e-03 -6.97206509e-05 9.99997208e-01 6.04218843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.325529293000002 meters Centerline goodness [0,1] 0.9977708426214891 Centerline is valid? [True, True] Translation: X:-24.57, Y:-1.84, Z:0.61 [[ 9.99051915e-01 -4.34917253e-02 1.93395907e-03 -2.45651219e+01] [ 4.34915365e-02 9.99053786e-01 1.39601067e-04 -1.83530534e+00] [-1.93820062e-03 -5.53578619e-05 9.99998120e-01 6.09895324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.355529293 meters Centerline goodness [0,1] 0.9980105158448203 Centerline is valid? [True, True] Translation: X:-24.59, Y:-1.83, Z:0.61 [[ 9.98982469e-01 -4.50477205e-02 2.17494945e-03 -2.45933778e+01] [ 4.50474865e-02 9.98984834e-01 1.56470572e-04 -1.83394665e+00] [-2.17979015e-03 -5.83353522e-05 9.99997623e-01 6.09742119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.385529293 meters Centerline goodness [0,1] 0.9979076097996994 Centerline is valid? [True, True] Translation: X:-24.62, Y:-1.85, Z:0.61 [[ 9.99017097e-01 -4.41192047e-02 4.28191086e-03 -2.46210254e+01] [ 4.41183089e-02 9.99026267e-01 3.03479140e-04 -1.84694813e+00] [-4.29113068e-03 -1.14270184e-04 9.99990787e-01 6.09896158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.415529293000002 meters Centerline goodness [0,1] 0.9981498048145738 Centerline is valid? [True, True] Translation: X:-24.65, Y:-1.85, Z:0.61 [[ 9.98999799e-01 -4.44702502e-02 4.66896206e-03 -2.46512295e+01] [ 4.44691963e-02 9.99010702e-01 3.29351131e-04 -1.84863014e+00] [-4.67898939e-03 -1.21396723e-04 9.99989046e-01 6.14686340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.445529293 meters Centerline goodness [0,1] 0.9980828846467613 Centerline is valid? [True, True] Translation: X:-24.68, Y:-1.84, Z:0.62 [[ 9.98959065e-01 -4.55258498e-02 2.86059488e-03 -2.46823540e+01] [ 4.55254585e-02 9.98963158e-01 2.01787923e-04 -1.83883663e+00] [-2.86681546e-03 -7.13479820e-05 9.99995888e-01 6.16428480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.475529293 meters Centerline goodness [0,1] 0.997813853690134 Centerline is valid? [True, True] Translation: X:-24.71, Y:-1.84, Z:0.61 [[ 9.98949366e-01 -4.56146682e-02 4.41200215e-03 -2.47123170e+01] [ 4.56137338e-02 9.98959103e-01 3.12230158e-04 -1.83521594e+00] [-4.42165199e-03 -1.10654227e-04 9.99990218e-01 6.12210151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.505529293000002 meters Centerline goodness [0,1] 0.9982094168396207 Centerline is valid? [True, True] Translation: X:-24.74, Y:-1.85, Z:0.61 [[ 9.98938073e-01 -4.56504275e-02 6.22621459e-03 -2.47408382e+01] [ 4.56485792e-02 9.98957464e-01 4.38718984e-04 -1.84778015e+00] [-6.23975125e-03 -1.54035246e-04 9.99980521e-01 6.11224867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.535529293 meters Centerline goodness [0,1] 0.9983375907229453 Centerline is valid? [True, True] Translation: X:-24.77, Y:-1.86, Z:0.61 [[ 9.99030929e-01 -4.37754680e-02 4.57297052e-03 -2.47718988e+01] [ 4.37744551e-02 9.99041387e-01 3.21419531e-04 -1.85697879e+00] [-4.58265711e-03 -1.20928760e-04 9.99989492e-01 6.07739248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.565529293 meters Centerline goodness [0,1] 0.9977495286174807 Centerline is valid? [True, True] Translation: X:-24.80, Y:-1.86, Z:0.60 [[ 9.98961899e-01 -4.55442199e-02 9.20772161e-04 -2.48026480e+01] [ 4.55441794e-02 9.98962323e-01 6.49622396e-05 -1.85589555e+00] [-9.22775352e-04 -2.29589898e-05 9.99999574e-01 6.04682567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.595529293000002 meters Centerline goodness [0,1] 0.9974134419551934 Centerline is valid? [True, True] Translation: X:-24.83, Y:-1.85, Z:0.61 [[ 9.98717004e-01 -5.05489656e-02 3.02470284e-03 -2.48332414e+01] [ 5.05485511e-02 9.98721582e-01 2.13398579e-04 -1.85387898e+00] [-3.03162309e-03 -6.02304433e-05 9.99995403e-01 6.14316100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.625529293 meters Centerline goodness [0,1] 0.9981516837957509 Centerline is valid? [True, True] Translation: X:-24.86, Y:-1.86, Z:0.62 [[ 9.98662378e-01 -5.09039377e-02 9.06889418e-03 -2.48632601e+01] [ 5.09002216e-02 9.98703538e-01 6.40252319e-04 -1.85626311e+00] [-9.08972807e-03 -1.77787180e-04 9.99958672e-01 6.19251914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.655529293 meters Centerline goodness [0,1] 0.9980379465188721 Centerline is valid? [True, True] Translation: X:-24.89, Y:-1.87, Z:0.62 [[ 9.98522521e-01 -5.33163067e-02 1.04951109e-02 -2.48946962e+01] [ 5.33115293e-02 9.98577659e-01 7.34639205e-04 -1.86537332e+00] [-1.05193515e-02 -1.74043380e-04 9.99944655e-01 6.22024780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.685529293000002 meters Centerline goodness [0,1] 0.9982546222068882 Centerline is valid? [True, True] Translation: X:-24.93, Y:-1.87, Z:0.60 [[ 9.98632453e-01 -5.22251680e-02 2.39897794e-03 -2.49259096e+01] [ 5.22249120e-02 9.98635334e-01 1.69270405e-04 -1.86793120e+00] [-2.40454432e-03 -4.37525081e-05 9.99997108e-01 6.04242037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.715529293 meters Centerline goodness [0,1] 0.9984995336388337 Centerline is valid? [True, True] Translation: X:-24.95, Y:-1.87, Z:0.60 [[ 9.98433064e-01 -5.59554342e-02 -6.37982534e-04 -2.49542178e+01] [ 5.59554183e-02 9.98433267e-01 -4.27866098e-05 -1.86951123e+00] [ 6.39377129e-04 7.02098639e-06 9.99999796e-01 6.03180382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.745529293 meters Centerline goodness [0,1] 0.9981333441545266 Centerline is valid? [True, True] Translation: X:-24.98, Y:-1.87, Z:0.61 [[ 9.98315532e-01 -5.79081381e-02 3.57008894e-03 -2.49839624e+01] [ 5.79076015e-02 9.98321915e-01 2.53573807e-04 -1.86705778e+00] [-3.57878202e-03 -4.64113820e-05 9.99993595e-01 6.11729510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.775529293 meters Centerline goodness [0,1] 0.9988626208465351 Centerline is valid? [True, True] Translation: X:-25.01, Y:-1.87, Z:0.62 [[ 9.98293118e-01 -5.81249911e-02 5.68642853e-03 -2.50130334e+01] [ 5.81236386e-02 9.98309311e-01 4.02958488e-04 -1.87027307e+00] [-5.70023650e-03 -7.17547682e-05 9.99983751e-01 6.15432533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.805529293 meters Centerline goodness [0,1] 0.9987475506534957 Centerline is valid? [True, True] Translation: X:-25.04, Y:-1.88, Z:0.62 [[ 9.98388788e-01 -5.64419790e-02 5.84210372e-03 -2.50431163e+01] [ 5.64405295e-02 9.98405877e-01 4.12825797e-04 -1.87836026e+00] [-5.85609140e-03 -8.24292204e-05 9.99982850e-01 6.15584138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.835529293 meters Centerline goodness [0,1] 0.9982803617309677 Centerline is valid? [True, True] Translation: X:-25.07, Y:-1.88, Z:0.62 [[ 9.98413134e-01 -5.61839141e-02 3.81854077e-03 -2.50734053e+01] [ 5.61833040e-02 9.98420435e-01 2.66925428e-04 -1.87504924e+00] [-3.82750605e-03 -5.19636159e-05 9.99992674e-01 6.15650164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.865529293 meters Centerline goodness [0,1] 0.9974717851219611 Centerline is valid? [True, True] Translation: X:-25.10, Y:-1.87, Z:0.61 [[ 9.98444607e-01 -5.56066761e-02 4.03299613e-03 -2.51028145e+01] [ 5.56059684e-02 9.98452750e-01 2.87481376e-04 -1.87135043e+00] [-4.04274196e-03 -6.27755733e-05 9.99991826e-01 6.13847996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.895529293 meters Centerline goodness [0,1] 0.9980959711559886 Centerline is valid? [True, True] Translation: X:-25.13, Y:-1.88, Z:0.62 [[ 9.98462831e-01 -5.51204255e-02 5.80634702e-03 -2.51302695e+01] [ 5.51189590e-02 9.98479709e-01 4.12403625e-04 -1.87823236e+00] [-5.82025155e-03 -9.17298870e-05 9.99983058e-01 6.21290672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.925529293 meters Centerline goodness [0,1] 0.9986803102286109 Centerline is valid? [True, True] Translation: X:-25.16, Y:-1.88, Z:0.63 [[ 9.98468677e-01 -5.46886064e-02 8.33411974e-03 -2.51601998e+01] [ 5.46855984e-02 9.98503450e-01 5.88550268e-04 -1.87919817e+00] [-8.35383430e-03 -1.31892681e-04 9.99965097e-01 6.31274764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.955529293 meters Centerline goodness [0,1] 0.9988238634059293 Centerline is valid? [True, True] Translation: X:-25.19, Y:-1.87, Z:0.62 [[ 9.98597080e-01 -5.25502629e-02 6.50711839e-03 -2.51930332e+01] [ 5.25483931e-02 9.98618274e-01 4.58107408e-04 -1.86984324e+00] [-6.52220100e-03 -1.15526105e-04 9.99978724e-01 6.24991518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.985529293000003 meters Centerline goodness [0,1] 0.998664319106308 Centerline is valid? [True, True] Translation: X:-25.22, Y:-1.87, Z:0.62 [[ 9.98638898e-01 -5.19243237e-02 4.92103767e-03 -2.52244986e+01] [ 5.19232598e-02 9.98651019e-01 3.43782228e-04 -1.87095034e+00] [-4.93224994e-03 -8.77979875e-05 9.99987833e-01 6.21308958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.015529293 meters Centerline goodness [0,1] 0.9984974924367018 Centerline is valid? [True, True] Translation: X:-25.25, Y:-1.88, Z:0.62 [[ 9.98616348e-01 -5.23331700e-02 5.16023925e-03 -2.52541503e+01] [ 5.23319801e-02 9.98629676e-01 3.65441598e-04 -1.88073533e+00] [-5.17229276e-03 -9.48904166e-05 9.99986619e-01 6.20005864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.045529293 meters Centerline goodness [0,1] 0.9985041136873598 Centerline is valid? [True, True] Translation: X:-25.28, Y:-1.88, Z:0.63 [[ 9.98446268e-01 -5.52731722e-02 7.06581135e-03 -2.52835855e+01] [ 5.52710150e-02 9.98471264e-01 5.00358642e-04 -1.87895464e+00] [-7.08266600e-03 -1.09046654e-04 9.99974912e-01 6.30175961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.075529293000002 meters Centerline goodness [0,1] 0.9980745454913963 Centerline is valid? [True, True] Translation: X:-25.32, Y:-1.87, Z:0.63 [[ 9.98519191e-01 -5.41972295e-02 4.69957671e-03 -2.53157282e+01] [ 5.41962947e-02 9.98530248e-01 3.26123063e-04 -1.87186461e+00] [-4.71034446e-03 -7.09404924e-05 9.99988904e-01 6.26879154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.105529293 meters Centerline goodness [0,1] 0.9984021035598706 Centerline is valid? [True, True] Translation: X:-25.35, Y:-1.88, Z:0.62 [[ 9.98474399e-01 -5.51170833e-02 3.31386072e-03 -2.53453585e+01] [ 5.51166016e-02 9.98479897e-01 2.36580557e-04 -1.87890725e+00] [-3.32186294e-03 -5.35708889e-05 9.99994481e-01 6.21431586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.135529293 meters Centerline goodness [0,1] 0.9982783415365295 Centerline is valid? [True, True] Translation: X:-25.37, Y:-1.89, Z:0.62 [[ 9.98414658e-01 -5.61444710e-02 3.99622123e-03 -2.53732348e+01] [ 5.61437762e-02 9.98422653e-01 2.85923257e-04 -1.88815566e+00] [-4.00597082e-03 -6.11070208e-05 9.99991974e-01 6.21131301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.165529293000002 meters Centerline goodness [0,1] 0.998519720166278 Centerline is valid? [True, True] Translation: X:-25.40, Y:-1.89, Z:0.63 [[ 9.98309493e-01 -5.79095074e-02 4.96440122e-03 -2.54025808e+01] [ 5.79084669e-02 9.98321834e-01 3.53194235e-04 -1.88784890e+00] [-4.97652344e-03 -6.51162935e-05 9.99987615e-01 6.29787799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.195529293 meters Centerline goodness [0,1] 0.9984603229270071 Centerline is valid? [True, True] Translation: X:-25.43, Y:-1.88, Z:0.63 [[ 9.98337327e-01 -5.75252996e-02 3.66350041e-03 -2.54332949e+01] [ 5.75247298e-02 9.98344048e-01 2.60810987e-04 -1.87910285e+00] [-3.67243706e-03 -4.96354727e-05 9.99993255e-01 6.25985784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.225529293 meters Centerline goodness [0,1] 0.9988897860314897 Centerline is valid? [True, True] Translation: X:-25.46, Y:-1.88, Z:0.63 [[ 9.98388750e-01 -5.66806695e-02 2.68445603e-03 -2.54615345e+01] [ 5.66803569e-02 9.98392358e-01 1.92433829e-04 -1.88108238e+00] [-2.69104766e-03 -3.99678443e-05 9.99996378e-01 6.28147023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.255529293000002 meters Centerline goodness [0,1] 0.9987401446801593 Centerline is valid? [True, True] Translation: X:-25.49, Y:-1.89, Z:0.63 [[ 9.98457657e-01 -5.53064232e-02 4.84827499e-03 -2.54885757e+01] [ 5.53053958e-02 9.98469425e-01 3.45827661e-04 -1.88888230e+00] [-4.85998083e-03 -7.71585093e-05 9.99988187e-01 6.28866332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.285529293 meters Centerline goodness [0,1] 0.9987023519870235 Centerline is valid? [True, True] Translation: X:-25.52, Y:-1.89, Z:0.64 [[ 9.98416736e-01 -5.57080130e-02 7.78710991e-03 -2.55179017e+01] [ 5.57054049e-02 9.98447096e-01 5.51582991e-04 -1.89233245e+00] [-7.80574487e-03 -1.16925579e-04 9.99969528e-01 6.39761719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.315529293 meters Centerline goodness [0,1] 0.9983586626139818 Centerline is valid? [True, True] Translation: X:-25.55, Y:-1.89, Z:0.64 [[ 9.98497753e-01 -5.44835019e-02 5.81258506e-03 -2.55493366e+01] [ 5.44820719e-02 9.98514667e-01 4.04196700e-04 -1.88983649e+00] [-5.82597349e-03 -8.69078190e-05 9.99983025e-01 6.40421098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.345529293000002 meters Centerline goodness [0,1] 0.9991908730479813 Centerline is valid? [True, True] Translation: X:-25.58, Y:-1.89, Z:0.64 [[ 9.98568971e-01 -5.31521309e-02 5.90427016e-03 -2.55789801e+01] [ 5.31505776e-02 9.98586421e-01 4.19791227e-04 -1.88795966e+00] [-5.91823680e-03 -1.05375124e-04 9.99982482e-01 6.38831334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.375529293 meters Centerline goodness [0,1] 0.9983354309609841 Centerline is valid? [True, True] Translation: X:-25.61, Y:-1.89, Z:0.64 [[ 9.98502154e-01 -5.44106700e-02 5.73815927e-03 -2.56095333e+01] [ 5.44092306e-02 9.98518638e-01 4.06763547e-04 -1.88772505e+00] [-5.75179126e-03 -9.39454465e-05 9.99983454e-01 6.40866885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.405529293 meters Centerline goodness [0,1] 0.9980730223123733 Centerline is valid? [True, True] Translation: X:-25.64, Y:-1.89, Z:0.64 [[ 9.98507368e-01 -5.42899823e-02 5.96934277e-03 -2.56402184e+01] [ 5.42884224e-02 9.98525207e-01 4.23151558e-04 -1.88810003e+00] [-5.98351212e-03 -9.84537467e-05 9.99982094e-01 6.42373097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.435529293000002 meters Centerline goodness [0,1] 0.9986819960662652 Centerline is valid? [True, True] Translation: X:-25.67, Y:-1.89, Z:0.64 [[ 9.98436079e-01 -5.55692550e-02 6.11990731e-03 -2.56692546e+01] [ 5.55676412e-02 9.98454831e-01 4.33545891e-04 -1.89233630e+00] [-6.13454284e-03 -9.27990459e-05 9.99981179e-01 6.42501417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.465529293 meters Centerline goodness [0,1] 0.9979930669585843 Centerline is valid? [True, True] Translation: X:-25.70, Y:-1.89, Z:0.64 [[ 9.98437670e-01 -5.54952072e-02 6.51934332e-03 -2.57002010e+01] [ 5.54933719e-02 9.98458949e-01 4.62208394e-04 -1.89354085e+00] [-6.53494703e-03 -9.97059282e-05 9.99978642e-01 6.42003176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.495529293 meters Centerline goodness [0,1] 0.998378268801946 Centerline is valid? [True, True] Translation: X:-25.73, Y:-1.90, Z:0.64 [[ 9.98273544e-01 -5.85445456e-02 4.73989741e-03 -2.57300694e+01] [ 5.85436221e-02 9.98284796e-01 3.33477181e-04 -1.89990472e+00] [-4.75129079e-03 -5.54106846e-05 9.99988711e-01 6.43422831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.525529293 meters Centerline goodness [0,1] 0.9985638287112891 Centerline is valid? [True, True] Translation: X:-25.76, Y:-1.91, Z:0.64 [[ 9.98249818e-01 -5.90713287e-02 2.80701987e-03 -2.57591036e+01] [ 5.90709988e-02 9.98253764e-01 2.00335242e-04 -1.90812587e+00] [-2.81395222e-03 -3.41711513e-05 9.99996040e-01 6.36273485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.555529293 meters Centerline goodness [0,1] 0.9984186517992905 Centerline is valid? [True, True] Translation: X:-25.79, Y:-1.91, Z:0.65 [[ 9.98076917e-01 -6.18440482e-02 4.21688737e-03 -2.57869515e+01] [ 6.18433254e-02 9.98085824e-01 3.01711069e-04 -1.91135373e+00] [-4.22747454e-03 -4.03445153e-05 9.99991063e-01 6.47827593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.585529293 meters Centerline goodness [0,1] 0.9988854664829375 Centerline is valid? [True, True] Translation: X:-25.82, Y:-1.91, Z:0.65 [[ 9.98071852e-01 -6.16141769e-02 7.50136857e-03 -2.58159164e+01] [ 6.16119116e-02 9.98100039e-01 5.32912845e-04 -1.90773567e+00] [-7.51995125e-03 -6.97116530e-05 9.99971722e-01 6.50488694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.615529293 meters Centerline goodness [0,1] 0.998740707641061 Centerline is valid? [True, True] Translation: X:-25.85, Y:-1.91, Z:0.66 [[ 9.98057723e-01 -6.19134730e-02 6.89224562e-03 -2.58468008e+01] [ 6.19116209e-02 9.98081519e-01 4.81968306e-04 -1.90718866e+00] [-6.90886331e-03 -5.43220928e-05 9.99976132e-01 6.55047131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.645529293 meters Centerline goodness [0,1] 0.9978502038250147 Centerline is valid? [True, True] Translation: X:-25.88, Y:-1.91, Z:0.66 [[ 9.98102521e-01 -6.14604373e-02 3.73786177e-03 -2.58766790e+01] [ 6.14598737e-02 9.98109520e-01 2.65579660e-04 -1.91082840e+00] [-3.74711806e-03 -3.53472163e-05 9.99992979e-01 6.57591734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.675529293 meters Centerline goodness [0,1] 0.9985248353069555 Centerline is valid? [True, True] Translation: X:-25.91, Y:-1.91, Z:0.65 [[ 9.98167729e-01 -6.04088351e-02 3.45809312e-03 -2.59060527e+01] [ 6.04083385e-02 9.98173718e-01 2.47963301e-04 -1.91091773e+00] [-3.46675684e-03 -3.86113049e-05 9.99993990e-01 6.51835589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.705529293 meters Centerline goodness [0,1] 0.9980902460331972 Centerline is valid? [True, True] Translation: X:-25.93, Y:-1.91, Z:0.66 [[ 9.98180288e-01 -6.01093516e-02 4.79369012e-03 -2.59334278e+01] [ 6.01083985e-02 9.98191797e-01 3.42786546e-04 -1.91275437e+00] [-4.80562683e-03 -5.40217375e-05 9.99988451e-01 6.60822496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.735529293 meters Centerline goodness [0,1] 0.9970462086266894 Centerline is valid? [True, True] Translation: X:-25.96, Y:-1.92, Z:0.66 [[ 9.98092709e-01 -6.14419846e-02 5.98557353e-03 -2.59621763e+01] [ 6.14405362e-02 9.98110655e-01 4.25737999e-04 -1.91816308e+00] [-6.00042290e-03 -5.71691463e-05 9.99981996e-01 6.64176569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.765529293 meters Centerline goodness [0,1] 0.9970462086266894 Centerline is valid? [True, True] Translation: X:-25.99, Y:-1.92, Z:0.67 [[ 9.98094952e-01 -6.14055370e-02 5.98563191e-03 -2.59912508e+01] [ 6.14040929e-02 9.98112898e-01 4.24913951e-04 -1.92026941e+00] [-6.00042848e-03 -5.65621715e-05 9.99981996e-01 6.65130021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.795529293 meters Centerline goodness [0,1] 0.997837422692914 Centerline is valid? [True, True] Translation: X:-26.02, Y:-1.92, Z:0.67 [[ 9.98049343e-01 -6.21682520e-02 5.71117396e-03 -2.60209267e+01] [ 6.21669506e-02 9.98065682e-01 4.05274811e-04 -1.92248293e+00] [-5.72532196e-03 -4.94379893e-05 9.99983609e-01 6.65726334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.825529293000002 meters Centerline goodness [0,1] 0.9985029637272157 Centerline is valid? [True, True] Translation: X:-26.05, Y:-1.92, Z:0.66 [[ 9.98143625e-01 -6.07119169e-02 4.83393870e-03 -2.60511997e+01] [ 6.07109677e-02 9.98155329e-01 3.42997608e-04 -1.91639243e+00] [-4.84584571e-03 -4.88877793e-05 9.99988258e-01 6.63782791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.855529293 meters Centerline goodness [0,1] 0.9979574915569577 Centerline is valid? [True, True] Translation: X:-26.08, Y:-1.91, Z:0.66 [[ 9.98310741e-01 -5.79418626e-02 4.29013490e-03 -2.60803242e+01] [ 5.79410874e-02 9.98319957e-01 3.04873380e-04 -1.91124837e+00] [-4.30059223e-03 -5.57832886e-05 9.99990751e-01 6.62958827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.885529293 meters Centerline goodness [0,1] 0.9980459606342487 Centerline is valid? [True, True] Translation: X:-26.11, Y:-1.92, Z:0.67 [[ 9.98221572e-01 -5.94838947e-02 3.91916743e-03 -2.61074775e+01] [ 5.94832557e-02 9.98229264e-01 2.79516267e-04 -1.91744516e+00] [-3.92885433e-03 -4.58943295e-05 9.99992281e-01 6.66826770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.915529293000002 meters Centerline goodness [0,1] 0.998176993659989 Centerline is valid? [True, True] Translation: X:-26.14, Y:-1.93, Z:0.66 [[ 9.98315526e-01 -5.78220717e-02 4.76629803e-03 -2.61361862e+01] [ 5.78211150e-02 9.98326902e-01 3.38387739e-04 -1.92716687e+00] [-4.77788983e-03 -6.22250673e-05 9.99988584e-01 6.63970582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.945529293 meters Centerline goodness [0,1] 0.998724153992588 Centerline is valid? [True, True] Translation: X:-26.16, Y:-1.93, Z:0.67 [[ 9.98335507e-01 -5.73965552e-02 5.64357945e-03 -2.61645267e+01] [ 5.73952142e-02 9.98351456e-01 3.99412642e-04 -1.92661677e+00] [-5.65720067e-03 -7.48333711e-05 9.99983995e-01 6.69401118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.975529293 meters Centerline goodness [0,1] 0.9975320130277345 Centerline is valid? [True, True] Translation: X:-26.19, Y:-1.92, Z:0.67 [[ 9.98328465e-01 -5.75976092e-02 4.77400490e-03 -2.61941502e+01] [ 5.75966543e-02 9.98339878e-01 3.37369699e-04 -1.92283159e+00] [-4.78551115e-03 -6.18390639e-05 9.99988547e-01 6.74601138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.005529293000002 meters Centerline goodness [0,1] 0.9976611017017502 Centerline is valid? [True, True] Translation: X:-26.22, Y:-1.92, Z:0.67 [[ 9.98520675e-01 -5.42013553e-02 4.32147546e-03 -2.62243223e+01] [ 5.42005392e-02 9.98530024e-01 3.05830563e-04 -1.91506977e+00] [-4.33169943e-03 -7.11518405e-05 9.99990616e-01 6.67234483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.035529293 meters Centerline goodness [0,1] 0.9978042086001829 Centerline is valid? [True, True] Translation: X:-26.25, Y:-1.92, Z:0.66 [[ 9.98653343e-01 -5.18009141e-02 2.85760855e-03 -2.62531264e+01] [ 5.18005446e-02 9.98657430e-01 2.03214584e-04 -1.92054294e+00] [-2.86429871e-03 -5.49152449e-05 9.99995896e-01 6.63214506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.065529293 meters Centerline goodness [0,1] 0.9971980833265655 Centerline is valid? [True, True] Translation: X:-26.28, Y:-1.92, Z:0.67 [[ 9.98743139e-01 -5.00423772e-02 2.81136596e-03 -2.62804114e+01] [ 5.00420113e-02 9.98747094e-01 2.00376934e-04 -1.92324050e+00] [-2.81787092e-03 -5.94386805e-05 9.99996028e-01 6.69526246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.095529293000002 meters Centerline goodness [0,1] 0.9977626815278852 Centerline is valid? [True, True] Translation: X:-26.31, Y:-1.91, Z:0.67 [[ 9.98820624e-01 -4.83685333e-02 4.22451261e-03 -2.63100599e+01] [ 4.83677026e-02 9.98829553e-01 2.98651648e-04 -1.91147656e+00] [-4.23401339e-03 -9.39694563e-05 9.99991032e-01 6.71871881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.125529293 meters Centerline goodness [0,1] 0.9973969984137959 Centerline is valid? [True, True] Translation: X:-26.34, Y:-1.91, Z:0.68 [[ 9.98835539e-01 -4.79070425e-02 5.69915898e-03 -2.63378931e+01] [ 4.79055274e-02 9.98851790e-01 4.02149918e-04 -1.91397917e+00] [-5.71188097e-03 -1.28660414e-04 9.99983679e-01 6.77059184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.155529293 meters Centerline goodness [0,1] 0.9966689685989357 Centerline is valid? [True, True] Translation: X:-26.37, Y:-1.92, Z:0.67 [[ 9.98801109e-01 -4.86480587e-02 5.45079232e-03 -2.63671502e+01] [ 4.86466944e-02 9.98815975e-01 3.82683314e-04 -1.92281688e+00] [-5.46295524e-03 -1.17061491e-04 9.99985071e-01 6.70869448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.185529293000002 meters Centerline goodness [0,1] 0.997238634748533 Centerline is valid? [True, True] Translation: X:-26.40, Y:-1.93, Z:0.67 [[ 9.98753508e-01 -4.98024977e-02 3.33776974e-03 -2.63968235e+01] [ 4.98019933e-02 9.98759083e-01 2.34102988e-04 -1.93136741e+00] [-3.34528675e-03 -6.75835949e-05 9.99994402e-01 6.68181379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.215529293 meters Centerline goodness [0,1] 0.9975012189176011 Centerline is valid? [True, True] Translation: X:-26.43, Y:-1.93, Z:0.67 [[ 9.98795945e-01 -4.90347261e-02 1.50192820e-03 -2.64251434e+01] [ 4.90346192e-02 9.98797074e-01 1.07959927e-04 -1.93053324e+00] [-1.50541527e-03 -3.41834601e-05 9.99998866e-01 6.66748825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.245529293 meters Centerline goodness [0,1] 0.997951567760516 Centerline is valid? [True, True] Translation: X:-26.45, Y:-1.92, Z:0.66 [[ 9.98758270e-01 -4.97337028e-02 2.91154228e-03 -2.64540064e+01] [ 4.97333129e-02 9.98762512e-01 2.06193955e-04 -1.92425144e+00] [-2.91819407e-03 -6.11372748e-05 9.99995740e-01 6.63439899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.275529293 meters Centerline goodness [0,1] 0.9979144309231174 Centerline is valid? [True, True] Translation: X:-26.48, Y:-1.93, Z:0.67 [[ 9.98672247e-01 -5.11777669e-02 5.88049405e-03 -2.64818127e+01] [ 5.11762266e-02 9.98689553e-01 4.12209323e-04 -1.92826658e+00] [-5.89388393e-03 -1.10720514e-04 9.99982625e-01 6.69935933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.305529293 meters Centerline goodness [0,1] 0.9973804447151995 Centerline is valid? [True, True] Translation: X:-26.51, Y:-1.94, Z:0.67 [[ 9.98631169e-01 -5.19021180e-02 6.47749097e-03 -2.65105787e+01] [ 5.19002780e-02 9.98652170e-01 4.51942432e-04 -1.93848409e+00] [-6.49221718e-03 -1.15140217e-04 9.99978919e-01 6.70275837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.335529293 meters Centerline goodness [0,1] 0.9970316756800716 Centerline is valid? [True, True] Translation: X:-26.54, Y:-1.94, Z:0.67 [[ 9.98649361e-01 -5.18040631e-02 3.97394631e-03 -2.65411754e+01] [ 5.18033712e-02 9.98657266e-01 2.76903437e-04 -1.94417265e+00] [-3.98295508e-03 -7.06656249e-05 9.99992066e-01 6.67681212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.365529293 meters Centerline goodness [0,1] 0.998315610033282 Centerline is valid? [True, True] Translation: X:-26.57, Y:-1.95, Z:0.67 [[ 9.98642000e-01 -5.19847675e-02 3.42624631e-03 -2.65698068e+01] [ 5.19842468e-02 9.98647876e-01 2.40891375e-04 -1.94534934e+00] [-3.43413628e-03 -6.24534114e-05 9.99994101e-01 6.65383257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.395529293 meters Centerline goodness [0,1] 0.9975610747530588 Centerline is valid? [True, True] Translation: X:-26.60, Y:-1.95, Z:0.67 [[ 9.98611144e-01 -5.25270044e-02 4.08617525e-03 -2.65976604e+01] [ 5.25262692e-02 9.98619501e-01 2.87087838e-04 -1.94676486e+00] [-4.09561416e-03 -7.20575732e-05 9.99991610e-01 6.71211104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.425529293 meters Centerline goodness [0,1] 0.9975217355976274 Centerline is valid? [True, True] Translation: X:-26.63, Y:-1.95, Z:0.67 [[ 9.98542959e-01 -5.36034724e-02 6.21503943e-03 -2.66276146e+01] [ 5.36018153e-02 9.98562295e-01 4.33012958e-04 -1.94552621e+00] [-6.22931504e-03 -9.92446447e-05 9.99980593e-01 6.73609970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.455529293 meters Centerline goodness [0,1] 0.9977694413464463 Centerline is valid? [True, True] Translation: X:-26.66, Y:-1.95, Z:0.67 [[ 9.98711227e-01 -5.04815953e-02 5.24340698e-03 -2.66578449e+01] [ 5.04803782e-02 9.98724987e-01 3.64284547e-04 -1.94845497e+00] [-5.25511123e-03 -9.91258998e-05 9.99986187e-01 6.73749849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.485529293 meters Centerline goodness [0,1] 0.9974576960624797 Centerline is valid? [True, True] Translation: X:-26.69, Y:-1.96, Z:0.67 [[ 9.98749424e-01 -4.98405462e-02 3.93800894e-03 -2.66869777e+01] [ 4.98398506e-02 9.98757185e-01 2.74634028e-04 -1.95796190e+00] [-3.94680264e-03 -7.80208003e-05 9.99992208e-01 6.69429076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.515529293 meters Centerline goodness [0,1] 0.9979591011962496 Centerline is valid? [True, True] Translation: X:-26.72, Y:-1.96, Z:0.67 [[ 9.98650988e-01 -5.16412763e-02 5.42058298e-03 -2.67159424e+01] [ 5.16399865e-02 9.98665694e-01 3.77724185e-04 -1.96290734e+00] [-5.43285643e-03 -9.72957990e-05 9.99985237e-01 6.71599185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.545529293 meters Centerline goodness [0,1] 0.997463474025974 Centerline is valid? [True, True] Translation: X:-26.75, Y:-1.96, Z:0.68 [[ 9.98505446e-01 -5.41182198e-02 7.62186737e-03 -2.67452506e+01] [ 5.41157554e-02 9.98534529e-01 5.29340698e-04 -1.96293774e+00] [-7.63934472e-03 -1.16086459e-04 9.99970813e-01 6.81408339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.575529293000002 meters Centerline goodness [0,1] 0.9978704849210052 Centerline is valid? [True, True] Translation: X:-26.78, Y:-1.97, Z:0.68 [[ 9.98407043e-01 -5.54517489e-02 1.04153578e-02 -2.67767526e+01] [ 5.54472846e-02 9.98461358e-01 7.17121541e-04 -1.96618739e+00] [-1.04390980e-02 -1.38475886e-04 9.99945502e-01 6.82641563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.605529293 meters Centerline goodness [0,1] 0.9984445701357466 Centerline is valid? [True, True] Translation: X:-26.81, Y:-1.97, Z:0.68 [[ 9.98453481e-01 -5.49043231e-02 8.72709177e-03 -2.68086496e+01] [ 5.49011630e-02 9.98491613e-01 6.01441564e-04 -1.97167069e+00] [-8.74694968e-03 -1.21383935e-04 9.99961737e-01 6.80022048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.635529293 meters Centerline goodness [0,1] 0.997914979757085 Centerline is valid? [True, True] Translation: X:-26.84, Y:-1.97, Z:0.67 [[ 9.98476878e-01 -5.49617753e-02 4.80911253e-03 -2.68407491e+01] [ 5.49608046e-02 9.98488457e-01 3.33860398e-04 -1.97142200e+00] [-4.82019291e-03 -6.90391942e-05 9.99988380e-01 6.71158301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.665529293000002 meters Centerline goodness [0,1] 0.9980720446473871 Centerline is valid? [True, True] Translation: X:-26.87, Y:-1.97, Z:0.68 [[ 9.98443824e-01 -5.52325676e-02 7.70020065e-03 -2.68691350e+01] [ 5.52300457e-02 9.98473510e-01 5.39936520e-04 -1.97197387e+00] [-7.71826845e-03 -1.13813851e-04 9.99970207e-01 6.77670990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.695529293 meters Centerline goodness [0,1] 0.9982409672658161 Centerline is valid? [True, True] Translation: X:-26.90, Y:-1.98, Z:0.68 [[ 9.98425434e-01 -5.52519900e-02 9.68866048e-03 -2.69014481e+01] [ 5.52480750e-02 9.98472433e-01 6.71463601e-04 -1.97528915e+00] [-9.71096010e-03 -1.35126496e-04 9.99952838e-01 6.80307863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.725529293 meters Centerline goodness [0,1] 0.9979897660818714 Centerline is valid? [True, True] Translation: X:-26.93, Y:-1.98, Z:0.69 [[ 9.98377480e-01 -5.61096707e-02 9.70117597e-03 -2.69314347e+01] [ 5.61057151e-02 9.98424602e-01 6.79632371e-04 -1.98311387e+00] [-9.72402671e-03 -1.34238239e-04 9.99952712e-01 6.87619442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.755529293000002 meters Centerline goodness [0,1] 0.9971672534498807 Centerline is valid? [True, True] Translation: X:-26.96, Y:-1.99, Z:0.68 [[ 9.98377633e-01 -5.68582205e-02 3.04037817e-03 -2.69635854e+01] [ 5.68578392e-02 9.98382262e-01 2.11744976e-04 -1.98715826e+00] [-3.04749908e-03 -3.85321149e-05 9.99995356e-01 6.78321153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.785529293 meters Centerline goodness [0,1] 0.9978820396966274 Centerline is valid? [True, True] Translation: X:-26.99, Y:-1.99, Z:0.68 [[ 9.98268774e-01 -5.86389747e-02 4.57448329e-03 -2.69924590e+01] [ 5.86381086e-02 9.98279253e-01 3.23330172e-04 -1.98994813e+00] [-4.58557151e-03 -5.45313665e-05 9.99989485e-01 6.80181131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.815529293 meters Centerline goodness [0,1] 0.9977007785083296 Centerline is valid? [True, True] Translation: X:-27.02, Y:-1.99, Z:0.69 [[ 9.98133795e-01 -6.02755312e-02 9.78713467e-03 -2.70210350e+01] [ 6.02716953e-02 9.98181773e-01 6.86677316e-04 -1.99253715e+00] [-9.81072928e-03 -9.55086367e-05 9.99951869e-01 6.88518342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.845529293000002 meters Centerline goodness [0,1] 0.997813588144789 Centerline is valid? [True, True] Translation: X:-27.05, Y:-1.99, Z:0.69 [[ 9.98082032e-01 -6.09529539e-02 1.08163704e-02 -2.70536049e+01] [ 6.09483690e-02 9.98140636e-01 7.53312578e-04 -1.99268881e+00] [-1.08421755e-02 -9.26276118e-05 9.99941218e-01 6.93516919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.875529293 meters Centerline goodness [0,1] 0.9976139925184511 Centerline is valid? [True, True] Translation: X:-27.09, Y:-1.99, Z:0.69 [[ 9.98207784e-01 -5.91884189e-02 8.82895065e-03 -2.70855622e+01] [ 5.91852877e-02 9.98246824e-01 6.15735281e-04 -1.99448702e+00] [-8.84991635e-03 -9.20877666e-05 9.99960834e-01 6.90838492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.905529293 meters Centerline goodness [0,1] 0.9985649897932373 Centerline is valid? [True, True] Translation: X:-27.12, Y:-2.00, Z:0.69 [[ 9.98385232e-01 -5.64577043e-02 6.28142297e-03 -2.71159448e+01] [ 5.64560345e-02 9.98404988e-01 4.42958763e-04 -2.00037772e+00] [-6.29641246e-03 -8.76192556e-05 9.99980174e-01 6.90300365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.935529293000002 meters Centerline goodness [0,1] 0.9978588886420102 Centerline is valid? [True, True] Translation: X:-27.15, Y:-2.00, Z:0.70 [[ 9.98386413e-01 -5.61560978e-02 8.42989768e-03 -2.71463020e+01] [ 5.61530660e-02 9.98421994e-01 5.96098940e-04 -2.00078230e+00] [-8.45006984e-03 -1.21772483e-04 9.99964290e-01 6.96673817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.965529293 meters Centerline goodness [0,1] 0.9979051263974217 Centerline is valid? [True, True] Translation: X:-27.18, Y:-1.99, Z:0.70 [[ 9.98484312e-01 -5.36253716e-02 1.23854045e-02 -2.71793851e+01] [ 5.36186981e-02 9.98561104e-01 8.70488118e-04 -1.98705001e+00] [-1.24142634e-02 -2.05079467e-04 9.99922919e-01 7.02221903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.995529293 meters Centerline goodness [0,1] 0.9976538640454665 Centerline is valid? [True, True] Translation: X:-27.21, Y:-1.99, Z:0.70 [[ 9.98648493e-01 -5.08013089e-02 1.09733384e-02 -2.72102463e+01] [ 5.07958527e-02 9.98708756e-01 7.75545252e-04 -1.98909857e+00] [-1.09985679e-02 -2.17097015e-04 9.99939490e-01 7.01896741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.025529293 meters Centerline goodness [0,1] 0.9967443835561037 Centerline is valid? [True, True] Translation: X:-27.24, Y:-1.99, Z:0.69 [[ 9.98774450e-01 -4.89065507e-02 7.59915273e-03 -2.72417727e+01] [ 4.89038604e-02 9.98803345e-01 5.39551620e-04 -1.99083677e+00] [-7.61644677e-03 -1.67262469e-04 9.99970980e-01 6.94816217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.055529293 meters Centerline goodness [0,1] 0.9972489683631361 Centerline is valid? [True, True] Translation: X:-27.27, Y:-2.00, Z:0.70 [[ 9.98682276e-01 -5.09926024e-02 5.78491934e-03 -2.72725894e+01] [ 5.09910948e-02 9.98699025e-01 4.07887578e-04 -2.00138873e+00] [-5.79819255e-03 -1.12370724e-04 9.99983184e-01 7.00015490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.085529293 meters Centerline goodness [0,1] 0.9961583565853855 Centerline is valid? [True, True] Translation: X:-27.30, Y:-2.00, Z:0.71 [[ 9.98583257e-01 -5.28116851e-02 6.51183907e-03 -2.73032847e+01] [ 5.28097795e-02 9.98604482e-01 4.64349058e-04 -2.00020187e+00] [-6.52727474e-03 -1.19802409e-04 9.99978690e-01 7.09292116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.115529293 meters Centerline goodness [0,1] 0.9969585272020465 Centerline is valid? [True, True] Translation: X:-27.33, Y:-2.00, Z:0.72 [[ 9.98378933e-01 -5.61813647e-02 9.11925518e-03 -2.73331023e+01] [ 5.61777869e-02 9.98420571e-01 6.48214574e-04 -1.99799017e+00] [-9.14126955e-03 -1.34864200e-04 9.99958209e-01 7.20420949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.145529293 meters Centerline goodness [0,1] 0.9965321435814236 Centerline is valid? [True, True] Translation: X:-27.37, Y:-2.00, Z:0.72 [[ 9.98398270e-01 -5.56230927e-02 1.03424426e-02 -2.73654595e+01] [ 5.56184845e-02 9.98451825e-01 7.32870679e-04 -2.00011148e+00] [-1.03671952e-02 -1.56465836e-04 9.99946247e-01 7.22545570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.175529293 meters Centerline goodness [0,1] 0.9967542285748846 Centerline is valid? [True, True] Translation: X:-27.40, Y:-2.01, Z:0.72 [[ 9.98471624e-01 -5.45727542e-02 8.73103904e-03 -2.73971096e+01] [ 5.45694221e-02 9.98509787e-01 6.19594202e-04 -2.00662965e+00] [-8.75184089e-03 -1.42199474e-04 9.99961692e-01 7.23955044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.205529293 meters Centerline goodness [0,1] 0.996125282531482 Centerline is valid? [True, True] Translation: X:-27.43, Y:-2.01, Z:0.72 [[ 9.98458695e-01 -5.50622412e-02 6.95592686e-03 -2.74287482e+01] [ 5.50601377e-02 9.98482918e-01 4.93676852e-04 -2.01141409e+00] [-6.97255710e-03 -1.09921654e-04 9.99975685e-01 7.24774539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.235529293 meters Centerline goodness [0,1] 0.9960264363621619 Centerline is valid? [True, True] Translation: X:-27.46, Y:-2.01, Z:0.73 [[ 9.98326772e-01 -5.73870002e-02 7.09846022e-03 -2.74599297e+01] [ 5.73848523e-02 9.98352003e-01 5.06066144e-04 -2.01168754e+00] [-7.11580359e-03 -9.78752893e-05 9.99974678e-01 7.29937100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.265529293 meters Centerline goodness [0,1] 0.9957493320378916 Centerline is valid? [True, True] Translation: X:-27.49, Y:-2.01, Z:0.74 [[ 9.98199064e-01 -5.94501637e-02 8.01912649e-03 -2.74907943e+01] [ 5.94474259e-02 9.98231270e-01 5.79546428e-04 -2.01288534e+00] [-8.03939695e-03 -1.01786275e-04 9.99967678e-01 7.36962356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.295529293 meters Centerline goodness [0,1] 0.9954300802274805 Centerline is valid? [True, True] Translation: X:-27.52, Y:-2.01, Z:0.73 [[ 9.98334622e-01 -5.71778564e-02 7.66003625e-03 -2.75221495e+01] [ 5.71753287e-02 9.98364002e-01 5.48744026e-04 -2.01201953e+00] [-7.67888046e-03 -1.09865069e-04 9.99970511e-01 7.34522015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.325529293000002 meters Centerline goodness [0,1] 0.9950204445164164 Centerline is valid? [True, True] Translation: X:-27.55, Y:-2.01, Z:0.73 [[ 9.98609968e-01 -5.24769570e-02 4.92959607e-03 -2.75539768e+01] [ 5.24758331e-02 9.98622130e-01 3.57156775e-04 -2.00862177e+00] [-4.94154623e-03 -9.79756550e-05 9.99987786e-01 7.31242174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.355529293 meters Centerline goodness [0,1] 0.9949054152796948 Centerline is valid? [True, True] Translation: X:-27.58, Y:-2.01, Z:0.74 [[ 9.98654170e-01 -5.17032809e-02 4.07671649e-03 -2.75823208e+01] [ 5.17024952e-02 9.98662487e-01 2.97965753e-04 -2.01123542e+00] [-4.08666963e-03 -8.67883276e-05 9.99991646e-01 7.35824498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.385529293 meters Centerline goodness [0,1] 0.9948782569814235 Centerline is valid? [True, True] Translation: X:-27.61, Y:-2.01, Z:0.75 [[ 9.98613742e-01 -5.20755090e-02 7.66387636e-03 -2.76100777e+01] [ 5.20727548e-02 9.98643138e-01 5.58612435e-04 -2.01436231e+00] [-7.68256756e-03 -1.58758900e-04 9.99970476e-01 7.47580321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.415529293000002 meters Centerline goodness [0,1] 0.9951574340478988 Centerline is valid? [True, True] Translation: X:-27.64, Y:-2.01, Z:0.75 [[ 9.98592099e-01 -5.17881791e-02 1.14805745e-02 -2.76420277e+01] [ 5.17820870e-02 9.98658065e-01 8.27461923e-04 -2.01426499e+00] [-1.15080210e-02 -2.31808833e-04 9.99933754e-01 7.53723190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.445529293 meters Centerline goodness [0,1] 0.9951125921437948 Centerline is valid? [True, True] Translation: X:-27.68, Y:-2.02, Z:0.75 [[ 9.98588366e-01 -5.17197254e-02 1.20973249e-02 -2.76752373e+01] [ 5.17129205e-02 9.98661609e-01 8.74849280e-04 -2.01620825e+00] [-1.21263809e-02 -2.48026313e-04 9.99926442e-01 7.51150506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.475529293 meters Centerline goodness [0,1] 0.9935927235977766 Centerline is valid? [True, True] Translation: X:-27.71, Y:-2.02, Z:0.75 [[ 9.98627852e-01 -5.17920703e-02 7.74556957e-03 -2.77064687e+01] [ 5.17892409e-02 9.98657877e-01 5.65558501e-04 -2.02280608e+00] [-7.76446550e-03 -1.63645303e-04 9.99969843e-01 7.46584278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.505529293000002 meters Centerline goodness [0,1] 0.9947748951941188 Centerline is valid? [True, True] Translation: X:-27.74, Y:-2.03, Z:0.74 [[ 9.98493449e-01 -5.47394251e-02 3.79835238e-03 -2.77386353e+01] [ 5.47387921e-02 9.98500672e-01 2.70485436e-04 -2.02663160e+00] [-3.80746362e-03 -6.21607148e-05 9.99992750e-01 7.40948724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.535529293 meters Centerline goodness [0,1] 0.9939732142857143 Centerline is valid? [True, True] Translation: X:-27.77, Y:-2.03, Z:0.75 [[ 9.98306131e-01 -5.80406268e-02 4.01921209e-03 -2.77663794e+01] [ 5.80398979e-02 9.98314220e-01 2.97861381e-04 -2.02764866e+00] [-4.02972465e-03 -6.40821835e-05 9.99991879e-01 7.51883597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.565529293 meters Centerline goodness [0,1] 0.9944818631826665 Centerline is valid? [True, True] Translation: X:-27.80, Y:-2.02, Z:0.75 [[ 9.98283951e-01 -5.80877775e-02 7.41377590e-03 -2.77963661e+01] [ 5.80853338e-02 9.98311473e-01 5.44692652e-04 -2.02278394e+00] [-7.43289753e-03 -1.13126284e-04 9.99972369e-01 7.52262704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.595529293000002 meters Centerline goodness [0,1] 0.9938903499898847 Centerline is valid? [True, True] Translation: X:-27.83, Y:-2.03, Z:0.76 [[ 9.98152845e-01 -5.99025324e-02 1.01284559e-02 -2.78273439e+01] [ 5.98981352e-02 9.98204223e-01 7.37208471e-04 -2.03023236e+00] [-1.01544281e-02 -1.29171112e-04 9.99948434e-01 7.56015639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.625529293 meters Centerline goodness [0,1] 0.9938634154244977 Centerline is valid? [True, True] Translation: X:-27.86, Y:-2.04, Z:0.75 [[ 9.98055510e-01 -6.18178305e-02 7.98467366e-03 -2.78596113e+01] [ 6.18151608e-02 9.98087445e-01 5.80943038e-04 -2.03594395e+00] [-8.00531517e-03 -8.62395142e-05 9.99967953e-01 7.53552347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.655529293 meters Centerline goodness [0,1] 0.9938634154244977 Centerline is valid? [True, True] Translation: X:-27.89, Y:-2.04, Z:0.75 [[ 9.98040182e-01 -6.20648311e-02 7.98451951e-03 -2.78912849e+01] [ 6.20621525e-02 9.98072116e-01 5.83042277e-04 -2.03812218e+00] [-8.00531271e-03 -8.63631526e-05 9.99967953e-01 7.54587843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.685529293000002 meters Centerline goodness [0,1] 0.9945525607014843 Centerline is valid? [True, True] Translation: X:-27.92, Y:-2.04, Z:0.75 [[ 9.97932447e-01 -6.41371707e-02 4.15377672e-03 -2.79227005e+01] [ 6.41364760e-02 9.97941092e-01 3.00372320e-04 -2.04413643e+00] [-4.16448951e-03 -3.33426832e-05 9.99991328e-01 7.51521036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.715529293 meters Centerline goodness [0,1] 0.9941120530926897 Centerline is valid? [True, True] Translation: X:-27.95, Y:-2.05, Z:0.75 [[ 9.97862333e-01 -6.52254555e-02 4.05033038e-03 -2.79498380e+01] [ 6.52247609e-02 9.97870552e-01 3.03492330e-04 -2.05239676e+00] [-4.06150084e-03 -3.86617337e-05 9.99991751e-01 7.54608433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.745529293 meters Centerline goodness [0,1] 0.9946558704453441 Centerline is valid? [True, True] Translation: X:-27.98, Y:-2.05, Z:0.76 [[ 9.97854419e-01 -6.51232558e-02 6.74687285e-03 -2.79784278e+01] [ 6.51213467e-02 9.97877226e-01 5.02498812e-04 -2.05335773e+00] [-6.76527512e-03 -6.20552142e-05 9.99977113e-01 7.57689122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.775529293 meters Centerline goodness [0,1] 0.9947482612486567 Centerline is valid? [True, True] Translation: X:-28.01, Y:-2.05, Z:0.76 [[ 9.97957046e-01 -6.34460282e-02 7.50575311e-03 -2.80081509e+01] [ 6.34436345e-02 9.97985268e-01 5.56823520e-04 -2.04500795e+00] [-7.52595927e-03 -7.94936982e-05 9.99971676e-01 7.63713034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.805529293 meters Centerline goodness [0,1] 0.994915702344878 Centerline is valid? [True, True] Translation: X:-28.04, Y:-2.04, Z:0.76 [[ 9.98140965e-01 -6.06439722e-02 6.07644156e-03 -2.80392033e+01] [ 6.06423544e-02 9.98159457e-01 4.50297680e-04 -2.04324617e+00] [-6.09256545e-03 -8.09708378e-05 9.99981437e-01 7.57919509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.835529293 meters Centerline goodness [0,1] 0.9950544015825915 Centerline is valid? [True, True] Translation: X:-28.07, Y:-2.04, Z:0.76 [[ 9.98242312e-01 -5.89952721e-02 5.64301074e-03 -2.80690443e+01] [ 5.89938449e-02 9.98258258e-01 4.19177767e-04 -2.04466388e+00] [-5.65791158e-03 -8.55380826e-05 9.99983990e-01 7.59897860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.865529293 meters Centerline goodness [0,1] 0.9941158629056718 Centerline is valid? [True, True] Translation: X:-28.10, Y:-2.05, Z:0.76 [[ 9.98448092e-01 -5.54128825e-02 5.55151631e-03 -2.80978247e+01] [ 5.54114439e-02 9.98463520e-01 4.12732187e-04 -2.04827159e+00] [-5.56585720e-03 -1.04474130e-04 9.99984505e-01 7.57066886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.895529293 meters Centerline goodness [0,1] 0.9951050789862255 Centerline is valid? [True, True] Translation: X:-28.13, Y:-2.05, Z:0.76 [[ 9.98500011e-01 -5.43198774e-02 6.86137054e-03 -2.81278751e+01] [ 5.43176630e-02 9.98523576e-01 5.08803948e-04 -2.04853976e+00] [-6.87887842e-03 -1.35347135e-04 9.99976331e-01 7.59672896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.925529293 meters Centerline goodness [0,1] 0.9944295900178253 Centerline is valid? [True, True] Translation: X:-28.16, Y:-2.06, Z:0.76 [[ 9.98519580e-01 -5.40348152e-02 6.23602113e-03 -2.81583834e+01] [ 5.40329936e-02 9.98539045e-01 4.60336635e-04 -2.05510553e+00] [-6.25178479e-03 -1.22704253e-04 9.99980450e-01 7.61432428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.955529293 meters Centerline goodness [0,1] 0.9949971643846715 Centerline is valid? [True, True] Translation: X:-28.19, Y:-2.06, Z:0.76 [[ 9.98387884e-01 -5.63881630e-02 6.48137940e-03 -2.81888006e+01] [ 5.63862368e-02 9.98408915e-01 4.79683980e-04 -2.06031851e+00] [-6.49811547e-03 -1.13450080e-04 9.99978881e-01 7.60286901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.985529293 meters Centerline goodness [0,1] 0.9956720462727016 Centerline is valid? [True, True] Translation: X:-28.22, Y:-2.06, Z:0.77 [[ 9.98312001e-01 -5.76098614e-02 7.36556984e-03 -2.82180430e+01] [ 5.76074037e-02 9.98339166e-01 5.45584559e-04 -2.05950066e+00] [-7.38476790e-03 -1.20352258e-04 9.99972725e-01 7.65790476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.015529293 meters Centerline goodness [0,1] 0.9945637842552587 Centerline is valid? [True, True] Translation: X:-28.25, Y:-2.05, Z:0.77 [[ 9.98335931e-01 -5.72583429e-02 6.84474296e-03 -2.82485857e+01] [ 5.72562193e-02 9.98359389e-01 5.05969171e-04 -2.05198090e+00] [-6.86248436e-03 -1.13223099e-04 9.99976446e-01 7.72998168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.045529293 meters Centerline goodness [0,1] 0.9948560507482108 Centerline is valid? [True, True] Translation: X:-28.28, Y:-2.06, Z:0.77 [[ 9.98244958e-01 -5.89865046e-02 5.25325378e-03 -2.82793306e+01] [ 5.89852751e-02 9.98258777e-01 3.88793025e-04 -2.05616700e+00] [-5.26704023e-03 -7.82460578e-05 9.99986126e-01 7.71801109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.075529293000002 meters Centerline goodness [0,1] 0.9936352211456602 Centerline is valid? [True, True] Translation: X:-28.31, Y:-2.07, Z:0.76 [[ 9.98300545e-01 -5.81727522e-02 3.45719505e-03 -2.83088119e+01] [ 5.81722110e-02 9.98306530e-01 2.56969935e-04 -2.06620639e+00] [-3.46628904e-03 -5.54205457e-05 9.99993991e-01 7.63111800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.105529293 meters Centerline goodness [0,1] 0.9947852450732694 Centerline is valid? [True, True] Translation: X:-28.34, Y:-2.08, Z:0.76 [[ 9.98132544e-01 -6.10221004e-02 2.78003801e-03 -2.83357254e+01] [ 6.10217556e-02 9.98136414e-01 2.08773578e-04 -2.07849094e+00] [-2.78759697e-03 -3.87409026e-05 9.99996114e-01 7.61245842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.135529293 meters Centerline goodness [0,1] 0.9935265229920045 Centerline is valid? [True, True] Translation: X:-28.36, Y:-2.08, Z:0.77 [[ 9.98022013e-01 -6.28357757e-02 1.93048791e-03 -2.83632127e+01] [ 6.28356106e-02 9.98023880e-01 1.46118957e-04 -2.07651919e+00] [-1.93585453e-03 -2.45265495e-05 9.99998126e-01 7.70553078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.165529293000002 meters Centerline goodness [0,1] 0.9943385889085042 Centerline is valid? [True, True] Translation: X:-28.39, Y:-2.07, Z:0.78 [[ 9.97954660e-01 -6.38398706e-02 3.31182671e-03 -2.83907895e+01] [ 6.38394007e-02 9.97960154e-01 2.47504874e-04 -2.07229787e+00] [-3.32087177e-03 -3.55736105e-05 9.99994485e-01 7.75766993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.195529293 meters Centerline goodness [0,1] 0.9944791751238126 Centerline is valid? [True, True] Translation: X:-28.42, Y:-2.07, Z:0.77 [[ 9.98084153e-01 -6.17749302e-02 3.44683508e-03 -2.84201239e+01] [ 6.17744143e-02 9.98090104e-01 2.56010938e-04 -2.06999210e+00] [-3.45606704e-03 -4.25942422e-05 9.99994027e-01 7.67893512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.225529293 meters Centerline goodness [0,1] 0.9943627699482916 Centerline is valid? [True, True] Translation: X:-28.45, Y:-2.08, Z:0.77 [[ 9.98137682e-01 -6.09478486e-02 2.55486378e-03 -2.84470504e+01] [ 6.09475600e-02 9.98140951e-01 1.90709012e-04 -2.07561691e+00] [-2.56173747e-03 -3.46411377e-05 9.99996718e-01 7.71881718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.255529293000002 meters Centerline goodness [0,1] 0.9934513310220384 Centerline is valid? [True, True] Translation: X:-28.47, Y:-2.08, Z:0.78 [[ 9.98247857e-01 -5.91028481e-02 2.84076991e-03 -2.84748727e+01] [ 5.91024855e-02 9.98251898e-01 2.11503724e-04 -2.07767202e+00] [-2.84830442e-03 -4.32365773e-05 9.99995943e-01 7.76457504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.285529293 meters Centerline goodness [0,1] 0.9949585298422507 Centerline is valid? [True, True] Translation: X:-28.50, Y:-2.08, Z:0.78 [[ 9.98407181e-01 -5.60902548e-02 6.08149909e-03 -2.85035463e+01] [ 5.60885645e-02 9.98425697e-01 4.48258327e-04 -2.07522287e+00] [-6.09706789e-03 -1.06441779e-04 9.99981407e-01 7.77948453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.315529293 meters Centerline goodness [0,1] 0.9942234023146929 Centerline is valid? [True, True] Translation: X:-28.53, Y:-2.07, Z:0.78 [[ 9.98679900e-01 -5.11292909e-02 4.92465367e-03 -2.85342857e+01] [ 5.11281295e-02 9.98692036e-01 3.61526915e-04 -2.06660890e+00] [-4.93669702e-03 -1.09261333e-04 9.99987808e-01 7.80478679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.345529293000002 meters Centerline goodness [0,1] 0.9931891431698863 Centerline is valid? [True, True] Translation: X:-28.57, Y:-2.06, Z:0.77 [[ 9.98817117e-01 -4.86053541e-02 1.37310186e-03 -2.85652118e+01] [ 4.86052603e-02 9.98818061e-01 1.01638175e-04 -2.06297977e+00] [-1.37641910e-03 -3.47779761e-05 9.99999052e-01 7.73207395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.375529293 meters Centerline goodness [0,1] 0.9936602117326723 Centerline is valid? [True, True] Translation: X:-28.59, Y:-2.07, Z:0.77 [[ 9.98869406e-01 -4.75379588e-02 -2.27479733e-04 -2.85934681e+01] [ 4.75379568e-02 9.98869432e-01 -1.43211935e-05 -2.06570909e+00] [ 2.27903351e-04 3.49108037e-06 9.99999974e-01 7.71126949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.405529293 meters Centerline goodness [0,1] 0.9927461349867283 Centerline is valid? [True, True] Translation: X:-28.62, Y:-2.07, Z:0.77 [[ 9.98900924e-01 -4.68711866e-02 -1.86871629e-04 -2.86209506e+01] [ 4.68711855e-02 9.98900942e-01 -1.06254610e-05 -2.07232928e+00] [ 1.87164275e-04 1.85488797e-06 9.99999982e-01 7.70081266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.435529293000002 meters Centerline goodness [0,1] 0.9924467934309378 Centerline is valid? [True, True] Translation: X:-28.65, Y:-2.07, Z:0.77 [[ 9.98741894e-01 -5.01459455e-02 -1.16943952e-04 -2.86496625e+01] [ 5.01459451e-02 9.98741901e-01 -6.07625483e-06 -2.06966778e+00] [ 1.17101525e-04 2.04345232e-07 9.99999993e-01 7.74968362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.465529293 meters Centerline goodness [0,1] 0.9929721518987342 Centerline is valid? [True, True] Translation: X:-28.68, Y:-2.07, Z:0.78 [[ 9.98656897e-01 -5.18076989e-02 -6.04174798e-04 -2.86778239e+01] [ 5.18076835e-02 9.98657079e-01 -4.11053583e-05 -2.07059507e+00] [ 6.05493013e-04 9.74925283e-06 9.99999817e-01 7.77149751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.495529293 meters Centerline goodness [0,1] 0.9933077812252844 Centerline is valid? [True, True] Translation: X:-28.71, Y:-2.08, Z:0.78 [[ 9.98633817e-01 -5.22354632e-02 1.39879730e-03 -2.87061375e+01] [ 5.22353683e-02 9.98634796e-01 1.04283299e-04 -2.07811423e+00] [-1.40233494e-03 -3.10741364e-05 9.99999016e-01 7.79359730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.525529293 meters Centerline goodness [0,1] 0.9929863793453954 Centerline is valid? [True, True] Translation: X:-28.73, Y:-2.09, Z:0.78 [[ 9.98451703e-01 -5.56008472e-02 1.65576997e-03 -2.87343178e+01] [ 5.56007200e-02 9.98453076e-01 1.22840960e-04 -2.08651053e+00] [-1.66003868e-03 -3.05887632e-05 9.99998622e-01 7.79091277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.555529293 meters Centerline goodness [0,1] 0.9935417047462377 Centerline is valid? [True, True] Translation: X:-28.76, Y:-2.09, Z:0.79 [[ 9.98329594e-01 -5.77751788e-02 2.24176207e-04 -2.87617620e+01] [ 5.77751759e-02 9.98329619e-01 1.93187592e-05 -2.08992150e+00] [-2.24917892e-04 -6.33466929e-06 9.99999975e-01 7.86529324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.585529293 meters Centerline goodness [0,1] 0.9940800810947795 Centerline is valid? [True, True] Translation: X:-28.79, Y:-2.09, Z:0.78 [[ 9.98391301e-01 -5.66648760e-02 -1.97523181e-03 -2.87902807e+01] [ 5.66647093e-02 9.98393255e-01 -1.40302435e-04 -2.08728235e+00] [ 1.98000834e-03 2.81507944e-05 9.99998039e-01 7.81482258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.615529293 meters Centerline goodness [0,1] 0.9937875629843981 Centerline is valid? [True, True] Translation: X:-28.82, Y:-2.09, Z:0.78 [[ 9.98436682e-01 -5.58940318e-02 -2.23864908e-04 -2.88192796e+01] [ 5.58940302e-02 9.98436707e-01 -1.37294492e-05 -2.09000783e+00] [ 2.24282335e-04 1.19527376e-06 9.99999975e-01 7.82119865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.645529293 meters Centerline goodness [0,1] 0.9930038822387577 Centerline is valid? [True, True] Translation: X:-28.85, Y:-2.09, Z:0.78 [[ 9.98523275e-01 -5.43248805e-02 2.78631459e-04 -2.88474252e+01] [ 5.43248764e-02 9.98523313e-01 2.25429114e-05 -2.09441877e+00] [-2.79444649e-04 -7.37300214e-06 9.99999961e-01 7.83555850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.675529293 meters Centerline goodness [0,1] 0.9929215710067548 Centerline is valid? [True, True] Translation: X:-28.87, Y:-2.09, Z:0.79 [[ 9.98581339e-01 -5.32455376e-02 -4.70974402e-04 -2.88748542e+01] [ 5.32455288e-02 9.98581450e-01 -3.11059209e-05 -2.09430329e+00] [ 4.71962553e-04 5.98451099e-06 9.99999889e-01 7.87941079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.705529293 meters Centerline goodness [0,1] 0.9935615800449474 Centerline is valid? [True, True] Translation: X:-28.90, Y:-2.09, Z:0.79 [[ 9.98698226e-01 -5.10002141e-02 -9.11371092e-04 -2.89029363e+01] [ 5.10001781e-02 9.98698642e-01 -6.27851175e-05 -2.08938423e+00] [ 9.13387127e-04 1.62232975e-05 9.99999583e-01 7.87365939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.735529293 meters Centerline goodness [0,1] 0.9925972498276072 Centerline is valid? [True, True] Translation: X:-28.93, Y:-2.09, Z:0.78 [[ 9.98691226e-01 -5.11442071e-02 -3.23855971e-04 -2.89318277e+01] [ 5.11442030e-02 9.98691279e-01 -2.08961079e-05 -2.08914280e+00] [ 3.24500849e-04 4.30540409e-06 9.99999947e-01 7.84962819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.765529293 meters Centerline goodness [0,1] 0.9925919895799414 Centerline is valid? [True, True] Translation: X:-28.96, Y:-2.09, Z:0.78 [[ 9.98956239e-01 -4.55563487e-02 -3.32448574e-03 -2.89627196e+01] [ 4.55558030e-02 9.98961767e-01 -2.39712334e-04 -2.08887855e+00] [ 3.33195457e-03 8.80125135e-05 9.99994445e-01 7.84144162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.795529293 meters Centerline goodness [0,1] 0.991881993896236 Centerline is valid? [True, True] Translation: X:-28.99, Y:-2.09, Z:0.78 [[ 9.98986736e-01 -4.47964039e-02 -4.33407634e-03 -2.89912419e+01] [ 4.47954797e-02 9.98996131e-01 -3.10129432e-04 -2.09049343e+00] [ 4.34361818e-03 1.15668160e-04 9.99990560e-01 7.79315353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.825529293 meters Centerline goodness [0,1] 0.9914201303168886 Centerline is valid? [True, True] Translation: X:-29.02, Y:-2.09, Z:0.78 [[ 9.99010893e-01 -4.43351702e-02 -3.41008036e-03 -2.90190794e+01] [ 4.43345999e-02 9.99016709e-01 -2.42699731e-04 -2.09373967e+00] [ 3.41748739e-03 9.12751271e-05 9.99994156e-01 7.77454727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.855529293 meters Centerline goodness [0,1] 0.9919792068552399 Centerline is valid? [True, True] Translation: X:-29.05, Y:-2.10, Z:0.79 [[ 9.98848005e-01 -4.79810906e-02 -6.91421270e-04 -2.90479864e+01] [ 4.79810680e-02 9.98848244e-01 -4.91791333e-05 -2.09771408e+00] [ 6.92984590e-04 1.59473482e-05 9.99999760e-01 7.93418084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.885529293 meters Centerline goodness [0,1] 0.9925804293620386 Centerline is valid? [True, True] Translation: X:-29.08, Y:-2.10, Z:0.78 [[ 9.98829498e-01 -4.83119895e-02 -2.36337880e-03 -2.90777966e+01] [ 4.83117267e-02 9.98832293e-01 -1.68192998e-04 -2.09648084e+00] [ 2.36874481e-03 5.38172166e-05 9.99997193e-01 7.82091501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.915529293000002 meters Centerline goodness [0,1] 0.9927241036865893 Centerline is valid? [True, True] Translation: X:-29.11, Y:-2.10, Z:0.78 [[ 9.98773130e-01 -4.90998724e-02 -6.43721118e-03 -2.91065153e+01] [ 4.90979202e-02 9.98793863e-01 -4.61038493e-04 -2.10130563e+00] [ 6.45208396e-03 1.44419177e-04 9.99979175e-01 7.76389598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.945529293 meters Centerline goodness [0,1] 0.9932220536165908 Centerline is valid? [True, True] Translation: X:-29.13, Y:-2.11, Z:0.78 [[ 9.98695360e-01 -5.07585592e-02 -5.58100011e-03 -2.91335557e+01] [ 5.07571285e-02 9.98710947e-01 -3.97787015e-04 -2.11077021e+00] [ 5.59399701e-03 1.13992506e-04 9.99984347e-01 7.76863916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.975529293 meters Centerline goodness [0,1] 0.9927970216898673 Centerline is valid? [True, True] Translation: X:-29.16, Y:-2.12, Z:0.79 [[ 9.98629171e-01 -5.23389364e-02 -6.44501447e-04 -2.91632148e+01] [ 5.23389175e-02 9.98629378e-01 -4.62730161e-05 -2.11871244e+00] [ 6.46039960e-04 1.24770756e-05 9.99999791e-01 7.88188311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.005529293000002 meters Centerline goodness [0,1] 0.9922797916962169 Centerline is valid? [True, True] Translation: X:-29.19, Y:-2.12, Z:0.79 [[ 9.98623449e-01 -5.24511569e-02 2.88094782e-04 -2.91924968e+01] [ 5.24511525e-02 9.98623491e-01 2.30154170e-05 -2.11545931e+00] [-2.88905403e-04 -7.87283180e-06 9.99999958e-01 7.93789528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.035529293 meters Centerline goodness [0,1] 0.9928341679899026 Centerline is valid? [True, True] Translation: X:-29.22, Y:-2.11, Z:0.79 [[ 9.98562881e-01 -5.34891664e-02 -3.32881680e-03 -2.92224328e+01] [ 5.34886741e-02 9.98568428e-01 -2.36807240e-04 -2.10663364e+00] [ 3.33671798e-03 5.84129236e-05 9.99994431e-01 7.93667947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.065529293 meters Centerline goodness [0,1] 0.9927927562124411 Centerline is valid? [True, True] Translation: X:-29.25, Y:-2.12, Z:0.79 [[ 9.98665540e-01 -5.15406574e-02 -3.27113868e-03 -2.92496189e+01] [ 5.15401819e-02 9.98670895e-01 -2.29571520e-04 -2.11769857e+00] [ 3.27862326e-03 6.06700838e-05 9.99994623e-01 7.89289835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.095529293000002 meters Centerline goodness [0,1] 0.9922361192759117 Centerline is valid? [True, True] Translation: X:-29.28, Y:-2.13, Z:0.79 [[ 9.98704626e-01 -5.08362485e-02 -2.17853564e-03 -2.92769235e+01] [ 5.08360350e-02 9.98707001e-01 -1.53284015e-04 -2.13497019e+00] [ 2.18351118e-03 4.23373408e-05 9.99997615e-01 7.89003685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.125529293 meters Centerline goodness [0,1] 0.991895943919932 Centerline is valid? [True, True] Translation: X:-29.31, Y:-2.13, Z:0.79 [[ 9.98655803e-01 -5.14306530e-02 -6.44017073e-03 -2.93075818e+01] [ 5.14287587e-02 9.98676560e-01 -4.59511539e-04 -2.12538831e+00] [ 6.45528053e-03 1.27683878e-04 9.99979156e-01 7.90202255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.155529293 meters Centerline goodness [0,1] 0.9922469577957755 Centerline is valid? [True, True] Translation: X:-29.34, Y:-2.12, Z:0.78 [[ 9.98743705e-01 -4.94003023e-02 -8.40373571e-03 -2.93379756e+01] [ 4.93970105e-02 9.98779043e-01 -5.98950410e-04 -2.11992383e+00] [ 8.42306344e-03 1.83078531e-04 9.99964509e-01 7.84036854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.185529293000002 meters Centerline goodness [0,1] 0.9918771830070668 Centerline is valid? [True, True] Translation: X:-29.37, Y:-2.13, Z:0.79 [[ 9.98807145e-01 -4.86763665e-02 -3.85991889e-03 -2.93653008e+01] [ 4.86756723e-02 9.98814599e-01 -2.73660578e-04 -2.13435420e+00] [ 3.86866415e-03 8.54499939e-05 9.99992513e-01 7.92431435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.215529293 meters Centerline goodness [0,1] 0.9910213016072478 Centerline is valid? [True, True] Translation: X:-29.39, Y:-2.14, Z:0.80 [[ 9.98798841e-01 -4.89893275e-02 -9.59181685e-04 -2.93931959e+01] [ 4.89892861e-02 9.98799302e-01 -6.65945262e-05 -2.14237097e+00] [ 9.61292418e-04 1.95249096e-05 9.99999538e-01 8.02144252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.245529293 meters Centerline goodness [0,1] 0.9927818329278183 Centerline is valid? [True, True] Translation: X:-29.42, Y:-2.14, Z:0.80 [[ 9.98757355e-01 -4.97937132e-02 -2.08152152e-03 -2.94220326e+01] [ 4.97935174e-02 9.98759523e-01 -1.45841693e-04 -2.14036870e+00] [ 2.08620144e-03 4.20141858e-05 9.99997823e-01 7.97856124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.275529293 meters Centerline goodness [0,1] 0.9920194943649101 Centerline is valid? [True, True] Translation: X:-29.45, Y:-2.15, Z:0.80 [[ 9.98762422e-01 -4.96305231e-02 -3.23040525e-03 -2.94492096e+01] [ 4.96300540e-02 9.98767644e-01 -2.25245134e-04 -2.14590319e+00] [ 3.23760327e-03 6.46411889e-05 9.99994757e-01 7.95501634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.305529293 meters Centerline goodness [0,1] 0.9910694351417727 Centerline is valid? [True, True] Translation: X:-29.48, Y:-2.16, Z:0.80 [[ 9.98673644e-01 -5.14171785e-02 -2.68804683e-03 -2.94765543e+01] [ 5.14168592e-02 9.98677261e-01 -1.87810418e-04 -2.15730504e+00] [ 2.69414792e-03 4.93503895e-05 9.99996370e-01 7.96570019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.335529293 meters Centerline goodness [0,1] 0.9910291096238736 Centerline is valid? [True, True] Translation: X:-29.51, Y:-2.16, Z:0.81 [[ 9.98572072e-01 -5.34207666e-02 1.98349342e-04 -2.95051669e+01] [ 5.34207644e-02 9.98572091e-01 1.67030602e-05 -2.16493247e+00] [-1.98958408e-04 -6.08323599e-06 9.99999980e-01 8.05436460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.365529293 meters Centerline goodness [0,1] 0.9921824629271437 Centerline is valid? [True, True] Translation: X:-29.53, Y:-2.17, Z:0.80 [[ 9.98557158e-01 -5.36816653e-02 -1.37134495e-03 -2.95342635e+01] [ 5.36815858e-02 9.98558100e-01 -9.46961457e-05 -2.16560619e+00] [ 1.37445105e-03 2.09435426e-05 9.99999055e-01 7.95073530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.395529293 meters Centerline goodness [0,1] 0.9905245895001114 Centerline is valid? [True, True] Translation: X:-29.56, Y:-2.17, Z:0.79 [[ 9.98531761e-01 -5.37157185e-02 -6.99604088e-03 -2.95628187e+01] [ 5.37135792e-02 9.98556262e-01 -4.93467878e-04 -2.17098060e+00] [ 7.01244741e-03 1.16960954e-04 9.99975406e-01 7.89347037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.425529293 meters Centerline goodness [0,1] 0.9914631926041308 Centerline is valid? [True, True] Translation: X:-29.59, Y:-2.16, Z:0.79 [[ 9.98670436e-01 -5.10717657e-02 -7.00246390e-03 -2.95926586e+01] [ 5.10696107e-02 9.98694978e-01 -4.86329232e-04 -2.16497631e+00] [ 7.01816322e-03 1.28069521e-04 9.99975364e-01 7.86693140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.455529293 meters Centerline goodness [0,1] 0.9923983583688818 Centerline is valid? [True, True] Translation: X:-29.62, Y:-2.16, Z:0.79 [[ 9.98812302e-01 -4.86778108e-02 -2.11084656e-03 -2.96214248e+01] [ 4.86776090e-02 9.98814532e-01 -1.46936642e-04 -2.16285119e+00] [ 2.11549677e-03 4.40111628e-05 9.99997761e-01 7.92524933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.485529293 meters Centerline goodness [0,1] 0.9910683474412846 Centerline is valid? [True, True] Translation: X:-29.65, Y:-2.16, Z:0.78 [[ 9.98965609e-01 -4.54348995e-02 -1.83879392e-03 -2.96506739e+01] [ 4.54347427e-02 9.98967301e-01 -1.26994435e-04 -2.16461442e+00] [ 1.84266498e-03 4.33179448e-05 9.99998301e-01 7.83783767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.515529293 meters Centerline goodness [0,1] 0.9914941876949248 Centerline is valid? [True, True] Translation: X:-29.68, Y:-2.17, Z:0.77 [[ 9.99042209e-01 -4.29896950e-02 -8.15784791e-03 -2.96795487e+01] [ 4.29864432e-02 9.99075491e-01 -5.73609633e-04 -2.17484089e+00] [ 8.17496521e-03 2.22383369e-04 9.99966560e-01 7.70797224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.545529293 meters Centerline goodness [0,1] 0.9922111113364841 Centerline is valid? [True, True] Translation: X:-29.71, Y:-2.18, Z:0.78 [[ 9.99021084e-01 -4.28710010e-02 -1.09064570e-02 -2.97070836e+01] [ 4.28652363e-02 9.99080573e-01 -7.61886425e-04 -2.17824541e+00] [ 1.09290922e-02 2.93632745e-04 9.99940233e-01 7.76252500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.575529293 meters Centerline goodness [0,1] 0.9922111113364841 Centerline is valid? [True, True] Translation: X:-29.73, Y:-2.18, Z:0.78 [[ 9.99033964e-01 -4.25696451e-02 -1.09070687e-02 -2.97344200e+01] [ 4.25639577e-02 9.99093460e-01 -7.53151967e-04 -2.18036373e+00] [ 1.09292424e-02 2.88176383e-04 9.99940233e-01 7.77150059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.605529293 meters Centerline goodness [0,1] 0.9932446139489594 Centerline is valid? [True, True] Translation: X:-29.77, Y:-2.17, Z:0.79 [[ 9.99087018e-01 -4.25584693e-02 -3.72923495e-03 -2.97653537e+01] [ 4.25577933e-02 9.99093973e-01 -2.60454937e-04 -2.17119791e+00] [ 3.73694072e-03 1.01509136e-04 9.99993012e-01 7.85202592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.635529293 meters Centerline goodness [0,1] 0.9914866146180072 Centerline is valid? [True, True] Translation: X:-29.79, Y:-2.17, Z:0.79 [[ 9.99189754e-01 -4.02416600e-02 -6.67139892e-04 -2.97943396e+01] [ 4.02416394e-02 9.99189976e-01 -4.42495266e-05 -2.17460768e+00] [ 6.68380167e-04 1.73668706e-05 9.99999776e-01 7.86926660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.665529293000002 meters Centerline goodness [0,1] 0.9921854438708372 Centerline is valid? [True, True] Translation: X:-29.82, Y:-2.18, Z:0.78 [[ 9.99163456e-01 -4.08136135e-02 -2.57610982e-03 -2.98235452e+01] [ 4.08132899e-02 9.99166775e-01 -1.78100902e-04 -2.17853893e+00] [ 2.58123228e-03 7.28123963e-05 9.99996666e-01 7.84644998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.695529293 meters Centerline goodness [0,1] 0.9939178915357324 Centerline is valid? [True, True] Translation: X:-29.85, Y:-2.18, Z:0.78 [[ 9.99095938e-01 -4.22432416e-02 -4.77644817e-03 -2.98520105e+01] [ 4.22421425e-02 9.99107348e-01 -3.30792006e-04 -2.18400881e+00] [ 4.78615819e-03 1.28725546e-04 9.99988538e-01 7.82700308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.725529293 meters Centerline goodness [0,1] 0.9917292019688534 Centerline is valid? [True, True] Translation: X:-29.88, Y:-2.19, Z:0.79 [[ 9.99076507e-01 -4.27597379e-02 -4.21168197e-03 -2.98792707e+01] [ 4.27589011e-02 9.99085378e-01 -2.88581307e-04 -2.19062651e+00] [ 4.22016953e-03 1.08227911e-04 9.99991089e-01 7.88162133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.755529293000002 meters Centerline goodness [0,1] 0.9932257017686191 Centerline is valid? [True, True] Translation: X:-29.91, Y:-2.19, Z:0.79 [[ 9.98993024e-01 -4.47841800e-02 -2.70459451e-03 -2.99086443e+01] [ 4.47838379e-02 9.98996683e-01 -1.86931894e-04 -2.19430012e+00] [ 2.71025253e-03 6.56215360e-05 9.99996325e-01 7.87624367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.785529293 meters Centerline goodness [0,1] 0.9941895776814997 Centerline is valid? [True, True] Translation: X:-29.94, Y:-2.20, Z:0.79 [[ 9.98924902e-01 -4.62755242e-02 -2.75968327e-03 -2.99374512e+01] [ 4.62751775e-02 9.98928712e-01 -1.89373272e-04 -2.19915009e+00] [ 2.76549020e-03 6.14648440e-05 9.99996174e-01 7.87858159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.815529293 meters Centerline goodness [0,1] 0.9942433210362022 Centerline is valid? [True, True] Translation: X:-29.97, Y:-2.21, Z:0.78 [[ 9.98806849e-01 -4.88061089e-02 -1.68599166e-03 -2.99670261e+01] [ 4.88059827e-02 9.98808271e-01 -1.15925991e-04 -2.20709101e+00] [ 1.68964031e-03 3.35011937e-05 9.99998572e-01 7.84163015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.845529293000002 meters Centerline goodness [0,1] 0.9954093032703636 Centerline is valid? [True, True] Translation: X:-29.99, Y:-2.22, Z:0.79 [[ 9.98794889e-01 -4.90783426e-02 -2.94558810e-04 -2.99937599e+01] [ 4.90783396e-02 9.98794932e-01 -1.73930050e-05 -2.21531404e+00] [ 2.95057467e-04 2.91558717e-06 9.99999956e-01 7.94867240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.875529293 meters Centerline goodness [0,1] 0.9946714751706951 Centerline is valid? [True, True] Translation: X:-30.02, Y:-2.21, Z:0.79 [[ 9.98883737e-01 -4.72124223e-02 -1.50539335e-03 -3.00236087e+01] [ 4.72123224e-02 9.98884871e-01 -1.01858776e-04 -2.20717108e+00] [ 1.50852364e-03 3.06719591e-05 9.99998862e-01 7.90964165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.905529293 meters Centerline goodness [0,1] 0.9943309966473636 Centerline is valid? [True, True] Translation: X:-30.05, Y:-2.20, Z:0.79 [[ 9.98827816e-01 -4.82993761e-02 -3.18818503e-03 -3.00519196e+01] [ 4.82989320e-02 9.98832902e-01 -2.16180608e-04 -2.19968427e+00] [ 3.19490549e-03 6.19412725e-05 9.99994894e-01 7.88383482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.935529293000002 meters Centerline goodness [0,1] 0.9952154080081095 Centerline is valid? [True, True] Translation: X:-30.08, Y:-2.20, Z:0.78 [[ 9.99068645e-01 -4.27895805e-02 -5.55825497e-03 -3.00816933e+01] [ 4.27881116e-02 9.99084096e-01 -3.82978286e-04 -2.19789093e+00] [ 5.56955162e-03 1.44794364e-04 9.99984479e-01 7.84815473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.965529293 meters Centerline goodness [0,1] 0.9958318931338064 Centerline is valid? [True, True] Translation: X:-30.11, Y:-2.21, Z:0.77 [[ 9.99252580e-01 -3.82026450e-02 -5.90244940e-03 -3.01113451e+01] [ 3.82009053e-02 9.99269996e-01 -4.07256822e-04 -2.20967423e+00] [ 5.91369888e-03 1.81473519e-04 9.99982497e-01 7.72788100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.995529293 meters Centerline goodness [0,1] 0.9971958059009998 Centerline is valid? [True, True] Translation: X:-30.14, Y:-2.21, Z:0.78 [[ 9.99383452e-01 -3.49399367e-02 -3.45201216e-03 -3.01384485e+01] [ 3.49393323e-02 9.99389407e-01 -2.35265774e-04 -2.21436671e+00] [ 3.45812456e-03 1.14509721e-04 9.99994014e-01 7.80251911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.025529293 meters Centerline goodness [0,1] 0.9957271044010825 Centerline is valid? [True, True] Translation: X:-30.17, Y:-2.21, Z:0.79 [[ 9.99405573e-01 -3.43863703e-02 -2.46540524e-03 -3.01662656e+01] [ 3.43860631e-02 9.99408611e-01 -1.66896575e-04 -2.21308567e+00] [ 2.46968619e-03 8.20217866e-05 9.99996947e-01 7.88771583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.055529293 meters Centerline goodness [0,1] 0.9965944335205044 Centerline is valid? [True, True] Translation: X:-30.20, Y:-2.20, Z:0.79 [[ 9.99466670e-01 -3.26501420e-02 -5.86908822e-04 -3.01962637e+01] [ 3.26501254e-02 9.99466842e-01 -3.79582162e-05 -2.20126908e+00] [ 5.87835248e-04 1.87753253e-05 9.99999827e-01 7.85518242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.085529293 meters Centerline goodness [0,1] 0.997034509373794 Centerline is valid? [True, True] Translation: X:-30.23, Y:-2.20, Z:0.78 [[ 9.99551175e-01 -2.99125793e-02 -1.63904423e-03 -3.02251369e+01] [ 2.99124375e-02 9.99552517e-01 -1.10955400e-04 -2.20327979e+00] [ 1.64162975e-03 6.18777918e-05 9.99998651e-01 7.80760992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.115529293 meters Centerline goodness [0,1] 0.9971754282579098 Centerline is valid? [True, True] Translation: X:-30.25, Y:-2.22, Z:0.77 [[ 9.99602413e-01 -2.81073286e-02 -2.23474294e-03 -3.02535231e+01] [ 2.81070594e-02 9.99604907e-01 -1.51798790e-04 -2.21679269e+00] [ 2.23812667e-03 8.89263839e-05 9.99997491e-01 7.73392753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.145529293 meters Centerline goodness [0,1] 0.9975607772989674 Centerline is valid? [True, True] Translation: X:-30.28, Y:-2.22, Z:0.78 [[ 9.99600235e-01 -2.82537725e-02 -1.04574770e-03 -3.02826752e+01] [ 2.82537153e-02 9.99600782e-01 -6.94459788e-05 -2.21545007e+00] [ 1.04729233e-03 3.98719592e-05 9.99999451e-01 7.77739368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.175529293 meters Centerline goodness [0,1] 0.9973098705501618 Centerline is valid? [True, True] Translation: X:-30.31, Y:-2.21, Z:0.78 [[ 9.99540351e-01 -3.03161549e-02 -1.35163864e-04 -3.03128117e+01] [ 3.03161541e-02 9.99540360e-01 -8.10029817e-06 -2.21131567e+00] [ 1.35347307e-04 3.99892636e-06 9.99999991e-01 7.78952494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.205529293 meters Centerline goodness [0,1] 0.9972598847121864 Centerline is valid? [True, True] Translation: X:-30.34, Y:-2.22, Z:0.77 [[ 9.99481927e-01 -3.21837227e-02 -2.93171527e-04 -3.03401539e+01] [ 3.21837193e-02 9.99481970e-01 -1.64545273e-05 -2.21913097e+00] [ 2.93549223e-04 7.01065255e-06 9.99999957e-01 7.72087389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.235529293 meters Centerline goodness [0,1] 0.9972515258073643 Centerline is valid? [True, True] Translation: X:-30.37, Y:-2.23, Z:0.77 [[ 9.99493596e-01 -3.17155423e-02 -2.58392458e-03 -3.03682578e+01] [ 3.17151971e-02 9.99496931e-01 -1.74476057e-04 -2.23025728e+00] [ 2.58815829e-03 9.24380245e-05 9.99996646e-01 7.66071014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.265529293 meters Centerline goodness [0,1] 0.9967193859986635 Centerline is valid? [True, True] Translation: X:-30.40, Y:-2.23, Z:0.77 [[ 9.99421268e-01 -3.38473096e-02 -3.38956092e-03 -3.03968577e+01] [ 3.38467261e-02 9.99427009e-01 -2.29382332e-04 -2.23460672e+00] [ 3.39538270e-03 1.14524041e-04 9.99994229e-01 7.67752623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.295529293 meters Centerline goodness [0,1] 0.9965573106520859 Centerline is valid? [True, True] Translation: X:-30.43, Y:-2.23, Z:0.77 [[ 9.99413682e-01 -3.37930175e-02 -5.50666693e-03 -3.04264118e+01] [ 3.37914709e-02 9.99428835e-01 -3.73693112e-04 -2.22522066e+00] [ 5.51614993e-03 1.87395634e-04 9.99984768e-01 7.66095463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.325529293 meters Centerline goodness [0,1] 0.9971208434712084 Centerline is valid? [True, True] Translation: X:-30.45, Y:-2.23, Z:0.76 [[ 9.99457589e-01 -3.26501485e-02 -4.30056140e-03 -3.04537843e+01] [ 3.26492087e-02 9.99466831e-01 -2.88560123e-04 -2.23138359e+00] [ 4.30769001e-03 1.47993678e-04 9.99990711e-01 7.63708551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.355529293 meters Centerline goodness [0,1] 0.9969210824825798 Centerline is valid? [True, True] Translation: X:-30.48, Y:-2.25, Z:0.76 [[ 9.99427126e-01 -3.37245052e-02 -2.84210598e-03 -3.04820364e+01] [ 3.37240983e-02 9.99431163e-01 -1.90989421e-04 -2.24534235e+00] [ 2.84693031e-03 9.50325466e-05 9.99995943e-01 7.64577197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.385529293 meters Centerline goodness [0,1] 0.9977281486439887 Centerline is valid? [True, True] Translation: X:-30.51, Y:-2.24, Z:0.77 [[ 9.99492167e-01 -3.16798325e-02 -3.43466254e-03 -3.05115546e+01] [ 3.16792227e-02 9.99498061e-01 -2.31808685e-04 -2.24364384e+00] [ 3.44028220e-03 1.22883526e-04 9.99994075e-01 7.65172904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.415529293000002 meters Centerline goodness [0,1] 0.9974313856359849 Centerline is valid? [True, True] Translation: X:-30.54, Y:-2.23, Z:0.76 [[ 9.99554792e-01 -2.94479394e-02 -4.79962203e-03 -3.05428817e+01] [ 2.94467201e-02 9.99566299e-01 -3.24525093e-04 -2.23152300e+00] [ 4.80709703e-03 1.83047485e-04 9.99988429e-01 7.60474506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.445529293 meters Centerline goodness [0,1] 0.9977561705310396 Centerline is valid? [True, True] Translation: X:-30.57, Y:-2.24, Z:0.76 [[ 9.99542218e-01 -2.98522856e-02 -4.91888837e-03 -3.05696826e+01] [ 2.98510181e-02 9.99554304e-01 -3.30916443e-04 -2.24326574e+00] [ 4.92657465e-03 1.83931130e-04 9.99987847e-01 7.64774650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.475529293 meters Centerline goodness [0,1] 0.9972059121279612 Centerline is valid? [True, True] Translation: X:-30.60, Y:-2.25, Z:0.77 [[ 9.99462180e-01 -3.27694041e-02 -1.23122220e-03 -3.05989403e+01] [ 3.27693268e-02 9.99462938e-01 -8.29555586e-05 -2.25200391e+00] [ 1.23327937e-03 4.25646207e-05 9.99999239e-01 7.70594117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.505529293000002 meters Centerline goodness [0,1] 0.9978676306330091 Centerline is valid? [True, True] Translation: X:-30.63, Y:-2.25, Z:0.77 [[ 9.99456210e-01 -3.29663351e-02 7.10522352e-04 -3.06279580e+01] [ 3.29663075e-02 9.99456462e-01 5.05144225e-05 -2.25335745e+00] [-7.11801432e-04 -2.70636549e-05 9.99999746e-01 7.70697454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.535529293 meters Centerline goodness [0,1] 0.9974294620086629 Centerline is valid? [True, True] Translation: X:-30.66, Y:-2.26, Z:0.77 [[ 9.99455844e-01 -3.28983786e-02 -2.39026769e-03 -3.06559616e+01] [ 3.28980913e-02 9.99458699e-01 -1.59452519e-04 -2.25626100e+00] [ 2.39421956e-03 8.07305071e-05 9.99997131e-01 7.71412804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.565529293 meters Centerline goodness [0,1] 0.9961734693877551 Centerline is valid? [True, True] Translation: X:-30.69, Y:-2.26, Z:0.76 [[ 9.99466865e-01 -3.17400300e-02 -7.65221818e-03 -3.06862129e+01] [ 3.17370024e-02 9.99496121e-01 -5.16780690e-04 -2.25632729e+00] [ 7.66476503e-03 2.73646709e-04 9.99970588e-01 7.56546996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.595529293000002 meters Centerline goodness [0,1] 0.9976322978852575 Centerline is valid? [True, True] Translation: X:-30.71, Y:-2.27, Z:0.76 [[ 9.99406017e-01 -3.40987483e-02 -4.98893529e-03 -3.07147555e+01] [ 3.40974911e-02 9.99418455e-01 -3.36864352e-04 -2.27220053e+00] [ 4.99752065e-03 1.66554084e-04 9.99987498e-01 7.59278457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.625529293 meters Centerline goodness [0,1] 0.9970907327716831 Centerline is valid? [True, True] Translation: X:-30.74, Y:-2.28, Z:0.77 [[ 9.99364600e-01 -3.56263505e-02 1.07682648e-03 -3.07441057e+01] [ 3.56262924e-02 9.99365179e-01 7.30872943e-05 -2.28066862e+00] [-1.07874672e-03 -3.46775196e-05 9.99999418e-01 7.70556800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.655529293 meters Centerline goodness [0,1] 0.9978144288171608 Centerline is valid? [True, True] Translation: X:-30.77, Y:-2.28, Z:0.77 [[ 9.99294747e-01 -3.75080247e-02 1.77656018e-03 -3.07721090e+01] [ 3.75078677e-02 9.99296325e-01 1.21600770e-04 -2.28185779e+00] [-1.77987106e-03 -5.48800262e-05 9.99998415e-01 7.73982381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.685529293000002 meters Centerline goodness [0,1] 0.9977302204928664 Centerline is valid? [True, True] Translation: X:-30.80, Y:-2.27, Z:0.76 [[ 9.99372058e-01 -3.54138341e-02 -1.16150466e-03 -3.08034790e+01] [ 3.54137684e-02 9.99372733e-01 -7.70825363e-05 -2.27213042e+00] [ 1.16350587e-03 3.59008760e-05 9.99999322e-01 7.63092781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.715529293 meters Centerline goodness [0,1] 0.9971532564712581 Centerline is valid? [True, True] Translation: X:-30.83, Y:-2.27, Z:0.75 [[ 9.99400858e-01 -3.40950076e-02 -5.95444843e-03 -3.08325986e+01] [ 3.40932269e-02 9.99418577e-01 -4.00336708e-04 -2.26983260e+00] [ 5.96463586e-03 1.97090489e-04 9.99982192e-01 7.51453940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.745529293 meters Centerline goodness [0,1] 0.9981983076237905 Centerline is valid? [True, True] Translation: X:-30.86, Y:-2.28, Z:0.74 [[ 9.99508272e-01 -3.04464734e-02 -7.49843021e-03 -3.08609122e+01] [ 3.04435467e-02 9.99536361e-01 -5.04168093e-04 -2.27912938e+00] [ 7.51030378e-03 2.75641370e-04 9.99971759e-01 7.43786552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.775529293 meters Centerline goodness [0,1] 0.9976307636231092 Centerline is valid? [True, True] Translation: X:-30.89, Y:-2.29, Z:0.75 [[ 9.99612476e-01 -2.73689707e-02 -5.08301169e-03 -3.08892357e+01] [ 2.73676269e-02 9.99625381e-01 -3.33764745e-04 -2.28574187e+00] [ 5.09024230e-03 1.94525435e-04 9.99987026e-01 7.45407938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.805529293 meters Centerline goodness [0,1] 0.9975913369092198 Centerline is valid? [True, True] Translation: X:-30.92, Y:-2.28, Z:0.76 [[ 9.99661126e-01 -2.59204623e-02 -2.40075509e-03 -3.09163873e+01] [ 2.59201624e-02 9.99664004e-01 -1.55941995e-04 -2.28373282e+00] [ 2.40399054e-03 9.36611883e-05 9.99997106e-01 7.57373714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.835529293 meters Centerline goodness [0,1] 0.9983923475744544 Centerline is valid? [True, True] Translation: X:-30.95, Y:-2.28, Z:0.75 [[ 9.99763298e-01 -2.17565532e-02 1.97966242e-05 -3.09467212e+01] [ 2.17565531e-02 9.99763298e-01 3.05597726e-06 -2.27542200e+00] [-1.98584259e-05 -2.62454760e-06 1.00000000e+00 7.49578661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.865529293 meters Centerline goodness [0,1] 0.9977698031344403 Centerline is valid? [True, True] Translation: X:-30.98, Y:-2.28, Z:0.74 [[ 9.99795773e-01 -1.99537783e-02 -3.20303447e-03 -3.09765958e+01] [ 1.99531949e-02 9.99800892e-01 -2.13998104e-04 -2.27889333e+00] [ 3.20666679e-03 1.50043629e-04 9.99994847e-01 7.41320082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.895529293 meters Centerline goodness [0,1] 0.9979525228567374 Centerline is valid? [True, True] Translation: X:-31.00, Y:-2.28, Z:0.74 [[ 9.99825508e-01 -1.83172933e-02 -3.66461638e-03 -3.10047295e+01] [ 1.83165256e-02 9.99832209e-01 -2.42937289e-04 -2.28279449e+00] [ 3.66845144e-03 1.75771859e-04 9.99993256e-01 7.43501469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.925529293 meters Centerline goodness [0,1] 0.9979588949740315 Centerline is valid? [True, True] Translation: X:-31.03, Y:-2.28, Z:0.75 [[ 9.99836814e-01 -1.78350987e-02 -2.87295191e-03 -3.10319773e+01] [ 1.78346307e-02 9.99840933e-01 -1.88414807e-04 -2.28149369e+00] [ 2.87585531e-03 1.37146024e-04 9.99995855e-01 7.50184633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.955529293 meters Centerline goodness [0,1] 0.9977526724975705 Centerline is valid? [True, True] Translation: X:-31.06, Y:-2.27, Z:0.75 [[ 9.99870332e-01 -1.60814189e-02 -8.41156816e-04 -3.10612823e+01] [ 1.60813794e-02 9.99870685e-01 -5.37741075e-05 -2.27396144e+00] [ 8.41912805e-04 4.02401728e-05 9.99999645e-01 7.49840216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.985529293 meters Centerline goodness [0,1] 0.9983409877192627 Centerline is valid? [True, True] Translation: X:-31.09, Y:-2.29, Z:0.75 [[ 9.99869643e-01 -1.60111102e-02 -2.08371502e-03 -3.10880623e+01] [ 1.60108618e-02 9.99871809e-01 -1.35815087e-04 -2.28871564e+00] [ 2.08562246e-03 1.02435309e-04 9.99997820e-01 7.45971145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.015529293 meters Centerline goodness [0,1] 0.9978299227290243 Centerline is valid? [True, True] Translation: X:-31.12, Y:-2.30, Z:0.75 [[ 9.99811895e-01 -1.93745117e-02 -8.96024457e-04 -3.11178415e+01] [ 1.93744665e-02 9.99812296e-01 -5.90945283e-05 -2.29715204e+00] [ 8.97001197e-04 4.17234165e-05 9.99999597e-01 7.50711314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.045529293 meters Centerline goodness [0,1] 0.9982027100708819 Centerline is valid? [True, True] Translation: X:-31.15, Y:-2.30, Z:0.75 [[ 9.99841539e-01 -1.77972265e-02 -3.95418751e-04 -3.11465851e+01] [ 1.77972184e-02 9.99841617e-01 -2.39120551e-05 -2.29783903e+00] [ 3.95781691e-04 1.68709121e-05 9.99999922e-01 7.48780142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.075529293 meters Centerline goodness [0,1] 0.9982221144715842 Centerline is valid? [True, True] Translation: X:-31.18, Y:-2.29, Z:0.75 [[ 9.99826245e-01 -1.86388358e-02 -2.69587937e-04 -3.11763054e+01] [ 1.86388323e-02 9.99826282e-01 -1.55073828e-05 -2.28777812e+00] [ 2.69830144e-04 1.04798840e-05 9.99999964e-01 7.52808348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.105529293 meters Centerline goodness [0,1] 0.9983847194459587 Centerline is valid? [True, True] Translation: X:-31.21, Y:-2.28, Z:0.74 [[ 9.99829441e-01 -1.74667185e-02 -6.00027085e-03 -3.12080875e+01] [ 1.74646393e-02 9.99847402e-01 -3.98741600e-04 -2.28360853e+00] [ 6.00631993e-03 2.93881024e-04 9.99981919e-01 7.36092127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.135529293 meters Centerline goodness [0,1] 0.9982168909061436 Centerline is valid? [True, True] Translation: X:-31.23, Y:-2.30, Z:0.73 [[ 9.99765769e-01 -2.02172851e-02 -7.72449760e-03 -3.12349172e+01] [ 2.02139471e-02 9.99795547e-01 -5.09962769e-04 -2.30146161e+00] [ 7.73322837e-03 3.53700734e-04 9.99970036e-01 7.31467416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.165529293000002 meters Centerline goodness [0,1] 0.9977994912585295 Centerline is valid? [True, True] Translation: X:-31.26, Y:-2.31, Z:0.75 [[ 9.99754458e-01 -2.20093426e-02 -2.57162388e-03 -3.12629093e+01] [ 2.20089781e-02 9.99757759e-01 -1.69955823e-04 -2.31227924e+00] [ 2.57474154e-03 1.13315278e-04 9.99996679e-01 7.46643647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.195529293 meters Centerline goodness [0,1] 0.9982374035130371 Centerline is valid? [True, True] Translation: X:-31.29, Y:-2.31, Z:0.76 [[ 9.99687348e-01 -2.48405456e-02 2.85541666e-03 -3.12920157e+01] [ 2.48401038e-02 9.99691419e-01 1.90120734e-04 -2.31432002e+00] [-2.85925823e-03 -1.19132446e-04 9.99995905e-01 7.61567387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.225529293 meters Centerline goodness [0,1] 0.9979396852970287 Centerline is valid? [True, True] Translation: X:-31.32, Y:-2.31, Z:0.75 [[ 9.99735055e-01 -2.29991241e-02 -9.27495980e-04 -3.13232174e+01] [ 2.29990769e-02 9.99735484e-01 -6.15352354e-05 -2.30720277e+00] [ 9.28665900e-04 4.01873806e-05 9.99999568e-01 7.54508921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.255529293000002 meters Centerline goodness [0,1] 0.9981478126069537 Centerline is valid? [True, True] Translation: X:-31.35, Y:-2.30, Z:0.75 [[ 9.99746992e-01 -2.23553064e-02 -2.48848824e-03 -3.13530770e+01] [ 2.23549711e-02 9.99750083e-01 -1.62498619e-04 -2.30088538e+00] [ 2.49149903e-03 1.06827423e-04 9.99996891e-01 7.46605991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.285529293 meters Centerline goodness [0,1] 0.9982602435659008 Centerline is valid? [True, True] Translation: X:-31.38, Y:-2.31, Z:0.74 [[ 9.99797851e-01 -1.97681723e-02 -3.67106111e-03 -3.13817859e+01] [ 1.97674165e-02 9.99804576e-01 -2.42034290e-04 -2.30540343e+00] [ 3.67512827e-03 1.69417969e-04 9.99993232e-01 7.43851064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.315529293 meters Centerline goodness [0,1] 0.9980667378214552 Centerline is valid? [True, True] Translation: X:-31.41, Y:-2.31, Z:0.76 [[ 9.99786808e-01 -2.06383922e-02 -6.28596643e-04 -3.14095085e+01] [ 2.06383716e-02 9.99787005e-01 -3.92364262e-05 -2.30869230e+00] [ 6.29272532e-04 2.62548502e-05 9.99999802e-01 7.57313117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.345529293000002 meters Centerline goodness [0,1] 0.9986092354826356 Centerline is valid? [True, True] Translation: X:-31.44, Y:-2.31, Z:0.76 [[ 9.99828721e-01 -1.84727077e-02 1.13467755e-03 -3.14381261e+01] [ 1.84726317e-02 9.99829363e-01 7.73889073e-05 -2.31201594e+00] [-1.13591352e-03 -5.64151716e-05 9.99999353e-01 7.55391221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.375529293 meters Centerline goodness [0,1] 0.9975181097277992 Centerline is valid? [True, True] Translation: X:-31.47, Y:-2.32, Z:0.75 [[ 9.99856004e-01 -1.68727146e-02 1.81177203e-03 -3.14674973e+01] [ 1.68725242e-02 9.99857642e-01 1.20286284e-04 -2.32087948e+00] [-1.81354366e-03 -8.96997957e-05 9.99998352e-01 7.49458080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.405529293 meters Centerline goodness [0,1] 0.998623788225294 Centerline is valid? [True, True] Translation: X:-31.50, Y:-2.33, Z:0.76 [[ 9.99860682e-01 -1.66892985e-02 -2.91317061e-04 -3.14961383e+01] [ 1.66892937e-02 9.99860724e-01 -1.86320583e-05 -2.32802915e+00] [ 2.91587444e-04 1.37675865e-05 9.99999957e-01 7.58049614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.435529293000002 meters Centerline goodness [0,1] 0.998422362007241 Centerline is valid? [True, True] Translation: X:-31.53, Y:-2.31, Z:0.75 [[ 9.99860622e-01 -1.56798673e-02 -5.73400822e-03 -3.15276146e+01] [ 1.56779598e-02 9.99877022e-01 -3.77469765e-04 -2.30798539e+00] [ 5.73922174e-03 2.87519604e-04 9.99983489e-01 7.45993153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.465529293 meters Centerline goodness [0,1] 0.998422362007241 Centerline is valid? [True, True] Translation: X:-31.56, Y:-2.31, Z:0.75 [[ 9.99862246e-01 -1.55758589e-02 -5.73419933e-03 -3.15550500e+01] [ 1.55739663e-02 9.99878648e-01 -3.74571883e-04 -2.30993334e+00] [ 5.73933775e-03 2.85216057e-04 9.99983489e-01 7.46892598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.495529293 meters Centerline goodness [0,1] 0.9982764563943468 Centerline is valid? [True, True] Translation: X:-31.58, Y:-2.32, Z:0.75 [[ 9.99842529e-01 -1.72584929e-02 -4.13057742e-03 -3.15822690e+01] [ 1.72575258e-02 9.99851041e-01 -2.69649216e-04 -2.31908903e+00] [ 4.13461588e-03 1.98323208e-04 9.99991433e-01 7.53365354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.525529293 meters Centerline goodness [0,1] 0.9983820079281611 Centerline is valid? [True, True] Translation: X:-31.61, Y:-2.32, Z:0.75 [[ 9.99840016e-01 -1.76363763e-02 -2.98352851e-03 -3.16109459e+01] [ 1.76358761e-02 9.99844457e-01 -1.93877225e-04 -2.32345582e+00] [ 2.98648373e-03 1.41229068e-04 9.99995530e-01 7.49215815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.555529293 meters Centerline goodness [0,1] 0.9982246610716591 Centerline is valid? [True, True] Translation: X:-31.64, Y:-2.33, Z:0.76 [[ 9.99798143e-01 -1.98650740e-02 -3.00879985e-03 -3.16382609e+01] [ 1.98645769e-02 9.99802661e-01 -1.95036506e-04 -2.33304765e+00] [ 3.01208051e-03 1.35228600e-04 9.99995455e-01 7.55885558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.585529293 meters Centerline goodness [0,1] 0.9979142197561864 Centerline is valid? [True, True] Translation: X:-31.67, Y:-2.34, Z:0.75 [[ 9.99737739e-01 -2.24889564e-02 -4.32425258e-03 -3.16656186e+01] [ 2.24879524e-02 9.99747075e-01 -2.80670713e-04 -2.34110426e+00] [ 4.32947086e-03 1.83353518e-04 9.99990611e-01 7.53539315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.615529293 meters Centerline goodness [0,1] 0.9985614717562201 Centerline is valid? [True, True] Translation: X:-31.70, Y:-2.34, Z:0.76 [[ 9.99654695e-01 -2.61782449e-02 -2.27805839e-03 -3.16954801e+01] [ 2.61779737e-02 9.99657287e-01 -1.48793442e-04 -2.34382169e+00] [ 2.28117282e-03 8.91071101e-05 9.99997394e-01 7.56653741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.645529293 meters Centerline goodness [0,1] 0.9979782868002345 Centerline is valid? [True, True] Translation: X:-31.72, Y:-2.35, Z:0.76 [[ 9.99615017e-01 -2.76988687e-02 -1.60929703e-03 -3.17236589e+01] [ 2.76987376e-02 9.99616311e-01 -1.03693267e-04 -2.35257383e+00] [ 1.61155175e-03 5.90778506e-05 9.99998700e-01 7.63781478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.675529293 meters Centerline goodness [0,1] 0.9981411888309694 Centerline is valid? [True, True] Translation: X:-31.75, Y:-2.35, Z:0.76 [[ 9.99588427e-01 -2.86853995e-02 -3.53177187e-04 -3.17515442e+01] [ 2.86853942e-02 9.99588489e-01 -2.01512252e-05 -2.35355181e+00] [ 3.53609897e-04 1.00119046e-05 9.99999937e-01 7.64028040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.705529293 meters Centerline goodness [0,1] 0.9980203619909502 Centerline is valid? [True, True] Translation: X:-31.78, Y:-2.35, Z:0.77 [[ 9.99603894e-01 -2.81168745e-02 1.22340777e-03 -3.17799021e+01] [ 2.81167948e-02 9.99604641e-01 8.23571754e-05 -2.35292297e+00] [-1.22523971e-03 -4.79262482e-05 9.99999248e-01 7.70280197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.735529293 meters Centerline goodness [0,1] 0.9985658014341986 Centerline is valid? [True, True] Translation: X:-31.81, Y:-2.35, Z:0.77 [[ 9.99637475e-01 -2.68925664e-02 1.30719427e-03 -3.18077945e+01] [ 2.68924739e-02 9.99638328e-01 8.83118664e-05 -2.35429754e+00] [-1.30909643e-03 -5.31261635e-05 9.99999142e-01 7.69991832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.765529293 meters Centerline goodness [0,1] 0.9975557036947256 Centerline is valid? [True, True] Translation: X:-31.84, Y:-2.35, Z:0.77 [[ 9.99649217e-01 -2.64771048e-02 6.37868146e-04 -3.18367741e+01] [ 2.64770821e-02 9.99649420e-01 4.39990049e-05 -2.35281193e+00] [-6.38809488e-04 -2.70946835e-05 9.99999796e-01 7.72463278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.795529293 meters Centerline goodness [0,1] 0.9979192339548696 Centerline is valid? [True, True] Translation: X:-31.87, Y:-2.35, Z:0.77 [[ 9.99747778e-01 -2.24430503e-02 -8.30651485e-04 -3.18665839e+01] [ 2.24430141e-02 9.99748122e-01 -5.29486883e-05 -2.35306564e+00] [ 8.31630592e-04 3.42930105e-05 9.99999654e-01 7.65846266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.825529293 meters Centerline goodness [0,1] 0.9983422286915736 Centerline is valid? [True, True] Translation: X:-31.89, Y:-2.36, Z:0.76 [[ 9.99761967e-01 -2.15889493e-02 -3.15073048e-03 -3.18949165e+01] [ 2.15884175e-02 9.99766922e-01 -2.02719376e-04 -2.35719038e+00] [ 3.15437262e-03 1.34651837e-04 9.99995016e-01 7.61382541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.855529293 meters Centerline goodness [0,1] 0.9986830642056851 Centerline is valid? [True, True] Translation: X:-31.92, Y:-2.36, Z:0.77 [[ 9.99722795e-01 -2.33773893e-02 -2.79823307e-03 -3.19238038e+01] [ 2.33769763e-02 9.99726705e-01 -1.80191270e-04 -2.35724181e+00] [ 2.80168073e-03 1.14727092e-04 9.99996069e-01 7.68146828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.885529293 meters Centerline goodness [0,1] 0.9982087509560037 Centerline is valid? [True, True] Translation: X:-31.95, Y:-2.35, Z:0.76 [[ 9.99749600e-01 -2.23766779e-02 -1.49192587e-04 -3.19528417e+01] [ 2.23766773e-02 9.99749611e-01 -5.34038019e-06 -2.34884579e+00] [ 1.49274730e-04 2.00060858e-06 9.99999989e-01 7.63234184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.915529293000002 meters Centerline goodness [0,1] 0.998709521313062 Centerline is valid? [True, True] Translation: X:-31.98, Y:-2.35, Z:0.77 [[ 9.99778329e-01 -2.10488558e-02 4.88368039e-04 -3.19802190e+01] [ 2.10488414e-02 9.99778448e-01 3.45443680e-05 -2.35418116e+00] [-4.88986960e-04 -2.42571291e-05 9.99999880e-01 7.66708542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.945529293 meters Centerline goodness [0,1] 0.9978728145702073 Centerline is valid? [True, True] Translation: X:-32.01, Y:-2.35, Z:0.76 [[ 9.99791864e-01 -2.02877291e-02 -2.15316645e-03 -3.20103023e+01] [ 2.02874782e-02 9.99794178e-01 -1.38311707e-04 -2.34848121e+00] [ 2.15552931e-03 9.46006017e-05 9.99997672e-01 7.58610152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.975529293 meters Centerline goodness [0,1] 0.9984430290162775 Centerline is valid? [True, True] Translation: X:-32.04, Y:-2.35, Z:0.77 [[ 9.99818364e-01 -1.84133927e-02 -4.91796931e-03 -3.20391347e+01] [ 1.84120548e-02 9.99830433e-01 -3.17170397e-04 -2.35418506e+00] [ 4.92297557e-03 2.26562867e-04 9.99987856e-01 7.67640596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.005529293 meters Centerline goodness [0,1] 0.9981816345085363 Centerline is valid? [True, True] Translation: X:-32.07, Y:-2.34, Z:0.77 [[ 9.99824953e-01 -1.84333389e-02 -3.20542753e-03 -3.20687335e+01] [ 1.84327768e-02 9.99830081e-01 -2.04807814e-04 -2.34481438e+00] [ 3.20865816e-03 1.45687032e-04 9.99994842e-01 7.74032496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.035529292999996 meters Centerline goodness [0,1] 0.9985208599274613 Centerline is valid? [True, True] Translation: X:-32.10, Y:-2.35, Z:0.77 [[ 9.99820996e-01 -1.89202708e-02 1.04002371e-05 -3.20978942e+01] [ 1.89202708e-02 9.99820996e-01 2.44995350e-06 -2.34878682e+00] [-1.04447293e-05 -2.25273965e-06 1.00000000e+00 7.74108848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.065529293 meters Centerline goodness [0,1] 0.9988685040006465 Centerline is valid? [True, True] Translation: X:-32.12, Y:-2.36, Z:0.77 [[ 9.99826916e-01 -1.85068020e-02 1.90679137e-03 -3.21246997e+01] [ 1.85065956e-02 9.99828730e-01 1.25868297e-04 -2.35885401e+00] [-1.90879421e-03 -9.05582949e-05 9.99998174e-01 7.74130951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.095529293 meters Centerline goodness [0,1] 0.998439431709937 Centerline is valid? [True, True] Translation: X:-32.16, Y:-2.35, Z:0.77 [[ 9.99829527e-01 -1.83848630e-02 -1.70673114e-03 -3.21551857e+01] [ 1.83847040e-02 9.99830981e-01 -1.08839074e-04 -2.34835929e+00] [ 1.70844366e-03 7.74427728e-05 9.99998538e-01 7.72131392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.125529293 meters Centerline goodness [0,1] 0.9985805535841022 Centerline is valid? [True, True] Translation: X:-32.18, Y:-2.35, Z:0.77 [[ 9.99836007e-01 -1.76724259e-02 -3.95522033e-03 -3.21832385e+01] [ 1.76715681e-02 9.99843814e-01 -2.51705432e-04 -2.34742661e+00] [ 3.95905082e-03 1.81769209e-04 9.99992146e-01 7.72270082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.155529292999994 meters Centerline goodness [0,1] 0.9988088989381031 Centerline is valid? [True, True] Translation: X:-32.21, Y:-2.35, Z:0.77 [[ 9.99788644e-01 -2.03924447e-02 -2.61058066e-03 -3.22136858e+01] [ 2.03920751e-02 9.99792046e-01 -1.68102874e-04 -2.35247735e+00] [ 2.61346581e-03 1.14832187e-04 9.99996578e-01 7.70863215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.185529292999995 meters Centerline goodness [0,1] 0.9988682067139595 Centerline is valid? [True, True] Translation: X:-32.24, Y:-2.36, Z:0.78 [[ 9.99704612e-01 -2.41443540e-02 2.78185060e-03 -3.22431475e+01] [ 2.41439473e-02 9.99708476e-01 1.79680282e-04 -2.35775769e+00] [-2.78537789e-03 -1.12462352e-04 9.99996115e-01 7.76933478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.215529292999996 meters Centerline goodness [0,1] 0.9992313604919293 Centerline is valid? [True, True] Translation: X:-32.27, Y:-2.36, Z:0.78 [[ 9.99704338e-01 -2.41512789e-02 2.82014034e-03 -3.22737330e+01] [ 2.41508627e-02 9.99708309e-01 1.81545107e-04 -2.35537849e+00] [-2.82370228e-03 -1.13382609e-04 9.99996007e-01 7.83344796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.245529293 meters Centerline goodness [0,1] 0.9990057423452307 Centerline is valid? [True, True] Translation: X:-32.30, Y:-2.35, Z:0.78 [[ 9.99743486e-01 -2.24925962e-02 -2.65441904e-03 -3.23037575e+01] [ 2.24922235e-02 9.99747003e-01 -1.70197522e-04 -2.34947971e+00] [ 2.65757567e-03 1.10450077e-04 9.99996463e-01 7.82583306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.275529293 meters Centerline goodness [0,1] 0.999046092021676 Centerline is valid? [True, True] Translation: X:-32.33, Y:-2.35, Z:0.78 [[ 9.99745731e-01 -2.21714484e-02 -4.11107519e-03 -3.23331920e+01] [ 2.21705590e-02 9.99754169e-01 -2.61795755e-04 -2.34784413e+00] [ 4.11586895e-03 1.70584354e-04 9.99991515e-01 7.77380033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.305529293 meters Centerline goodness [0,1] 0.9981164556962026 Centerline is valid? [True, True] Translation: X:-32.36, Y:-2.35, Z:0.78 [[ 9.99759722e-01 -2.19202537e-02 -3.51664579e-06 -3.23624057e+01] [ 2.19202537e-02 9.99759722e-01 1.00098843e-06 -2.35296992e+00] [ 3.49385883e-06 -1.07783369e-06 1.00000000e+00 7.78506685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.335529293 meters Centerline goodness [0,1] 0.9991077222582738 Centerline is valid? [True, True] Translation: X:-32.39, Y:-2.36, Z:0.79 [[ 9.99735056e-01 -2.28127555e-02 3.06524954e-03 -3.23894108e+01] [ 2.28122522e-02 9.99739747e-01 1.99058592e-04 -2.36285690e+00] [-3.06899288e-03 -1.29080607e-04 9.99995282e-01 7.90225835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.365529292999994 meters Centerline goodness [0,1] 0.9985794878038882 Centerline is valid? [True, True] Translation: X:-32.42, Y:-2.35, Z:0.79 [[ 9.99777212e-01 -2.09869038e-02 2.25316987e-03 -3.24203625e+01] [ 2.09866311e-02 9.99779746e-01 1.44584743e-04 -2.35224189e+00] [-2.25570799e-03 -9.72660866e-05 9.99997451e-01 7.90872406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.395529292999996 meters Centerline goodness [0,1] 0.9983635702452625 Centerline is valid? [True, True] Translation: X:-32.45, Y:-2.34, Z:0.79 [[ 9.99832938e-01 -1.82641344e-02 7.19761561e-04 -3.24513091e+01] [ 1.82641055e-02 9.99833196e-01 4.67460876e-05 -2.34303222e+00] [-7.20495279e-04 -3.35924770e-05 9.99999740e-01 7.92987296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.425529293 meters Centerline goodness [0,1] 0.9985790264301084 Centerline is valid? [True, True] Translation: X:-32.48, Y:-2.34, Z:0.79 [[ 9.99860499e-01 -1.66205645e-02 -1.65496636e-03 -3.24814187e+01] [ 1.66204125e-02 9.99861866e-01 -1.05566126e-04 -2.34339102e+00] [ 1.65649233e-03 7.80451753e-05 9.99998625e-01 7.86745523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.455529293 meters Centerline goodness [0,1] 0.9981560657332171 Centerline is valid? [True, True] Translation: X:-32.51, Y:-2.35, Z:0.79 [[ 9.99867528e-01 -1.60824992e-02 -2.50582988e-03 -3.25085326e+01] [ 1.60821547e-02 9.99870661e-01 -1.57561580e-04 -2.35015816e+00] [ 2.50803976e-03 1.17241564e-04 9.99996848e-01 7.85505994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.485529293 meters Centerline goodness [0,1] 0.9987871927554981 Centerline is valid? [True, True] Translation: X:-32.54, Y:-2.35, Z:0.80 [[ 9.99876927e-01 -1.56495116e-02 -1.10590130e-03 -3.25364084e+01] [ 1.56494462e-02 9.99877538e-01 -6.77583156e-05 -2.34959513e+00] [ 1.10682625e-03 5.04432335e-05 9.99999386e-01 7.96704709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.515529293 meters Centerline goodness [0,1] 0.9989866850414446 Centerline is valid? [True, True] Translation: X:-32.56, Y:-2.34, Z:0.80 [[ 9.99886393e-01 -1.49699891e-02 1.76099771e-03 -3.25645619e+01] [ 1.49698089e-02 9.99887939e-01 1.15470544e-04 -2.34033048e+00] [-1.76252897e-03 -8.90956263e-05 9.99998443e-01 7.99314630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.545529292999994 meters Centerline goodness [0,1] 0.9980967036527092 Centerline is valid? [True, True] Translation: X:-32.60, Y:-2.32, Z:0.80 [[ 9.99908481e-01 -1.34057077e-02 1.82127173e-03 -3.25960314e+01] [ 1.34055170e-02 9.99910135e-01 1.16878730e-04 -2.32323908e+00] [-1.82267490e-03 -9.24529439e-05 9.99998335e-01 7.95758125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.575529292999995 meters Centerline goodness [0,1] 0.9975015742113709 Centerline is valid? [True, True] Translation: X:-32.62, Y:-2.34, Z:0.80 [[ 9.99927108e-01 -1.20172825e-02 -1.16731745e-03 -3.26248102e+01] [ 1.20172036e-02 9.99927788e-01 -7.45245856e-05 -2.34074349e+00] [ 1.16812874e-03 6.04912618e-05 9.99999316e-01 7.97881334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.605529293 meters Centerline goodness [0,1] 0.9988057163677584 Centerline is valid? [True, True] Translation: X:-32.65, Y:-2.35, Z:0.80 [[ 9.99910140e-01 -1.33447427e-02 -1.27660276e-03 -3.26522806e+01] [ 1.33446542e-02 9.99910953e-01 -7.78089771e-05 -2.35353351e+00] [ 1.27752742e-03 6.07661628e-05 9.99999182e-01 7.97301270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.635529293 meters Centerline goodness [0,1] 0.9987649321725045 Centerline is valid? [True, True] Translation: X:-32.68, Y:-2.35, Z:0.80 [[ 9.99835387e-01 -1.81282757e-02 7.51395295e-04 -3.26812841e+01] [ 1.81282449e-02 9.99835669e-01 4.78348065e-05 -2.35420909e+00] [-7.52138980e-04 -3.42054544e-05 9.99999717e-01 8.02078257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.665529293 meters Centerline goodness [0,1] 0.9983188511474347 Centerline is valid? [True, True] Translation: X:-32.71, Y:-2.35, Z:0.81 [[ 9.99759403e-01 -2.19347267e-02 -6.97733678e-05 -3.27108419e+01] [ 2.19347265e-02 9.99759405e-01 -3.23026101e-06 -2.35105143e+00] [ 6.98274355e-05 1.69902408e-06 9.99999998e-01 8.08472898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.695529293 meters Centerline goodness [0,1] 0.9983583632273363 Centerline is valid? [True, True] Translation: X:-32.74, Y:-2.35, Z:0.81 [[ 9.99754104e-01 -2.21389880e-02 -1.26397369e-03 -3.27402613e+01] [ 2.21389063e-02 9.99754901e-01 -7.86144812e-05 -2.35140395e+00] [ 1.26540433e-03 5.06121552e-05 9.99999198e-01 8.05011957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.725529292999994 meters Centerline goodness [0,1] 0.9979776326167411 Centerline is valid? [True, True] Translation: X:-32.77, Y:-2.35, Z:0.79 [[ 9.99724656e-01 -2.33450439e-02 -2.37097012e-03 -3.27702236e+01] [ 2.33447578e-02 9.99727463e-01 -1.48255906e-04 -2.34510412e+00] [ 2.37378498e-03 9.28653611e-05 9.99997178e-01 7.94804150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.755529292999995 meters Centerline goodness [0,1] 0.9977759805903761 Centerline is valid? [True, True] Translation: X:-32.80, Y:-2.35, Z:0.80 [[ 9.99699344e-01 -2.44998233e-02 -9.89833210e-04 -3.27990829e+01] [ 2.44997746e-02 9.99699834e-01 -6.12352194e-05 -2.34669383e+00] [ 9.91036347e-04 3.69661181e-05 9.99999508e-01 7.98721366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.785529292999996 meters Centerline goodness [0,1] 0.9974462910417511 Centerline is valid? [True, True] Translation: X:-32.83, Y:-2.35, Z:0.81 [[ 9.99665486e-01 -2.58586671e-02 4.95720864e-04 -3.28269935e+01] [ 2.58586535e-02 9.99665609e-01 3.37543687e-05 -2.34895900e+00] [-4.96427942e-04 -2.09244033e-05 9.99999877e-01 8.06852539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.815529293 meters Centerline goodness [0,1] 0.9981755524021894 Centerline is valid? [True, True] Translation: X:-32.86, Y:-2.35, Z:0.80 [[ 9.99721041e-01 -2.35393190e-02 1.93396498e-03 -3.28555735e+01] [ 2.35391216e-02 9.99722909e-01 1.24773534e-04 -2.35229408e+00] [-1.93636618e-03 -7.92148906e-05 9.99998122e-01 8.03882155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.845529293 meters Centerline goodness [0,1] 0.9985425986276137 Centerline is valid? [True, True] Translation: X:-32.88, Y:-2.36, Z:0.81 [[ 9.99749059e-01 -2.23966370e-02 4.58540549e-04 -3.28836689e+01] [ 2.23966252e-02 9.99749164e-01 3.08067105e-05 -2.35842355e+00] [-4.59115497e-04 -2.05292190e-05 9.99999894e-01 8.11763333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.875529293 meters Centerline goodness [0,1] 0.9982729193758128 Centerline is valid? [True, True] Translation: X:-32.91, Y:-2.35, Z:0.81 [[ 9.99788001e-01 -2.05806644e-02 -6.23531145e-04 -3.29132647e+01] [ 2.05806453e-02 9.99788195e-01 -3.70353129e-05 -2.35077208e+00] [ 6.24161289e-04 2.41947881e-05 9.99999805e-01 8.10442140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.905529292999994 meters Centerline goodness [0,1] 0.9979114706896202 Centerline is valid? [True, True] Translation: X:-32.94, Y:-2.34, Z:0.81 [[ 9.99829266e-01 -1.84739598e-02 3.89102782e-04 -3.29431850e+01] [ 1.84739507e-02 9.99829342e-01 2.69755044e-05 -2.33746887e+00] [-3.89534723e-04 -1.97826332e-05 9.99999924e-01 8.10745486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.935529292999995 meters Centerline goodness [0,1] 0.9981749604574766 Centerline is valid? [True, True] Translation: X:-32.97, Y:-2.34, Z:0.81 [[ 9.99873109e-01 -1.55919403e-02 3.26449022e-03 -3.29709864e+01] [ 1.55913429e-02 9.99878426e-01 2.08354763e-04 -2.34336326e+00] [-3.26734200e-03 -1.57430539e-04 9.99994650e-01 8.14876428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.965529292999996 meters Centerline goodness [0,1] 0.9978509883426254 Centerline is valid? [True, True] Translation: X:-33.00, Y:-2.34, Z:0.82 [[ 9.99902597e-01 -1.35831445e-02 3.20855755e-03 -3.30011945e+01] [ 1.35825663e-02 9.99907732e-01 2.01936691e-04 -2.34286502e+00] [-3.21100444e-03 -1.58336576e-04 9.99994832e-01 8.16433824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.995529293 meters Centerline goodness [0,1] 0.9981116367845032 Centerline is valid? [True, True] Translation: X:-33.03, Y:-2.34, Z:0.82 [[ 9.99904267e-01 -1.35928349e-02 2.58692441e-03 -3.30339023e+01] [ 1.35924780e-02 9.99907606e-01 1.55477828e-04 -2.33792169e+00] [-2.58879878e-03 -1.20300231e-04 9.99996642e-01 8.17139660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.025529293 meters Centerline goodness [0,1] 0.9979514015658594 Centerline is valid? [True, True] Translation: X:-33.07, Y:-2.32, Z:0.80 [[ 9.99927900e-01 -1.20027454e-02 -3.60292495e-04 -3.30662498e+01] [ 1.20027378e-02 9.99927964e-01 -2.34475645e-05 -2.32416497e+00] [ 3.60547976e-04 1.91213775e-05 9.99999935e-01 8.03372198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.055529293 meters Centerline goodness [0,1] 0.998191865426029 Centerline is valid? [True, True] Translation: X:-33.09, Y:-2.33, Z:0.81 [[ 9.99919510e-01 -1.26852505e-02 2.39759850e-04 -3.30943102e+01] [ 1.26852467e-02 9.99919539e-01 1.74620626e-05 -2.33395864e+00] [-2.39962069e-04 -1.44192442e-05 9.99999971e-01 8.05559681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.085529293 meters Centerline goodness [0,1] 0.9984794112280275 Centerline is valid? [True, True] Translation: X:-33.12, Y:-2.34, Z:0.81 [[ 9.99893947e-01 -1.45190147e-02 1.13689601e-03 -3.31224309e+01] [ 1.45189403e-02 9.99894592e-01 7.36981925e-05 -2.34452577e+00] [-1.13784620e-03 -5.71838513e-05 9.99999351e-01 8.08320565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.115529292999994 meters Centerline goodness [0,1] 0.9981980887593133 Centerline is valid? [True, True] Translation: X:-33.15, Y:-2.34, Z:0.81 [[ 9.99833359e-01 -1.82550339e-02 -8.75679716e-05 -3.31523468e+01] [ 1.82550336e-02 9.99833363e-01 -4.34473074e-06 -2.34113824e+00] [ 8.76326927e-05 2.74545046e-06 9.99999996e-01 8.12130311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.145529292999996 meters Centerline goodness [0,1] 0.9987375537048726 Centerline is valid? [True, True] Translation: X:-33.18, Y:-2.34, Z:0.81 [[ 9.99817060e-01 -1.90901110e-02 -1.18947617e-03 -3.31800107e+01] [ 1.90900388e-02 9.99817766e-01 -7.20301957e-05 -2.34191742e+00] [ 1.19063447e-03 4.93098722e-05 9.99999290e-01 8.13043274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.175529293 meters Centerline goodness [0,1] 0.9978253358535049 Centerline is valid? [True, True] Translation: X:-33.21, Y:-2.34, Z:0.81 [[ 9.99762308e-01 -2.17945505e-02 -5.70844064e-04 -3.32100778e+01] [ 2.17945342e-02 9.99762470e-01 -3.47748686e-05 -2.33769833e+00] [ 5.71466374e-04 2.23253224e-05 9.99999836e-01 8.11429038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.205529293 meters Centerline goodness [0,1] 0.998215661624559 Centerline is valid? [True, True] Translation: X:-33.24, Y:-2.34, Z:0.82 [[ 9.99699729e-01 -2.44785678e-02 1.11907079e-03 -3.32401141e+01] [ 2.44785041e-02 9.99700354e-01 7.06228105e-05 -2.34369596e+00] [-1.12046421e-03 -4.32084257e-05 9.99999371e-01 8.18474191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.235529293 meters Centerline goodness [0,1] 0.99829742384012 Centerline is valid? [True, True] Translation: X:-33.27, Y:-2.35, Z:0.82 [[ 9.99693818e-01 -2.45940481e-02 2.72070728e-03 -3.32686054e+01] [ 2.45936661e-02 9.99697515e-01 1.73765253e-04 -2.34703377e+00] [-2.72415789e-03 -1.06799882e-04 9.99996284e-01 8.17189835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.265529293 meters Centerline goodness [0,1] 0.9987002173074189 Centerline is valid? [True, True] Translation: X:-33.30, Y:-2.34, Z:0.82 [[ 9.99664801e-01 -2.56724447e-02 3.34828165e-03 -3.32986079e+01] [ 2.56718782e-02 9.99670401e-01 2.12089602e-04 -2.34482882e+00] [-3.35262291e-03 -1.26061832e-04 9.99994372e-01 8.20759426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.295529292999994 meters Centerline goodness [0,1] 0.9988399544122436 Centerline is valid? [True, True] Translation: X:-33.33, Y:-2.34, Z:0.82 [[ 9.99744561e-01 -2.25103100e-02 2.02441302e-03 -3.33278284e+01] [ 2.25100955e-02 9.99746607e-01 1.28670923e-04 -2.34162330e+00] [-2.02679647e-03 -8.30683249e-05 9.99997943e-01 8.22093376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.325529292999995 meters Centerline goodness [0,1] 0.998397110741387 Centerline is valid? [True, True] Translation: X:-33.36, Y:-2.34, Z:0.82 [[ 9.99770628e-01 -2.14169513e-02 -7.34204139e-05 -3.33572111e+01] [ 2.14169512e-02 9.99770631e-01 -2.80211142e-06 -2.33943495e+00] [ 7.34635861e-05 1.22902728e-06 9.99999997e-01 8.19348422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.355529293 meters Centerline goodness [0,1] 0.9980899743975291 Centerline is valid? [True, True] Translation: X:-33.38, Y:-2.34, Z:0.82 [[ 9.99794282e-01 -2.02804851e-02 3.09270450e-04 -3.33848627e+01] [ 2.02804791e-02 9.99794330e-01 2.24391542e-05 -2.34138588e+00] [-3.09661919e-04 -1.61623851e-05 9.99999952e-01 8.20677395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.385529293 meters Centerline goodness [0,1] 0.9980899743975291 Centerline is valid? [True, True] Translation: X:-33.41, Y:-2.34, Z:0.82 [[ 9.99796544e-01 -2.01686694e-02 3.09232202e-04 -3.34122759e+01] [ 2.01686632e-02 9.99796592e-01 2.30512294e-05 -2.34324507e+00] [-3.09634214e-04 -1.68097393e-05 9.99999952e-01 8.21576726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.415529293 meters Centerline goodness [0,1] 0.998761371020143 Centerline is valid? [True, True] Translation: X:-33.44, Y:-2.34, Z:0.83 [[ 9.99818496e-01 -1.88736128e-02 2.60048222e-03 -3.34409304e+01] [ 1.88732465e-02 9.99821871e-01 1.65300798e-04 -2.34195553e+00] [-2.60313882e-03 -1.16191254e-04 9.99996605e-01 8.31382013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.445529293 meters Centerline goodness [0,1] 0.9982764214453727 Centerline is valid? [True, True] Translation: X:-33.47, Y:-2.34, Z:0.83 [[ 9.99859027e-01 -1.63345287e-02 3.88696654e-03 -3.34701385e+01] [ 1.63337013e-02 9.99866566e-01 2.44525492e-04 -2.34090327e+00] [-3.89044209e-03 -1.81002470e-04 9.99992416e-01 8.29659073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.475529292999994 meters Centerline goodness [0,1] 0.9985741057606127 Centerline is valid? [True, True] Translation: X:-33.50, Y:-2.34, Z:0.83 [[ 9.99877047e-01 -1.54972751e-02 2.39266472e-03 -3.35023380e+01] [ 1.54969651e-02 9.99879904e-01 1.48049789e-04 -2.33602484e+00] [-2.39467174e-03 -1.10952544e-04 9.99997127e-01 8.29619750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.505529292999995 meters Centerline goodness [0,1] 0.9985795742781194 Centerline is valid? [True, True] Translation: X:-33.53, Y:-2.33, Z:0.83 [[ 9.99866732e-01 -1.63020137e-02 8.73346527e-04 -3.35322791e+01] [ 1.63019710e-02 9.99867112e-01 5.59132946e-05 -2.33375345e+00] [-8.74141969e-04 -4.16685733e-05 9.99999617e-01 8.29091437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.535529292999996 meters Centerline goodness [0,1] 0.9986223941978485 Centerline is valid? [True, True] Translation: X:-33.56, Y:-2.34, Z:0.83 [[ 9.99874785e-01 -1.57271471e-02 1.75255167e-03 -3.35599464e+01] [ 1.57269734e-02 9.99876317e-01 1.12861365e-04 -2.33742343e+00] [-1.75410990e-03 -8.52848993e-05 9.99998458e-01 8.31465313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.565529293 meters Centerline goodness [0,1] 0.9988222632850732 Centerline is valid? [True, True] Translation: X:-33.59, Y:-2.34, Z:0.83 [[ 9.99837682e-01 -1.76048098e-02 3.83139187e-03 -3.35892080e+01] [ 1.76040148e-02 9.99845008e-01 2.41132588e-04 -2.33818026e+00] [-3.83504313e-03 -1.73645569e-04 9.99992631e-01 8.34922610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.595529293 meters Centerline goodness [0,1] 0.9985436598636703 Centerline is valid? [True, True] Translation: X:-33.62, Y:-2.33, Z:0.84 [[ 9.99852962e-01 -1.65366377e-02 4.53808048e-03 -3.36209992e+01] [ 1.65355260e-02 9.99863239e-01 2.82383467e-04 -2.33434760e+00] [-4.54212952e-03 -2.07302398e-04 9.99989663e-01 8.35426209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.625529293 meters Centerline goodness [0,1] 0.9975499625407496 Centerline is valid? [True, True] Translation: X:-33.65, Y:-2.33, Z:0.84 [[ 9.99834766e-01 -1.79178909e-02 3.06444535e-03 -3.36534294e+01] [ 1.79174111e-02 9.99839453e-01 1.83923979e-04 -2.33332100e+00] [-3.06724890e-03 -1.28986661e-04 9.99995288e-01 8.40782688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.655529292999994 meters Centerline goodness [0,1] 0.9972175396551374 Centerline is valid? [True, True] Translation: X:-33.68, Y:-2.33, Z:0.83 [[ 9.99814542e-01 -1.90488362e-02 -2.83259147e-03 -3.36839427e+01] [ 1.90484126e-02 9.99818547e-01 -1.76469226e-04 -2.32776242e+00] [ 2.83543903e-03 1.22480128e-04 9.99995973e-01 8.32402006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.685529292999995 meters Centerline goodness [0,1] 0.997764954486346 Centerline is valid? [True, True] Translation: X:-33.71, Y:-2.33, Z:0.84 [[ 9.99783503e-01 -2.05945312e-02 -2.96867530e-03 -3.37114835e+01] [ 2.05940786e-02 9.99787903e-01 -1.82935433e-04 -2.32709814e+00] [ 2.97181312e-03 1.21758696e-04 9.99995577e-01 8.37012614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.715529292999996 meters Centerline goodness [0,1] 0.9971762315896394 Centerline is valid? [True, True] Translation: X:-33.74, Y:-2.33, Z:0.85 [[ 9.99798299e-01 -2.00585081e-02 1.00873165e-03 -3.37403264e+01] [ 2.00584527e-02 9.99798807e-01 6.49196734e-05 -2.33056879e+00] [-1.00983089e-03 -4.46729830e-05 9.99999489e-01 8.46392438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.745529293 meters Centerline goodness [0,1] 0.9972589389047938 Centerline is valid? [True, True] Translation: X:-33.77, Y:-2.33, Z:0.85 [[ 9.99814334e-01 -1.90397504e-02 2.96411475e-03 -3.37690038e+01] [ 1.90392777e-02 9.99818719e-01 1.87610846e-04 -2.33029475e+00] [-2.96714948e-03 -1.31141409e-04 9.99995589e-01 8.49544604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.775529293 meters Centerline goodness [0,1] 0.9975013204404176 Centerline is valid? [True, True] Translation: X:-33.80, Y:-2.33, Z:0.85 [[ 9.99877834e-01 -1.56157541e-02 -6.81585102e-04 -3.37989783e+01] [ 1.56157292e-02 9.99878066e-01 -4.18415141e-05 -2.33029688e+00] [ 6.82155381e-04 3.11929542e-05 9.99999767e-01 8.48708043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.805529293 meters Centerline goodness [0,1] 0.9968975586016708 Centerline is valid? [True, True] Translation: X:-33.83, Y:-2.32, Z:0.84 [[ 9.99857346e-01 -1.63452257e-02 -4.25685630e-03 -3.38285081e+01] [ 1.63442529e-02 9.99866389e-01 -2.63197391e-04 -2.32371532e+00] [ 4.26058955e-03 1.93584709e-04 9.99990905e-01 8.44917769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.835529293 meters Centerline goodness [0,1] 0.9975946348125649 Centerline is valid? [True, True] Translation: X:-33.86, Y:-2.32, Z:0.85 [[ 9.99882965e-01 -1.51876449e-02 -1.84155406e-03 -3.38568196e+01] [ 1.51874648e-02 9.99884658e-01 -1.11726184e-04 -2.32461996e+00] [ 1.84303851e-03 8.37445703e-05 9.99998298e-01 8.45130181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.865529292999994 meters Centerline goodness [0,1] 0.9970594796292916 Centerline is valid? [True, True] Translation: X:-33.88, Y:-2.33, Z:0.85 [[ 9.99914809e-01 -1.28423642e-02 2.33422027e-03 -3.38836666e+01] [ 1.28420530e-02 9.99917526e-01 1.48254940e-04 -2.33062268e+00] [-2.33593170e-03 -1.18266129e-04 9.99997265e-01 8.53352253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.895529292999996 meters Centerline goodness [0,1] 0.9971677692136514 Centerline is valid? [True, True] Translation: X:-33.91, Y:-2.33, Z:0.85 [[ 9.99924165e-01 -1.22294186e-02 -1.45120766e-03 -3.39141991e+01] [ 1.22293013e-02 9.99925215e-01 -8.96443030e-05 -2.32997835e+00] [ 1.45219543e-03 7.18902489e-05 9.99998943e-01 8.48358373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.925529293 meters Centerline goodness [0,1] 0.9965017186324161 Centerline is valid? [True, True] Translation: X:-33.94, Y:-2.33, Z:0.85 [[ 9.99903646e-01 -1.36812510e-02 -2.34994939e-03 -3.39416427e+01] [ 1.36809529e-02 9.99906401e-01 -1.42871460e-04 -2.33157430e+00] [ 2.35168410e-03 1.10708146e-04 9.99997229e-01 8.51489091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.955529293 meters Centerline goodness [0,1] 0.9967982053635158 Centerline is valid? [True, True] Translation: X:-33.97, Y:-2.33, Z:0.85 [[ 9.99900089e-01 -1.41284874e-02 -4.44140118e-04 -3.39718350e+01] [ 1.41284771e-02 9.99900188e-01 -2.63302831e-05 -2.32730431e+00] [ 4.44467795e-04 2.00526289e-05 9.99999901e-01 8.54373068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.985529293 meters Centerline goodness [0,1] 0.9963537657497062 Centerline is valid? [True, True] Translation: X:-34.00, Y:-2.33, Z:0.86 [[ 9.99889602e-01 -1.45602639e-02 2.96347493e-03 -3.40002255e+01] [ 1.45597777e-02 9.99893984e-01 1.85559944e-04 -2.32718430e+00] [-2.96586256e-03 -1.42391922e-04 9.99995592e-01 8.58531588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.015529293 meters Centerline goodness [0,1] 0.9951841992969337 Centerline is valid? [True, True] Translation: X:-34.03, Y:-2.33, Z:0.85 [[ 9.99918314e-01 -1.27814565e-02 2.60697947e-05 -3.40302584e+01] [ 1.27814564e-02 9.99918314e-01 1.61652489e-06 -2.33381527e+00] [-2.60883267e-05 -1.28318290e-06 1.00000000e+00 8.53563259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.045529292999994 meters Centerline goodness [0,1] 0.9963578651799703 Centerline is valid? [True, True] Translation: X:-34.06, Y:-2.33, Z:0.85 [[ 9.99920758e-01 -1.25257127e-02 -1.25837517e-03 -3.40591853e+01] [ 1.25256277e-02 9.99921548e-01 -7.54224902e-05 -2.33067362e+00] [ 1.25922117e-03 5.96545746e-05 9.99999205e-01 8.54537476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.075529292999995 meters Centerline goodness [0,1] 0.9970962698235426 Centerline is valid? [True, True] Translation: X:-34.09, Y:-2.33, Z:0.85 [[ 9.99918721e-01 -1.26343986e-02 -1.70986153e-03 -3.40858603e+01] [ 1.26342436e-02 9.99920180e-01 -1.01444932e-04 -2.33073779e+00] [ 1.71100675e-03 7.98338791e-05 9.99998533e-01 8.52277138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.105529293 meters Centerline goodness [0,1] 0.9974556779091779 Centerline is valid? [True, True] Translation: X:-34.12, Y:-2.33, Z:0.85 [[ 9.99895876e-01 -1.42420148e-02 -2.32405424e-03 -3.41150875e+01] [ 1.42417254e-02 9.99898572e-01 -1.41025474e-04 -2.32931448e+00] [ 2.32582700e-03 1.07912248e-04 9.99997289e-01 8.48624168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.135529293 meters Centerline goodness [0,1] 0.9967077854776759 Centerline is valid? [True, True] Translation: X:-34.15, Y:-2.33, Z:0.85 [[ 9.99845403e-01 -1.75777606e-02 -4.37903963e-04 -3.41454550e+01] [ 1.75777505e-02 9.99845499e-01 -2.70302174e-05 -2.33289802e+00] [ 4.38311437e-04 1.93286721e-05 9.99999904e-01 8.47480087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.165529293 meters Centerline goodness [0,1] 0.9964618325267396 Centerline is valid? [True, True] Translation: X:-34.18, Y:-2.33, Z:0.85 [[ 9.99826572e-01 -1.85192911e-02 1.96501031e-03 -3.41752500e+01] [ 1.85190863e-02 9.99828500e-01 1.22364907e-04 -2.33234583e+00] [-1.96693942e-03 -8.59534898e-05 9.99998062e-01 8.51124760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.195529293 meters Centerline goodness [0,1] 0.9962833583817376 Centerline is valid? [True, True] Translation: X:-34.20, Y:-2.33, Z:0.85 [[ 9.99832532e-01 -1.82935879e-02 -5.02427934e-04 -3.42031803e+01] [ 1.82935760e-02 9.99832658e-01 -2.81614914e-05 -2.32887369e+00] [ 5.02859032e-04 1.89655716e-05 9.99999873e-01 8.53573105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.225529292999994 meters Centerline goodness [0,1] 0.9967251128920711 Centerline is valid? [True, True] Translation: X:-34.23, Y:-2.33, Z:0.85 [[ 9.99846325e-01 -1.68597482e-02 -4.80356970e-03 -3.42324633e+01] [ 1.68585273e-02 9.99857842e-01 -2.94542270e-04 -2.32914860e+00] [ 4.80785274e-03 2.13515895e-04 9.99988419e-01 8.53412531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.255529292999995 meters Centerline goodness [0,1] 0.9964969450101833 Centerline is valid? [True, True] Translation: X:-34.26, Y:-2.32, Z:0.85 [[ 9.99855065e-01 -1.68202458e-02 -2.63230752e-03 -3.42614543e+01] [ 1.68198860e-02 9.99858523e-01 -1.58761715e-04 -2.32366584e+00] [ 2.63460552e-03 1.14463592e-04 9.99996523e-01 8.45307009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.285529292999996 meters Centerline goodness [0,1] 0.9968281723359698 Centerline is valid? [True, True] Translation: X:-34.29, Y:-2.33, Z:0.86 [[ 9.99898954e-01 -1.41369114e-02 1.49340957e-03 -3.42879481e+01] [ 1.41367858e-02 9.99900066e-01 9.45960857e-05 -2.33333362e+00] [-1.49459763e-03 -7.34745158e-05 9.99998880e-01 8.56682508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.315529293 meters Centerline goodness [0,1] 0.9964473497228933 Centerline is valid? [True, True] Translation: X:-34.32, Y:-2.33, Z:0.85 [[ 9.99929340e-01 -1.17278786e-02 1.94217481e-03 -3.43181691e+01] [ 1.17276669e-02 9.99931221e-01 1.20322577e-04 -2.32623552e+00] [-1.94345236e-03 -9.75368954e-05 9.99998107e-01 8.53275232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.345529293 meters Centerline goodness [0,1] 0.99688524256428 Centerline is valid? [True, True] Translation: X:-34.35, Y:-2.33, Z:0.85 [[ 9.99953765e-01 -9.59828088e-03 5.84472211e-04 -3.43470084e+01] [ 9.59826142e-03 9.99953935e-01 3.60927385e-05 -2.32787693e+00] [-5.84791715e-04 -3.04811527e-05 9.99999829e-01 8.51865708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.375529293 meters Centerline goodness [0,1] 0.9954474320671504 Centerline is valid? [True, True] Translation: X:-34.38, Y:-2.32, Z:0.85 [[ 9.99968670e-01 -7.73364811e-03 -1.68834680e-03 -3.43778416e+01] [ 7.73348646e-03 9.99970091e-01 -1.02250408e-04 -2.32085891e+00] [ 1.68908707e-03 8.91903969e-05 9.99998570e-01 8.45491315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.405529292999994 meters Centerline goodness [0,1] 0.9967314290354671 Centerline is valid? [True, True] Translation: X:-34.41, Y:-2.32, Z:0.85 [[ 9.99980080e-01 -6.30799002e-03 2.18988036e-04 -3.44059054e+01] [ 6.30798664e-03 9.99980104e-01 1.61173239e-05 -2.31582752e+00] [-2.19085347e-04 -1.47356293e-05 9.99999976e-01 8.51868018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.435529292999995 meters Centerline goodness [0,1] 0.996341091574347 Centerline is valid? [True, True] Translation: X:-34.43, Y:-2.33, Z:0.86 [[ 9.99985757e-01 -4.96879893e-03 1.94845455e-03 -3.44329408e+01] [ 4.96857041e-03 9.99987649e-01 1.22106587e-04 -2.32568044e+00] [-1.94903720e-03 -1.12423814e-04 9.99998094e-01 8.61900011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.465529292999996 meters Centerline goodness [0,1] 0.9965362673186634 Centerline is valid? [True, True] Translation: X:-34.47, Y:-2.33, Z:0.85 [[ 9.99980398e-01 -4.66559279e-03 4.17557299e-03 -3.44657779e+01] [ 4.66459836e-03 9.99989090e-01 2.47861040e-04 -2.32643663e+00] [-4.17668385e-03 -2.28378811e-04 9.99991252e-01 8.54423485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.495529293 meters Centerline goodness [0,1] 0.9960220815067381 Centerline is valid? [True, True] Translation: X:-34.50, Y:-2.33, Z:0.85 [[ 9.99972636e-01 -6.88072588e-03 2.71702981e-03 -3.44977760e+01] [ 6.88031769e-03 9.99976318e-01 1.59551448e-04 -2.33238943e+00] [-2.71806329e-03 -1.40853054e-04 9.99996296e-01 8.48818893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.525529293 meters Centerline goodness [0,1] 0.9966095501055708 Centerline is valid? [True, True] Translation: X:-34.53, Y:-2.34, Z:0.86 [[ 9.99975491e-01 -6.99857957e-03 1.91427248e-04 -3.45287366e+01] [ 6.99857900e-03 9.99975510e-01 3.63049604e-06 -2.34124737e+00] [-1.91447968e-04 -2.29068834e-06 9.99999982e-01 8.55838567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.555529293 meters Centerline goodness [0,1] 0.9973461263652138 Centerline is valid? [True, True] Translation: X:-34.56, Y:-2.33, Z:0.85 [[ 9.99957978e-01 -8.61597698e-03 -3.13172347e-03 -3.45577159e+01] [ 8.61542036e-03 9.99962868e-01 -1.91182105e-04 -2.33417591e+00] [ 3.13325441e-03 1.64192957e-04 9.99995078e-01 8.49123837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.585529293 meters Centerline goodness [0,1] 0.9957548798570065 Centerline is valid? [True, True] Translation: X:-34.59, Y:-2.33, Z:0.85 [[ 9.99960977e-01 -8.67978682e-03 -1.64476850e-03 -3.45861642e+01] [ 8.67963917e-03 9.99962327e-01 -9.68875179e-05 -2.33142891e+00] [ 1.64554750e-03 8.26077400e-05 9.99998643e-01 8.53625439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.615529292999994 meters Centerline goodness [0,1] 0.9971021541329766 Centerline is valid? [True, True] Translation: X:-34.62, Y:-2.34, Z:0.85 [[ 9.99956403e-01 -9.27775710e-03 1.05615834e-03 -3.46152361e+01] [ 9.27769168e-03 9.99956959e-01 6.68197648e-05 -2.33745555e+00] [-1.05673282e-03 -5.70181402e-05 9.99999440e-01 8.52970394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.645529292999996 meters Centerline goodness [0,1] 0.9967979441577778 Centerline is valid? [True, True] Translation: X:-34.64, Y:-2.34, Z:0.86 [[ 9.99952115e-01 -9.78610019e-03 8.02563670e-06 -3.46424493e+01] [ 9.78610016e-03 9.99952115e-01 3.70491192e-06 -2.34494678e+00] [-8.06150910e-06 -3.62619483e-06 1.00000000e+00 8.57575871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.675529293 meters Centerline goodness [0,1] 0.9956983138201814 Centerline is valid? [True, True] Translation: X:-34.67, Y:-2.34, Z:0.85 [[ 9.99957068e-01 -8.86498169e-03 -2.69720267e-03 -3.46729655e+01] [ 8.86456805e-03 9.99960695e-01 -1.65274132e-04 -2.34329162e+00] [ 2.69856181e-03 1.41357500e-04 9.99996349e-01 8.49219584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.705529293 meters Centerline goodness [0,1] 0.9962039266908853 Centerline is valid? [True, True] Translation: X:-34.70, Y:-2.34, Z:0.85 [[ 9.99955644e-01 -9.02810986e-03 -2.68372378e-03 -3.47025911e+01] [ 9.02770606e-03 9.99959236e-01 -1.62537019e-04 -2.33565249e+00] [ 2.68508178e-03 1.38301941e-04 9.99996386e-01 8.52766707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.735529293 meters Centerline goodness [0,1] 0.9968123769110511 Centerline is valid? [True, True] Translation: X:-34.73, Y:-2.34, Z:0.86 [[ 9.99969303e-01 -7.74310556e-03 1.19919246e-03 -3.47302094e+01] [ 7.74301786e-03 9.99970019e-01 7.77581715e-05 -2.33720607e+00] [-1.19975859e-03 -6.84704159e-05 9.99999278e-01 8.57217705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.765529293 meters Centerline goodness [0,1] 0.9963393801350362 Centerline is valid? [True, True] Translation: X:-34.76, Y:-2.35, Z:0.86 [[ 9.99967794e-01 -7.59677964e-03 2.58846082e-03 -3.47578330e+01] [ 7.59639005e-03 9.99971134e-01 1.60311420e-04 -2.34957210e+00] [-2.58960395e-03 -1.40643299e-04 9.99996637e-01 8.62801630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.795529292999994 meters Centerline goodness [0,1] 0.9963963597125232 Centerline is valid? [True, True] Translation: X:-34.79, Y:-2.36, Z:0.86 [[ 9.99966712e-01 -8.07502518e-03 -1.16999838e-03 -3.47895980e+01] [ 8.07494465e-03 9.99967394e-01 -7.35318271e-05 -2.35644734e+00] [ 1.17055400e-03 6.40817072e-05 9.99999313e-01 8.55997057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.825529292999995 meters Centerline goodness [0,1] 0.9962732919254659 Centerline is valid? [True, True] Translation: X:-34.82, Y:-2.36, Z:0.85 [[ 9.99949183e-01 -8.61288131e-03 -5.23917081e-03 -3.48185091e+01] [ 8.61133095e-03 9.99962871e-01 -3.18404568e-04 -2.35525964e+00] [ 5.24171867e-03 2.73272154e-04 9.99986225e-01 8.51511773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.855529293 meters Centerline goodness [0,1] 0.9964552010756631 Centerline is valid? [True, True] Translation: X:-34.85, Y:-2.35, Z:0.85 [[ 9.99949416e-01 -8.03686020e-03 -6.04759603e-03 -3.48480122e+01] [ 8.03479810e-03 9.99967654e-01 -3.65196524e-04 -2.35254495e+00] [ 6.05033544e-03 3.16586838e-04 9.99981646e-01 8.53438678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.885529293 meters Centerline goodness [0,1] 0.9962688849470915 Centerline is valid? [True, True] Translation: X:-34.88, Y:-2.37, Z:0.85 [[ 9.99948112e-01 -8.60988607e-03 -5.44456890e-03 -3.48763382e+01] [ 8.60825421e-03 9.99962896e-01 -3.23086282e-04 -2.36502157e+00] [ 5.44714862e-03 2.76201285e-04 9.99985126e-01 8.51769160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.915529293 meters Centerline goodness [0,1] 0.9961536896088566 Centerline is valid? [True, True] Translation: X:-34.91, Y:-2.38, Z:0.86 [[ 9.99919888e-01 -1.24994697e-02 -1.99536908e-03 -3.49059307e+01] [ 1.24992522e-02 9.99921874e-01 -1.21413780e-04 -2.38093967e+00] [ 1.99673079e-03 9.64634323e-05 9.99998002e-01 8.61224531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.945529293 meters Centerline goodness [0,1] 0.9971159900075147 Centerline is valid? [True, True] Translation: X:-34.94, Y:-2.38, Z:0.87 [[ 9.99888986e-01 -1.46853865e-02 2.52089716e-03 -3.49355604e+01] [ 1.46850453e-02 9.99892157e-01 1.53822844e-04 -2.38434781e+00] [-2.52288425e-03 -1.16786278e-04 9.99996811e-01 8.68460766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.975529292999994 meters Centerline goodness [0,1] 0.996954252878231 Centerline is valid? [True, True] Translation: X:-34.96, Y:-2.38, Z:0.87 [[ 9.99903412e-01 -1.36825971e-02 2.44009778e-03 -3.49644739e+01] [ 1.36822735e-02 9.99906382e-01 1.49232871e-04 -2.38237970e+00] [-2.44191124e-03 -1.15832371e-04 9.99997012e-01 8.70305842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.005529292999995 meters Centerline goodness [0,1] 0.9955786892823408 Centerline is valid? [True, True] Translation: X:-34.99, Y:-2.38, Z:0.86 [[ 9.99909719e-01 -1.34364474e-02 -1.29158586e-04 -3.49943060e+01] [ 1.34364467e-02 9.99909727e-01 -6.68908174e-06 -2.37967878e+00] [ 1.29236804e-04 4.95304539e-06 9.99999992e-01 8.64191192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.035529292999996 meters Centerline goodness [0,1] 0.9955844050138369 Centerline is valid? [True, True] Translation: X:-35.02, Y:-2.39, Z:0.86 [[ 9.99928208e-01 -1.18612999e-02 -1.69953673e-03 -3.50228133e+01] [ 1.18611437e-02 9.99929649e-01 -1.01938635e-04 -2.38802481e+00] [ 1.70062629e-03 8.17728673e-05 9.99998551e-01 8.61388697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.065529293 meters Centerline goodness [0,1] 0.9964976921208195 Centerline is valid? [True, True] Translation: X:-35.05, Y:-2.39, Z:0.86 [[ 9.99928221e-01 -1.17896674e-02 -2.13483440e-03 -3.50518396e+01] [ 1.17894279e-02 9.99930494e-01 -1.24747823e-04 -2.39494729e+00] [ 2.13615675e-03 9.95703924e-05 9.99997713e-01 8.57965937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.095529293 meters Centerline goodness [0,1] 0.9971083552243061 Centerline is valid? [True, True] Translation: X:-35.08, Y:-2.40, Z:0.87 [[ 9.99939812e-01 -1.08696936e-02 -1.49071841e-03 -3.50791065e+01] [ 1.08695753e-02 9.99940921e-01 -8.73858860e-05 -2.40062179e+00] [ 1.49158019e-03 7.11771503e-05 9.99998885e-01 8.65803429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.125529293 meters Centerline goodness [0,1] 0.9972407636592343 Centerline is valid? [True, True] Translation: X:-35.11, Y:-2.40, Z:0.86 [[ 9.99959470e-01 -8.92582078e-03 -1.17805534e-03 -3.51070822e+01] [ 8.92574644e-03 9.99960162e-01 -6.83501899e-05 -2.39644659e+00] [ 1.17861849e-03 5.78323965e-05 9.99999304e-01 8.64349487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.155529292999994 meters Centerline goodness [0,1] 0.997128368057677 Centerline is valid? [True, True] Translation: X:-35.14, Y:-2.39, Z:0.86 [[ 9.99974345e-01 -6.18109143e-03 -3.61983113e-03 -3.51363697e+01] [ 6.18034410e-03 9.99980878e-01 -2.17604374e-04 -2.39219024e+00] [ 3.62110694e-03 1.95226989e-04 9.99993425e-01 8.63856339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.185529292999995 meters Centerline goodness [0,1] 0.996171313361709 Centerline is valid? [True, True] Translation: X:-35.17, Y:-2.39, Z:0.86 [[ 9.99975036e-01 -2.79777307e-03 -6.48849260e-03 -3.51671051e+01] [ 2.79529024e-03 9.99996016e-01 -3.91688109e-04 -2.39483186e+00] [ 6.48956261e-03 3.73541111e-04 9.99978873e-01 8.57429689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.215529292999996 meters Centerline goodness [0,1] 0.9967173673694083 Centerline is valid? [True, True] Translation: X:-35.19, Y:-2.41, Z:0.86 [[ 9.99979081e-01 -1.13714075e-03 -6.36748164e-03 -3.51937655e+01] [ 1.13474695e-03 9.99999284e-01 -3.79541261e-04 -2.40812385e+00] [ 6.36790868e-03 3.72307841e-04 9.99979655e-01 8.61520017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.245529293 meters Centerline goodness [0,1] 0.9941949282004278 Centerline is valid? [True, True] Translation: X:-35.22, Y:-2.41, Z:0.87 [[ 9.99980573e-01 -3.34093432e-03 -5.26220550e-03 -3.52239716e+01] [ 3.33931190e-03 9.99994374e-01 -3.17072544e-04 -2.41228249e+00] [ 5.26323522e-03 2.99494239e-04 9.99986104e-01 8.65284931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.275529293 meters Centerline goodness [0,1] 0.9941949282004278 Centerline is valid? [True, True] Translation: X:-35.25, Y:-2.41, Z:0.87 [[ 9.99980912e-01 -3.23763371e-03 -5.26244116e-03 -3.52514131e+01] [ 3.23603040e-03 9.99994715e-01 -3.13158097e-04 -2.41407471e+00] [ 5.26342724e-03 2.96122700e-04 9.99986104e-01 8.66183919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.305529293 meters Centerline goodness [0,1] 0.9950752893014206 Centerline is valid? [True, True] Translation: X:-35.28, Y:-2.43, Z:0.86 [[ 9.99973162e-01 -2.08716270e-03 -7.02281630e-03 -3.52792672e+01] [ 2.08425883e-03 9.99997739e-01 -4.20785008e-04 -2.42714356e+00] [ 7.02367867e-03 4.06136348e-04 9.99975251e-01 8.61272926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.33552929299999 meters Centerline goodness [0,1] 0.9952269726820351 Centerline is valid? [True, True] Translation: X:-35.31, Y:-2.44, Z:0.87 [[ 9.99977541e-01 -1.22452971e-03 -6.58930200e-03 -3.53070103e+01] [ 1.22200991e-03 9.99999179e-01 -3.86421153e-04 -2.44437001e+00] [ 6.58976978e-03 3.78360282e-04 9.99978216e-01 8.67608916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.365529292999994 meters Centerline goodness [0,1] 0.9949512358320323 Centerline is valid? [True, True] Translation: X:-35.34, Y:-2.46, Z:0.88 [[ 9.99987573e-01 -4.94421107e-03 6.39498791e-04 -3.53353468e+01] [ 4.94418724e-03 9.99987777e-01 3.88361489e-05 -2.46017729e+00] [-6.39682988e-04 -3.56738645e-05 9.99999795e-01 8.83142918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.395529292999996 meters Centerline goodness [0,1] 0.9945624606894313 Centerline is valid? [True, True] Translation: X:-35.36, Y:-2.47, Z:0.89 [[ 9.99942146e-01 -8.88171110e-03 6.06801387e-03 -3.53644601e+01] [ 8.87966770e-03 9.99960509e-01 3.63608984e-04 -2.47010650e+00] [-6.07100371e-03 -3.09706001e-04 9.99981523e-01 8.91732082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.425529293 meters Centerline goodness [0,1] 0.9950020316944331 Centerline is valid? [True, True] Translation: X:-35.40, Y:-2.48, Z:0.89 [[ 9.99949542e-01 -9.59495161e-03 2.97489388e-03 -3.53964486e+01] [ 9.59448676e-03 9.99953957e-01 1.70491025e-04 -2.48155404e+00] [-2.97639276e-03 -1.41939842e-04 9.99995560e-01 8.88410607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.455529293 meters Centerline goodness [0,1] 0.9955498917814593 Centerline is valid? [True, True] Translation: X:-35.43, Y:-2.49, Z:0.88 [[ 9.99951715e-01 -9.31502920e-03 -3.13007692e-03 -3.54273171e+01] [ 9.31448402e-03 9.99956601e-01 -1.88707124e-04 -2.48522010e+00] [ 3.13169889e-03 1.59542960e-04 9.99995083e-01 8.81138725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.485529293 meters Centerline goodness [0,1] 0.9954402675043064 Centerline is valid? [True, True] Translation: X:-35.45, Y:-2.49, Z:0.88 [[ 9.99949744e-01 -9.48666138e-03 -3.24229198e-03 -3.54546613e+01] [ 9.48608996e-03 9.99954988e-01 -1.91574131e-04 -2.48848065e+00] [ 3.24396344e-03 1.60807830e-04 9.99994725e-01 8.79642660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.515529293 meters Centerline goodness [0,1] 0.9948600683975151 Centerline is valid? [True, True] Translation: X:-35.48, Y:-2.50, Z:0.88 [[ 9.99949856e-01 -8.63398043e-03 -5.07335684e-03 -3.54830321e+01] [ 8.63256074e-03 9.99962693e-01 -3.01664062e-04 -2.49554217e+00] [ 5.07577214e-03 2.57852874e-04 9.99987085e-01 8.79584983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.545529292999994 meters Centerline goodness [0,1] 0.995621769534813 Centerline is valid? [True, True] Translation: X:-35.51, Y:-2.51, Z:0.88 [[ 9.99938055e-01 -1.06064882e-02 -3.37461865e-03 -3.55115904e+01] [ 1.06058701e-02 9.99943736e-01 -2.00989698e-04 -2.51309238e+00] [ 3.37656058e-03 1.65186480e-04 9.99994286e-01 8.80358093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.575529292999995 meters Centerline goodness [0,1] 0.9958337546769137 Centerline is valid? [True, True] Translation: X:-35.54, Y:-2.52, Z:0.89 [[ 9.99936723e-01 -1.10835871e-02 -1.92447399e-03 -3.55391519e+01] [ 1.10833918e-02 9.99938571e-01 -1.12135657e-04 -2.52155354e+00] [ 1.92559864e-03 9.07988621e-05 9.99998142e-01 8.86767415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.605529293 meters Centerline goodness [0,1] 0.9954659949622167 Centerline is valid? [True, True] Translation: X:-35.57, Y:-2.52, Z:0.89 [[ 9.99935712e-01 -1.13362469e-02 -2.47865234e-04 -3.55673030e+01] [ 1.13362446e-02 9.99935743e-01 -1.06917711e-05 -2.52056609e+00] [ 2.47970511e-04 7.88122283e-06 9.99999969e-01 8.94290406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.635529293 meters Centerline goodness [0,1] 0.9960965941266888 Centerline is valid? [True, True] Translation: X:-35.60, Y:-2.52, Z:0.89 [[ 9.99936654e-01 -1.08359766e-02 -3.04476115e-03 -3.55968864e+01] [ 1.08354793e-02 9.99941278e-01 -1.79787119e-04 -2.51727921e+00] [ 3.04653053e-03 1.46784284e-04 9.99995349e-01 8.87868692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.665529293 meters Centerline goodness [0,1] 0.9953970080552359 Centerline is valid? [True, True] Translation: X:-35.63, Y:-2.52, Z:0.88 [[ 9.99947705e-01 -9.83853099e-03 -2.79129431e-03 -3.56257942e+01] [ 9.83811174e-03 9.99951591e-01 -1.63888792e-04 -2.51562155e+00] [ 2.79277162e-03 1.36419156e-04 9.99996091e-01 8.79853585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.695529293 meters Centerline goodness [0,1] 0.9960219396058104 Centerline is valid? [True, True] Translation: X:-35.65, Y:-2.54, Z:0.90 [[ 9.99939605e-01 -1.09901033e-02 5.97689742e-05 -3.56523219e+01] [ 1.09901030e-02 9.99939607e-01 5.90132280e-06 -2.53593040e+00] [-5.98302208e-05 -5.24409921e-06 9.99999998e-01 8.97498592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.725529292999994 meters Centerline goodness [0,1] 0.9957379764477751 Centerline is valid? [True, True] Translation: X:-35.68, Y:-2.54, Z:0.91 [[ 9.99902081e-01 -1.31052664e-02 4.90728061e-03 -3.56810552e+01] [ 1.31039866e-02 9.99914096e-01 2.92850796e-04 -2.54173249e+00] [-4.91069694e-03 -2.28517181e-04 9.99987916e-01 9.11281016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.755529292999995 meters Centerline goodness [0,1] 0.9966054434139541 Centerline is valid? [True, True] Translation: X:-35.71, Y:-2.54, Z:0.91 [[ 9.99928919e-01 -1.12902176e-02 3.83246165e-03 -3.57128166e+01] [ 1.12894312e-02 9.99936247e-01 2.26782454e-04 -2.54157866e+00] [-3.83477774e-03 -1.83500022e-04 9.99992630e-01 9.06861814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.785529292999996 meters Centerline goodness [0,1] 0.9960914677143144 Centerline is valid? [True, True] Translation: X:-35.74, Y:-2.55, Z:0.91 [[ 9.99916116e-01 -1.26016350e-02 2.99333370e-03 -3.57436721e+01] [ 1.26011792e-02 9.99920587e-01 1.71075953e-04 -2.54555245e+00] [-2.99525182e-03 -1.33342069e-04 9.99995505e-01 9.08514194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.815529293 meters Centerline goodness [0,1] 0.995599782007549 Centerline is valid? [True, True] Translation: X:-35.78, Y:-2.55, Z:0.91 [[ 9.99915942e-01 -1.28317782e-02 1.85864766e-03 -3.57763246e+01] [ 1.28316086e-02 9.99917666e-01 1.03146678e-04 -2.54583558e+00] [-1.85981818e-03 -7.92885687e-05 9.99998267e-01 9.08489250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.845529293 meters Centerline goodness [0,1] 0.995091801490638 Centerline is valid? [True, True] Translation: X:-35.81, Y:-2.55, Z:0.90 [[ 9.99888845e-01 -1.48824879e-02 -8.99518606e-04 -3.58067032e+01] [ 1.48824454e-02 9.99889249e-01 -5.39510375e-05 -2.54770754e+00] [ 9.00221909e-04 4.05580040e-05 9.99999594e-01 9.02496078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.875529293 meters Centerline goodness [0,1] 0.9954179366585253 Centerline is valid? [True, True] Translation: X:-35.84, Y:-2.55, Z:0.90 [[ 9.99847008e-01 -1.73921041e-02 -1.86410066e-03 -3.58354036e+01] [ 1.73919305e-02 9.99848743e-01 -1.09323706e-04 -2.55253753e+00] [ 1.86572007e-03 7.68866716e-05 9.99998257e-01 9.01336668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.905529292999994 meters Centerline goodness [0,1] 0.9964667164691393 Centerline is valid? [True, True] Translation: X:-35.86, Y:-2.56, Z:0.91 [[ 9.99842090e-01 -1.77649236e-02 -4.50898709e-04 -3.58620588e+01] [ 1.77649146e-02 9.99842191e-01 -2.39395757e-05 -2.56374532e+00] [ 4.51252838e-04 1.59256184e-05 9.99999898e-01 9.14833474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.935529292999995 meters Centerline goodness [0,1] 0.9955888573327694 Centerline is valid? [True, True] Translation: X:-35.89, Y:-2.56, Z:0.91 [[ 9.99830235e-01 -1.83948625e-02 1.06325455e-03 -3.58914134e+01] [ 1.83948027e-02 9.99830799e-01 6.59885706e-05 -2.56029960e+00] [-1.06428849e-03 -4.64190104e-05 9.99999433e-01 9.10796593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.965529292999996 meters Centerline goodness [0,1] 0.9956603354661607 Centerline is valid? [True, True] Translation: X:-35.92, Y:-2.57, Z:0.91 [[ 9.99832700e-01 -1.82860147e-02 -4.40948164e-04 -3.59192619e+01] [ 1.82860059e-02 9.99832797e-01 -2.38944906e-05 -2.56786538e+00] [ 4.41311371e-04 1.58273123e-05 9.99999902e-01 9.14573406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.995529293 meters Centerline goodness [0,1] 0.9961598318410575 Centerline is valid? [True, True] Translation: X:-35.95, Y:-2.57, Z:0.92 [[ 9.99861178e-01 -1.66090944e-02 -1.32791864e-03 -3.59485156e+01] [ 1.66090063e-02 9.99862058e-01 -7.73325910e-05 -2.56877737e+00] [ 1.32901989e-03 5.52664464e-05 9.99999115e-01 9.17103089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.025529293 meters Centerline goodness [0,1] 0.9951253902709235 Centerline is valid? [True, True] Translation: X:-35.98, Y:-2.56, Z:0.92 [[ 9.99845054e-01 -1.75042117e-02 1.86283693e-03 -3.59784394e+01] [ 1.75040331e-02 9.99846786e-01 1.12153577e-04 -2.56244562e+00] [-1.86451468e-03 -7.95290398e-05 9.99998259e-01 9.17435900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.055529293 meters Centerline goodness [0,1] 0.9955427372836917 Centerline is valid? [True, True] Translation: X:-36.01, Y:-2.57, Z:0.93 [[ 9.99833566e-01 -1.74901604e-02 5.18976431e-03 -3.60072072e+01] [ 1.74887883e-02 9.99847011e-01 3.09658120e-04 -2.57129302e+00] [-5.19438631e-03 -2.18843894e-04 9.99986485e-01 9.29298999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.08552929299999 meters Centerline goodness [0,1] 0.9964851325145443 Centerline is valid? [True, True] Translation: X:-36.04, Y:-2.57, Z:0.93 [[ 9.99830514e-01 -1.78610546e-02 4.46394512e-03 -3.60390334e+01] [ 1.78600780e-02 9.99840463e-01 2.58552142e-04 -2.57422188e+00] [-4.46785097e-03 -1.78781913e-04 9.99990003e-01 9.29699294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.115529292999994 meters Centerline goodness [0,1] 0.9950237685850106 Centerline is valid? [True, True] Translation: X:-36.07, Y:-2.58, Z:0.93 [[ 9.99836663e-01 -1.80731904e-02 8.53082275e-05 -3.60703445e+01] [ 1.80731901e-02 9.99836667e-01 3.32693878e-06 -2.57750153e+00] [-8.53544223e-05 -1.78460356e-06 9.99999996e-01 9.25616262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.145529292999996 meters Centerline goodness [0,1] 0.9961034503644183 Centerline is valid? [True, True] Translation: X:-36.10, Y:-2.58, Z:0.92 [[ 9.99803462e-01 -1.97990147e-02 -1.01781687e-03 -3.60992235e+01] [ 1.97989655e-02 9.99803980e-01 -5.84516185e-05 -2.57606557e+00] [ 1.01877465e-03 3.82884094e-05 9.99999480e-01 9.21992901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.175529293 meters Centerline goodness [0,1] 0.9955917740076436 Centerline is valid? [True, True] Translation: X:-36.13, Y:-2.57, Z:0.93 [[ 9.99776760e-01 -2.11288306e-02 4.40250694e-05 -3.61285562e+01] [ 2.11288304e-02 9.99776761e-01 3.81281693e-06 -2.57494199e+00] [-4.40958017e-05 -2.88176753e-06 9.99999999e-01 9.27764833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.205529293 meters Centerline goodness [0,1] 0.9966124934467879 Centerline is valid? [True, True] Translation: X:-36.16, Y:-2.57, Z:0.94 [[ 9.99737719e-01 -2.26522256e-02 3.37184503e-03 -3.61570139e+01] [ 2.26516695e-02 9.99743397e-01 2.03032574e-04 -2.57394689e+00] [-3.37557894e-03 -1.26601404e-04 9.99994295e-01 9.36421554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.235529293 meters Centerline goodness [0,1] 0.9957233059651812 Centerline is valid? [True, True] Translation: X:-36.19, Y:-2.57, Z:0.94 [[ 9.99745600e-01 -2.19349936e-02 5.25268957e-03 -3.61879477e+01] [ 2.19336483e-02 9.99759379e-01 3.13601706e-04 -2.56783870e+00] [-5.25830451e-03 -1.98311280e-04 9.99986155e-01 9.40966379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.265529293 meters Centerline goodness [0,1] 0.9962773382968823 Centerline is valid? [True, True] Translation: X:-36.22, Y:-2.57, Z:0.94 [[ 9.99763595e-01 -2.13885032e-02 3.90968282e-03 -3.62194702e+01] [ 2.13877808e-02 9.99771230e-01 2.26493966e-04 -2.57149261e+00] [-3.91363277e-03 -1.42820983e-04 9.99992332e-01 9.39318542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.295529292999994 meters Centerline goodness [0,1] 0.9962972705015883 Centerline is valid? [True, True] Translation: X:-36.25, Y:-2.57, Z:0.93 [[ 9.99788618e-01 -2.04959740e-02 1.62314599e-03 -3.62512627e+01] [ 2.04958458e-02 9.99789934e-01 9.55745187e-05 -2.57189723e+00] [-1.62476391e-03 -6.22865661e-05 9.99998678e-01 9.30358241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.325529292999995 meters Centerline goodness [0,1] 0.99452746365105 Centerline is valid? [True, True] Translation: X:-36.28, Y:-2.57, Z:0.93 [[ 9.99770778e-01 -2.14046431e-02 4.82182610e-04 -3.62798497e+01] [ 2.14046305e-02 9.99770894e-01 3.11883304e-05 -2.57149093e+00] [-4.82739714e-04 -2.08602407e-05 9.99999883e-01 9.33985708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.355529293 meters Centerline goodness [0,1] 0.9962482602819855 Centerline is valid? [True, True] Translation: X:-36.31, Y:-2.57, Z:0.94 [[ 9.99750117e-01 -2.22750942e-02 1.87726928e-03 -3.63081808e+01] [ 2.22749182e-02 9.99751877e-01 1.14609073e-04 -2.57404196e+00] [-1.87935641e-03 -7.27644142e-05 9.99998231e-01 9.41630400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.385529293 meters Centerline goodness [0,1] 0.996051112776169 Centerline is valid? [True, True] Translation: X:-36.34, Y:-2.57, Z:0.94 [[ 9.99731661e-01 -2.27115554e-02 4.55980423e-03 -3.63385403e+01] [ 2.27105417e-02 9.99742045e-01 2.73976202e-04 -2.56732612e+00] [-4.56485043e-03 -1.70347060e-04 9.99989567e-01 9.44160156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.415529293 meters Centerline goodness [0,1] 0.9956629240809047 Centerline is valid? [True, True] Translation: X:-36.37, Y:-2.57, Z:0.94 [[ 9.99745013e-01 -2.23884667e-02 2.94371372e-03 -3.63702054e+01] [ 2.23880660e-02 9.99749342e-01 1.69011670e-04 -2.56561669e+00] [-2.94675976e-03 -1.03064517e-04 9.99995653e-01 9.43891746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.445529293 meters Centerline goodness [0,1] 0.9951339186147888 Centerline is valid? [True, True] Translation: X:-36.40, Y:-2.56, Z:0.94 [[ 9.99743578e-01 -2.26445105e-02 -6.83536075e-05 -3.64001618e+01] [ 2.26445104e-02 9.99743580e-01 -2.89458506e-06 -2.56206810e+00] [ 6.84016266e-05 1.34600885e-06 9.99999998e-01 9.37185686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.475529292999994 meters Centerline goodness [0,1] 0.9960233728290862 Centerline is valid? [True, True] Translation: X:-36.43, Y:-2.56, Z:0.94 [[ 9.99730709e-01 -2.29149223e-02 -3.66269598e-03 -3.64285658e+01] [ 2.29142800e-02 9.99737410e-01 -2.17229204e-04 -2.56415354e+00] [ 3.66671198e-03 1.33242665e-04 9.99993269e-01 9.35025606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.505529292999995 meters Centerline goodness [0,1] 0.9953503482162799 Centerline is valid? [True, True] Translation: X:-36.46, Y:-2.56, Z:0.94 [[ 9.99640418e-01 -2.66502570e-02 -2.96629162e-03 -3.64569018e+01] [ 2.66498542e-02 9.99644814e-01 -1.75222348e-04 -2.56427348e+00] [ 2.96990776e-03 9.61081018e-05 9.99995585e-01 9.36975181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.535529292999996 meters Centerline goodness [0,1] 0.9954781409684483 Centerline is valid? [True, True] Translation: X:-36.49, Y:-2.57, Z:0.94 [[ 9.99578859e-01 -2.90015235e-02 1.00829801e-03 -3.64867627e+01] [ 2.90014767e-02 9.99579367e-01 6.09605487e-05 -2.56722124e+00] [-1.00964184e-03 -3.16927443e-05 9.99999490e-01 9.44361634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.565529293 meters Centerline goodness [0,1] 0.996188313531487 Centerline is valid? [True, True] Translation: X:-36.52, Y:-2.57, Z:0.94 [[ 9.99452059e-01 -3.26204903e-02 5.61109668e-03 -3.65166171e+01] [ 3.26191155e-02 9.99467798e-01 3.36392181e-04 -2.57200519e+00] [-5.61908373e-03 -1.53178848e-04 9.99984201e-01 9.43727148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.595529293 meters Centerline goodness [0,1] 0.9968969923134646 Centerline is valid? [True, True] Translation: X:-36.55, Y:-2.58, Z:0.95 [[ 9.99286589e-01 -3.74846452e-02 4.60597739e-03 -3.65465595e+01] [ 3.74837889e-02 9.99297199e-01 2.72126714e-04 -2.58243568e+00] [-4.61294087e-03 -9.92830922e-05 9.99989355e-01 9.50902183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.625529293 meters Centerline goodness [0,1] 0.9964864810290168 Centerline is valid? [True, True] Translation: X:-36.58, Y:-2.59, Z:0.95 [[ 9.99104706e-01 -4.19956135e-02 5.11413748e-03 -3.65754513e+01] [ 4.19945884e-02 9.99117791e-01 3.07709750e-04 -2.58627515e+00] [-5.12254820e-03 -9.26681607e-05 9.99986875e-01 9.54304581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.655529292999994 meters Centerline goodness [0,1] 0.9965061092598203 Centerline is valid? [True, True] Translation: X:-36.61, Y:-2.58, Z:0.95 [[ 9.99053072e-01 -4.29764279e-02 6.78127496e-03 -3.66057639e+01] [ 4.29746524e-02 9.99076080e-01 4.07382683e-04 -2.57660194e+00] [-6.79251745e-03 -1.15573987e-04 9.99976924e-01 9.52011082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.685529292999995 meters Centerline goodness [0,1] 0.9960041378471025 Centerline is valid? [True, True] Translation: X:-36.64, Y:-2.57, Z:0.95 [[ 9.99079413e-01 -4.22698916e-02 7.32004814e-03 -3.66371584e+01] [ 4.22678167e-02 9.99106220e-01 4.37997424e-04 -2.56693013e+00] [-7.33201973e-03 -1.28191757e-04 9.99973112e-01 9.54351560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.715529292999996 meters Centerline goodness [0,1] 0.9970795814066683 Centerline is valid? [True, True] Translation: X:-36.67, Y:-2.56, Z:0.95 [[ 9.99233960e-01 -3.88298082e-02 4.87236679e-03 -3.66679428e+01] [ 3.88288612e-02 9.99245834e-01 2.88835917e-04 -2.56325814e+00] [-4.87990766e-03 -9.94262033e-05 9.99988088e-01 9.50242358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.745529293 meters Centerline goodness [0,1] 0.9966288940335486 Centerline is valid? [True, True] Translation: X:-36.70, Y:-2.56, Z:0.94 [[ 9.99321871e-01 -3.67863748e-02 1.60030849e-03 -3.66985920e+01] [ 3.67862672e-02 9.99323152e-01 9.66364372e-05 -2.55858108e+00] [-1.60278023e-03 -3.77015294e-05 9.99998715e-01 9.38193362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.775529293 meters Centerline goodness [0,1] 0.9964132284996352 Centerline is valid? [True, True] Translation: X:-36.73, Y:-2.56, Z:0.95 [[ 9.99351572e-01 -3.58761087e-02 3.05634370e-03 -3.67256584e+01] [ 3.58757072e-02 9.99356242e-01 1.86085417e-04 -2.55983940e+00] [-3.06105218e-03 -7.63162618e-05 9.99995312e-01 9.51223361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.805529293 meters Centerline goodness [0,1] 0.9973365322055953 Centerline is valid? [True, True] Translation: X:-36.75, Y:-2.55, Z:0.96 [[ 9.99380417e-01 -3.47220596e-02 5.75861662e-03 -3.67532113e+01] [ 3.47206305e-02 9.99396997e-01 3.47987809e-04 -2.55344641e+00] [-5.76722700e-03 -1.47829402e-04 9.99983358e-01 9.55980639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.83552929299999 meters Centerline goodness [0,1] 0.9973017933944657 Centerline is valid? [True, True] Translation: X:-36.78, Y:-2.55, Z:0.96 [[ 9.99405735e-01 -3.35754206e-02 7.80182457e-03 -3.67835972e+01] [ 3.35727970e-02 9.99436166e-01 4.67033176e-04 -2.54592704e+00] [-7.81310647e-03 -2.04826562e-04 9.99969456e-01 9.60088247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.865529292999994 meters Centerline goodness [0,1] 0.9976819374123101 Centerline is valid? [True, True] Translation: X:-36.82, Y:-2.54, Z:0.95 [[ 9.99450749e-01 -3.25474391e-02 6.23415255e-03 -3.68165854e+01] [ 3.25457901e-02 9.99470179e-01 3.65800488e-04 -2.53797765e+00] [-6.24275543e-03 -1.62704151e-04 9.99980501e-01 9.53321415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.895529292999996 meters Centerline goodness [0,1] 0.9976247995290201 Centerline is valid? [True, True] Translation: X:-36.85, Y:-2.53, Z:0.95 [[ 9.99481475e-01 -3.21858998e-02 9.21813906e-04 -3.68486531e+01] [ 3.21858629e-02 9.99481899e-01 5.47621408e-05 -2.52688549e+00] [-9.23098883e-04 -2.50643692e-05 9.99999574e-01 9.50559518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.925529293 meters Centerline goodness [0,1] 0.9967344786321319 Centerline is valid? [True, True] Translation: X:-36.88, Y:-2.53, Z:0.95 [[ 9.99390214e-01 -3.48610133e-02 1.97754675e-03 -3.68770127e+01] [ 3.48608419e-02 9.99392169e-01 1.21113601e-04 -2.53160050e+00] [-1.98056688e-03 -5.21008027e-05 9.99998037e-01 9.46307458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.955529293 meters Centerline goodness [0,1] 0.9974645030425964 Centerline is valid? [True, True] Translation: X:-36.91, Y:-2.53, Z:0.96 [[ 9.99377956e-01 -3.49674620e-02 4.58009366e-03 -3.69053159e+01] [ 3.49665604e-02 9.99388445e-01 2.76806962e-04 -2.53375600e+00] [-4.58697192e-03 -1.16484654e-04 9.99989473e-01 9.57445328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.985529293 meters Centerline goodness [0,1] 0.9979438947925573 Centerline is valid? [True, True] Translation: X:-36.93, Y:-2.53, Z:0.97 [[ 9.99330528e-01 -3.56450113e-02 8.24184447e-03 -3.69346342e+01] [ 3.56421392e-02 9.99364494e-01 4.95150964e-04 -2.52667490e+00] [-8.25425640e-03 -2.01062507e-04 9.99965913e-01 9.65899676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.015529293 meters Centerline goodness [0,1] 0.9979268714050528 Centerline is valid? [True, True] Translation: X:-36.97, Y:-2.51, Z:0.97 [[ 9.99364093e-01 -3.42329078e-02 9.97589884e-03 -3.69670009e+01] [ 3.42287050e-02 9.99413851e-01 5.91775092e-04 -2.51495543e+00] [-9.99030966e-03 -2.49936679e-04 9.99950064e-01 9.69939765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.045529292999994 meters Centerline goodness [0,1] 0.9984984984984985 Centerline is valid? [True, True] Translation: X:-37.00, Y:-2.51, Z:0.97 [[ 9.99400410e-01 -3.29199859e-02 1.07282479e-02 -3.69995983e+01] [ 3.29150210e-02 9.99457950e-01 6.39072918e-04 -2.50927754e+00] [-1.07434710e-02 -2.85569230e-04 9.99942246e-01 9.67743712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.075529292999995 meters Centerline goodness [0,1] 0.9981532217148655 Centerline is valid? [True, True] Translation: X:-37.03, Y:-2.52, Z:0.97 [[ 9.99398929e-01 -3.32576313e-02 9.78314766e-03 -3.70307072e+01] [ 3.32534966e-02 9.99446778e-01 5.85039849e-04 -2.51531995e+00] [-9.79719245e-03 -2.59364331e-04 9.99951973e-01 9.65452686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.105529293 meters Centerline goodness [0,1] 0.9981117134677469 Centerline is valid? [True, True] Translation: X:-37.06, Y:-2.51, Z:0.97 [[ 9.99410982e-01 -3.34011556e-02 7.87734681e-03 -3.70631151e+01] [ 3.33984805e-02 9.99442004e-01 4.70931767e-04 -2.51303550e+00] [-7.88868095e-03 -2.07562965e-04 9.99968862e-01 9.66318925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.135529293 meters Centerline goodness [0,1] 0.9976558359492845 Centerline is valid? [True, True] Translation: X:-37.10, Y:-2.51, Z:0.97 [[ 9.99418700e-01 -3.35707976e-02 5.93835706e-03 -3.70953023e+01] [ 3.35692832e-02 9.99436330e-01 3.54533212e-04 -2.50601263e+00] [-5.94691174e-03 -1.54980732e-04 9.99982305e-01 9.69635833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.165529293 meters Centerline goodness [0,1] 0.9980532516780565 Centerline is valid? [True, True] Translation: X:-37.13, Y:-2.50, Z:0.97 [[ 9.99359416e-01 -3.45451549e-02 9.34826938e-03 -3.71254929e+01] [ 3.45413170e-02 9.99403107e-01 5.71738221e-04 -2.50402037e+00] [-9.36244025e-03 -2.48470439e-04 9.99956141e-01 9.73392383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.195529293 meters Centerline goodness [0,1] 0.9980532516780565 Centerline is valid? [True, True] Translation: X:-37.16, Y:-2.51, Z:0.97 [[ 9.99349267e-01 -3.48373951e-02 9.34872296e-03 -3.71580912e+01] [ 3.48336392e-02 9.99392965e-01 5.64330447e-04 -2.50583015e+00] [-9.36270777e-03 -2.38313176e-04 9.99956140e-01 9.74459939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.225529292999994 meters Centerline goodness [0,1] 0.9981863014815268 Centerline is valid? [True, True] Translation: X:-37.19, Y:-2.51, Z:0.98 [[ 9.99326158e-01 -3.55089823e-02 9.29203793e-03 -3.71912477e+01] [ 3.55052761e-02 9.99369330e-01 5.63568819e-04 -2.50745166e+00] [-9.30618948e-03 -2.33272690e-04 9.99956669e-01 9.76522388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.255529292999995 meters Centerline goodness [0,1] 0.9985948191593352 Centerline is valid? [True, True] Translation: X:-37.22, Y:-2.51, Z:0.98 [[ 9.99310715e-01 -3.62026387e-02 8.21358035e-03 -3.72221827e+01] [ 3.61997450e-02 9.99344449e-01 5.00756024e-04 -2.50587136e+00] [-8.22632462e-03 -2.03081346e-04 9.99966143e-01 9.79912422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.285529292999996 meters Centerline goodness [0,1] 0.9988178705364422 Centerline is valid? [True, True] Translation: X:-37.25, Y:-2.49, Z:0.98 [[ 9.99339870e-01 -3.55619475e-02 7.42773148e-03 -3.72543466e+01] [ 3.55595174e-02 9.99367455e-01 4.59020052e-04 -2.49030494e+00] [-7.43935675e-03 -1.94590492e-04 9.99972309e-01 9.77514835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.315529293 meters Centerline goodness [0,1] 0.9983527210607663 Centerline is valid? [True, True] Translation: X:-37.28, Y:-2.49, Z:0.98 [[ 9.99376738e-01 -3.40705450e-02 9.23764571e-03 -3.72845376e+01] [ 3.40667086e-02 9.99419397e-01 5.72387083e-04 -2.48671640e+00] [-9.25178385e-03 -2.57334152e-04 9.99957168e-01 9.83963268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.345529293 meters Centerline goodness [0,1] 0.9986905370843989 Centerline is valid? [True, True] Translation: X:-37.32, Y:-2.49, Z:0.98 [[ 9.99394761e-01 -3.34204721e-02 9.65313354e-03 -3.73167843e+01] [ 3.34163093e-02 9.99441344e-01 5.92257465e-04 -2.48570279e+00] [-9.66753428e-03 -2.69326912e-04 9.99953232e-01 9.84740068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.375529293 meters Centerline goodness [0,1] 0.9986532261355753 Centerline is valid? [True, True] Translation: X:-37.35, Y:-2.48, Z:0.99 [[ 9.99367195e-01 -3.41175838e-02 1.00597987e-02 -3.73479622e+01] [ 3.41130421e-02 9.99417787e-01 6.22768303e-04 -2.48381431e+00] [-1.00751891e-02 -2.79203874e-04 9.99949205e-01 9.86997952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.405529292999994 meters Centerline goodness [0,1] 0.9990988038669507 Centerline is valid? [True, True] Translation: X:-37.38, Y:-2.48, Z:0.99 [[ 9.99421128e-01 -3.24665191e-02 1.01653495e-02 -3.73808823e+01] [ 3.24617706e-02 9.99472778e-01 6.31821715e-04 -2.47956401e+00] [-1.01805032e-02 -3.01470728e-04 9.99948132e-01 9.91400053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.435529292999995 meters Centerline goodness [0,1] 0.9986365486365486 Centerline is valid? [True, True] Translation: X:-37.41, Y:-2.48, Z:0.99 [[ 9.99422416e-01 -3.21316882e-02 1.10629241e-02 -3.74143274e+01] [ 3.21260766e-02 9.99483590e-01 6.84626241e-04 -2.47977640e+00] [-1.10792093e-02 -3.28822465e-04 9.99938570e-01 9.91357127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.465529292999996 meters Centerline goodness [0,1] 0.998615409675843 Centerline is valid? [True, True] Translation: X:-37.44, Y:-2.48, Z:0.99 [[ 9.99509632e-01 -3.03564677e-02 7.67980740e-03 -3.74448198e+01] [ 3.03536642e-02 9.99539105e-01 4.81368993e-04 -2.47679414e+00] [-7.69088048e-03 -2.48022651e-04 9.99970394e-01 9.92627705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.495529293 meters Centerline goodness [0,1] 0.9983261890181669 Centerline is valid? [True, True] Translation: X:-37.48, Y:-2.47, Z:0.99 [[ 9.99542151e-01 -2.99620646e-02 4.21473507e-03 -3.74767806e+01] [ 2.99612198e-02 9.99551027e-01 2.63448827e-04 -2.46760326e+00] [-4.22073624e-03 -1.37049603e-04 9.99991083e-01 9.90997985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.525529293 meters Centerline goodness [0,1] 0.9982427821254163 Centerline is valid? [True, True] Translation: X:-37.51, Y:-2.47, Z:0.99 [[ 9.99578234e-01 -2.83771234e-02 6.17190763e-03 -3.75057309e+01] [ 2.83752583e-02 9.99597265e-01 3.89552499e-04 -2.46571736e+00] [-6.18047637e-03 -2.14258726e-04 9.99980878e-01 9.88708753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.555529293 meters Centerline goodness [0,1] 0.9976106845286717 Centerline is valid? [True, True] Translation: X:-37.54, Y:-2.47, Z:0.99 [[ 9.99565007e-01 -2.87806223e-02 6.43991970e-03 -3.75357671e+01] [ 2.87786103e-02 9.99585728e-01 4.04894252e-04 -2.46732538e+00] [-6.44890493e-03 -2.19386186e-04 9.99979182e-01 9.90088387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.58552929299999 meters Centerline goodness [0,1] 0.9973272942424614 Centerline is valid? [True, True] Translation: X:-37.56, Y:-2.47, Z:1.00 [[ 9.99596907e-01 -2.78759468e-02 5.38103536e-03 -3.75647527e+01] [ 2.78745318e-02 9.99611373e-01 3.37803820e-04 -2.47276022e+00] [-5.38836075e-03 -1.87673812e-04 9.99985465e-01 9.95426584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.615529292999994 meters Centerline goodness [0,1] 0.9981812608562378 Centerline is valid? [True, True] Translation: X:-37.59, Y:-2.47, Z:0.99 [[ 9.99613561e-01 -2.74496098e-02 4.38716437e-03 -3.75946264e+01] [ 2.74486626e-02 9.99623176e-01 2.75977158e-04 -2.47004510e+00] [-4.39308665e-03 -1.55448715e-04 9.99990338e-01 9.93636281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.645529292999996 meters Centerline goodness [0,1] 0.9982420637354101 Centerline is valid? [True, True] Translation: X:-37.62, Y:-2.47, Z:1.00 [[ 9.99633692e-01 -2.62284523e-02 6.67461987e-03 -3.76223110e+01] [ 2.62262285e-02 9.99655945e-01 4.20503972e-04 -2.47384371e+00] [-6.68335260e-03 -2.45299832e-04 9.99977636e-01 1.00421953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.675529293 meters Centerline goodness [0,1] 0.9985089869281045 Centerline is valid? [True, True] Translation: X:-37.65, Y:-2.47, Z:1.00 [[ 9.99608467e-01 -2.66646537e-02 8.47996250e-03 -3.76535787e+01] [ 2.66611136e-02 9.99644389e-01 5.30256936e-04 -2.46518938e+00] [-8.49108605e-03 -3.03964079e-04 9.99963904e-01 1.00099026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.705529293 meters Centerline goodness [0,1] 0.9982427103128384 Centerline is valid? [True, True] Translation: X:-37.68, Y:-2.47, Z:1.00 [[ 9.99676607e-01 -2.42318868e-02 7.71339400e-03 -3.76843056e+01] [ 2.42288927e-02 9.99706321e-01 4.81388779e-04 -2.46696494e+00] [-7.72279370e-03 -2.94346105e-04 9.99970135e-01 1.00369842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.735529293 meters Centerline goodness [0,1] 0.9980813977221701 Centerline is valid? [True, True] Translation: X:-37.72, Y:-2.46, Z:1.00 [[ 9.99698395e-01 -2.32724552e-02 7.84298014e-03 -3.77169999e+01] [ 2.32693720e-02 9.99729114e-01 4.84151653e-04 -2.46289844e+00] [-7.85212298e-03 -3.01504408e-04 9.99969126e-01 1.00481198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.765529293 meters Centerline goodness [0,1] 0.9980176571568707 Centerline is valid? [True, True] Translation: X:-37.75, Y:-2.46, Z:1.00 [[ 9.99770540e-01 -2.03607317e-02 6.65643390e-03 -3.77480939e+01] [ 2.03584039e-02 9.99792659e-01 4.17273724e-04 -2.46277192e+00] [-6.66354975e-03 -2.81663606e-04 9.99977759e-01 1.00443304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.795529292999994 meters Centerline goodness [0,1] 0.9979358688765813 Centerline is valid? [True, True] Translation: X:-37.78, Y:-2.46, Z:1.00 [[ 9.99763723e-01 -2.07927360e-02 6.33725888e-03 -3.77811998e+01] [ 2.07906780e-02 9.99783774e-01 3.90459279e-04 -2.46150174e+00] [-6.34400732e-03 -2.58611113e-04 9.99979843e-01 1.00083128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.825529292999995 meters Centerline goodness [0,1] 0.9974903593070943 Centerline is valid? [True, True] Translation: X:-37.81, Y:-2.47, Z:1.01 [[ 9.99775615e-01 -2.01439561e-02 6.55297887e-03 -3.78123875e+01] [ 2.01417149e-02 9.99797052e-01 4.07829056e-04 -2.46793726e+00] [-6.55986424e-03 -2.75749313e-04 9.99978446e-01 1.00651118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.855529293 meters Centerline goodness [0,1] 0.9985451117804963 Centerline is valid? [True, True] Translation: X:-37.84, Y:-2.46, Z:1.00 [[ 9.99739882e-01 -2.23857916e-02 4.36399132e-03 -3.78449291e+01] [ 2.23848260e-02 9.99749392e-01 2.70000762e-04 -2.46076018e+00] [-4.36894185e-03 -1.72243343e-04 9.99990441e-01 1.00053975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.885529293 meters Centerline goodness [0,1] 0.9984495175143318 Centerline is valid? [True, True] Translation: X:-37.87, Y:-2.46, Z:1.00 [[ 9.99691143e-01 -2.45253566e-02 4.01559536e-03 -3.78745300e+01] [ 2.45245235e-02 9.99699196e-01 2.56570074e-04 -2.46161783e+00] [-4.02067993e-03 -1.58010268e-04 9.99991905e-01 9.96091423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.915529293 meters Centerline goodness [0,1] 0.9979691891115715 Centerline is valid? [True, True] Translation: X:-37.90, Y:-2.48, Z:1.00 [[ 9.99586748e-01 -2.85186036e-02 3.60878266e-03 -3.79016687e+01] [ 2.85179563e-02 9.99593254e-01 2.30728068e-04 -2.47816789e+00] [-3.61389485e-03 -1.27717613e-04 9.99993462e-01 1.00097772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.945529293 meters Centerline goodness [0,1] 0.9981793261461039 Centerline is valid? [True, True] Translation: X:-37.93, Y:-2.49, Z:1.01 [[ 9.99449250e-01 -3.25591805e-02 6.41060448e-03 -3.79298576e+01] [ 3.25572298e-02 9.99469789e-01 4.08446216e-04 -2.48977551e+00] [-6.42050418e-03 -1.99509741e-04 9.99979368e-01 1.01155426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.975529292999994 meters Centerline goodness [0,1] 0.9983603533438544 Centerline is valid? [True, True] Translation: X:-37.96, Y:-2.48, Z:1.01 [[ 9.99392027e-01 -3.43134052e-02 6.17795950e-03 -3.79603363e+01] [ 3.43116280e-02 9.99411105e-01 3.93456159e-04 -2.48185161e+00] [-6.18782215e-03 -1.81241100e-04 9.99980839e-01 1.00808274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.005529292999995 meters Centerline goodness [0,1] 0.9980163599182004 Centerline is valid? [True, True] Translation: X:-37.99, Y:-2.49, Z:1.00 [[ 9.99495139e-01 -3.16028144e-02 3.27568541e-03 -3.79892829e+01] [ 3.16022989e-02 9.99500501e-01 2.09033009e-04 -2.48506196e+00] [-3.28065524e-03 -1.05408287e-04 9.99994613e-01 1.00210166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.035529292999996 meters Centerline goodness [0,1] 0.9984858095803237 Centerline is valid? [True, True] Translation: X:-38.02, Y:-2.50, Z:1.01 [[ 9.99528030e-01 -3.05666237e-02 3.06583990e-03 -3.80172468e+01] [ 3.05661642e-02 9.99532726e-01 1.96647650e-04 -2.49913407e+00] [-3.07041817e-03 -1.02843872e-04 9.99995281e-01 1.00536774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.065529293 meters Centerline goodness [0,1] 0.998139782088759 Centerline is valid? [True, True] Translation: X:-38.05, Y:-2.50, Z:1.01 [[ 9.99582017e-01 -2.88087195e-02 2.41860483e-03 -3.80452194e+01] [ 2.88084273e-02 9.99584939e-01 1.55557187e-04 -2.50285423e+00] [-2.42208237e-03 -8.58159652e-05 9.99997063e-01 1.01146897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.095529293 meters Centerline goodness [0,1] 0.9983657126514269 Centerline is valid? [True, True] Translation: X:-38.08, Y:-2.48, Z:1.01 [[ 9.99658287e-01 -2.58619746e-02 3.80360782e-03 -3.80755693e+01] [ 2.58612369e-02 9.99665513e-01 2.43006973e-04 -2.48468878e+00] [-3.80862020e-03 -1.44557932e-04 9.99992737e-01 1.00990212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.125529293 meters Centerline goodness [0,1] 0.9980592441266598 Centerline is valid? [True, True] Translation: X:-38.10, Y:-2.48, Z:1.01 [[ 9.99749224e-01 -2.16641334e-02 5.67041097e-03 -3.81046374e+01] [ 2.16624413e-02 9.99765277e-01 3.59663432e-04 -2.47810272e+00] [-5.67687180e-03 -2.36738293e-04 9.99983858e-01 1.00927291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.155529292999994 meters Centerline goodness [0,1] 0.9979943103907002 Centerline is valid? [True, True] Translation: X:-38.13, Y:-2.49, Z:1.00 [[ 9.99780620e-01 -2.06928416e-02 3.24324004e-03 -3.81347627e+01] [ 2.06922869e-02 9.99785871e-01 2.04516335e-04 -2.49346780e+00] [-3.24677759e-03 -1.37361415e-04 9.99994720e-01 1.00296220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.185529292999995 meters Centerline goodness [0,1] 0.997995787062601 Centerline is valid? [True, True] Translation: X:-38.16, Y:-2.51, Z:1.01 [[ 9.99761131e-01 -2.12214563e-02 5.22796632e-03 -3.81616730e+01] [ 2.12200072e-02 9.99774775e-01 3.32491288e-04 -2.50903910e+00] [-5.23384480e-03 -2.21474382e-04 9.99986279e-01 1.01468490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.215529292999996 meters Centerline goodness [0,1] 0.9981656237898212 Centerline is valid? [True, True] Translation: X:-38.19, Y:-2.51, Z:1.02 [[ 9.99669879e-01 -2.43139545e-02 8.30448229e-03 -3.81913073e+01] [ 2.43104345e-02 9.99704320e-01 5.24566230e-04 -2.51222984e+00] [-8.31478110e-03 -3.22507487e-04 9.99965380e-01 1.01973582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.245529293 meters Centerline goodness [0,1] 0.9982443246774457 Centerline is valid? [True, True] Translation: X:-38.22, Y:-2.51, Z:1.02 [[ 9.99590222e-01 -2.77284097e-02 7.10794366e-03 -3.82235895e+01] [ 2.77259300e-02 9.99615462e-01 4.47190581e-04 -2.51394750e+00] [-7.11761027e-03 -2.49932984e-04 9.99974638e-01 1.01815782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.275529293 meters Centerline goodness [0,1] 0.9980144515178188 Centerline is valid? [True, True] Translation: X:-38.26, Y:-2.52, Z:1.01 [[ 9.99578924e-01 -2.86796597e-02 4.41035842e-03 -3.82553891e+01] [ 2.86787124e-02 9.99588643e-01 2.77897027e-04 -2.51821883e+00] [-4.41651418e-03 -1.51296611e-04 9.99990236e-01 1.01022244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.305529293 meters Centerline goodness [0,1] 0.9990386582123133 Centerline is valid? [True, True] Translation: X:-38.28, Y:-2.53, Z:1.01 [[ 9.99589532e-01 -2.82977520e-02 4.47256856e-03 -3.82829252e+01] [ 2.82967598e-02 9.99599526e-01 2.84985279e-04 -2.52970182e+00] [-4.47884186e-03 -1.58309104e-04 9.99989957e-01 1.01286561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.33552929299999 meters Centerline goodness [0,1] 0.9985311218556827 Centerline is valid? [True, True] Translation: X:-38.31, Y:-2.53, Z:1.01 [[ 9.99604524e-01 -2.80871048e-02 1.38185842e-03 -3.83104498e+01] [ 2.80870073e-02 9.99605478e-01 8.99191734e-05 -2.53197122e+00] [-1.38383882e-03 -5.10713450e-05 9.99999041e-01 1.01321379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.365529292999994 meters Centerline goodness [0,1] 0.9974066813689455 Centerline is valid? [True, True] Translation: X:-38.34, Y:-2.53, Z:1.00 [[ 9.99554888e-01 -2.96027475e-02 -3.70180978e-03 -3.83398925e+01] [ 2.96020923e-02 9.99561735e-01 -2.31682501e-04 -2.53281388e+00] [ 3.70704584e-03 1.21998062e-04 9.99993121e-01 1.00244527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.395529292999996 meters Centerline goodness [0,1] 0.9982506458371473 Centerline is valid? [True, True] Translation: X:-38.37, Y:-2.54, Z:1.01 [[ 9.99602402e-01 -2.81237915e-02 -2.02229325e-03 -3.83677750e+01] [ 2.81235973e-02 9.99604446e-01 -1.24400807e-04 -2.53612458e+00] [ 2.02499194e-03 6.74771846e-05 9.99997947e-01 1.00861707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.425529293 meters Centerline goodness [0,1] 0.9982463652861892 Centerline is valid? [True, True] Translation: X:-38.40, Y:-2.53, Z:1.02 [[ 9.99664449e-01 -2.58825066e-02 1.04193180e-03 -3.83970619e+01] [ 2.58824499e-02 9.99664991e-01 6.79195074e-05 -2.52977534e+00] [-1.04334067e-03 -4.09289694e-05 9.99999455e-01 1.02048778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.455529293 meters Centerline goodness [0,1] 0.9984699810277647 Centerline is valid? [True, True] Translation: X:-38.42, Y:-2.53, Z:1.02 [[ 9.99716020e-01 -2.36331394e-02 3.05841219e-03 -3.84249957e+01] [ 2.36326531e-02 9.99720691e-01 1.95049195e-04 -2.52578162e+00] [-3.06216757e-03 -1.22715411e-04 9.99995304e-01 1.02127128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.485529293 meters Centerline goodness [0,1] 0.9983935252968928 Centerline is valid? [True, True] Translation: X:-38.45, Y:-2.55, Z:1.02 [[ 9.99723442e-01 -2.31360947e-02 4.21432666e-03 -3.84513937e+01] [ 2.31351710e-02 9.99732310e-01 2.67792004e-04 -2.55448186e+00] [-4.21939418e-03 -1.70218776e-04 9.99991084e-01 1.01955313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.515529293 meters Centerline goodness [0,1] 0.9984937306627585 Centerline is valid? [True, True] Translation: X:-38.48, Y:-2.56, Z:1.02 [[ 9.99704888e-01 -2.40355807e-02 3.52526964e-03 -3.84803172e+01] [ 2.40349447e-02 9.99711094e-01 2.22669001e-04 -2.55922595e+00] [-3.52960314e-03 -1.37873628e-04 9.99993761e-01 1.02022836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.545529292999994 meters Centerline goodness [0,1] 0.9987536267418577 Centerline is valid? [True, True] Translation: X:-38.51, Y:-2.56, Z:1.02 [[ 9.99653768e-01 -2.62842560e-02 1.21759930e-03 -3.85084528e+01] [ 2.62841787e-02 9.99654508e-01 7.94488029e-05 -2.55597646e+00] [-1.21926688e-03 -4.74176977e-05 9.99999256e-01 1.02467419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.575529292999995 meters Centerline goodness [0,1] 0.9980790844998467 Centerline is valid? [True, True] Translation: X:-38.54, Y:-2.55, Z:1.02 [[ 9.99516086e-01 -3.10874460e-02 1.07895519e-03 -3.85386251e+01] [ 3.10873894e-02 9.99516668e-01 6.92258024e-05 -2.54690297e+00] [-1.08058575e-03 -3.56504029e-05 9.99999416e-01 1.01961130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.605529293 meters Centerline goodness [0,1] 0.9984477758261509 Centerline is valid? [True, True] Translation: X:-38.57, Y:-2.56, Z:1.02 [[ 9.99495118e-01 -3.17056308e-02 2.06451280e-03 -3.85669936e+01] [ 3.17054272e-02 9.99497248e-01 1.31276556e-04 -2.55667008e+00] [-2.06763707e-03 -6.57540164e-05 9.99997860e-01 1.02047695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.635529293 meters Centerline goodness [0,1] 0.9978203300061113 Centerline is valid? [True, True] Translation: X:-38.59, Y:-2.58, Z:1.03 [[ 9.99409864e-01 -3.42592590e-02 2.49528051e-03 -3.85935453e+01] [ 3.42589714e-02 9.99412977e-01 1.57931691e-04 -2.58079402e+00] [-2.49922634e-03 -7.23527460e-05 9.99996874e-01 1.02625203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.665529293 meters Centerline goodness [0,1] 0.9975979154791955 Centerline is valid? [True, True] Translation: X:-38.62, Y:-2.58, Z:1.03 [[ 9.99206130e-01 -3.97434351e-02 2.75126321e-03 -3.86232211e+01] [ 3.97431104e-02 9.99209916e-01 1.72615103e-04 -2.58087959e+00] [-2.75594980e-03 -6.31343118e-05 9.99996200e-01 1.03252172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.695529293 meters Centerline goodness [0,1] 0.9974131258402249 Centerline is valid? [True, True] Translation: X:-38.65, Y:-2.57, Z:1.03 [[ 9.99082345e-01 -4.27150257e-02 3.14569448e-03 -3.86533048e+01] [ 4.27146135e-02 9.99087295e-01 1.98144325e-04 -2.56715138e+00] [-3.15128713e-03 -6.35953726e-05 9.99995033e-01 1.02874883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.725529292999994 meters Centerline goodness [0,1] 0.998682637157739 Centerline is valid? [True, True] Translation: X:-38.68, Y:-2.57, Z:1.03 [[ 9.99089892e-01 -4.24525363e-02 4.14355268e-03 -3.86810738e+01] [ 4.24518162e-02 9.99098481e-01 2.61630334e-04 -2.56911543e+00] [-4.15092406e-03 -8.54908852e-05 9.99991381e-01 1.02697808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.755529292999995 meters Centerline goodness [0,1] 0.9980004488788231 Centerline is valid? [True, True] Translation: X:-38.71, Y:-2.58, Z:1.03 [[ 9.99277419e-01 -3.79982962e-02 8.77366808e-04 -3.87111176e+01] [ 3.79982625e-02 9.99277804e-01 5.50652131e-05 -2.57659333e+00] [-8.78825561e-04 -2.16870098e-05 9.99999614e-01 1.02689565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.785529292999996 meters Centerline goodness [0,1] 0.9981249363089779 Centerline is valid? [True, True] Translation: X:-38.74, Y:-2.58, Z:1.03 [[ 9.99374107e-01 -3.53483193e-02 -1.37515232e-03 -3.87399533e+01] [ 3.53482378e-02 9.99375052e-01 -8.35102060e-05 -2.57505720e+00] [ 1.37724487e-03 3.48487263e-05 9.99999051e-01 1.02572852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.815529293 meters Centerline goodness [0,1] 0.998796360520625 Centerline is valid? [True, True] Translation: X:-38.77, Y:-2.57, Z:1.03 [[ 9.99433670e-01 -3.36492689e-02 2.55730738e-04 -3.87681222e+01] [ 3.36492652e-02 9.99433703e-01 1.88691418e-05 -2.56956043e+00] [-2.56220851e-04 -1.02533042e-05 9.99999967e-01 1.02665020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.845529293 meters Centerline goodness [0,1] 0.9986122165758485 Centerline is valid? [True, True] Translation: X:-38.80, Y:-2.57, Z:1.03 [[ 9.99446558e-01 -3.31498236e-02 2.76900130e-03 -3.87964973e+01] [ 3.31494693e-02 9.99450390e-01 1.73743867e-04 -2.57014945e+00] [-2.77323901e-03 -8.18567863e-05 9.99996151e-01 1.03177920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.875529293 meters Centerline goodness [0,1] 0.9979838299085596 Centerline is valid? [True, True] Translation: X:-38.83, Y:-2.57, Z:1.03 [[ 9.99421236e-01 -3.39783206e-02 1.63299871e-03 -3.88252069e+01] [ 3.39781971e-02 9.99422569e-01 1.03314835e-04 -2.56558620e+00] [-1.63556623e-03 -4.77686879e-05 9.99998661e-01 1.03492568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.905529292999994 meters Centerline goodness [0,1] 0.9986963518220521 Centerline is valid? [True, True] Translation: X:-38.86, Y:-2.55, Z:1.02 [[ 9.99426798e-01 -3.38302202e-02 -1.26171844e-03 -3.88557521e+01] [ 3.38301511e-02 9.99427594e-01 -7.60981424e-05 -2.55302045e+00] [ 1.26357065e-03 3.33703972e-05 9.99999201e-01 1.02211282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.935529292999995 meters Centerline goodness [0,1] 0.9987751102400784 Centerline is valid? [True, True] Translation: X:-38.88, Y:-2.56, Z:1.03 [[ 9.99508266e-01 -3.13238879e-02 1.42827205e-03 -3.88831788e+01] [ 3.13237878e-02 9.99509285e-01 9.24010943e-05 -2.55962397e+00] [-1.43046554e-03 -4.76167667e-05 9.99998976e-01 1.02817882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.965529292999996 meters Centerline goodness [0,1] 0.9989392084863321 Centerline is valid? [True, True] Translation: X:-38.91, Y:-2.56, Z:1.03 [[ 9.99504702e-01 -3.12349730e-02 3.83752059e-03 -3.89114990e+01] [ 3.12342875e-02 9.99512062e-01 2.38452411e-04 -2.56404785e+00] [-3.84309618e-03 -1.18472084e-04 9.99992608e-01 1.03447824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.995529293 meters Centerline goodness [0,1] 0.9979881728952021 Centerline is valid? [True, True] Translation: X:-38.94, Y:-2.56, Z:1.03 [[ 9.99453754e-01 -3.30178273e-02 1.41984053e-03 -3.89413649e+01] [ 3.30177334e-02 9.99454762e-01 8.95758088e-05 -2.55570222e+00] [-1.42202398e-03 -4.26469624e-05 9.99998988e-01 1.03154314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.025529293 meters Centerline goodness [0,1] 0.998347512087643 Centerline is valid? [True, True] Translation: X:-38.97, Y:-2.56, Z:1.03 [[ 9.99455506e-01 -3.29829153e-02 9.04834838e-04 -3.89686742e+01] [ 3.29828758e-02 9.99455915e-01 5.84764974e-05 -2.55950236e+00] [-9.06271256e-04 -2.86006022e-05 9.99999589e-01 1.03036345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.055529293 meters Centerline goodness [0,1] 0.998010960016237 Centerline is valid? [True, True] Translation: X:-39.00, Y:-2.57, Z:1.04 [[ 9.99431763e-01 -3.35637340e-02 3.10264495e-03 -3.89961081e+01] [ 3.35632979e-02 9.99436575e-01 1.92537101e-04 -2.56973789e+00] [-3.10735910e-03 -8.82926977e-05 9.99995168e-01 1.03742105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.08552929299999 meters Centerline goodness [0,1] 0.998010960016237 Centerline is valid? [True, True] Translation: X:-39.02, Y:-2.57, Z:1.04 [[ 9.99435477e-01 -3.34529720e-02 3.10259059e-03 -3.90234945e+01] [ 3.34525326e-02 9.99440289e-01 1.93426982e-04 -2.57155259e+00] [-3.10732474e-03 -8.95282756e-05 9.99995168e-01 1.03831947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.115529292999994 meters Centerline goodness [0,1] 0.9980646212769425 Centerline is valid? [True, True] Translation: X:-39.05, Y:-2.56, Z:1.04 [[ 9.99403872e-01 -3.43847015e-02 3.09710288e-03 -3.90528668e+01] [ 3.43842726e-02 9.99408668e-01 1.91647899e-04 -2.56267615e+00] [-3.10186122e-03 -8.50420223e-05 9.99995186e-01 1.03690631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.145529292999996 meters Centerline goodness [0,1] 0.997852233676976 Centerline is valid? [True, True] Translation: X:-39.08, Y:-2.55, Z:1.03 [[ 9.99411916e-01 -3.42747003e-02 -1.03304730e-03 -3.90819613e+01] [ 3.42746552e-02 9.99412450e-01 -6.12630547e-05 -2.55478856e+00] [ 1.03454011e-03 2.58196867e-05 9.99999465e-01 1.03241308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.175529293 meters Centerline goodness [0,1] 0.998147205538023 Centerline is valid? [True, True] Translation: X:-39.11, Y:-2.55, Z:1.03 [[ 9.99442903e-01 -3.32926022e-02 -2.34227513e-03 -3.91108675e+01] [ 3.32923646e-02 9.99445646e-01 -1.40380376e-04 -2.55396881e+00] [ 2.34565030e-03 6.23222934e-05 9.99997247e-01 1.02613743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.205529293 meters Centerline goodness [0,1] 0.9984294048056134 Centerline is valid? [True, True] Translation: X:-39.14, Y:-2.57, Z:1.03 [[ 9.99452185e-01 -3.30917308e-02 -5.17499676e-04 -3.91380618e+01] [ 3.30917212e-02 9.99452319e-01 -2.69616223e-05 -2.56583396e+00] [ 5.18108458e-04 9.82189727e-06 9.99999866e-01 1.02950427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.235529293 meters Centerline goodness [0,1] 0.9987134980600367 Centerline is valid? [True, True] Translation: X:-39.17, Y:-2.57, Z:1.04 [[ 9.99345345e-01 -3.61678975e-02 8.74072823e-04 -3.91656346e+01] [ 3.61678627e-02 9.99345727e-01 5.55538688e-05 -2.57061812e+00] [-8.75510208e-04 -2.39041543e-05 9.99999616e-01 1.04144496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.265529293 meters Centerline goodness [0,1] 0.9981078716608004 Centerline is valid? [True, True] Translation: X:-39.20, Y:-2.56, Z:1.04 [[ 9.99297906e-01 -3.74087501e-02 2.06908632e-03 -3.91952513e+01] [ 3.74085651e-02 9.99300046e-01 1.28023376e-04 -2.56371317e+00] [-2.07242725e-03 -5.05319409e-05 9.99997851e-01 1.03671494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.295529292999994 meters Centerline goodness [0,1] 0.9985503399554894 Centerline is valid? [True, True] Translation: X:-39.22, Y:-2.56, Z:1.04 [[ 9.99380602e-01 -3.51747630e-02 1.07138555e-03 -3.92234960e+01] [ 3.51747105e-02 9.99381176e-01 6.78617931e-05 -2.56216097e+00] [-1.07310957e-03 -3.01340832e-05 9.99999424e-01 1.03576470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.325529292999995 meters Centerline goodness [0,1] 0.9988351895371411 Centerline is valid? [True, True] Translation: X:-39.25, Y:-2.56, Z:1.03 [[ 9.99451908e-01 -3.30837858e-02 -1.16062499e-03 -3.92530661e+01] [ 3.30837279e-02 9.99452581e-01 -6.90782690e-05 -2.55906490e+00] [ 1.16227501e-03 3.06426065e-05 9.99999324e-01 1.03432515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.355529293 meters Centerline goodness [0,1] 0.9985298321558378 Centerline is valid? [True, True] Translation: X:-39.28, Y:-2.56, Z:1.04 [[ 9.99450824e-01 -3.31007967e-02 -1.54532771e-03 -3.92821352e+01] [ 3.31006955e-02 9.99452018e-01 -9.10318764e-05 -2.55560532e+00] [ 1.54749412e-03 3.98304620e-05 9.99998802e-01 1.03584828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.385529293 meters Centerline goodness [0,1] 0.9985131171582207 Centerline is valid? [True, True] Translation: X:-39.31, Y:-2.56, Z:1.05 [[ 9.99468093e-01 -3.21331187e-02 5.56723736e-03 -3.93105303e+01] [ 3.21317357e-02 9.99483585e-01 3.37718496e-04 -2.56238323e+00] [-5.57521431e-03 -1.58653862e-04 9.99984446e-01 1.04937442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.415529293 meters Centerline goodness [0,1] 0.9986734152414384 Centerline is valid? [True, True] Translation: X:-39.34, Y:-2.56, Z:1.05 [[ 9.99455450e-01 -3.25789310e-02 5.23613745e-03 -3.93395863e+01] [ 3.25777088e-02 9.99469155e-01 3.18562731e-04 -2.56289805e+00] [-5.24373630e-03 -1.47807896e-04 9.99986241e-01 1.04757425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.445529293 meters Centerline goodness [0,1] 0.9989145127595953 Centerline is valid? [True, True] Translation: X:-39.37, Y:-2.55, Z:1.04 [[ 9.99469466e-01 -3.25575967e-02 -8.88944668e-04 -3.93708148e+01] [ 3.25575624e-02 9.99469861e-01 -5.30363985e-05 -2.55390294e+00] [ 8.90200141e-04 2.40663894e-05 9.99999603e-01 1.03571911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.475529292999994 meters Centerline goodness [0,1] 0.9980392957804012 Centerline is valid? [True, True] Translation: X:-39.40, Y:-2.55, Z:1.03 [[ 9.99451607e-01 -3.29828835e-02 -2.93498000e-03 -3.93999505e+01] [ 3.29825131e-02 9.99455914e-01 -1.74530466e-04 -2.55112246e+00] [ 2.93913964e-03 7.76317383e-05 9.99995678e-01 1.02709770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.505529292999995 meters Centerline goodness [0,1] 0.9982621496186952 Centerline is valid? [True, True] Translation: X:-39.43, Y:-2.56, Z:1.04 [[ 9.99430336e-01 -3.37045511e-02 1.73414438e-03 -3.94287696e+01] [ 3.37044193e-02 9.99431839e-01 1.05186286e-04 -2.55715876e+00] [-1.73670436e-03 -4.66780357e-05 9.99998491e-01 1.04323062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.535529292999996 meters Centerline goodness [0,1] 0.9989161775832806 Centerline is valid? [True, True] Translation: X:-39.46, Y:-2.55, Z:1.05 [[ 9.99465422e-01 -3.24372761e-02 4.08568017e-03 -3.94573686e+01] [ 3.24365318e-02 9.99473766e-01 2.48337074e-04 -2.55221317e+00] [-4.09158553e-03 -1.15679024e-04 9.99991623e-01 1.04729850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.565529293 meters Centerline goodness [0,1] 0.9983234855145059 Centerline is valid? [True, True] Translation: X:-39.49, Y:-2.54, Z:1.04 [[ 9.99465634e-01 -3.26755345e-02 8.69442734e-04 -3.94878518e+01] [ 3.26754997e-02 9.99466012e-01 5.41339152e-05 -2.53964814e+00] [-8.70747316e-04 -2.56955120e-05 9.99999621e-01 1.03536967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.595529293 meters Centerline goodness [0,1] 0.9978961129154156 Centerline is valid? [True, True] Translation: X:-39.52, Y:-2.54, Z:1.03 [[ 9.99519862e-01 -3.09607205e-02 -1.21630718e-03 -3.95155560e+01] [ 3.09606582e-02 9.99520601e-01 -6.99752680e-05 -2.54480198e+00] [ 1.21789057e-03 3.22839992e-05 9.99999258e-01 1.03073751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.625529293 meters Centerline goodness [0,1] 0.9982633213468454 Centerline is valid? [True, True] Translation: X:-39.54, Y:-2.56, Z:1.03 [[ 9.99525648e-01 -3.07709705e-02 -1.27520183e-03 -3.95423950e+01] [ 3.07709028e-02 9.99526461e-01 -7.27116254e-05 -2.55629363e+00] [ 1.27683538e-03 3.34380231e-05 9.99999184e-01 1.03230176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.655529292999994 meters Centerline goodness [0,1] 0.9979725578537784 Centerline is valid? [True, True] Translation: X:-39.57, Y:-2.55, Z:1.04 [[ 9.99552826e-01 -2.97797395e-02 -2.70453713e-03 -3.95712171e+01] [ 2.97794349e-02 9.99556483e-01 -1.52835972e-04 -2.55132619e+00] [ 2.70788903e-03 7.22280403e-05 9.99996331e-01 1.03935800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.685529292999995 meters Centerline goodness [0,1] 0.9982001881621467 Centerline is valid? [True, True] Translation: X:-39.60, Y:-2.54, Z:1.04 [[ 9.99609679e-01 -2.79055938e-02 -1.32924139e-03 -3.95997253e+01] [ 2.79055171e-02 9.99610562e-01 -7.62010454e-05 -2.53887001e+00] [ 1.33085017e-03 3.90781342e-05 9.99999114e-01 1.03964113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.715529292999996 meters Centerline goodness [0,1] 0.998340741954647 Centerline is valid? [True, True] Translation: X:-39.63, Y:-2.54, Z:1.04 [[ 9.99748908e-01 -2.23595935e-02 1.47320215e-03 -3.96287843e+01] [ 2.23594850e-02 9.99749991e-01 9.00438446e-05 -2.53522517e+00] [-1.47484718e-03 -5.70811939e-05 9.99998911e-01 1.03708815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.745529293 meters Centerline goodness [0,1] 0.998218819097535 Centerline is valid? [True, True] Translation: X:-39.66, Y:-2.54, Z:1.04 [[ 9.99763207e-01 -2.16883374e-02 -1.77388282e-03 -3.96571058e+01] [ 2.16881867e-02 9.99764778e-01 -1.04149456e-04 -2.53741574e+00] [ 1.77572439e-03 6.56524921e-05 9.99998421e-01 1.03820796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.775529293 meters Centerline goodness [0,1] 0.9984004593552621 Centerline is valid? [True, True] Translation: X:-39.69, Y:-2.54, Z:1.04 [[ 9.99741961e-01 -2.25984914e-02 -2.30627181e-03 -3.96862230e+01] [ 2.25982563e-02 9.99744619e-01 -1.27948288e-04 -2.53506095e+00] [ 2.30857427e-03 7.57975507e-05 9.99997332e-01 1.03664545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.805529293 meters Centerline goodness [0,1] 0.9982810837357781 Centerline is valid? [True, True] Translation: X:-39.72, Y:-2.54, Z:1.04 [[ 9.99709943e-01 -2.40105898e-02 1.87674802e-03 -3.97161956e+01] [ 2.40104224e-02 9.99711702e-01 1.11640665e-04 -2.53767463e+00] [-1.87888751e-03 -6.65467700e-05 9.99998233e-01 1.03956725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.83552929299999 meters Centerline goodness [0,1] 0.9982181624544301 Centerline is valid? [True, True] Translation: X:-39.74, Y:-2.54, Z:1.04 [[ 9.99724863e-01 -2.33187795e-02 2.53649559e-03 -3.97428115e+01] [ 2.33184637e-02 9.99728076e-01 1.54022631e-04 -2.54155319e+00] [-2.53939747e-03 -9.48330730e-05 9.99996771e-01 1.04168554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.865529292999994 meters Centerline goodness [0,1] 0.9978920655710866 Centerline is valid? [True, True] Translation: X:-39.77, Y:-2.54, Z:1.03 [[ 9.99722745e-01 -2.35265450e-02 -9.67074472e-04 -3.97725543e+01] [ 2.35265027e-02 9.99723212e-01 -5.51869728e-05 -2.54085969e+00] [ 9.68105156e-04 3.24197917e-05 9.99999531e-01 1.03165826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.895529292999996 meters Centerline goodness [0,1] 0.9985854858548585 Centerline is valid? [True, True] Translation: X:-39.80, Y:-2.54, Z:1.03 [[ 9.99639798e-01 -2.68129258e-02 -1.15783882e-03 -3.98024743e+01] [ 2.68128661e-02 9.99640468e-01 -6.70275541e-05 -2.54376157e+00] [ 1.15921974e-03 3.59584336e-05 9.99999327e-01 1.03017360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.925529293 meters Centerline goodness [0,1] 0.9975841949022418 Centerline is valid? [True, True] Translation: X:-39.83, Y:-2.55, Z:1.04 [[ 9.99610411e-01 -2.78006795e-02 2.47968688e-03 -3.98307671e+01] [ 2.78003982e-02 9.99613483e-01 1.47841862e-04 -2.54989744e+00] [-2.48283854e-03 -7.88479813e-05 9.99996915e-01 1.04180182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.955529293 meters Centerline goodness [0,1] 0.9983985874720266 Centerline is valid? [True, True] Translation: X:-39.86, Y:-2.55, Z:1.04 [[ 9.99647850e-01 -2.64649592e-02 1.94459223e-03 -3.98595684e+01] [ 2.64647820e-02 9.99649739e-01 1.16792028e-04 -2.54797718e+00] [-1.94700201e-03 -6.52876899e-05 9.99998102e-01 1.03896965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.985529293 meters Centerline goodness [0,1] 0.9978870061133222 Centerline is valid? [True, True] Translation: X:-39.89, Y:-2.54, Z:1.03 [[ 9.99667023e-01 -2.56613946e-02 -2.70842248e-03 -3.98905587e+01] [ 2.56610589e-02 9.99670688e-01 -1.58640324e-04 -2.54144335e+00] [ 2.71160149e-03 8.90865117e-05 9.99996320e-01 1.02962637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.015529293 meters Centerline goodness [0,1] 0.9985045886594559 Centerline is valid? [True, True] Translation: X:-39.92, Y:-2.54, Z:1.03 [[ 9.99663550e-01 -2.57586261e-02 -3.04616683e-03 -3.99189773e+01] [ 2.57582315e-02 9.99668187e-01 -1.68714554e-04 -2.54284052e+00] [ 3.04950193e-03 9.01939200e-05 9.99995346e-01 1.02532842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.045529292999994 meters Centerline goodness [0,1] 0.9980895252572978 Centerline is valid? [True, True] Translation: X:-39.95, Y:-2.55, Z:1.04 [[ 9.99728680e-01 -2.31953641e-02 2.13113598e-03 -3.99464406e+01] [ 2.31951460e-02 9.99730948e-01 1.26984581e-04 -2.54596341e+00] [-2.13350805e-03 -7.75181169e-05 9.99997721e-01 1.03808222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.075529292999995 meters Centerline goodness [0,1] 0.9978673228750128 Centerline is valid? [True, True] Translation: X:-39.98, Y:-2.55, Z:1.04 [[ 9.99764122e-01 -2.16515050e-02 1.70640150e-03 -3.99751699e+01] [ 2.16513624e-02 9.99765577e-01 1.02010148e-04 -2.54518468e+00] [-1.70821015e-03 -6.50401688e-05 9.99998539e-01 1.03840641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.105529293 meters Centerline goodness [0,1] 0.9977779606616739 Centerline is valid? [True, True] Translation: X:-40.01, Y:-2.54, Z:1.03 [[ 9.99853009e-01 -1.69984262e-02 -2.23929866e-03 -4.00060170e+01] [ 1.69981764e-02 9.99855512e-01 -1.30556716e-04 -2.53891874e+00] [ 2.24119437e-03 9.24735319e-05 9.99997484e-01 1.02813601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.135529293 meters Centerline goodness [0,1] 0.9981152947924775 Centerline is valid? [True, True] Translation: X:-40.04, Y:-2.53, Z:1.02 [[ 9.99876195e-01 -1.56355306e-02 -1.76778192e-03 -4.00353506e+01] [ 1.56353771e-02 9.99877755e-01 -1.00624172e-04 -2.53395209e+00] [ 1.76913913e-03 7.29717774e-05 9.99998432e-01 1.02149892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.165529293 meters Centerline goodness [0,1] 0.9979901970837349 Centerline is valid? [True, True] Translation: X:-40.06, Y:-2.53, Z:1.03 [[ 9.99896587e-01 -1.43741089e-02 4.47570985e-04 -4.00630048e+01] [ 1.43740974e-02 9.99896687e-01 2.89776613e-05 -2.53286109e+00] [-4.47941273e-04 -2.25412357e-05 9.99999899e-01 1.02712326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.195529293 meters Centerline goodness [0,1] 0.9973773716346351 Centerline is valid? [True, True] Translation: X:-40.09, Y:-2.53, Z:1.03 [[ 9.99898241e-01 -1.40826941e-02 2.27702369e-03 -4.00902547e+01] [ 1.40824225e-02 9.99900829e-01 1.35239254e-04 -2.53461177e+00] [-2.27870241e-03 -1.03159483e-04 9.99997398e-01 1.03173233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.225529292999994 meters Centerline goodness [0,1] 0.997911334084161 Centerline is valid? [True, True] Translation: X:-40.12, Y:-2.54, Z:1.03 [[ 9.99903796e-01 -1.29918529e-02 4.85913499e-03 -4.01184130e+01] [ 1.29906243e-02 9.99915578e-01 2.84317776e-04 -2.54009510e+00] [-4.86241858e-03 -2.21167227e-04 9.99988154e-01 1.03097517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.255529292999995 meters Centerline goodness [0,1] 0.997657068869844 Centerline is valid? [True, True] Translation: X:-40.15, Y:-2.54, Z:1.04 [[ 9.99908700e-01 -1.29727514e-02 3.78141528e-03 -4.01492467e+01] [ 1.29720310e-02 9.99915837e-01 2.14983721e-04 -2.54466037e+00] [-3.78388595e-03 -1.65911457e-04 9.99992827e-01 1.03523615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.285529292999996 meters Centerline goodness [0,1] 0.9980124579952463 Centerline is valid? [True, True] Translation: X:-40.18, Y:-2.54, Z:1.02 [[ 9.99881187e-01 -1.54096387e-02 -3.92469001e-04 -4.01805408e+01] [ 1.54096309e-02 9.99881264e-01 -2.28315923e-05 -2.54190213e+00] [ 3.92774227e-04 1.67810772e-05 9.99999923e-01 1.01810137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.315529293 meters Centerline goodness [0,1] 0.9979743002128008 Centerline is valid? [True, True] Translation: X:-40.21, Y:-2.55, Z:1.01 [[ 9.99750858e-01 -2.21261178e-02 -2.94227796e-03 -4.02107924e+01] [ 2.21257097e-02 9.99755182e-01 -1.71164833e-04 -2.55280314e+00] [ 2.94534485e-03 1.06022200e-04 9.99995657e-01 1.01447936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.345529293 meters Centerline goodness [0,1] 0.9978499027336951 Centerline is valid? [True, True] Translation: X:-40.24, Y:-2.57, Z:1.02 [[ 9.99584246e-01 -2.88300180e-02 -4.06019075e-04 -4.02390744e+01] [ 2.88300110e-02 9.99584329e-01 -2.29817857e-05 -2.57014152e+00] [ 4.06512870e-04 1.12666965e-05 9.99999917e-01 1.02450066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.375529293 meters Centerline goodness [0,1] 0.9980070677186061 Centerline is valid? [True, True] Translation: X:-40.27, Y:-2.57, Z:1.03 [[ 9.99471773e-01 -3.24850337e-02 9.47007774e-04 -4.02683209e+01] [ 3.24849945e-02 9.99472222e-01 5.68295214e-05 -2.56975362e+00] [-9.48354073e-04 -2.60359603e-05 9.99999550e-01 1.02689487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.405529292999994 meters Centerline goodness [0,1] 0.9977872933270503 Centerline is valid? [True, True] Translation: X:-40.30, Y:-2.56, Z:1.02 [[ 9.99463203e-01 -3.27504409e-02 8.44920337e-04 -4.02978571e+01] [ 3.27504091e-02 9.99463560e-01 5.13794102e-05 -2.56078373e+00] [-8.46149787e-04 -2.36803432e-05 9.99999642e-01 1.02434062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.435529292999995 meters Centerline goodness [0,1] 0.9979477497075543 Centerline is valid? [True, True] Translation: X:-40.33, Y:-2.56, Z:1.02 [[ 9.99452982e-01 -3.27625773e-02 4.51112374e-03 -4.03268256e+01] [ 3.27617224e-02 9.99463156e-01 2.63282499e-04 -2.56369279e+00] [-4.51732778e-03 -1.15346295e-04 9.99989790e-01 1.02388084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.465529292999996 meters Centerline goodness [0,1] 0.9977704596125918 Centerline is valid? [True, True] Translation: X:-40.35, Y:-2.58, Z:1.03 [[ 9.99525161e-01 -3.00881654e-02 6.64492395e-03 -4.03541823e+01] [ 3.00862491e-02 9.99547231e-01 3.88185069e-04 -2.57574821e+00] [-6.65359511e-03 -1.88079907e-04 9.99977847e-01 1.02878782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.495529293 meters Centerline goodness [0,1] 0.998690831730966 Centerline is valid? [True, True] Translation: X:-40.38, Y:-2.58, Z:1.02 [[ 9.99572457e-01 -2.91831430e-02 1.80202741e-03 -4.03826998e+01] [ 2.91829993e-02 9.99574080e-01 1.05965248e-04 -2.57736486e+00] [-1.80435229e-03 -5.33313780e-05 9.99998371e-01 1.02389203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.525529293 meters Centerline goodness [0,1] 0.9985276675800581 Centerline is valid? [True, True] Translation: X:-40.41, Y:-2.56, Z:1.01 [[ 9.99534069e-01 -3.04503751e-02 -2.10219724e-03 -4.04129979e+01] [ 3.04501909e-02 9.99536278e-01 -1.19571845e-04 -2.56431401e+00] [ 2.10486342e-03 5.55038252e-05 9.99997783e-01 1.01362953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.555529293 meters Centerline goodness [0,1] 0.9973021582733813 Centerline is valid? [True, True] Translation: X:-40.44, Y:-2.55, Z:1.02 [[ 9.99614140e-01 -2.77724891e-02 5.09216624e-04 -4.04419532e+01] [ 2.77724734e-02 9.99614270e-01 3.77790511e-05 -2.55346400e+00] [-5.10069422e-04 -2.36222686e-05 9.99999870e-01 1.01636304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.58552929299999 meters Centerline goodness [0,1] 0.9978989882506527 Centerline is valid? [True, True] Translation: X:-40.47, Y:-2.56, Z:1.02 [[ 9.99729295e-01 -2.24367307e-02 6.15872900e-03 -4.04699269e+01] [ 2.24349569e-02 9.99748241e-01 3.56958754e-04 -2.55570653e+00] [-6.16518747e-03 -2.18691303e-04 9.99980971e-01 1.01720668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.615529292999994 meters Centerline goodness [0,1] 0.9983610587560436 Centerline is valid? [True, True] Translation: X:-40.50, Y:-2.56, Z:1.02 [[ 9.99764013e-01 -2.10567837e-02 5.34136424e-03 -4.04999907e+01] [ 2.10554465e-02 9.99778263e-01 3.06473918e-04 -2.55754483e+00] [-5.34663322e-03 -1.93936785e-04 9.99985688e-01 1.02098364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.645529292999996 meters Centerline goodness [0,1] 0.9982005561917225 Centerline is valid? [True, True] Translation: X:-40.53, Y:-2.56, Z:1.02 [[ 9.99710269e-01 -2.36455811e-02 4.50151949e-03 -4.05288465e+01] [ 2.36446506e-02 9.99720392e-01 2.59812959e-04 -2.55687512e+00] [-4.50640426e-03 -1.53300828e-04 9.99989834e-01 1.01534739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.675529293 meters Centerline goodness [0,1] 0.9980770017593388 Centerline is valid? [True, True] Translation: X:-40.56, Y:-2.56, Z:1.01 [[ 9.99597586e-01 -2.81035222e-02 3.85473190e-03 -4.05584177e+01] [ 2.81028728e-02 9.99605012e-01 2.22538244e-04 -2.55696107e+00] [-3.85946343e-03 -1.14119651e-04 9.99992546e-01 1.00886697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.705529293 meters Centerline goodness [0,1] 0.9978716873017497 Centerline is valid? [True, True] Translation: X:-40.59, Y:-2.56, Z:1.01 [[ 9.99574977e-01 -2.88917646e-02 3.88989493e-03 -4.05869118e+01] [ 2.88911081e-02 9.99582540e-01 2.24854976e-04 -2.56085461e+00] [-3.89476751e-03 -1.12376033e-04 9.99992409e-01 1.00924464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.735529293 meters Centerline goodness [0,1] 0.9986712457582076 Centerline is valid? [True, True] Translation: X:-40.61, Y:-2.57, Z:1.01 [[ 9.99498506e-01 -3.14802646e-02 3.42477312e-03 -4.06147601e+01] [ 3.14797656e-02 9.99504369e-01 1.99516447e-04 -2.56730904e+00] [-3.42935653e-03 -9.16053360e-05 9.99994116e-01 1.01121474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.765529293 meters Centerline goodness [0,1] 0.9979370072306876 Centerline is valid? [True, True] Translation: X:-40.64, Y:-2.56, Z:1.01 [[ 9.99417691e-01 -3.38247060e-02 4.49086628e-03 -4.06439013e+01] [ 3.38238887e-02 9.99427775e-01 2.57851781e-04 -2.56480531e+00] [-4.49701825e-03 -1.05803071e-04 9.99989883e-01 1.01274616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.795529292999994 meters Centerline goodness [0,1] 0.998129663136067 Centerline is valid? [True, True] Translation: X:-40.67, Y:-2.56, Z:1.01 [[ 9.99407394e-01 -3.40204492e-02 5.24115572e-03 -4.06718944e+01] [ 3.40193363e-02 9.99421129e-01 3.01359657e-04 -2.55954832e+00] [-5.24837416e-03 -1.22880430e-04 9.99986220e-01 1.00905166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.825529292999995 meters Centerline goodness [0,1] 0.9988152142827961 Centerline is valid? [True, True] Translation: X:-40.70, Y:-2.56, Z:1.01 [[ 9.99494402e-01 -3.14025476e-02 4.98207110e-03 -4.07012274e+01] [ 3.14015136e-02 9.99506810e-01 2.85665378e-04 -2.55759318e+00] [-4.98858461e-03 -1.29076373e-04 9.99987549e-01 1.00654218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.855529293 meters Centerline goodness [0,1] 0.9985526744944553 Centerline is valid? [True, True] Translation: X:-40.73, Y:-2.56, Z:1.01 [[ 9.99507324e-01 -3.11924934e-02 3.48404042e-03 -4.07297150e+01] [ 3.11919849e-02 9.99513392e-01 2.00204884e-04 -2.55756185e+00] [-3.48858995e-03 -9.14321113e-05 9.99993911e-01 1.00519487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.885529293 meters Centerline goodness [0,1] 0.9989332895708541 Centerline is valid? [True, True] Translation: X:-40.76, Y:-2.55, Z:1.01 [[ 9.99533699e-01 -3.03891872e-02 2.98021445e-03 -4.07576899e+01] [ 3.03888096e-02 9.99538139e-01 1.71914123e-04 -2.55419568e+00] [-2.98406234e-03 -8.12687897e-05 9.99995544e-01 1.00938625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.915529293 meters Centerline goodness [0,1] 0.9985903695683263 Centerline is valid? [True, True] Translation: X:-40.79, Y:-2.55, Z:1.01 [[ 9.99467299e-01 -3.21453265e-02 5.63881763e-03 -4.07875340e+01] [ 3.21440289e-02 9.99483196e-01 3.20626292e-04 -2.55085142e+00] [-5.64621010e-03 -1.39201177e-04 9.99984050e-01 1.01286694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.945529293 meters Centerline goodness [0,1] 0.9980321820231629 Centerline is valid? [True, True] Translation: X:-40.82, Y:-2.55, Z:1.02 [[ 9.99516782e-01 -3.02218075e-02 7.26941047e-03 -4.08156519e+01] [ 3.02195907e-02 9.99543198e-01 4.14621746e-04 -2.54911684e+00] [-7.27862041e-03 -1.94742784e-04 9.99973492e-01 1.01569097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.975529292999994 meters Centerline goodness [0,1] 0.9981807031888799 Centerline is valid? [True, True] Translation: X:-40.84, Y:-2.55, Z:1.01 [[ 9.99522298e-01 -3.03453362e-02 5.85976695e-03 -4.08445666e+01] [ 3.03439037e-02 9.99539462e-01 3.33235826e-04 -2.54819206e+00] [-5.86718046e-03 -1.55268434e-04 9.99982776e-01 1.00998651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.005529292999995 meters Centerline goodness [0,1] 0.9981807031888799 Centerline is valid? [True, True] Translation: X:-40.87, Y:-2.55, Z:1.01 [[ 9.99524521e-01 -3.02720235e-02 5.85979041e-03 -4.08728039e+01] [ 3.02705922e-02 9.99541685e-01 3.32821638e-04 -2.54987849e+00] [-5.86717997e-03 -1.55284063e-04 9.99982776e-01 1.01091274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.035529292999996 meters Centerline goodness [0,1] 0.998035765437656 Centerline is valid? [True, True] Translation: X:-40.90, Y:-2.55, Z:1.00 [[ 9.99499825e-01 -3.15043307e-02 2.75270734e-03 -4.09017511e+01] [ 3.15040165e-02 9.99503613e-01 1.57417435e-04 -2.54541078e+00] [-2.75630026e-03 -7.06173611e-05 9.99996199e-01 1.00382007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.065529293 meters Centerline goodness [0,1] 0.9986851296379997 Centerline is valid? [True, True] Translation: X:-40.93, Y:-2.55, Z:1.01 [[ 9.99413017e-01 -3.39939590e-02 4.24640797e-03 -4.09298998e+01] [ 3.39932430e-02 9.99422034e-01 2.40706090e-04 -2.54596738e+00] [-4.25213624e-03 -9.62156221e-05 9.99990955e-01 1.01390461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.095529293 meters Centerline goodness [0,1] 0.9984465701904995 Centerline is valid? [True, True] Translation: X:-40.96, Y:-2.55, Z:1.01 [[ 9.99275916e-01 -3.73389701e-02 7.31066855e-03 -4.09584111e+01] [ 3.73369449e-02 9.99302648e-01 4.13348861e-04 -2.55309421e+00] [-7.32100446e-03 -1.40091533e-04 9.99973191e-01 1.01490247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.125529293 meters Centerline goodness [0,1] 0.9981979768194291 Centerline is valid? [True, True] Translation: X:-40.99, Y:-2.56, Z:1.01 [[ 9.99244644e-01 -3.84332605e-02 5.74686816e-03 -4.09869405e+01] [ 3.84320275e-02 9.99261164e-01 3.24873181e-04 -2.55594244e+00] [-5.75510810e-03 -1.03763990e-04 9.99983434e-01 1.01085028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.155529292999994 meters Centerline goodness [0,1] 0.9983213576531761 Centerline is valid? [True, True] Translation: X:-41.02, Y:-2.55, Z:1.00 [[ 9.99192707e-01 -4.01552003e-02 1.22269904e-03 -4.10168977e+01] [ 4.01551443e-02 9.99193454e-01 7.03532383e-05 -2.55135695e+00] [-1.22453793e-03 -2.11987861e-05 9.99999250e-01 9.99977690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.185529292999995 meters Centerline goodness [0,1] 0.9981171077137185 Centerline is valid? [True, True] Translation: X:-41.04, Y:-2.54, Z:1.00 [[ 9.99098966e-01 -4.24347926e-02 7.38026192e-04 -4.10446890e+01] [ 4.24347698e-02 9.99099238e-01 4.65826164e-05 -2.54313953e+00] [-7.39338130e-04 -1.52226723e-05 9.99999727e-01 9.99217804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.215529292999996 meters Centerline goodness [0,1] 0.9981657804707144 Centerline is valid? [True, True] Translation: X:-41.07, Y:-2.54, Z:1.00 [[ 9.99142124e-01 -4.13472761e-02 2.32770478e-03 -4.10735196e+01] [ 4.13470669e-02 9.99144835e-01 1.37966456e-04 -2.53708440e+00] [-2.33141875e-03 -4.16043328e-05 9.99997281e-01 9.97496172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.245529293 meters Centerline goodness [0,1] 0.9979084645669292 Centerline is valid? [True, True] Translation: X:-41.10, Y:-2.55, Z:1.00 [[ 9.99162349e-01 -4.07090689e-02 4.16797774e-03 -4.11004537e+01] [ 4.07084391e-02 9.99171040e-01 2.35870231e-04 -2.54614090e+00] [-4.17412471e-03 -6.60007865e-05 9.99991286e-01 1.00424721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.275529293 meters Centerline goodness [0,1] 0.9977208796172721 Centerline is valid? [True, True] Translation: X:-41.13, Y:-2.55, Z:1.00 [[ 9.99228230e-01 -3.91260769e-02 3.47777753e-03 -4.11294504e+01] [ 3.91256174e-02 9.99234280e-01 2.00087242e-04 -2.55043517e+00] [-3.48294315e-03 -6.38626280e-05 9.99993932e-01 1.00141264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.305529293 meters Centerline goodness [0,1] 0.9982600863815938 Centerline is valid? [True, True] Translation: X:-41.16, Y:-2.54, Z:1.00 [[ 9.99259563e-01 -3.84350336e-02 1.75314998e-03 -4.11588132e+01] [ 3.84349188e-02 9.99261101e-01 9.91196514e-05 -2.54360805e+00] [-1.75566425e-03 -3.16640824e-05 9.99998458e-01 9.98652908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.33552929299999 meters Centerline goodness [0,1] 0.9987911074684971 Centerline is valid? [True, True] Translation: X:-41.19, Y:-2.53, Z:0.99 [[ 9.99297507e-01 -3.74314457e-02 1.83839061e-03 -4.11876849e+01] [ 3.74313172e-02 9.99299197e-01 1.04261487e-04 -2.53322259e+00] [-1.84100492e-03 -3.53748625e-05 9.99998305e-01 9.91960459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.365529292999994 meters Centerline goodness [0,1] 0.9981320305443797 Centerline is valid? [True, True] Translation: X:-41.22, Y:-2.53, Z:0.99 [[ 9.99351429e-01 -3.59410675e-02 2.22734537e-03 -4.12155042e+01] [ 3.59408631e-02 9.99353910e-01 1.31751180e-04 -2.53198250e+00] [-2.23064158e-03 -5.16130148e-05 9.99997511e-01 9.93757652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.395529292999996 meters Centerline goodness [0,1] 0.9979239038829164 Centerline is valid? [True, True] Translation: X:-41.24, Y:-2.53, Z:0.99 [[ 9.99414113e-01 -3.40109797e-02 3.83197044e-03 -4.12440093e+01] [ 3.40104168e-02 9.99421456e-01 2.11991776e-04 -2.53285552e+00] [-3.83696352e-03 -8.15406610e-05 9.99992636e-01 9.94648275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.425529293 meters Centerline goodness [0,1] 0.9983544173608968 Centerline is valid? [True, True] Translation: X:-41.27, Y:-2.53, Z:0.99 [[ 9.99451573e-01 -3.29637429e-02 3.15355686e-03 -4.12717240e+01] [ 3.29633542e-02 9.99456546e-01 1.75173138e-04 -2.52967115e+00] [-3.15761741e-03 -7.11252569e-05 9.99995012e-01 9.93482851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.455529293 meters Centerline goodness [0,1] 0.9985397856981264 Centerline is valid? [True, True] Translation: X:-41.30, Y:-2.53, Z:0.99 [[ 9.99522377e-01 -3.08319475e-02 2.09975101e-03 -4.13001278e+01] [ 3.08317658e-02 9.99524581e-01 1.18841372e-04 -2.52584149e+00] [-2.10241685e-03 -5.40455796e-05 9.99997788e-01 9.88731455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.485529293 meters Centerline goodness [0,1] 0.9980661619486504 Centerline is valid? [True, True] Translation: X:-41.33, Y:-2.53, Z:0.99 [[ 9.99442329e-01 -3.32278054e-02 3.30816382e-03 -4.13295602e+01] [ 3.32273873e-02 9.99447801e-01 1.81284506e-04 -2.53059910e+00] [-3.31236074e-03 -7.12617681e-05 9.99994512e-01 9.90227229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.515529293 meters Centerline goodness [0,1] 0.9984398415207439 Centerline is valid? [True, True] Translation: X:-41.36, Y:-2.53, Z:0.99 [[ 9.99388075e-01 -3.48231274e-02 3.29033289e-03 -4.13578222e+01] [ 3.48227174e-02 9.99393489e-01 1.81825667e-04 -2.53363454e+00] [-3.29466901e-03 -6.71360702e-05 9.99994570e-01 9.86566023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.545529292999994 meters Centerline goodness [0,1] 0.9984328927562529 Centerline is valid? [True, True] Translation: X:-41.39, Y:-2.53, Z:0.99 [[ 9.99409197e-01 -3.43591442e-02 8.39971405e-04 -4.13863567e+01] [ 3.43591160e-02 9.99409550e-01 4.79825378e-05 -2.53008534e+00] [-8.41124083e-04 -1.90935147e-05 9.99999646e-01 9.86070057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.575529292999995 meters Centerline goodness [0,1] 0.9980428109355364 Centerline is valid? [True, True] Translation: X:-41.42, Y:-2.53, Z:0.97 [[ 9.99363881e-01 -3.56614484e-02 3.07874078e-04 -4.14158977e+01] [ 3.56614424e-02 9.99363928e-01 2.50758247e-05 -2.52793544e+00] [-3.08572488e-04 -1.40806398e-05 9.99999952e-01 9.74027423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.605529293 meters Centerline goodness [0,1] 0.9987248570605899 Centerline is valid? [True, True] Translation: X:-41.44, Y:-2.53, Z:0.98 [[ 9.99333577e-01 -3.64852748e-02 -1.10736606e-03 -4.14436313e+01] [ 3.64852344e-02 9.99334191e-01 -5.66949780e-05 -2.53231101e+00] [ 1.10869730e-03 1.62546849e-05 9.99999385e-01 9.76000033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.635529293 meters Centerline goodness [0,1] 0.9983510254560445 Centerline is valid? [True, True] Translation: X:-41.47, Y:-2.53, Z:0.97 [[ 9.99326185e-01 -3.65401430e-02 -3.46320877e-03 -4.14732980e+01] [ 3.65397246e-02 9.99332184e-01 -1.84015406e-04 -2.52528987e+00] [ 3.46761993e-03 5.73467186e-05 9.99993986e-01 9.69332788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.665529293 meters Centerline goodness [0,1] 0.9985979670522257 Centerline is valid? [True, True] Translation: X:-41.50, Y:-2.53, Z:0.98 [[ 9.99340705e-01 -3.62692386e-02 -1.64231382e-03 -4.15004336e+01] [ 3.62691483e-02 9.99342054e-01 -8.47357330e-05 -2.52686632e+00] [ 1.64430656e-03 2.51145438e-05 9.99998648e-01 9.75444957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.695529293 meters Centerline goodness [0,1] 0.9987719765038171 Centerline is valid? [True, True] Translation: X:-41.53, Y:-2.53, Z:0.98 [[ 9.99348314e-01 -3.60907573e-02 6.35677419e-04 -4.15285767e+01] [ 3.60907410e-02 9.99348516e-01 3.70382489e-05 -2.53163556e+00] [-6.36600024e-04 -1.40720425e-05 9.99999797e-01 9.76298362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.725529292999994 meters Centerline goodness [0,1] 0.9982999467453197 Centerline is valid? [True, True] Translation: X:-41.56, Y:-2.54, Z:0.99 [[ 9.99322231e-01 -3.66344208e-02 3.60521745e-03 -4.15560491e+01] [ 3.66339538e-02 9.99328732e-01 1.95509591e-04 -2.54025136e+00] [-3.60995976e-03 -6.33037107e-05 9.99993482e-01 9.87543573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.755529292999995 meters Centerline goodness [0,1] 0.9985799839476446 Centerline is valid? [True, True] Translation: X:-41.58, Y:-2.53, Z:0.99 [[ 9.99271796e-01 -3.78114588e-02 5.11577329e-03 -4.15843051e+01] [ 3.78105380e-02 9.99284888e-01 2.76628958e-04 -2.53381621e+00] [-5.12257468e-03 -8.29973751e-05 9.99986876e-01 9.87457346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.785529292999996 meters Centerline goodness [0,1] 0.998431858041886 Centerline is valid? [True, True] Translation: X:-41.62, Y:-2.53, Z:0.97 [[ 9.99393999e-01 -3.47828900e-02 1.33647541e-03 -4.16153183e+01] [ 3.47828234e-02 9.99394892e-01 7.30226819e-05 -2.52771423e+00] [-1.33820664e-03 -2.64920419e-05 9.99999104e-01 9.71278033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.815529293 meters Centerline goodness [0,1] 0.9983088250458886 Centerline is valid? [True, True] Translation: X:-41.64, Y:-2.53, Z:0.96 [[ 9.99381456e-01 -3.50897627e-02 -2.32662158e-03 -4.16441355e+01] [ 3.50895742e-02 9.99384164e-01 -1.21821989e-04 -2.53284133e+00] [ 2.32946347e-03 4.01064763e-05 9.99997286e-01 9.62752056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.845529293 meters Centerline goodness [0,1] 0.9986008806221967 Centerline is valid? [True, True] Translation: X:-41.67, Y:-2.54, Z:0.97 [[ 9.99432009e-01 -3.36399379e-02 -2.00351164e-03 -4.16714647e+01] [ 3.36398109e-02 9.99434017e-01 -9.70560823e-05 -2.53732359e+00] [ 2.00564264e-03 2.96032028e-05 9.99997988e-01 9.66397759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.875529293 meters Centerline goodness [0,1] 0.9989055466071944 Centerline is valid? [True, True] Translation: X:-41.70, Y:-2.54, Z:0.98 [[ 9.99473967e-01 -3.23680192e-02 2.02501481e-03 -4.16998124e+01] [ 3.23678645e-02 9.99476017e-01 1.09106071e-04 -2.53871149e+00] [-2.02748528e-03 -4.35032727e-05 9.99997944e-01 9.75040362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.905529292999994 meters Centerline goodness [0,1] 0.9983278627608844 Centerline is valid? [True, True] Translation: X:-41.73, Y:-2.54, Z:0.97 [[ 9.99485642e-01 -3.20479546e-02 1.17469241e-03 -4.17284453e+01] [ 3.20479009e-02 9.99486332e-01 6.45433924e-05 -2.53763450e+00] [-1.17615749e-03 -2.68637681e-05 9.99999308e-01 9.71115344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.935529292999995 meters Centerline goodness [0,1] 0.9981996896016555 Centerline is valid? [True, True] Translation: X:-41.76, Y:-2.54, Z:0.96 [[ 9.99538014e-01 -3.02310486e-02 -3.13739556e-03 -4.17590466e+01] [ 3.02306810e-02 9.99542935e-01 -1.64556368e-04 -2.53531435e+00] [ 3.14093628e-03 6.96347408e-05 9.99995065e-01 9.58850135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.965529292999996 meters Centerline goodness [0,1] 0.9979322608659692 Centerline is valid? [True, True] Translation: X:-41.79, Y:-2.53, Z:0.95 [[ 9.99526836e-01 -3.00906787e-02 -6.37616401e-03 -4.17885041e+01] [ 3.00891480e-02 9.99547163e-01 -3.35872025e-04 -2.53405572e+00] [ 6.38338326e-03 1.43859760e-04 9.99979616e-01 9.53421638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.995529293 meters Centerline goodness [0,1] 0.998654940506984 Centerline is valid? [True, True] Translation: X:-41.82, Y:-2.54, Z:0.95 [[ 9.99539736e-01 -3.00282664e-02 -4.31501521e-03 -4.18162922e+01] [ 3.00275836e-02 9.99549046e-01 -2.22946969e-04 -2.53612659e+00] [ 4.31976405e-03 9.32748743e-05 9.99990665e-01 9.54050387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.025529293 meters Centerline goodness [0,1] 0.9985098104147694 Centerline is valid? [True, True] Translation: X:-41.84, Y:-2.54, Z:0.96 [[ 9.99602749e-01 -2.81765004e-02 -6.54420645e-04 -4.18439999e+01] [ 2.81764854e-02 9.99602964e-01 -3.20318442e-05 -2.54136401e+00] [ 6.55063361e-04 1.35798458e-05 9.99999785e-01 9.62387719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.055529293 meters Centerline goodness [0,1] 0.9980610561056106 Centerline is valid? [True, True] Translation: X:-41.87, Y:-2.55, Z:0.96 [[ 9.99674712e-01 -2.54952268e-02 -6.80967531e-04 -4.18724753e+01] [ 2.54952142e-02 9.99674944e-01 -2.71457594e-05 -2.54594531e+00] [ 6.81438266e-04 9.77551615e-06 9.99999768e-01 9.62052043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08552929299999 meters Centerline goodness [0,1] 0.9983710332597893 Centerline is valid? [True, True] Translation: X:-41.90, Y:-2.55, Z:0.96 [[ 9.99698183e-01 -2.44903574e-02 -1.94043531e-03 -4.19011229e+01] [ 2.44902112e-02 9.99700065e-01 -9.90684586e-05 -2.55407481e+00] [ 1.94227953e-03 5.15168874e-05 9.99998112e-01 9.60923080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.115529292999994 meters Centerline goodness [0,1] 0.9982415490918118 Centerline is valid? [True, True] Translation: X:-41.93, Y:-2.56, Z:0.96 [[ 9.99630197e-01 -2.71159977e-02 -2.04732279e-03 -4.19281586e+01] [ 2.71158419e-02 9.99632293e-01 -1.03839486e-04 -2.56379180e+00] [ 2.04938569e-03 4.82862048e-05 9.99997899e-01 9.63813332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.145529292999996 meters Centerline goodness [0,1] 0.9980825532967713 Centerline is valid? [True, True] Translation: X:-41.96, Y:-2.56, Z:0.96 [[ 9.99568502e-01 -2.93307817e-02 -1.58567048e-03 -4.19566945e+01] [ 2.93306951e-02 9.99569760e-01 -7.78636688e-05 -2.56234570e+00] [ 1.58727206e-03 3.13212535e-05 9.99998740e-01 9.59594437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.175529293 meters Centerline goodness [0,1] 0.9984499648658703 Centerline is valid? [True, True] Translation: X:-41.99, Y:-2.56, Z:0.95 [[ 9.99523829e-01 -3.07618417e-02 -2.41353651e-03 -4.19853653e+01] [ 3.07616521e-02 9.99526742e-01 -1.15657156e-04 -2.55854931e+00] [ 2.41595211e-03 4.13577124e-05 9.99997081e-01 9.54286231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.205529293 meters Centerline goodness [0,1] 0.998595273508511 Centerline is valid? [True, True] Translation: X:-42.01, Y:-2.57, Z:0.95 [[ 9.99514726e-01 -3.11497782e-02 -5.40045997e-05 -4.20146645e+01] [ 3.11497781e-02 9.99514728e-01 -1.64545515e-06 -2.56806675e+00] [ 5.40296482e-05 -3.75746492e-08 9.99999999e-01 9.53478935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.235529293 meters Centerline goodness [0,1] 0.9984511492472585 Centerline is valid? [True, True] Translation: X:-42.04, Y:-2.58, Z:0.96 [[ 9.99469665e-01 -3.25242315e-02 1.60078043e-03 -4.20427247e+01] [ 3.25241285e-02 9.99470947e-01 9.03669321e-05 -2.58281231e+00] [-1.60287265e-03 -3.82550191e-05 9.99998715e-01 9.56760641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26552929299999 meters Centerline goodness [0,1] 0.998511412504135 Centerline is valid? [True, True] Translation: X:-42.07, Y:-2.59, Z:0.95 [[ 9.99409486e-01 -3.43453882e-02 -1.03633090e-03 -4.20702423e+01] [ 3.43453545e-02 9.99410023e-01 -5.03254147e-05 -2.59454787e+00] [ 1.03744793e-03 1.47025448e-05 9.99999462e-01 9.53373688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.295529292999994 meters Centerline goodness [0,1] 0.998139534883721 Centerline is valid? [True, True] Translation: X:-42.10, Y:-2.60, Z:0.95 [[ 9.99286895e-01 -3.72792806e-02 -5.99632016e-03 -4.21005561e+01] [ 3.72781058e-02 9.99304883e-01 -3.07610236e-04 -2.59640332e+00] [ 6.00361951e-03 8.38594204e-05 9.99981975e-01 9.49608093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.325529292999995 meters Centerline goodness [0,1] 0.9979227937395883 Centerline is valid? [True, True] Translation: X:-42.13, Y:-2.59, Z:0.94 [[ 9.99212803e-01 -3.89363585e-02 -7.59826948e-03 -4.21299378e+01] [ 3.89345928e-02 9.99241689e-01 -3.80218164e-04 -2.59234620e+00] [ 7.60731194e-03 8.40833290e-05 9.99971060e-01 9.38239214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.355529293 meters Centerline goodness [0,1] 0.9987044501110471 Centerline is valid? [True, True] Translation: X:-42.16, Y:-2.60, Z:0.94 [[ 9.99294120e-01 -3.72181975e-02 -5.10570288e-03 -4.21569505e+01] [ 3.72173696e-02 9.99307161e-01 -2.57094301e-04 -2.59568386e+00] [ 5.11173404e-03 6.68919918e-05 9.99986933e-01 9.43499106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.385529293 meters Centerline goodness [0,1] 0.9983314106789717 Centerline is valid? [True, True] Translation: X:-42.19, Y:-2.60, Z:0.95 [[ 9.99424194e-01 -3.38104185e-02 -2.85233261e-03 -4.21850376e+01] [ 3.38101662e-02 9.99428264e-01 -1.36654478e-04 -2.60175403e+00] [ 2.85532217e-03 4.01379523e-05 9.99995923e-01 9.50390094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.415529293 meters Centerline goodness [0,1] 0.998718054751468 Centerline is valid? [True, True] Translation: X:-42.21, Y:-2.60, Z:0.95 [[ 9.99523646e-01 -3.05896841e-02 -4.09295416e-03 -4.22142045e+01] [ 3.05891238e-02 9.99532023e-01 -1.99428945e-04 -2.60103887e+00] [ 4.09713922e-03 7.41340646e-05 9.99991604e-01 9.48805555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.445529293 meters Centerline goodness [0,1] 0.9984066218313502 Centerline is valid? [True, True] Translation: X:-42.24, Y:-2.60, Z:0.95 [[ 9.99584359e-01 -2.83079123e-02 -5.45629458e-03 -4.22429538e+01] [ 2.83068429e-02 9.99599244e-01 -2.73123160e-04 -2.59527085e+00] [ 5.46183948e-03 1.18559165e-04 9.99985077e-01 9.46650671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.475529292999994 meters Centerline goodness [0,1] 0.9987401900041305 Centerline is valid? [True, True] Translation: X:-42.27, Y:-2.60, Z:0.95 [[ 9.99627083e-01 -2.72421416e-02 -1.88674225e-03 -4.22713676e+01] [ 2.72420139e-02 9.99628863e-01 -9.33556883e-05 -2.60004989e+00] [ 1.88858522e-03 4.19222159e-05 9.99998216e-01 9.49443872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.505529292999995 meters Centerline goodness [0,1] 0.998406226067518 Centerline is valid? [True, True] Translation: X:-42.30, Y:-2.61, Z:0.95 [[ 9.99611689e-01 -2.78624765e-02 -3.90912131e-04 -4.22987559e+01] [ 2.78624721e-02 9.99611766e-01 -1.66610268e-05 -2.61241720e+00] [ 3.91224583e-04 5.76277877e-06 9.99999923e-01 9.50769999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.535529292999996 meters Centerline goodness [0,1] 0.9985963173974073 Centerline is valid? [True, True] Translation: X:-42.33, Y:-2.61, Z:0.95 [[ 9.99644568e-01 -2.60487945e-02 -5.67438657e-03 -4.23277913e+01] [ 2.60476007e-02 9.99660663e-01 -2.84195888e-04 -2.61397471e+00] [ 5.67986400e-03 1.36290720e-04 9.99983860e-01 9.48239832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.565529293 meters Centerline goodness [0,1] 0.9980594950558411 Centerline is valid? [True, True] Translation: X:-42.36, Y:-2.61, Z:0.94 [[ 9.99601048e-01 -2.71383038e-02 -7.82676639e-03 -4.23571205e+01] [ 2.71361365e-02 9.99631674e-01 -3.82983408e-04 -2.61000147e+00] [ 7.83427711e-03 1.70442414e-04 9.99969297e-01 9.35273369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.595529293 meters Centerline goodness [0,1] 0.9985773489206408 Centerline is valid? [True, True] Translation: X:-42.39, Y:-2.62, Z:0.94 [[ 9.99531091e-01 -3.03952752e-02 -3.70473036e-03 -4.23856230e+01] [ 3.03947994e-02 9.99537954e-01 -1.84682472e-04 -2.61628411e+00] [ 3.70863207e-03 7.19913365e-05 9.99993120e-01 9.44331709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.625529293 meters Centerline goodness [0,1] 0.9985169316964654 Centerline is valid? [True, True] Translation: X:-42.41, Y:-2.63, Z:0.95 [[ 9.99493015e-01 -3.18174130e-02 1.16856456e-03 -4.24136548e+01] [ 3.18173650e-02 9.99493698e-01 5.96065654e-05 -2.62709756e+00] [-1.16986944e-03 -2.23957006e-05 9.99999315e-01 9.53977308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.655529292999994 meters Centerline goodness [0,1] 0.9982501646903821 Centerline is valid? [True, True] Translation: X:-42.44, Y:-2.63, Z:0.95 [[ 9.99418947e-01 -3.40598997e-02 -1.30045817e-03 -4.24422814e+01] [ 3.40598473e-02 9.99419793e-01 -6.24624712e-05 -2.63282936e+00] [ 1.30183110e-03 1.81327706e-05 9.99999152e-01 9.47131544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.685529292999995 meters Centerline goodness [0,1] 0.99843353875961 Centerline is valid? [True, True] Translation: X:-42.47, Y:-2.63, Z:0.94 [[ 9.99391259e-01 -3.45051663e-02 -5.14822138e-03 -4.24717517e+01] [ 3.45043076e-02 9.99404516e-01 -2.55538883e-04 -2.63125328e+00] [ 5.15397311e-03 7.77475117e-05 9.99986715e-01 9.35904205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.715529292999996 meters Centerline goodness [0,1] 0.9988060193095498 Centerline is valid? [True, True] Translation: X:-42.50, Y:-2.62, Z:0.92 [[ 9.99459423e-01 -3.12137821e-02 -1.03228757e-02 -4.25024019e+01] [ 3.12101331e-02 9.99512713e-01 -5.14431563e-04 -2.62453959e+00] [ 1.03339029e-02 1.91975147e-04 9.99946585e-01 9.24998724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.745529293 meters Centerline goodness [0,1] 0.9985588404842296 Centerline is valid? [True, True] Translation: X:-42.53, Y:-2.63, Z:0.92 [[ 9.99468665e-01 -3.03728418e-02 -1.18269843e-02 -4.25314784e+01] [ 3.03681131e-02 9.99538615e-01 -5.79245022e-04 -2.62554576e+00] [ 1.18391208e-02 2.19774052e-04 9.99929891e-01 9.23220202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.775529293 meters Centerline goodness [0,1] 0.9989895240452034 Centerline is valid? [True, True] Translation: X:-42.56, Y:-2.63, Z:0.92 [[ 9.99540214e-01 -2.81149004e-02 -1.13539480e-02 -4.25602306e+01] [ 2.81104371e-02 9.99604671e-01 -5.52528787e-04 -2.63025689e+00] [ 1.13649937e-02 2.33110302e-04 9.99935389e-01 9.23780069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.805529293 meters Centerline goodness [0,1] 0.9988703814003163 Centerline is valid? [True, True] Translation: X:-42.59, Y:-2.63, Z:0.94 [[ 9.99645697e-01 -2.62146751e-02 -4.61212310e-03 -4.25886801e+01] [ 2.62139094e-02 9.99656331e-01 -2.26393645e-04 -2.63016726e+00] [ 4.61647289e-03 1.05411655e-04 9.99989338e-01 9.40330672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.83552929299999 meters Centerline goodness [0,1] 0.99821076011846 Centerline is valid? [True, True] Translation: X:-42.62, Y:-2.62, Z:0.94 [[ 9.99726849e-01 -2.32482848e-02 -2.39662796e-03 -4.26174053e+01] [ 2.32480893e-02 9.99729721e-01 -1.09374702e-04 -2.62210335e+00] [ 2.39852298e-03 5.36278057e-05 9.99997122e-01 9.39117888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.865529292999994 meters Centerline goodness [0,1] 0.9984580592105263 Centerline is valid? [True, True] Translation: X:-42.65, Y:-2.62, Z:0.93 [[ 9.99770579e-01 -2.05487393e-02 -6.04477420e-03 -4.26471972e+01] [ 2.05473290e-02 9.99788838e-01 -2.95328899e-04 -2.62047829e+00] [ 6.04956641e-03 1.71057180e-04 9.99981687e-01 9.27817841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.895529292999996 meters Centerline goodness [0,1] 0.9984580592105263 Centerline is valid? [True, True] Translation: X:-42.67, Y:-2.62, Z:0.93 [[ 9.99776487e-01 -2.02591083e-02 -6.04526497e-03 -4.26744630e+01] [ 2.02577533e-02 9.99794750e-01 -2.85290465e-04 -2.62201264e+00] [ 6.04980391e-03 1.62763212e-04 9.99981687e-01 9.28711340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.925529293 meters Centerline goodness [0,1] 0.9986383048959129 Centerline is valid? [True, True] Translation: X:-42.71, Y:-2.63, Z:0.92 [[ 9.99765205e-01 -1.84943908e-02 -1.12912211e-02 -4.27052932e+01] [ 1.84893538e-02 9.99828906e-01 -5.50329530e-04 -2.62641606e+00] [ 1.12994672e-02 3.41432934e-04 9.99936101e-01 9.24612157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.955529293 meters Centerline goodness [0,1] 0.9985399658639906 Centerline is valid? [True, True] Translation: X:-42.73, Y:-2.63, Z:0.93 [[ 9.99758079e-01 -1.92548133e-02 -1.06318158e-02 -4.27321785e+01] [ 1.92504398e-02 9.99814561e-01 -5.13553516e-04 -2.63490668e+00] [ 1.06397326e-02 3.08762146e-04 9.99943349e-01 9.27896883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.985529293 meters Centerline goodness [0,1] 0.9988042223321788 Centerline is valid? [True, True] Translation: X:-42.76, Y:-2.63, Z:0.93 [[ 9.99770014e-01 -1.90770784e-02 -9.79712968e-03 -4.27613074e+01] [ 1.90734320e-02 9.99817977e-01 -4.65503483e-04 -2.63381377e+00] [ 9.80422683e-03 2.78531537e-04 9.99951899e-01 9.27974961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.01552929299999 meters Centerline goodness [0,1] 0.9986208883948787 Centerline is valid? [True, True] Translation: X:-42.79, Y:-2.64, Z:0.93 [[ 9.99748015e-01 -2.07499459e-02 -8.56427105e-03 -4.27891677e+01] [ 2.07471827e-02 9.99784669e-01 -4.11379104e-04 -2.63593947e+00] [ 8.57096300e-03 2.33590946e-04 9.99963241e-01 9.31530622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.045529292999994 meters Centerline goodness [0,1] 0.9988291360256357 Centerline is valid? [True, True] Translation: X:-42.82, Y:-2.64, Z:0.92 [[ 9.99643457e-01 -2.36812035e-02 -1.23352984e-02 -4.28184748e+01] [ 2.36756923e-02 9.99719516e-01 -5.92636910e-04 -2.63618253e+00] [ 1.23458729e-02 3.00378879e-04 9.99923742e-01 9.22968556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.075529292999995 meters Centerline goodness [0,1] 0.9986606774911398 Centerline is valid? [True, True] Translation: X:-42.85, Y:-2.64, Z:0.92 [[ 9.99580574e-01 -2.58145489e-02 -1.31257269e-02 -4.28465357e+01] [ 2.58085131e-02 9.99666707e-01 -6.29054415e-04 -2.63677344e+00] [ 1.31375910e-02 2.90035078e-04 9.99913656e-01 9.22880992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.105529293 meters Centerline goodness [0,1] 0.9982130753589253 Centerline is valid? [True, True] Translation: X:-42.88, Y:-2.64, Z:0.93 [[ 9.99622050e-01 -2.63380201e-02 -7.87823306e-03 -4.28753863e+01] [ 2.63358597e-02 9.99653080e-01 -3.77864407e-04 -2.63609059e+00] [ 7.88545214e-03 1.70241553e-04 9.99968895e-01 9.30825723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.135529293 meters Centerline goodness [0,1] 0.9986856966834378 Centerline is valid? [True, True] Translation: X:-42.90, Y:-2.64, Z:0.94 [[ 9.99642915e-01 -2.59163108e-02 -6.51060851e-03 -4.29038408e+01] [ 2.59148851e-02 9.99664107e-01 -3.03262848e-04 -2.63646786e+00] [ 6.51628110e-03 1.34432886e-04 9.99978760e-01 9.35613250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.165529293 meters Centerline goodness [0,1] 0.9987655844957413 Centerline is valid? [True, True] Translation: X:-42.93, Y:-2.64, Z:0.94 [[ 9.99550409e-01 -2.92241163e-02 -6.70302351e-03 -4.29309691e+01] [ 2.92226463e-02 9.99572877e-01 -3.17163198e-04 -2.64497287e+00] [ 6.70942931e-03 1.21140519e-04 9.99977484e-01 9.35435291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.195529293 meters Centerline goodness [0,1] 0.9994034517515891 Centerline is valid? [True, True] Translation: X:-42.96, Y:-2.65, Z:0.94 [[ 9.99512162e-01 -3.04711865e-02 -6.85160019e-03 -4.29592157e+01] [ 3.04697290e-02 9.99535640e-01 -3.17038223e-04 -2.65346974e+00] [ 6.85807911e-03 1.08117159e-04 9.99976477e-01 9.35050543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.225529292999994 meters Centerline goodness [0,1] 0.9983947974975305 Centerline is valid? [True, True] Translation: X:-42.99, Y:-2.66, Z:0.94 [[ 9.99478863e-01 -3.17818255e-02 -5.64958530e-03 -4.29870927e+01] [ 3.17808362e-02 9.99494827e-01 -2.64821337e-04 -2.65528114e+00] [ 5.65514779e-03 8.51347835e-05 9.99984006e-01 9.40173778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.255529292999995 meters Centerline goodness [0,1] 0.998663184089834 Centerline is valid? [True, True] Translation: X:-43.02, Y:-2.65, Z:0.93 [[ 9.99522634e-01 -2.96572010e-02 -8.65758833e-03 -4.30181931e+01] [ 2.96547644e-02 9.99560117e-01 -4.09700300e-04 -2.64540901e+00] [ 8.66593057e-03 1.52765980e-04 9.99962438e-01 9.33262012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.285529292999996 meters Centerline goodness [0,1] 0.9986431200016447 Centerline is valid? [True, True] Translation: X:-43.05, Y:-2.64, Z:0.93 [[ 9.99526857e-01 -2.81266089e-02 -1.24481680e-02 -4.30484711e+01] [ 2.81214639e-02 9.99604340e-01 -5.88193978e-04 -2.64138021e+00] [ 1.24597867e-02 2.37854971e-04 9.99922346e-01 9.25207984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.315529293 meters Centerline goodness [0,1] 0.9993625465238223 Centerline is valid? [True, True] Translation: X:-43.08, Y:-2.64, Z:0.93 [[ 9.99587125e-01 -2.56607016e-02 -1.29270008e-02 -4.30760767e+01] [ 2.56549839e-02 9.99670672e-01 -6.07971687e-04 -2.64260938e+00] [ 1.29383446e-02 2.76078674e-04 9.99916258e-01 9.30003845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.345529293 meters Centerline goodness [0,1] 0.9987060732403623 Centerline is valid? [True, True] Translation: X:-43.10, Y:-2.64, Z:0.93 [[ 9.99629418e-01 -2.47884397e-02 -1.12498658e-02 -4.31038656e+01] [ 2.47840708e-02 9.99692689e-01 -5.27618396e-04 -2.64425820e+00] [ 1.12594874e-02 2.48605400e-04 9.99936579e-01 9.34567084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.375529293 meters Centerline goodness [0,1] 0.9989327203316777 Centerline is valid? [True, True] Translation: X:-43.13, Y:-2.64, Z:0.94 [[ 9.99723497e-01 -2.09155536e-02 -1.07456628e-02 -4.31331275e+01] [ 2.09114353e-02 9.99781209e-01 -4.95481659e-04 -2.63622295e+00] [ 1.07536751e-02 2.70637424e-04 9.99942141e-01 9.36008128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.405529292999994 meters Centerline goodness [0,1] 0.9989908974834218 Centerline is valid? [True, True] Translation: X:-43.16, Y:-2.63, Z:0.93 [[ 9.99824591e-01 -1.60051500e-02 -9.72737197e-03 -4.31624306e+01] [ 1.60014983e-02 9.99871865e-01 -4.53121804e-04 -2.62500176e+00] [ 9.73337783e-03 2.97389797e-04 9.99952585e-01 9.29229381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.435529292999995 meters Centerline goodness [0,1] 0.9993824746299994 Centerline is valid? [True, True] Translation: X:-43.19, Y:-2.63, Z:0.94 [[ 9.99878965e-01 -1.38191842e-02 -7.14746153e-03 -4.31898017e+01] [ 1.38171841e-02 9.99904484e-01 -3.29148891e-04 -2.62803881e+00] [ 7.15132740e-03 2.30351260e-04 9.99974402e-01 9.40226122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.465529292999996 meters Centerline goodness [0,1] 0.9990534200345708 Centerline is valid? [True, True] Translation: X:-43.22, Y:-2.63, Z:0.93 [[ 9.99884436e-01 -1.36449905e-02 -6.70290163e-03 -4.32192761e+01] [ 1.36432678e-02 9.99906880e-01 -3.02679574e-04 -2.62509526e+00] [ 6.70640752e-03 2.11195113e-04 9.99977489e-01 9.31337626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.495529293 meters Centerline goodness [0,1] 0.998865230667657 Centerline is valid? [True, True] Translation: X:-43.25, Y:-2.62, Z:0.93 [[ 9.99823412e-01 -1.34495243e-02 -1.31246314e-02 -4.32486019e+01] [ 1.34426956e-02 9.99909458e-01 -6.08378114e-04 -2.62275379e+00] [ 1.31316255e-02 4.31840257e-04 9.99913683e-01 9.29424427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.525529293 meters Centerline goodness [0,1] 0.9989260192490396 Centerline is valid? [True, True] Translation: X:-43.28, Y:-2.62, Z:0.92 [[ 9.99737258e-01 -1.43463322e-02 -1.78772710e-02 -4.32789335e+01] [ 1.43338039e-02 9.99896922e-01 -8.28737772e-04 -2.62031045e+00] [ 1.78873176e-02 5.72270732e-04 9.99839845e-01 9.17313544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.555529293 meters Centerline goodness [0,1] 0.9991542380922912 Centerline is valid? [True, True] Translation: X:-43.31, Y:-2.63, Z:0.93 [[ 9.99718052e-01 -1.69475796e-02 -1.66311635e-02 -4.33060872e+01] [ 1.69371462e-02 9.99856261e-01 -7.68002632e-04 -2.63173245e+00] [ 1.66417888e-02 4.86101648e-04 9.99861398e-01 9.26796911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58552929299999 meters Centerline goodness [0,1] 0.9991151717184188 Centerline is valid? [True, True] Translation: X:-43.34, Y:-2.64, Z:0.93 [[ 9.99696862e-01 -2.06886790e-02 -1.33477960e-02 -4.33352243e+01] [ 2.06822772e-02 9.99785908e-01 -6.17481753e-04 -2.64127047e+00] [ 1.33577132e-02 3.41231753e-04 9.99910724e-01 9.34048458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.615529292999994 meters Centerline goodness [0,1] 0.9990511942576626 Centerline is valid? [True, True] Translation: X:-43.36, Y:-2.64, Z:0.94 [[ 9.99670366e-01 -2.30432357e-02 -1.13211625e-02 -4.33644436e+01] [ 2.30388031e-02 9.99734435e-01 -5.21813614e-04 -2.63692296e+00] [ 1.13301803e-02 2.60815572e-04 9.99935777e-01 9.40059946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.645529292999996 meters Centerline goodness [0,1] 0.9988486368682923 Centerline is valid? [True, True] Translation: X:-43.39, Y:-2.63, Z:0.93 [[ 9.99677909e-01 -2.34475794e-02 -9.71029401e-03 -4.33941690e+01] [ 2.34444247e-02 9.99725045e-01 -4.38600530e-04 -2.62659267e+00] [ 9.71790824e-03 2.10807003e-04 9.99952758e-01 9.31128422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.675529293 meters Centerline goodness [0,1] 0.9991753937494846 Centerline is valid? [True, True] Translation: X:-43.42, Y:-2.63, Z:0.93 [[ 9.99682306e-01 -2.28307263e-02 -1.06791633e-02 -4.34218471e+01] [ 2.28268406e-02 9.99739316e-01 -4.85620407e-04 -2.62962728e+00] [ 1.06874665e-02 2.41694569e-04 9.99942858e-01 9.33860252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.705529293 meters Centerline goodness [0,1] 0.9991343954164177 Centerline is valid? [True, True] Translation: X:-43.45, Y:-2.64, Z:0.94 [[ 9.99684387e-01 -2.20675920e-02 -1.20061877e-02 -4.34490166e+01] [ 2.20626164e-02 9.99756441e-01 -5.46727627e-04 -2.63841382e+00] [ 1.20153285e-02 2.81667158e-04 9.99927774e-01 9.39526747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.735529293 meters Centerline goodness [0,1] 0.9992981297221419 Centerline is valid? [True, True] Translation: X:-43.48, Y:-2.64, Z:0.94 [[ 9.99642578e-01 -2.34045386e-02 -1.29206749e-02 -4.34761763e+01] [ 2.33990171e-02 9.99726038e-01 -5.78372343e-04 -2.64269131e+00] [ 1.29306717e-02 2.75834527e-04 9.99916357e-01 9.39294972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76552929299999 meters Centerline goodness [0,1] 0.998824548379114 Centerline is valid? [True, True] Translation: X:-43.50, Y:-2.63, Z:0.95 [[ 9.99670477e-01 -2.29669202e-02 -1.14655210e-02 -4.35034968e+01] [ 2.29625032e-02 9.99736193e-01 -5.16753893e-04 -2.63450942e+00] [ 1.14743646e-02 2.53306549e-04 9.99934135e-01 9.50586871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.795529292999994 meters Centerline goodness [0,1] 0.9993606929263765 Centerline is valid? [True, True] Translation: X:-43.53, Y:-2.62, Z:0.95 [[ 9.99763892e-01 -1.97470851e-02 -9.06717839e-03 -4.35323664e+01] [ 1.97442623e-02 9.99804983e-01 -4.00743269e-04 -2.62335655e+00] [ 9.07332365e-03 2.21623902e-04 9.99958812e-01 9.49330337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.825529292999995 meters Centerline goodness [0,1] 0.999090364061111 Centerline is valid? [True, True] Translation: X:-43.56, Y:-2.62, Z:0.94 [[ 9.99798503e-01 -1.74499382e-02 -9.92239456e-03 -4.35620662e+01] [ 1.74463848e-02 9.99847701e-01 -4.44576466e-04 -2.61835965e+00] [ 9.92864123e-03 2.71376972e-04 9.99950673e-01 9.37728456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.855529293 meters Centerline goodness [0,1] 0.9994852895760845 Centerline is valid? [True, True] Translation: X:-43.59, Y:-2.63, Z:0.94 [[ 9.99718802e-01 -1.77303371e-02 -1.57465107e-02 -4.35905583e+01] [ 1.77213810e-02 9.99842713e-01 -7.08128250e-04 -2.63183104e+00] [ 1.57565893e-02 4.28879210e-04 9.99875765e-01 9.39510092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.885529293 meters Centerline goodness [0,1] 0.9989688808232455 Centerline is valid? [True, True] Translation: X:-43.62, Y:-2.63, Z:0.94 [[ 9.99705482e-01 -1.86504986e-02 -1.55276337e-02 -4.36195285e+01] [ 1.86420798e-02 9.99825985e-01 -6.86761282e-04 -2.63227544e+00] [ 1.55377401e-02 3.97091634e-04 9.99879203e-01 9.37752343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.915529293 meters Centerline goodness [0,1] 0.999215329974395 Centerline is valid? [True, True] Translation: X:-43.65, Y:-2.63, Z:0.95 [[ 9.99741218e-01 -2.01601565e-02 -1.05387552e-02 -4.36485715e+01] [ 2.01563066e-02 9.99796730e-01 -4.71411042e-04 -2.63320051e+00] [ 1.05461167e-02 2.58866669e-04 9.99944355e-01 9.51371853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.945529293 meters Centerline goodness [0,1] 0.9988266293383836 Centerline is valid? [True, True] Translation: X:-43.68, Y:-2.63, Z:0.96 [[ 9.99787344e-01 -1.94150291e-02 -6.95143526e-03 -4.36780270e+01] [ 1.94133500e-02 9.99811495e-01 -3.08945539e-04 -2.62887084e+00] [ 6.95612307e-03 1.73929194e-04 9.99975791e-01 9.55151993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.975529292999994 meters Centerline goodness [0,1] 0.9989058629232039 Centerline is valid? [True, True] Translation: X:-43.71, Y:-2.63, Z:0.95 [[ 9.99797683e-01 -1.77449953e-02 -9.47147172e-03 -4.37083119e+01] [ 1.77417870e-02 9.99842513e-01 -4.22655667e-04 -2.62630811e+00] [ 9.47748011e-03 2.54529322e-04 9.99955055e-01 9.47214987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.005529292999995 meters Centerline goodness [0,1] 0.9991734341743641 Centerline is valid? [True, True] Translation: X:-43.74, Y:-2.63, Z:0.95 [[ 9.99749343e-01 -1.81135287e-02 -1.31586918e-02 -4.37367007e+01] [ 1.81073902e-02 9.99835876e-01 -5.85501877e-04 -2.62824897e+00] [ 1.31671377e-02 3.47085550e-04 9.99913249e-01 9.48395416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.035529292999996 meters Centerline goodness [0,1] 0.9993803957205998 Centerline is valid? [True, True] Translation: X:-43.77, Y:-2.63, Z:0.95 [[ 9.99729729e-01 -1.86351898e-02 -1.38995798e-02 -4.37652939e+01] [ 1.86285308e-02 9.99826289e-01 -6.08401819e-04 -2.62972267e+00] [ 1.39085029e-02 3.49308635e-04 9.99903211e-01 9.51799472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.065529293 meters Centerline goodness [0,1] 0.9991571590091479 Centerline is valid? [True, True] Translation: X:-43.80, Y:-2.63, Z:0.95 [[ 9.99770694e-01 -1.89027371e-02 -1.00621471e-02 -4.37954919e+01] [ 1.88992079e-02 9.99821295e-01 -4.45717957e-04 -2.63139465e+00] [ 1.00687742e-02 2.55449142e-04 9.99949276e-01 9.53371955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.095529293 meters Centerline goodness [0,1] 0.9989918110365829 Centerline is valid? [True, True] Translation: X:-43.82, Y:-2.64, Z:0.96 [[ 9.99765314e-01 -1.94636056e-02 -9.51234622e-03 -4.38224015e+01] [ 1.94605356e-02 9.99810540e-01 -4.15196318e-04 -2.63539322e+00] [ 9.51862523e-03 2.29983524e-04 9.99954670e-01 9.57643244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.125529293 meters Centerline goodness [0,1] 0.9987647204150539 Centerline is valid? [True, True] Translation: X:-43.85, Y:-2.63, Z:0.96 [[ 9.99741857e-01 -1.99962541e-02 -1.07874206e-02 -4.38514796e+01] [ 1.99923925e-02 9.99800024e-01 -4.65701239e-04 -2.63405076e+00] [ 1.07945757e-02 2.49914674e-04 9.99941706e-01 9.58227897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.155529292999994 meters Centerline goodness [0,1] 0.9990477964768469 Centerline is valid? [True, True] Translation: X:-43.88, Y:-2.63, Z:0.95 [[ 9.99724376e-01 -1.91546501e-02 -1.35746717e-02 -4.38804966e+01] [ 1.91483496e-02 9.99816477e-01 -5.93970528e-04 -2.63210276e+00] [ 1.35835577e-02 3.33874257e-04 9.99907683e-01 9.54619365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.185529292999995 meters Centerline goodness [0,1] 0.9987600231462346 Centerline is valid? [True, True] Translation: X:-43.91, Y:-2.63, Z:0.96 [[ 9.99749254e-01 -1.75865627e-02 -1.38615467e-02 -4.39097999e+01] [ 1.75799047e-02 9.99845280e-01 -6.02031938e-04 -2.63002524e+00] [ 1.38699897e-02 3.58196311e-04 9.99903743e-01 9.55943513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.215529292999996 meters Centerline goodness [0,1] 0.9991132375079912 Centerline is valid? [True, True] Translation: X:-43.94, Y:-2.63, Z:0.96 [[ 9.99777623e-01 -1.74194699e-02 -1.18855272e-02 -4.39390315e+01] [ 1.74145469e-02 9.99848221e-01 -5.17580701e-04 -2.62948630e+00] [ 1.18927392e-02 3.10484533e-04 9.99929231e-01 9.56503084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.245529293 meters Centerline goodness [0,1] 0.9988459081260433 Centerline is valid? [True, True] Translation: X:-43.97, Y:-2.63, Z:0.96 [[ 9.99783109e-01 -1.81345385e-02 -1.02408163e-02 -4.39686949e+01] [ 1.81309214e-02 9.99835522e-01 -4.45937076e-04 -2.62614217e+00] [ 1.02472187e-02 2.60164921e-04 9.99947462e-01 9.57348347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.275529293 meters Centerline goodness [0,1] 0.9988219489511212 Centerline is valid? [True, True] Translation: X:-44.00, Y:-2.63, Z:0.97 [[ 9.99827613e-01 -1.65832276e-02 -8.35109274e-03 -4.39962001e+01] [ 1.65808074e-02 9.99862465e-01 -3.58962633e-04 -2.63295729e+00] [ 8.35589692e-03 2.20432892e-04 9.99965065e-01 9.66367694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.305529293 meters Centerline goodness [0,1] 0.9989701763058164 Centerline is valid? [True, True] Translation: X:-44.03, Y:-2.64, Z:0.97 [[ 9.99865880e-01 -1.31849568e-02 -9.71488815e-03 -4.40256530e+01] [ 1.31814855e-02 9.99913032e-01 -4.21259188e-04 -2.63566737e+00] [ 9.71959755e-03 2.93146031e-04 9.99952721e-01 9.67885909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.33552929299999 meters Centerline goodness [0,1] 0.9991336454959879 Centerline is valid? [True, True] Translation: X:-44.05, Y:-2.63, Z:0.97 [[ 9.99899140e-01 -1.07636382e-02 -9.26571275e-03 -4.40539500e+01] [ 1.07604655e-02 9.99942028e-01 -3.92193047e-04 -2.63350207e+00] [ 9.26939702e-03 2.92450108e-04 9.99956995e-01 9.70638576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.365529292999994 meters Centerline goodness [0,1] 0.9987043435340572 Centerline is valid? [True, True] Translation: X:-44.08, Y:-2.63, Z:0.97 [[ 9.99896516e-01 -1.21607175e-02 -7.68597342e-03 -4.40841413e+01] [ 1.21585338e-02 9.99926028e-01 -3.30775103e-04 -2.62660067e+00] [ 7.68942733e-03 2.37290705e-04 9.99970408e-01 9.73378521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.395529292999996 meters Centerline goodness [0,1] 0.9985593150572157 Centerline is valid? [True, True] Translation: X:-44.11, Y:-2.63, Z:0.97 [[ 9.99895538e-01 -1.27944785e-02 -6.72414862e-03 -4.41117259e+01] [ 1.27928508e-02 9.99918128e-01 -2.85034545e-04 -2.62810577e+00] [ 6.72724497e-03 1.98983740e-04 9.99977352e-01 9.71774763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.425529293 meters Centerline goodness [0,1] 0.9982283748429228 Centerline is valid? [True, True] Translation: X:-44.14, Y:-2.63, Z:0.97 [[ 9.99899518e-01 -1.11761364e-02 -8.72059837e-03 -4.41410533e+01] [ 1.11733715e-02 9.99937509e-01 -3.65710459e-04 -2.63158140e+00] [ 8.72414065e-03 2.68235226e-04 9.99961908e-01 9.66645496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.455529293 meters Centerline goodness [0,1] 0.9986352921715397 Centerline is valid? [True, True] Translation: X:-44.17, Y:-2.64, Z:0.97 [[ 9.99865346e-01 -1.21851497e-02 -1.09914230e-02 -4.41685980e+01] [ 1.21808305e-02 9.99925705e-01 -4.59820650e-04 -2.64144469e+00] [ 1.09962094e-02 3.25874072e-04 9.99939487e-01 9.72075703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.485529293 meters Centerline goodness [0,1] 0.9980362568989396 Centerline is valid? [True, True] Translation: X:-44.20, Y:-2.65, Z:0.98 [[ 9.99825791e-01 -1.48383877e-02 -1.13229421e-02 -4.41966048e+01] [ 1.48339241e-02 9.99889857e-01 -4.78098933e-04 -2.64510844e+00] [ 1.13287892e-02 3.10051980e-04 9.99935779e-01 9.76056810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.51552929299999 meters Centerline goodness [0,1] 0.9985359919170258 Centerline is valid? [True, True] Translation: X:-44.23, Y:-2.65, Z:0.98 [[ 9.99784355e-01 -1.94758711e-02 -7.20651236e-03 -4.42268715e+01] [ 1.94741712e-02 9.99810314e-01 -3.05981985e-04 -2.64628668e+00] [ 7.21110465e-03 1.65575146e-04 9.99973986e-01 9.80409066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.545529292999994 meters Centerline goodness [0,1] 0.997960024726973 Centerline is valid? [True, True] Translation: X:-44.25, Y:-2.65, Z:0.98 [[ 9.99780572e-01 -1.98066889e-02 -6.81930604e-03 -4.42545877e+01] [ 1.98051977e-02 9.99803817e-01 -2.86137629e-04 -2.64779441e+00] [ 6.82363565e-03 1.51017138e-04 9.99976707e-01 9.79953761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.575529292999995 meters Centerline goodness [0,1] 0.998408795023868 Centerline is valid? [True, True] Translation: X:-44.28, Y:-2.65, Z:0.97 [[ 9.99775161e-01 -1.87655234e-02 -9.87330592e-03 -4.42844237e+01] [ 1.87623201e-02 9.99823885e-01 -4.16975055e-04 -2.64515158e+00] [ 9.87939184e-03 2.31635177e-04 9.99951171e-01 9.74156595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.605529293 meters Centerline goodness [0,1] 0.9975764354958986 Centerline is valid? [True, True] Translation: X:-44.31, Y:-2.65, Z:0.98 [[ 9.99806236e-01 -1.68983149e-02 -1.00963907e-02 -4.43128622e+01] [ 1.68949662e-02 9.99857183e-01 -4.16878626e-04 -2.64896820e+00] [ 1.01019933e-02 2.46219671e-04 9.99948943e-01 9.77142556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.635529293 meters Centerline goodness [0,1] 0.9978287841191067 Centerline is valid? [True, True] Translation: X:-44.34, Y:-2.65, Z:0.98 [[ 9.99871387e-01 -1.39727186e-02 -7.87223379e-03 -4.43414115e+01] [ 1.39706218e-02 9.99902354e-01 -3.21283558e-04 -2.65128588e+00] [ 7.87595430e-03 2.11262236e-04 9.99968962e-01 9.81247016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.665529293 meters Centerline goodness [0,1] 0.9978925184404637 Centerline is valid? [True, True] Translation: X:-44.37, Y:-2.65, Z:0.99 [[ 9.99910849e-01 -1.15644155e-02 -6.67523244e-03 -4.43685957e+01] [ 1.15628319e-02 9.99933110e-01 -2.75785104e-04 -2.65129204e+00] [ 6.67797523e-03 1.98575927e-04 9.99977682e-01 9.90635501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.695529293 meters Centerline goodness [0,1] 0.9981223175965666 Centerline is valid? [True, True] Translation: X:-44.40, Y:-2.65, Z:0.98 [[ 9.99934073e-01 -9.85553155e-03 -5.89218828e-03 -4.43977661e+01] [ 9.85431085e-03 9.99951417e-01 -2.36169349e-04 -2.64706664e+00] [ 5.89422959e-03 1.78090324e-04 9.99982613e-01 9.82534548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.725529292999994 meters Centerline goodness [0,1] 0.9986375459312167 Centerline is valid? [True, True] Translation: X:-44.43, Y:-2.65, Z:0.99 [[ 9.99940038e-01 -8.89783664e-03 -6.38352847e-03 -4.44252065e+01] [ 8.89634908e-03 9.99960393e-01 -2.61389513e-04 -2.65241982e+00] [ 6.38560144e-03 2.04583742e-04 9.99979591e-01 9.86848396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.755529292999995 meters Centerline goodness [0,1] 0.9982284113381674 Centerline is valid? [True, True] Translation: X:-44.45, Y:-2.66, Z:0.99 [[ 9.99939976e-01 -8.54397950e-03 -6.85894679e-03 -4.44525467e+01] [ 8.54225709e-03 9.99963475e-01 -2.80376601e-04 -2.66043786e+00] [ 6.86109180e-03 2.21768885e-04 9.99976438e-01 9.93833847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.785529292999996 meters Centerline goodness [0,1] 0.9975317783536961 Centerline is valid? [True, True] Translation: X:-44.48, Y:-2.66, Z:1.00 [[ 9.99956112e-01 -8.06668058e-03 -4.76471981e-03 -4.44812189e+01] [ 8.06588059e-03 9.99967453e-01 -1.87091311e-04 -2.66315662e+00] [ 4.76607394e-03 1.48651439e-04 9.99988631e-01 9.96856841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.815529293 meters Centerline goodness [0,1] 0.9975317783536961 Centerline is valid? [True, True] Translation: X:-44.51, Y:-2.66, Z:1.00 [[ 9.99956998e-01 -7.95618603e-03 -4.76453911e-03 -4.45086246e+01] [ 7.95536386e-03 9.99968337e-01 -1.91487106e-04 -2.66443145e+00] [ 4.76591175e-03 1.53575229e-04 9.99988631e-01 9.97759720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.845529293 meters Centerline goodness [0,1] 0.9977343878727962 Centerline is valid? [True, True] Translation: X:-44.54, Y:-2.66, Z:0.99 [[ 9.99940015e-01 -8.22788047e-03 -7.22972934e-03 -4.45377594e+01] [ 8.22597608e-03 9.99966123e-01 -2.93108183e-04 -2.65902890e+00] [ 7.23189608e-03 2.33619020e-04 9.99973822e-01 9.90896431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.875529293 meters Centerline goodness [0,1] 0.9976676023778072 Centerline is valid? [True, True] Translation: X:-44.57, Y:-2.66, Z:0.98 [[ 9.99885720e-01 -1.02278478e-02 -1.11327235e-02 -4.45655600e+01] [ 1.02234759e-02 9.99947638e-01 -4.49544750e-04 -2.66396496e+00] [ 1.11367384e-02 3.35678247e-04 9.99937928e-01 9.84050816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.905529292999994 meters Centerline goodness [0,1] 0.9979760011565708 Centerline is valid? [True, True] Translation: X:-44.59, Y:-2.67, Z:0.99 [[ 9.99895793e-01 -1.14826300e-02 -8.74946916e-03 -4.45934605e+01] [ 1.14799775e-02 9.99934040e-01 -3.53325713e-04 -2.67461081e+00] [ 8.75294916e-03 2.52845184e-04 9.99961660e-01 9.89485775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.935529292999995 meters Centerline goodness [0,1] 0.9976061744190846 Centerline is valid? [True, True] Translation: X:-44.62, Y:-2.68, Z:1.01 [[ 9.99919817e-01 -1.26601506e-02 -2.81446408e-04 -4.46215372e+01] [ 1.26601475e-02 9.99919857e-01 -1.27199014e-05 -2.68225903e+00] [ 2.81584887e-04 9.15572843e-06 9.99999960e-01 1.00794908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.965529292999996 meters Centerline goodness [0,1] 0.9980015657835098 Centerline is valid? [True, True] Translation: X:-44.65, Y:-2.68, Z:1.01 [[ 9.99929948e-01 -1.16575118e-02 2.04957651e-03 -4.46499513e+01] [ 1.16573594e-02 9.99932047e-01 8.62889147e-05 -2.67837913e+00] [-2.05044315e-03 -6.23902200e-05 9.99997896e-01 1.00987000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.995529293 meters Centerline goodness [0,1] 0.9978556258891936 Centerline is valid? [True, True] Translation: X:-44.68, Y:-2.67, Z:1.00 [[ 9.99922856e-01 -1.12201968e-02 -5.32808660e-03 -4.46804617e+01] [ 1.12192036e-02 9.99937039e-01 -2.16261414e-04 -2.67280808e+00] [ 5.33017764e-03 1.56467842e-04 9.99985782e-01 1.00087648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.025529293 meters Centerline goodness [0,1] 0.9977334075127239 Centerline is valid? [True, True] Translation: X:-44.71, Y:-2.68, Z:0.99 [[ 9.99918071e-01 -9.83723892e-03 -8.19029472e-03 -4.47103306e+01] [ 9.83485015e-03 9.99951582e-01 -3.31884228e-04 -2.67812423e+00] [ 8.19316299e-03 2.51306716e-04 9.99966404e-01 9.94382919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.055529293 meters Centerline goodness [0,1] 0.9979755843199803 Centerline is valid? [True, True] Translation: X:-44.74, Y:-2.69, Z:1.00 [[ 9.99933062e-01 -1.02363879e-02 -5.39329779e-03 -4.47395144e+01] [ 1.02353634e-02 9.99947594e-01 -2.17538166e-04 -2.68828603e+00] [ 5.39524195e-03 1.62321242e-04 9.99985432e-01 9.98955322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.08552929299999 meters Centerline goodness [0,1] 0.9981227824077894 Centerline is valid? [True, True] Translation: X:-44.77, Y:-2.69, Z:1.01 [[ 9.99952668e-01 -8.83503034e-03 -4.07468841e-03 -4.47671855e+01] [ 8.83444367e-03 9.99960962e-01 -1.61956235e-04 -2.69263174e+00] [ 4.07596023e-03 1.25950964e-04 9.99991685e-01 1.00508072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.115529292999994 meters Centerline goodness [0,1] 0.9976798143851509 Centerline is valid? [True, True] Translation: X:-44.80, Y:-2.68, Z:1.00 [[ 9.99944623e-01 -9.35732458e-03 -4.81567510e-03 -4.47963066e+01] [ 9.35650757e-03 9.99956208e-01 -1.92157483e-04 -2.68471064e+00] [ 4.81726230e-03 1.47088941e-04 9.99988386e-01 1.00454550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.145529292999996 meters Centerline goodness [0,1] 0.9977269439795011 Centerline is valid? [True, True] Translation: X:-44.83, Y:-2.68, Z:1.00 [[ 9.99951209e-01 -8.07927985e-03 -5.68376436e-03 -4.48252692e+01] [ 8.07812102e-03 9.99967346e-01 -2.26812308e-04 -2.67922829e+00] [ 5.68541124e-03 1.80887105e-04 9.99983822e-01 1.00400582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.175529293 meters Centerline goodness [0,1] 0.9984909248770001 Centerline is valid? [True, True] Translation: X:-44.85, Y:-2.68, Z:1.00 [[ 9.99943918e-01 -9.23560504e-03 -5.18313117e-03 -4.48531733e+01] [ 9.23466344e-03 9.99957338e-01 -2.05569678e-04 -2.68067154e+00] [ 5.18480861e-03 1.57693677e-04 9.99986546e-01 9.99441536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.205529293 meters Centerline goodness [0,1] 0.997665433960705 Centerline is valid? [True, True] Translation: X:-44.88, Y:-2.70, Z:1.01 [[ 9.99939027e-01 -1.03847838e-02 -3.75474987e-03 -4.48803665e+01] [ 1.03842997e-02 9.99946071e-01 -1.48392625e-04 -2.69611241e+00] [ 3.75608840e-03 1.09393129e-04 9.99992940e-01 1.00589430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.235529293 meters Centerline goodness [0,1] 0.9978952581403987 Centerline is valid? [True, True] Translation: X:-44.91, Y:-2.70, Z:1.01 [[ 9.99940345e-01 -9.94290086e-03 -4.52154050e-03 -4.49089659e+01] [ 9.94219379e-03 9.99950559e-01 -1.78828698e-04 -2.70405152e+00] [ 4.52309503e-03 1.33863998e-04 9.99989762e-01 1.00773326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.26552929299999 meters Centerline goodness [0,1] 0.9976691899919556 Centerline is valid? [True, True] Translation: X:-44.94, Y:-2.70, Z:1.01 [[ 9.99900908e-01 -1.26775792e-02 -6.11982184e-03 -4.49382972e+01] [ 1.26763755e-02 9.99919624e-01 -2.35437493e-04 -2.69617668e+00] [ 6.12231473e-03 1.57837003e-04 9.99981246e-01 1.00675642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.295529292999994 meters Centerline goodness [0,1] 0.9982459036691568 Centerline is valid? [True, True] Translation: X:-44.97, Y:-2.69, Z:1.00 [[ 9.99861896e-01 -1.47700813e-02 -7.61792527e-03 -4.49667287e+01] [ 1.47682876e-02 9.99890900e-01 -2.91653035e-04 -2.69330635e+00] [ 7.62140189e-03 1.79109045e-04 9.99970941e-01 9.98045365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.325529292999995 meters Centerline goodness [0,1] 0.9971316549731738 Centerline is valid? [True, True] Translation: X:-45.00, Y:-2.70, Z:0.99 [[ 9.99833676e-01 -1.52090078e-02 -1.00651162e-02 -4.49958289e+01] [ 1.52058715e-02 9.99884309e-01 -3.88063839e-04 -2.69676027e+00] [ 1.00698538e-02 2.34950431e-04 9.99949270e-01 9.91783621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.355529293 meters Centerline goodness [0,1] 0.9973672302439426 Centerline is valid? [True, True] Translation: X:-45.02, Y:-2.70, Z:1.00 [[ 9.99823855e-01 -1.52566257e-02 -1.09313537e-02 -4.50235338e+01] [ 1.52529589e-02 9.99883579e-01 -4.18737681e-04 -2.70362365e+00] [ 1.09364696e-02 2.51928434e-04 9.99940163e-01 9.98334439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.385529293 meters Centerline goodness [0,1] 0.9976872405889277 Centerline is valid? [True, True] Translation: X:-45.05, Y:-2.70, Z:1.00 [[ 9.99784357e-01 -1.93274621e-02 -7.59533848e-03 -4.50526910e+01] [ 1.93257772e-02 9.99813196e-01 -2.95167458e-04 -2.70473410e+00] [ 7.59962448e-03 1.48317988e-04 9.99971111e-01 1.00423235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.415529293 meters Centerline goodness [0,1] 0.9969484536082475 Centerline is valid? [True, True] Translation: X:-45.08, Y:-2.70, Z:1.01 [[ 9.99761508e-01 -2.12939720e-02 -4.84706352e-03 -4.50825147e+01] [ 2.12933120e-02 9.99773254e-01 -1.87737163e-04 -2.70442332e+00] [ 4.84996214e-03 8.44823537e-05 9.99988235e-01 1.00742628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.445529293 meters Centerline goodness [0,1] 0.9981628271819007 Centerline is valid? [True, True] Translation: X:-45.11, Y:-2.71, Z:1.00 [[ 9.99766772e-01 -2.03814283e-02 -7.14132101e-03 -4.51114415e+01] [ 2.03800270e-02 9.99792270e-01 -2.68956920e-04 -2.71146405e+00] [ 7.14531927e-03 1.23353877e-04 9.99974464e-01 1.00156316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.475529292999994 meters Centerline goodness [0,1] 0.9977088364604619 Centerline is valid? [True, True] Translation: X:-45.14, Y:-2.72, Z:1.00 [[ 9.99749242e-01 -2.08030064e-02 -8.28779050e-03 -4.51391231e+01] [ 2.08010900e-02 9.99783584e-01 -3.17378611e-04 -2.72072294e+00] [ 8.29259932e-03 1.44903950e-04 9.99965605e-01 1.00285947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.505529292999995 meters Centerline goodness [0,1] 0.9976234759247778 Centerline is valid? [True, True] Translation: X:-45.17, Y:-2.72, Z:1.01 [[ 9.99741907e-01 -2.16086632e-02 -7.01319970e-03 -4.51677489e+01] [ 2.16073644e-02 9.99766500e-01 -2.60917284e-04 -2.71895385e+00] [ 7.01720019e-03 1.09313181e-04 9.99975373e-01 1.00892270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.535529292999996 meters Centerline goodness [0,1] 0.997606223818073 Centerline is valid? [True, True] Translation: X:-45.20, Y:-2.71, Z:1.01 [[ 9.99765089e-01 -2.10735531e-02 -5.06678501e-03 -4.51964766e+01] [ 2.10728868e-02 9.99777925e-01 -1.84849686e-04 -2.71298896e+00] [ 5.06955525e-03 7.80344761e-05 9.99987147e-01 1.01287795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.565529293 meters Centerline goodness [0,1] 0.9977095928852939 Centerline is valid? [True, True] Translation: X:-45.23, Y:-2.71, Z:1.01 [[ 9.99816937e-01 -1.83971010e-02 -5.25731921e-03 -4.52251466e+01] [ 1.83963521e-02 9.99830755e-01 -1.90779903e-04 -2.70783189e+00] [ 5.25993923e-03 9.40294835e-05 9.99986162e-01 1.00634052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.595529293 meters Centerline goodness [0,1] 0.9977288681504728 Centerline is valid? [True, True] Translation: X:-45.25, Y:-2.71, Z:1.00 [[ 9.99874375e-01 -1.44604144e-02 -6.49082866e-03 -4.52536142e+01] [ 1.44591361e-02 9.99895431e-01 -2.43833356e-04 -2.70768006e+00] [ 6.49367586e-03 1.49950949e-04 9.99978905e-01 1.00478242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.625529293 meters Centerline goodness [0,1] 0.9983470732866382 Centerline is valid? [True, True] Translation: X:-45.28, Y:-2.71, Z:1.01 [[ 9.99902355e-01 -1.20257243e-02 -7.11780122e-03 -4.52815249e+01] [ 1.20241329e-02 9.99927672e-01 -2.66332587e-04 -2.71184969e+00] [ 7.12048924e-03 1.80721193e-04 9.99974633e-01 1.01173428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.655529292999994 meters Centerline goodness [0,1] 0.9978262219737905 Centerline is valid? [True, True] Translation: X:-45.31, Y:-2.71, Z:1.01 [[ 9.99924893e-01 -1.06518057e-02 -6.06194204e-03 -4.53106463e+01] [ 1.06506747e-02 9.99943256e-01 -2.18825706e-04 -2.70517281e+00] [ 6.06392895e-03 1.54245498e-04 9.99981602e-01 1.00791828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.685529292999995 meters Centerline goodness [0,1] 0.9976460385306325 Centerline is valid? [True, True] Translation: X:-45.34, Y:-2.70, Z:1.00 [[ 9.99924384e-01 -9.78341333e-03 -7.45062286e-03 -4.53400402e+01] [ 9.78167176e-03 9.99952122e-01 -2.70154404e-04 -2.70075712e+00] [ 7.45290917e-03 1.97254429e-04 9.99972207e-01 1.00375770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.715529292999996 meters Centerline goodness [0,1] 0.99792436381751 Centerline is valid? [True, True] Translation: X:-45.37, Y:-2.69, Z:1.00 [[ 9.99910903e-01 -9.12613722e-03 -9.74167151e-03 -4.53684967e+01] [ 9.12306967e-03 9.99958319e-01 -3.59282933e-04 -2.68755633e+00] [ 9.74454434e-03 2.70376975e-04 9.99952484e-01 9.99479531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.745529293 meters Centerline goodness [0,1] 0.9976644206523088 Centerline is valid? [True, True] Translation: X:-45.40, Y:-2.69, Z:1.00 [[ 9.99920383e-01 -8.99593944e-03 -8.84874629e-03 -4.53957003e+01] [ 8.99343017e-03 9.99959506e-01 -3.23324832e-04 -2.69483859e+00] [ 8.85129658e-03 2.43718508e-04 9.99960797e-01 9.98750948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.775529293 meters Centerline goodness [0,1] 0.9980539108111466 Centerline is valid? [True, True] Translation: X:-45.42, Y:-2.71, Z:1.00 [[ 9.99927830e-01 -8.74240537e-03 -8.24042621e-03 -4.54224843e+01] [ 8.74021733e-03 9.99961758e-01 -3.01500288e-04 -2.70717305e+00] [ 8.24274692e-03 2.29455413e-04 9.99966002e-01 1.00377529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.805529293 meters Centerline goodness [0,1] 0.9978230220600431 Centerline is valid? [True, True] Translation: X:-45.45, Y:-2.71, Z:1.01 [[ 9.99890229e-01 -1.18944736e-02 -8.83462814e-03 -4.54510945e+01] [ 1.18921476e-02 9.99929236e-01 -3.15771458e-04 -2.70627299e+00] [ 8.83775891e-03 2.10674094e-04 9.99960924e-01 1.00555334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.83552929299999 meters Centerline goodness [0,1] 0.998180652897517 Centerline is valid? [True, True] Translation: X:-45.48, Y:-2.70, Z:1.00 [[ 9.99843987e-01 -1.55103759e-02 -8.45167199e-03 -4.54805925e+01] [ 1.55083339e-02 9.99879691e-01 -3.07094413e-04 -2.69914192e+00] [ 8.45541833e-03 1.75975150e-04 9.99964237e-01 9.99689910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.865529292999994 meters Centerline goodness [0,1] 0.9987792008938733 Centerline is valid? [True, True] Translation: X:-45.51, Y:-2.70, Z:1.00 [[ 9.99864326e-01 -1.48694127e-02 -7.08737199e-03 -4.55085699e+01] [ 1.48679710e-02 9.99889433e-01 -2.56066437e-04 -2.70000062e+00] [ 7.09039592e-03 1.50656854e-04 9.99974851e-01 1.00100980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.895529292999996 meters Centerline goodness [0,1] 0.997986214914466 Centerline is valid? [True, True] Translation: X:-45.54, Y:-2.70, Z:1.01 [[ 9.99886025e-01 -1.36561908e-02 -6.43784291e-03 -4.55358299e+01] [ 1.36550303e-02 9.99906741e-01 -2.24182031e-04 -2.70409356e+00] [ 6.44030399e-03 1.36247540e-04 9.99979252e-01 1.00676307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.925529293 meters Centerline goodness [0,1] 0.9980504801211191 Centerline is valid? [True, True] Translation: X:-45.57, Y:-2.71, Z:1.00 [[ 9.99868716e-01 -1.19869687e-02 -1.09024319e-02 -4.55650859e+01] [ 1.19833882e-02 9.99928119e-01 -3.93690932e-04 -2.70535015e+00] [ 1.09063674e-02 2.62991173e-04 9.99940489e-01 1.00058855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.955529293 meters Centerline goodness [0,1] 0.9976350510331092 Centerline is valid? [True, True] Translation: X:-45.59, Y:-2.71, Z:1.00 [[ 9.99817253e-01 -1.33321073e-02 -1.37009233e-02 -4.55942788e+01] [ 1.33267066e-02 9.99911078e-01 -4.85417209e-04 -2.70667768e+00] [ 1.37061766e-02 3.02740316e-04 9.99906020e-01 9.98881002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.985529293 meters Centerline goodness [0,1] 0.9984863564734179 Centerline is valid? [True, True] Translation: X:-45.62, Y:-2.70, Z:1.01 [[ 9.99844721e-01 -1.58296970e-02 -7.74299979e-03 -4.56241329e+01] [ 1.58280153e-02 9.99874690e-01 -2.78422965e-04 -2.70477593e+00] [ 7.74643686e-03 1.55823413e-04 9.99969984e-01 1.00660470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.01552929299999 meters Centerline goodness [0,1] 0.9979486966971944 Centerline is valid? [True, True] Translation: X:-45.65, Y:-2.70, Z:1.01 [[ 9.99887562e-01 -1.45748364e-02 -3.52681722e-03 -4.56540486e+01] [ 1.45744841e-02 9.99893779e-01 -1.25591542e-04 -2.69569588e+00] [ 3.52827307e-03 7.41758793e-05 9.99993773e-01 1.01412471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.045529292999994 meters Centerline goodness [0,1] 0.9981741980995062 Centerline is valid? [True, True] Translation: X:-45.68, Y:-2.70, Z:1.01 [[ 9.99911975e-01 -1.25604847e-02 -4.27501125e-03 -4.56818171e+01] [ 1.25599564e-02 9.99921109e-01 -1.50415262e-04 -2.69610267e+00] [ 4.27656328e-03 9.67080669e-05 9.99990851e-01 1.01288676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.075529292999995 meters Centerline goodness [0,1] 0.9979717283771757 Centerline is valid? [True, True] Translation: X:-45.71, Y:-2.70, Z:1.00 [[ 9.99910049e-01 -1.04163029e-02 -8.44954044e-03 -4.57115031e+01] [ 1.04141271e-02 9.99945726e-01 -3.01461546e-04 -2.69816220e+00] [ 8.45222197e-03 2.13439841e-04 9.99964257e-01 1.00399931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.105529293 meters Centerline goodness [0,1] 0.998363101404832 Centerline is valid? [True, True] Translation: X:-45.74, Y:-2.70, Z:1.00 [[ 9.99898827e-01 -1.11356455e-02 -8.85062888e-03 -4.57395195e+01] [ 1.11333832e-02 9.99937976e-01 -3.04842752e-04 -2.69809130e+00] [ 8.85347454e-03 2.06274468e-04 9.99960786e-01 1.00327738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.135529293 meters Centerline goodness [0,1] 0.9982176165803108 Centerline is valid? [True, True] Translation: X:-45.77, Y:-2.70, Z:1.00 [[ 9.99895304e-01 -1.17538650e-02 -8.43962652e-03 -4.57678669e+01] [ 1.17518400e-02 9.99930903e-01 -2.89487523e-04 -2.69691905e+00] [ 8.44244597e-03 1.90276074e-04 9.99964344e-01 1.00359906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.165529293 meters Centerline goodness [0,1] 0.9986324644647964 Centerline is valid? [True, True] Translation: X:-45.80, Y:-2.69, Z:1.00 [[ 9.99903322e-01 -9.49128732e-03 -1.01617668e-02 -4.57979172e+01] [ 9.48815008e-03 9.99954923e-01 -3.56895892e-04 -2.69138619e+00] [ 1.01646962e-02 2.60445019e-04 9.99948304e-01 1.00032876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.195529293 meters Centerline goodness [0,1] 0.9982978370075144 Centerline is valid? [True, True] Translation: X:-45.83, Y:-2.69, Z:1.00 [[ 9.99909887e-01 -7.08855843e-03 -1.14004675e-02 -4.58271580e+01] [ 7.08445615e-03 9.99974825e-01 -4.00179435e-04 -2.68617873e+00] [ 1.14030172e-02 3.19377262e-04 9.99934932e-01 1.00378052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.225529292999994 meters Centerline goodness [0,1] 0.9989620310975483 Centerline is valid? [True, True] Translation: X:-45.86, Y:-2.68, Z:1.00 [[ 9.99930175e-01 -6.24456442e-03 -1.00325070e-02 -4.58550381e+01] [ 6.24137310e-03 9.99980461e-01 -3.49376357e-04 -2.68423480e+00] [ 1.00344927e-02 2.86735343e-04 9.99949612e-01 9.99723737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.255529292999995 meters Centerline goodness [0,1] 0.9988375230938492 Centerline is valid? [True, True] Translation: X:-45.88, Y:-2.69, Z:1.00 [[ 9.99930157e-01 -7.16067161e-03 -9.40246342e-03 -4.58830251e+01] [ 7.15791886e-03 9.99974329e-01 -3.26389059e-04 -2.68931163e+00] [ 9.40455921e-03 2.59064193e-04 9.99955743e-01 1.00299078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.285529292999996 meters Centerline goodness [0,1] 0.9981785063752276 Centerline is valid? [True, True] Translation: X:-45.91, Y:-2.70, Z:1.01 [[ 9.99925489e-01 -6.12147036e-03 -1.05614838e-02 -4.59114258e+01] [ 6.11801894e-03 9.99981220e-01 -3.59070220e-04 -2.69575738e+00] [ 1.05634835e-02 2.94428107e-04 9.99944162e-01 1.00784055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.315529293 meters Centerline goodness [0,1] 0.9989831915335132 Centerline is valid? [True, True] Translation: X:-45.94, Y:-2.69, Z:1.01 [[ 9.99937743e-01 -4.71188599e-03 -1.01147081e-02 -4.59399798e+01] [ 4.70867787e-03 9.99988856e-01 -3.40965347e-04 -2.69318479e+00] [ 1.01162019e-02 2.93317218e-04 9.99948787e-01 1.01008725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.345529293 meters Centerline goodness [0,1] 0.998674069777078 Centerline is valid? [True, True] Translation: X:-45.97, Y:-2.69, Z:1.01 [[ 9.99951587e-01 -5.03875668e-03 -8.45194055e-03 -4.59690073e+01] [ 5.03655658e-03 9.99987277e-01 -2.81572633e-04 -2.68824315e+00] [ 8.45325179e-03 2.38990325e-04 9.99964242e-01 1.01075302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.375529293 meters Centerline goodness [0,1] 0.9981713525756915 Centerline is valid? [True, True] Translation: X:-46.00, Y:-2.69, Z:1.01 [[ 9.99937015e-01 -5.64368755e-03 -9.70126220e-03 -4.59966055e+01] [ 5.64076454e-03 9.99984037e-01 -3.28637396e-04 -2.69054734e+00] [ 9.70296206e-03 2.73894161e-04 9.99952888e-01 1.01450150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.405529292999994 meters Centerline goodness [0,1] 0.9981405727036073 Centerline is valid? [True, True] Translation: X:-46.03, Y:-2.69, Z:1.01 [[ 9.99911176e-01 -4.67854682e-03 -1.24800416e-02 -4.60250306e+01] [ 4.67361770e-03 9.99988989e-01 -4.24095791e-04 -2.69068570e+00] [ 1.24818884e-02 3.65731178e-04 9.99922031e-01 1.01377143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.435529292999995 meters Centerline goodness [0,1] 0.9980580117345674 Centerline is valid? [True, True] Translation: X:-46.05, Y:-2.69, Z:1.01 [[ 9.99932183e-01 -5.13366511e-03 -1.04534156e-02 -4.60542443e+01] [ 5.13024125e-03 9.99986777e-01 -3.54323987e-04 -2.68641371e+00] [ 1.04550964e-02 3.00671414e-04 9.99945299e-01 1.01427881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.465529292999996 meters Centerline goodness [0,1] 0.9985904106465455 Centerline is valid? [True, True] Translation: X:-46.08, Y:-2.69, Z:1.01 [[ 9.99923635e-01 -4.12282561e-03 -1.16501502e-02 -4.60832161e+01] [ 4.11861018e-03 9.99991444e-01 -3.85804413e-04 -2.68822784e+00] [ 1.16516411e-02 3.37792524e-04 9.99932060e-01 1.00644999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.495529293 meters Centerline goodness [0,1] 0.9985494633014216 Centerline is valid? [True, True] Translation: X:-46.11, Y:-2.69, Z:1.01 [[ 9.99842106e-01 -3.04138791e-03 -1.75075262e-02 -4.61125412e+01] [ 3.03150573e-03 9.99995230e-01 -5.90964390e-04 -2.69227839e+00] [ 1.75092400e-02 5.37796915e-04 9.99846557e-01 1.00785278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.525529293 meters Centerline goodness [0,1] 0.9985667698315436 Centerline is valid? [True, True] Translation: X:-46.14, Y:-2.69, Z:1.01 [[ 9.99819302e-01 -1.58720808e-03 -1.89431680e-02 -4.61412902e+01] [ 1.57543194e-03 9.99998556e-01 -6.36563408e-04 -2.68692642e+00] [ 1.89441510e-02 6.06604711e-04 9.99820359e-01 1.00607660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.555529293 meters Centerline goodness [0,1] 0.9987076871769218 Centerline is valid? [True, True] Translation: X:-46.17, Y:-2.68, Z:1.02 [[ 9.99911311e-01 1.75439510e-05 -1.33180027e-02 -4.61704104e+01] [-2.35057175e-05 9.99999900e-01 -4.47490791e-04 -2.68172505e+00] [ 1.33179935e-02 4.47764152e-04 9.99911211e-01 1.01726359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.58552929299999 meters Centerline goodness [0,1] 0.9986524587445061 Centerline is valid? [True, True] Translation: X:-46.20, Y:-2.69, Z:1.02 [[ 9.99942233e-01 2.18771014e-03 -1.05235066e-02 -4.61992548e+01] [-2.19144548e-03 9.99997540e-01 -3.43433740e-04 -2.68694792e+00] [ 1.05227294e-02 3.66475592e-04 9.99944567e-01 1.01852507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.615529292999994 meters Centerline goodness [0,1] 0.9985269709543568 Centerline is valid? [True, True] Translation: X:-46.23, Y:-2.70, Z:1.02 [[ 9.99902646e-01 1.11474640e-03 -1.39088581e-02 -4.62279861e+01] [-1.12127467e-03 9.99999265e-01 -4.61571447e-04 -2.69685290e+00] [ 1.39083333e-02 4.77122161e-04 9.99903161e-01 1.01693990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.645529292999996 meters Centerline goodness [0,1] 0.9987796049229496 Centerline is valid? [True, True] Translation: X:-46.26, Y:-2.70, Z:1.02 [[ 9.99941782e-01 -1.83384747e-03 -1.06334137e-02 -4.62575624e+01] [ 1.83018580e-03 9.99998263e-01 -3.54075117e-04 -2.70154670e+00] [ 1.06340446e-02 3.34593381e-04 9.99943401e-01 1.02115826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.675529293 meters Centerline goodness [0,1] 0.9988223140495868 Centerline is valid? [True, True] Translation: X:-46.29, Y:-2.71, Z:1.04 [[ 9.99970591e-01 -5.25467061e-03 -5.58616075e-03 -4.62864278e+01] [ 5.25371587e-03 9.99986182e-01 -1.85571519e-04 -2.71279679e+00] [ 5.58705868e-03 1.56217961e-04 9.99984380e-01 1.03502522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.705529293 meters Centerline goodness [0,1] 0.9988223140495868 Centerline is valid? [True, True] Translation: X:-46.31, Y:-2.71, Z:1.04 [[ 9.99972055e-01 -4.96785284e-03 -5.58650518e-03 -4.63136952e+01] [ 4.96695159e-03 9.99987649e-01 -1.75189026e-04 -2.71390132e+00] [ 5.58730649e-03 1.47436229e-04 9.99984380e-01 1.03591775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.735529293 meters Centerline goodness [0,1] 0.9991947306477257 Centerline is valid? [True, True] Translation: X:-46.34, Y:-2.71, Z:1.03 [[ 9.99941354e-01 -5.37119767e-03 -9.40422250e-03 -4.63434744e+01] [ 5.36852716e-03 9.99985542e-01 -3.09190365e-04 -2.71454222e+00] [ 9.40574726e-03 2.58685408e-04 9.99955732e-01 1.03157665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76552929299999 meters Centerline goodness [0,1] 0.998714972641353 Centerline is valid? [True, True] Translation: X:-46.37, Y:-2.71, Z:1.03 [[ 9.99876022e-01 -6.51134948e-03 -1.43367910e-02 -4.63737239e+01] [ 6.50526056e-03 9.99978730e-01 -4.71300124e-04 -2.71245421e+00] [ 1.43395548e-02 3.77977132e-04 9.99897112e-01 1.02516288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.795529292999994 meters Centerline goodness [0,1] 0.9984917355371901 Centerline is valid? [True, True] Translation: X:-46.40, Y:-2.71, Z:1.02 [[ 9.99892443e-01 -4.46059552e-03 -1.39716024e-02 -4.64023288e+01] [ 4.45475844e-03 9.99989977e-01 -4.48875517e-04 -2.71466756e+00] [ 1.39734647e-02 3.86587123e-04 9.99902292e-01 1.02289847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.825529292999995 meters Centerline goodness [0,1] 0.9987549542445685 Centerline is valid? [True, True] Translation: X:-46.43, Y:-2.72, Z:1.03 [[ 9.99878839e-01 4.22745665e-04 -1.55604793e-02 -4.64313432e+01] [-4.30690981e-04 9.99999779e-01 -5.07261188e-04 -2.71873023e+00] [ 1.55602614e-02 5.13901486e-04 9.99878800e-01 1.03270947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.855529293 meters Centerline goodness [0,1] 0.9987360656417057 Centerline is valid? [True, True] Translation: X:-46.46, Y:-2.70, Z:1.02 [[ 9.99764217e-01 6.39745449e-03 -2.07505138e-02 -4.64627640e+01] [-6.41287982e-03 9.99979208e-01 -6.76913012e-04 -2.70415593e+00] [ 2.07457518e-02 8.09823958e-04 9.99784456e-01 1.01996412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.885529293 meters Centerline goodness [0,1] 0.9981587222773916 Centerline is valid? [True, True] Translation: X:-46.49, Y:-2.69, Z:1.02 [[ 9.99659580e-01 1.23324374e-02 -2.29920830e-02 -4.64936173e+01] [-1.23529105e-02 9.99923420e-01 -7.48623417e-04 -2.69298592e+00] [ 2.29810899e-02 1.03238771e-03 9.99735367e-01 1.01693011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.915529293 meters Centerline goodness [0,1] 0.997621165422088 Centerline is valid? [True, True] Translation: X:-46.52, Y:-2.70, Z:1.02 [[ 9.99639522e-01 1.73818901e-02 -2.04620654e-02 -4.65224031e+01] [-1.73989356e-02 9.99848412e-01 -6.55285666e-04 -2.69831278e+00] [ 2.04475735e-02 1.01106761e-03 9.99790415e-01 1.02091431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.945529293 meters Centerline goodness [0,1] 0.9975273536502441 Centerline is valid? [True, True] Translation: X:-46.55, Y:-2.70, Z:1.02 [[ 9.99531266e-01 2.35479169e-02 -1.95638368e-02 -4.65529591e+01] [-2.35648092e-02 9.99722111e-01 -6.33327762e-04 -2.70258235e+00] [ 1.95434867e-02 1.09404898e-03 9.99808409e-01 1.02048920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.975529292999994 meters Centerline goodness [0,1] 0.997376683466909 Centerline is valid? [True, True] Translation: X:-46.58, Y:-2.71, Z:1.03 [[ 9.99498290e-01 2.49998057e-02 -1.94467780e-02 -4.65803833e+01] [-2.50165318e-02 9.99686847e-01 -6.17268870e-04 -2.70909652e+00] [ 1.94252566e-02 1.10345012e-03 9.99810703e-01 1.03310340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.005529292999995 meters Centerline goodness [0,1] 0.9990672415222618 Centerline is valid? [True, True] Translation: X:-46.61, Y:-2.73, Z:1.04 [[ 9.99492738e-01 2.65741618e-02 -1.75522401e-02 -4.66076425e+01] [-2.65880314e-02 9.99646320e-01 -5.57265135e-04 -2.72749553e+00] [ 1.75312234e-02 1.02366197e-03 9.99845792e-01 1.03832116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.035529292999996 meters Centerline goodness [0,1] 0.9986138982559943 Centerline is valid? [True, True] Translation: X:-46.64, Y:-2.75, Z:1.04 [[ 9.99522510e-01 2.66655853e-02 -1.56108229e-02 -4.66365974e+01] [-2.66766016e-02 9.99643992e-01 -4.97840090e-04 -2.75250968e+00] [ 1.55919901e-02 9.14046080e-04 9.99878020e-01 1.03704436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.065529293 meters Centerline goodness [0,1] 0.99816089103796 Centerline is valid? [True, True] Translation: X:-46.67, Y:-2.77, Z:1.04 [[ 9.99368254e-01 2.97594420e-02 -1.94285416e-02 -4.66657445e+01] [-2.97770897e-02 9.99556372e-01 -6.19616396e-04 -2.77072778e+00] [ 1.94014831e-02 1.19775038e-03 9.99811056e-01 1.03526661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.095529293 meters Centerline goodness [0,1] 0.997985487285958 Centerline is valid? [True, True] Translation: X:-46.69, Y:-2.79, Z:1.04 [[ 9.99271021e-01 3.12067232e-02 -2.19901441e-02 -4.66949490e+01] [-3.12296835e-02 9.99511988e-01 -7.01393807e-04 -2.78767701e+00] [ 2.19575245e-02 1.38762775e-03 9.99757942e-01 1.04021507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.125529293 meters Centerline goodness [0,1] 0.9972399588053553 Centerline is valid? [True, True] Translation: X:-46.72, Y:-2.80, Z:1.04 [[ 9.99172699e-01 3.43646835e-02 -2.17482285e-02 -4.67247079e+01] [-3.43878770e-02 9.99408322e-01 -6.93263994e-04 -2.79900342e+00] [ 2.17115367e-02 1.44056586e-03 9.99763239e-01 1.03824055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.155529292999994 meters Centerline goodness [0,1] 0.9968669483664846 Centerline is valid? [True, True] Translation: X:-46.75, Y:-2.82, Z:1.04 [[ 9.99007495e-01 3.72862857e-02 -2.43671448e-02 -4.67537122e+01] [-3.73162516e-02 9.99303205e-01 -7.76056048e-04 -2.81578427e+00] [ 2.43212296e-02 1.68457631e-03 9.99702776e-01 1.04175107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.185529292999995 meters Centerline goodness [0,1] 0.9972406976504746 Centerline is valid? [True, True] Translation: X:-46.78, Y:-2.84, Z:1.04 [[ 9.98953702e-01 3.82509619e-02 -2.50672018e-02 -4.67815431e+01] [-3.82828934e-02 9.99266625e-01 -7.95000564e-04 -2.84107637e+00] [ 2.50184086e-02 1.75381377e-03 9.99685452e-01 1.04224220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.215529292999996 meters Centerline goodness [0,1] 0.9968145666783124 Centerline is valid? [True, True] Translation: X:-46.81, Y:-2.87, Z:1.05 [[ 9.99164771e-01 3.60798213e-02 -1.91835204e-02 -4.68108609e+01] [-3.60981396e-02 9.99348064e-01 -6.09368006e-04 -2.86621137e+00] [ 1.91490281e-02 1.30134844e-03 9.99815794e-01 1.05193936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.245529293 meters Centerline goodness [0,1] 0.9977042123603567 Centerline is valid? [True, True] Translation: X:-46.84, Y:-2.90, Z:1.07 [[ 9.99346640e-01 3.25806048e-02 -1.56459921e-02 -4.68390066e+01] [-3.25923594e-02 9.99468604e-01 -4.96816944e-04 -2.90000670e+00] [ 1.56214913e-02 1.00643214e-03 9.99877471e-01 1.06886084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.275529293 meters Centerline goodness [0,1] 0.9969152305351047 Centerline is valid? [True, True] Translation: X:-46.87, Y:-2.92, Z:1.07 [[ 9.99376334e-01 3.01164772e-02 -1.84374920e-02 -4.68662795e+01] [-3.01323092e-02 9.99545750e-01 -5.81415017e-04 -2.92088632e+00] [ 1.84116066e-02 1.13661662e-03 9.99829846e-01 1.07305218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.305529293 meters Centerline goodness [0,1] 0.9963878170921927 Centerline is valid? [True, True] Translation: X:-46.90, Y:-2.94, Z:1.07 [[ 9.99430405e-01 2.65505801e-02 -2.08310614e-02 -4.68950622e+01] [-2.65700274e-02 9.99646738e-01 -6.57306345e-04 -2.94355859e+00] [ 2.08062507e-02 1.21041382e-03 9.99782794e-01 1.06804840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.33552929299999 meters Centerline goodness [0,1] 0.9958083709898379 Centerline is valid? [True, True] Translation: X:-46.92, Y:-2.96, Z:1.08 [[ 9.99420230e-01 2.72056609e-02 -2.04708589e-02 -4.69212481e+01] [-2.72244023e-02 9.99629144e-01 -6.37337000e-04 -2.95734450e+00] [ 2.04459280e-02 1.19427439e-03 9.99790247e-01 1.07586224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.365529292999994 meters Centerline goodness [0,1] 0.9966565474236955 Centerline is valid? [True, True] Translation: X:-46.95, Y:-2.97, Z:1.07 [[ 9.99296823e-01 2.96507174e-02 -2.29498097e-02 -4.69509148e+01] [-2.96750736e-02 9.99559338e-01 -7.21368971e-04 -2.97278493e+00] [ 2.29183075e-02 1.40189901e-03 9.99736358e-01 1.07242128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.395529292999996 meters Centerline goodness [0,1] 0.9947209035848747 Centerline is valid? [True, True] Translation: X:-46.98, Y:-2.99, Z:1.06 [[ 9.99187433e-01 2.96827332e-02 -2.72655158e-02 -4.69811612e+01] [-2.97171203e-02 9.99557982e-01 -8.56768887e-04 -2.98808136e+00] [ 2.72280327e-02 1.66632532e-03 9.99627860e-01 1.06306157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.425529293 meters Centerline goodness [0,1] 0.9943150446821128 Centerline is valid? [True, True] Translation: X:-47.01, Y:-3.00, Z:1.06 [[ 9.99168529e-01 3.05375925e-02 -2.70130579e-02 -4.70091904e+01] [-3.05712775e-02 9.99532241e-01 -8.34783790e-04 -3.00056907e+00] [ 2.69749300e-02 1.65991338e-03 9.99634732e-01 1.06327648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.455529293 meters Centerline goodness [0,1] 0.9953332925760633 Centerline is valid? [True, True] Translation: X:-47.04, Y:-3.02, Z:1.08 [[ 9.99304044e-01 2.99751202e-02 -2.22018146e-02 -4.70377372e+01] [-2.99978519e-02 9.99549724e-01 -6.91454477e-04 -3.02118389e+00] [ 2.21710912e-02 1.35698000e-03 9.99753270e-01 1.08080553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.485529293 meters Centerline goodness [0,1] 0.9942286122157642 Centerline is valid? [True, True] Translation: X:-47.07, Y:-3.03, Z:1.09 [[ 9.99295619e-01 3.14608042e-02 -2.04568915e-02 -4.70659934e+01] [-3.14801561e-02 9.99504182e-01 -6.24566056e-04 -3.02655777e+00] [ 2.04270992e-02 1.26811226e-03 9.99790541e-01 1.08946200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.51552929299999 meters Centerline goodness [0,1] 0.9946778140293638 Centerline is valid? [True, True] Translation: X:-47.09, Y:-3.03, Z:1.09 [[ 9.99272840e-01 3.11627527e-02 -2.19698483e-02 -4.70946136e+01] [-3.11848986e-02 9.99513411e-01 -6.66043160e-04 -3.03284543e+00] [ 2.19384023e-02 1.35068633e-03 9.99758412e-01 1.08570663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.545529292999994 meters Centerline goodness [0,1] 0.9955597197327685 Centerline is valid? [True, True] Translation: X:-47.12, Y:-3.05, Z:1.09 [[ 9.99332342e-01 2.97572501e-02 -2.11985113e-02 -4.71234609e+01] [-2.97776569e-02 9.99556337e-01 -6.47578588e-04 -3.05167379e+00] [ 2.11698362e-02 1.27838822e-03 9.99775077e-01 1.08653798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.575529292999995 meters Centerline goodness [0,1] 0.9946530587350316 Centerline is valid? [True, True] Translation: X:-47.15, Y:-3.08, Z:1.09 [[ 9.99386905e-01 2.79985598e-02 -2.10213130e-02 -4.71509421e+01] [-2.80182355e-02 9.99607206e-01 -6.41990002e-04 -3.07704541e+00] [ 2.09950812e-02 1.23057650e-03 9.99778822e-01 1.09226097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.605529293 meters Centerline goodness [0,1] 0.9940655844685538 Centerline is valid? [True, True] Translation: X:-47.18, Y:-3.08, Z:1.09 [[ 9.99345613e-01 2.72383819e-02 -2.37995231e-02 -4.71802414e+01] [-2.72631169e-02 9.99628036e-01 -7.15394003e-04 -3.07999208e+00] [ 2.37711844e-02 1.36377504e-03 9.99716495e-01 1.09116514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.635529293 meters Centerline goodness [0,1] 0.9944825620457276 Centerline is valid? [True, True] Translation: X:-47.21, Y:-3.09, Z:1.09 [[ 9.99409179e-01 2.59652016e-02 -2.25188875e-02 -4.72095377e+01] [-2.59871153e-02 9.99662046e-01 -6.80982658e-04 -3.08713202e+00] [ 2.24935953e-02 1.26578125e-03 9.99746186e-01 1.08621969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.665529293 meters Centerline goodness [0,1] 0.9930778940510607 Centerline is valid? [True, True] Translation: X:-47.24, Y:-3.09, Z:1.08 [[ 9.99417891e-01 2.62008818e-02 -2.18493072e-02 -4.72378950e+01] [-2.62213178e-02 9.99655951e-01 -6.49301250e-04 -3.09343719e+00] [ 2.18247777e-02 1.22184092e-03 9.99761065e-01 1.08498996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.695529293 meters Centerline goodness [0,1] 0.992805901599366 Centerline is valid? [True, True] Translation: X:-47.27, Y:-3.10, Z:1.09 [[ 9.99397135e-01 2.72480465e-02 -2.15153673e-02 -4.72653216e+01] [-2.72681705e-02 9.99627948e-01 -6.42453999e-04 -3.10410117e+00] [ 2.14898568e-02 1.22875139e-03 9.99768311e-01 1.09175463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.725529292999994 meters Centerline goodness [0,1] 0.9930250528713194 Centerline is valid? [True, True] Translation: X:-47.29, Y:-3.11, Z:1.09 [[ 9.99450436e-01 2.36889776e-02 -2.31874643e-02 -4.72948651e+01] [-2.37114445e-02 9.99718603e-01 -6.94426809e-04 -3.10813873e+00] [ 2.31644892e-02 1.24385345e-03 9.99730893e-01 1.08547200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.755529292999995 meters Centerline goodness [0,1] 0.9942070815886824 Centerline is valid? [True, True] Translation: X:-47.32, Y:-3.12, Z:1.09 [[ 9.99443357e-01 2.35574496e-02 -2.36225109e-02 -4.73226138e+01] [-2.35806315e-02 9.99721691e-01 -7.03232703e-04 -3.11987903e+00] [ 2.35993702e-02 1.25987498e-03 9.99720702e-01 1.08759860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.785529292999996 meters Centerline goodness [0,1] 0.9921040880120164 Centerline is valid? [True, True] Translation: X:-47.35, Y:-3.13, Z:1.09 [[ 9.99487923e-01 2.34698001e-02 -2.17499702e-02 -4.73521712e+01] [-2.34894456e-02 9.99723875e-01 -6.48173311e-04 -3.12717845e+00] [ 2.17287520e-02 1.15873614e-03 9.99763231e-01 1.08862664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.815529293 meters Centerline goodness [0,1] 0.9938182776302722 Centerline is valid? [True, True] Translation: X:-47.38, Y:-3.13, Z:1.09 [[ 9.99482295e-01 2.44483460e-02 -2.09145818e-02 -4.73795891e+01] [-2.44664406e-02 9.99700466e-01 -6.09686447e-04 -3.13329105e+00] [ 2.08934113e-02 1.12107618e-03 9.99781080e-01 1.09130882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.845529293 meters Centerline goodness [0,1] 0.9943304918298338 Centerline is valid? [True, True] Translation: X:-47.41, Y:-3.14, Z:1.09 [[ 9.99452877e-01 2.55612386e-02 -2.09897405e-02 -4.74088418e+01] [-2.55796457e-02 9.99672602e-01 -6.08898827e-04 -3.13787133e+00] [ 2.09673043e-02 1.14547581e-03 9.99779506e-01 1.08762326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.875529293 meters Centerline goodness [0,1] 0.9913471914001263 Centerline is valid? [True, True] Translation: X:-47.44, Y:-3.14, Z:1.08 [[ 9.99344514e-01 2.73514717e-02 -2.37158085e-02 -4.74392199e+01] [-2.73756606e-02 9.99624974e-01 -6.95824353e-04 -3.13591919e+00] [ 2.36878826e-02 1.34460418e-03 9.99718499e-01 1.08100419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.905529292999994 meters Centerline goodness [0,1] 0.9934905103846702 Centerline is valid? [True, True] Translation: X:-47.47, Y:-3.15, Z:1.08 [[ 9.99333224e-01 2.70372008e-02 -2.45376826e-02 -4.74669614e+01] [-2.70628868e-02 9.99633477e-01 -7.15262818e-04 -3.15023739e+00] [ 2.45093503e-02 1.37884643e-03 9.99698650e-01 1.08405519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.935529292999995 meters Centerline goodness [0,1] 0.9928101513330754 Centerline is valid? [True, True] Translation: X:-47.50, Y:-3.16, Z:1.08 [[ 9.99322622e-01 2.66914245e-02 -2.53350507e-02 -4.74959726e+01] [-2.67184143e-02 9.99642735e-01 -7.27342353e-04 -3.15535031e+00] [ 2.53065856e-02 1.40376205e-03 9.99678751e-01 1.08301052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.965529292999996 meters Centerline goodness [0,1] 0.992351429554238 Centerline is valid? [True, True] Translation: X:-47.53, Y:-3.16, Z:1.09 [[ 9.99494157e-01 2.47177490e-02 -2.00115924e-02 -4.75250013e+01] [-2.47343209e-02 9.99693891e-01 -5.80987381e-04 -3.15919195e+00] [ 1.99911060e-02 1.07566664e-03 9.99799579e-01 1.09000337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.995529293 meters Centerline goodness [0,1] 0.9932566925295527 Centerline is valid? [True, True] Translation: X:-47.56, Y:-3.15, Z:1.10 [[ 9.99594322e-01 2.44213257e-02 -1.46557253e-02 -4.75557854e+01] [-2.44301779e-02 9.99701448e-01 -4.25258872e-04 -3.15449951e+00] [ 1.46409644e-02 7.83128330e-04 9.99892509e-01 1.09631582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.025529293 meters Centerline goodness [0,1] 0.9907320840616235 Centerline is valid? [True, True] Translation: X:-47.59, Y:-3.15, Z:1.09 [[ 9.99536382e-01 2.53704197e-02 -1.68334141e-02 -4.75865710e+01] [-2.53821996e-02 9.99677702e-01 -4.86473952e-04 -3.15316861e+00] [ 1.68156467e-02 9.13517489e-04 9.99858190e-01 1.08520093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.055529293 meters Centerline goodness [0,1] 0.9930896121266162 Centerline is valid? [True, True] Translation: X:-47.62, Y:-3.17, Z:1.08 [[ 9.99454681e-01 2.39288842e-02 -2.27540878e-02 -4.76150905e+01] [-2.39500481e-02 9.99712940e-01 -6.58016795e-04 -3.17427576e+00] [ 2.27318104e-02 1.20261946e-03 9.99740876e-01 1.07874255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.08552929299999 meters Centerline goodness [0,1] 0.9919376129648058 Centerline is valid? [True, True] Translation: X:-47.64, Y:-3.18, Z:1.07 [[ 9.99425773e-01 2.16407981e-02 -2.60729620e-02 -4.76442749e+01] [-2.16674619e-02 9.99764959e-01 -7.40545084e-04 -3.17634425e+00] [ 2.60508078e-02 1.30505475e-03 9.99659768e-01 1.07340499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.115529292999994 meters Centerline goodness [0,1] 0.9925086049807653 Centerline is valid? [True, True] Translation: X:-47.67, Y:-3.17, Z:1.09 [[ 9.99637717e-01 1.90065105e-02 -1.90574571e-02 -4.76740816e+01] [-1.90203741e-02 9.99818947e-01 -5.46457933e-04 -3.17306328e+00] [ 1.90436204e-02 9.08739925e-04 9.99818241e-01 1.08648357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.145529292999996 meters Centerline goodness [0,1] 0.9923493719179333 Centerline is valid? [True, True] Translation: X:-47.70, Y:-3.18, Z:1.09 [[ 9.99623136e-01 2.04214936e-02 -1.83452366e-02 -4.77012822e+01] [-2.04345052e-02 9.99791057e-01 -5.22068782e-04 -3.17740582e+00] [ 1.83307421e-02 8.96747866e-04 9.99831576e-01 1.08774889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.175529293 meters Centerline goodness [0,1] 0.992797435481253 Centerline is valid? [True, True] Translation: X:-47.73, Y:-3.18, Z:1.08 [[ 9.99556966e-01 2.19614400e-02 -2.00889742e-02 -4.77317553e+01] [-2.19773967e-02 9.99758303e-01 -5.73847148e-04 -3.18127650e+00] [ 2.00715163e-02 1.01509627e-03 9.99798032e-01 1.07757167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.205529293 meters Centerline goodness [0,1] 0.992607677425924 Centerline is valid? [True, True] Translation: X:-47.76, Y:-3.19, Z:1.08 [[ 9.99505972e-01 2.21376361e-02 -2.23100115e-02 -4.77606965e+01] [-2.21573329e-02 9.99754294e-01 -6.36029220e-04 -3.19009675e+00] [ 2.22904496e-02 1.13004536e-03 9.99750898e-01 1.08018103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.235529293 meters Centerline goodness [0,1] 0.9927676479576245 Centerline is valid? [True, True] Translation: X:-47.79, Y:-3.19, Z:1.07 [[ 9.99463693e-01 2.24147894e-02 -2.38726570e-02 -4.77896441e+01] [-2.24373566e-02 9.99748021e-01 -6.77842448e-04 -3.18950879e+00] [ 2.38514479e-02 1.21311823e-03 9.99714778e-01 1.07394788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26552929299999 meters Centerline goodness [0,1] 0.9921110952971555 Centerline is valid? [True, True] Translation: X:-47.82, Y:-3.19, Z:1.08 [[ 9.99476895e-01 2.13301452e-02 -2.43097085e-02 -4.78172301e+01] [-2.13531651e-02 9.99771759e-01 -6.87724216e-04 -3.19346241e+00] [ 2.42894908e-02 1.20645368e-03 9.99704239e-01 1.07744097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.295529292999994 meters Centerline goodness [0,1] 0.9934709651174616 Centerline is valid? [True, True] Translation: X:-47.85, Y:-3.19, Z:1.08 [[ 9.99565645e-01 2.02121523e-02 -2.14473838e-02 -4.78464466e+01] [-2.02298249e-02 9.99795172e-01 -6.07331402e-04 -3.19454904e+00] [ 2.14307152e-02 1.04094442e-03 9.99769794e-01 1.08196440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.325529292999995 meters Centerline goodness [0,1] 0.9926312370589907 Centerline is valid? [True, True] Translation: X:-47.88, Y:-3.19, Z:1.08 [[ 9.99638568e-01 1.92866727e-02 -1.87285070e-02 -4.78775493e+01] [-1.93000041e-02 9.99813596e-01 -5.31322569e-04 -3.18699119e+00] [ 1.87147685e-02 8.92590794e-04 9.99824465e-01 1.07633909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.355529293 meters Centerline goodness [0,1] 0.9945326314505802 Centerline is valid? [True, True] Translation: X:-47.91, Y:-3.20, Z:1.08 [[ 9.99627214e-01 2.00693153e-02 -1.85109794e-02 -4.79050950e+01] [-2.00823545e-02 9.99798195e-01 -5.18765532e-04 -3.20020148e+00] [ 1.84968326e-02 8.90316195e-04 9.99828523e-01 1.07897742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.385529293 meters Centerline goodness [0,1] 0.9931206118608745 Centerline is valid? [True, True] Translation: X:-47.93, Y:-3.20, Z:1.08 [[ 9.99664840e-01 1.96355875e-02 -1.68715884e-02 -4.79340461e+01] [-1.96463780e-02 9.99806879e-01 -4.74043708e-04 -3.20308056e+00] [ 1.68590220e-02 8.05350431e-04 9.99857552e-01 1.07846535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.415529293 meters Centerline goodness [0,1] 0.9945009232767192 Centerline is valid? [True, True] Translation: X:-47.96, Y:-3.20, Z:1.08 [[ 9.99703506e-01 1.87409734e-02 -1.55459579e-02 -4.79633835e+01] [-1.87499963e-02 9.99824109e-01 -4.34839658e-04 -3.19953964e+00] [ 1.55350742e-02 7.26197383e-04 9.99879060e-01 1.07694437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.445529293 meters Centerline goodness [0,1] 0.9949357305564595 Centerline is valid? [True, True] Translation: X:-47.99, Y:-3.20, Z:1.06 [[ 9.99687427e-01 1.80369290e-02 -1.73123477e-02 -4.79923405e+01] [-1.80478614e-02 9.99837011e-01 -4.75435934e-04 -3.20384861e+00] [ 1.73009506e-02 7.87738177e-04 9.99850017e-01 1.06487111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.475529292999994 meters Centerline goodness [0,1] 0.9952857984678845 Centerline is valid? [True, True] Translation: X:-48.02, Y:-3.21, Z:1.07 [[ 9.99701364e-01 1.67416683e-02 -1.78016811e-02 -4.80196183e+01] [-1.67530470e-02 9.99859538e-01 -4.90243591e-04 -3.20888992e+00] [ 1.77909731e-02 7.88329587e-04 9.99841417e-01 1.06784357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.505529292999995 meters Centerline goodness [0,1] 0.9941744037866376 Centerline is valid? [True, True] Translation: X:-48.05, Y:-3.21, Z:1.07 [[ 9.99746878e-01 1.55795031e-02 -1.62313921e-02 -4.80490436e+01] [-1.55888127e-02 9.99878387e-01 -4.47182992e-04 -3.20566314e+00] [ 1.62224512e-02 7.00097932e-04 9.99868162e-01 1.06979438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.535529292999996 meters Centerline goodness [0,1] 0.9954720032342834 Centerline is valid? [True, True] Translation: X:-48.08, Y:-3.21, Z:1.07 [[ 9.99788583e-01 1.35389809e-02 -1.54753359e-02 -4.80776996e+01] [-1.35471967e-02 9.99908142e-01 -4.26186193e-04 -3.20832124e+00] [ 1.54681442e-02 6.35743510e-04 9.99880159e-01 1.07126714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.565529293 meters Centerline goodness [0,1] 0.9953036437246964 Centerline is valid? [True, True] Translation: X:-48.11, Y:-3.21, Z:1.07 [[ 9.99816765e-01 1.22732380e-02 -1.46902679e-02 -4.81056155e+01] [-1.22804807e-02 9.99924511e-01 -4.02923188e-04 -3.21218987e+00] [ 1.46842137e-02 5.83252910e-04 9.99892011e-01 1.07332177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.595529293 meters Centerline goodness [0,1] 0.9943957115009746 Centerline is valid? [True, True] Translation: X:-48.13, Y:-3.21, Z:1.08 [[ 9.99832757e-01 1.18408976e-02 -1.39374007e-02 -4.81341317e+01] [-1.18472503e-02 9.99929749e-01 -3.73323295e-04 -3.20931463e+00] [ 1.39320011e-02 5.38380735e-04 9.99902800e-01 1.07906492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.625529293 meters Centerline goodness [0,1] 0.9943957115009746 Centerline is valid? [True, True] Translation: X:-48.16, Y:-3.21, Z:1.08 [[ 9.99829494e-01 1.21130958e-02 -1.39375342e-02 -4.81615544e+01] [-1.21194060e-02 9.99926489e-01 -3.68378524e-04 -3.21026176e+00] [ 1.39320474e-02 5.37230350e-04 9.99902800e-01 1.07996416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.655529292999994 meters Centerline goodness [0,1] 0.993705727585509 Centerline is valid? [True, True] Translation: X:-48.19, Y:-3.20, Z:1.08 [[ 9.99786506e-01 1.21062991e-02 -1.67445796e-02 -4.81912250e+01] [-1.21155568e-02 9.99926502e-01 -4.51543013e-04 -3.20411840e+00] [ 1.67378824e-02 6.54316515e-04 9.99859698e-01 1.07518100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.685529292999995 meters Centerline goodness [0,1] 0.9934530565915356 Centerline is valid? [True, True] Translation: X:-48.22, Y:-3.20, Z:1.06 [[ 9.99746480e-01 1.30761280e-02 -1.83300694e-02 -4.82208379e+01] [-1.30871964e-02 9.99914242e-01 -4.84009039e-04 -3.19852206e+00] [ 1.83221685e-02 7.23775551e-04 9.99831873e-01 1.06449162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.715529292999996 meters Centerline goodness [0,1] 0.9944139752183628 Centerline is valid? [True, True] Translation: X:-48.25, Y:-3.21, Z:1.08 [[ 9.99808569e-01 1.20493540e-02 -1.54155344e-02 -4.82493195e+01] [-1.20571485e-02 9.99927225e-01 -4.12781044e-04 -3.21025110e+00] [ 1.54094388e-02 5.98569412e-04 9.99881088e-01 1.08032896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.745529293 meters Centerline goodness [0,1] 0.9945532883505406 Centerline is valid? [True, True] Translation: X:-48.28, Y:-3.20, Z:1.08 [[ 9.99873230e-01 1.03983917e-02 -1.20580762e-02 -4.82793938e+01] [-1.04030341e-02 9.99945835e-01 -3.22344956e-04 -3.20298061e+00] [ 1.20540712e-02 4.47744671e-04 9.99927247e-01 1.08474915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.775529293 meters Centerline goodness [0,1] 0.9938175573290231 Centerline is valid? [True, True] Translation: X:-48.31, Y:-3.20, Z:1.08 [[ 9.99873809e-01 1.18616133e-02 -1.05673346e-02 -4.83074377e+01] [-1.18652277e-02 9.99929567e-01 -2.79398748e-04 -3.19736875e+00] [ 1.05632762e-02 4.04747321e-04 9.99944125e-01 1.08459477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.805529293 meters Centerline goodness [0,1] 0.9938723507523054 Centerline is valid? [True, True] Translation: X:-48.34, Y:-3.19, Z:1.08 [[ 9.99864550e-01 1.22934677e-02 -1.09431733e-02 -4.83353564e+01] [-1.22973390e-02 9.99924344e-01 -2.86541622e-04 -3.19122709e+00] [ 1.09388228e-02 4.21074722e-04 9.99940081e-01 1.08056049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.83552929299999 meters Centerline goodness [0,1] 0.9942500809847749 Centerline is valid? [True, True] Translation: X:-48.36, Y:-3.19, Z:1.08 [[ 9.99879733e-01 1.20276557e-02 -9.79053233e-03 -4.83642914e+01] [-1.20307211e-02 9.99927596e-01 -2.54256325e-04 -3.18578370e+00] [ 9.78676535e-03 3.72012910e-04 9.99952039e-01 1.07723405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.865529292999994 meters Centerline goodness [0,1] 0.9922796352583587 Centerline is valid? [True, True] Translation: X:-48.39, Y:-3.19, Z:1.08 [[ 9.99891632e-01 1.18802303e-02 -8.69397012e-03 -4.83916258e+01] [-1.18826468e-02 9.99929373e-01 -2.26345653e-04 -3.18849590e+00] [ 8.69066705e-03 3.29628500e-04 9.99962181e-01 1.07970307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.895529292999996 meters Centerline goodness [0,1] 0.9938007738903183 Centerline is valid? [True, True] Translation: X:-48.42, Y:-3.19, Z:1.08 [[ 9.99860268e-01 1.27704068e-02 -1.07871198e-02 -4.84210886e+01] [-1.27741993e-02 9.99918367e-01 -2.82743208e-04 -3.18657676e+00] [ 1.07826285e-02 4.20500517e-04 9.99941777e-01 1.07817197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.925529293 meters Centerline goodness [0,1] 0.9940998763204315 Centerline is valid? [True, True] Translation: X:-48.45, Y:-3.18, Z:1.07 [[ 9.99837501e-01 1.36831809e-02 -1.17363762e-02 -4.84505631e+01] [-1.36876224e-02 9.99906276e-01 -2.98192289e-04 -3.17732927e+00] [ 1.17311960e-02 4.58786919e-04 9.99931082e-01 1.07260967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.955529293 meters Centerline goodness [0,1] 0.9917365414995747 Centerline is valid? [True, True] Translation: X:-48.48, Y:-3.17, Z:1.07 [[ 9.99837152e-01 1.38360493e-02 -1.15859294e-02 -4.84793257e+01] [-1.38403537e-02 9.99904175e-01 -2.91426474e-04 -3.17023343e+00] [ 1.15807870e-02 4.51732377e-04 9.99932838e-01 1.06846848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.985529293 meters Centerline goodness [0,1] 0.9930763624584986 Centerline is valid? [True, True] Translation: X:-48.51, Y:-3.17, Z:1.07 [[ 9.99843843e-01 1.49962040e-02 -9.34893505e-03 -4.85076405e+01] [-1.49990225e-02 9.99887482e-01 -2.31433041e-04 -3.16701933e+00] [ 9.34441251e-03 3.71621789e-04 9.99956271e-01 1.06965473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.01552929299999 meters Centerline goodness [0,1] 0.9921700677512272 Centerline is valid? [True, True] Translation: X:-48.53, Y:-3.17, Z:1.07 [[ 9.99857015e-01 1.45812875e-02 -8.56367750e-03 -4.85348528e+01] [-1.45836525e-02 9.99893630e-01 -2.13781240e-04 -3.17145152e+00] [ 8.55964937e-03 3.38640368e-04 9.99963308e-01 1.07430087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.045529292999994 meters Centerline goodness [0,1] 0.9936988410730205 Centerline is valid? [True, True] Translation: X:-48.56, Y:-3.17, Z:1.07 [[ 9.99872989e-01 1.25103289e-02 -9.87406189e-03 -4.85640789e+01] [-1.25133187e-02 9.99921676e-01 -2.41070668e-04 -3.16525233e+00] [ 9.87027265e-03 3.64597333e-04 9.99951221e-01 1.07214006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.075529292999995 meters Centerline goodness [0,1] 0.9932484489680061 Centerline is valid? [True, True] Translation: X:-48.59, Y:-3.17, Z:1.07 [[ 9.99893618e-01 9.66818419e-03 -1.09214467e-02 -4.85915577e+01] [-9.67171898e-03 9.99953191e-01 -2.70884380e-04 -3.16521695e+00] [ 1.09183165e-02 3.76484725e-04 9.99940323e-01 1.06736731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.105529293 meters Centerline goodness [0,1] 0.9926659778358556 Centerline is valid? [True, True] Translation: X:-48.62, Y:-3.17, Z:1.07 [[ 9.99929201e-01 8.52611747e-03 -8.30051743e-03 -4.86208788e+01] [-8.52812342e-03 9.99963614e-01 -2.06300302e-04 -3.16505431e+00] [ 8.29845646e-03 2.77073533e-04 9.99965529e-01 1.06988073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.135529293 meters Centerline goodness [0,1] 0.9924943200259656 Centerline is valid? [True, True] Translation: X:-48.65, Y:-3.16, Z:1.08 [[ 9.99964670e-01 6.81082941e-03 -4.92662704e-03 -4.86508094e+01] [-6.81152030e-03 9.99976794e-01 -1.23468908e-04 -3.16167287e+00] [ 4.92567179e-03 1.57022366e-04 9.99987856e-01 1.07500195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.165529293 meters Centerline goodness [0,1] 0.9924565032242365 Centerline is valid? [True, True] Translation: X:-48.68, Y:-3.16, Z:1.07 [[ 9.99959470e-01 6.79778852e-03 -5.90318265e-03 -4.86793367e+01] [-6.79872637e-03 9.99976879e-01 -1.38818537e-04 -3.15963059e+00] [ 5.90210251e-03 1.78947034e-04 9.99982566e-01 1.07053125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.195529293 meters Centerline goodness [0,1] 0.993403292264599 Centerline is valid? [True, True] Translation: X:-48.71, Y:-3.16, Z:1.07 [[ 9.99941796e-01 6.84034748e-03 -8.34355765e-03 -4.87071862e+01] [-6.84227188e-03 9.99976571e-01 -2.02122365e-04 -3.16202006e+00] [ 8.34197958e-03 2.59199490e-04 9.99965171e-01 1.06738197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.225529292999994 meters Centerline goodness [0,1] 0.9933452361629606 Centerline is valid? [True, True] Translation: X:-48.74, Y:-3.16, Z:1.06 [[ 9.99941049e-01 7.20484257e-03 -8.12338271e-03 -4.87353503e+01] [-7.20661929e-03 9.99974014e-01 -1.89466407e-04 -3.15740659e+00] [ 8.12180654e-03 2.47997364e-04 9.99966987e-01 1.06229023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.255529292999995 meters Centerline goodness [0,1] 0.9929846679409492 Centerline is valid? [True, True] Translation: X:-48.76, Y:-3.15, Z:1.07 [[ 9.99944440e-01 8.74294111e-03 -5.88886140e-03 -4.87625756e+01] [-8.74390545e-03 9.99961762e-01 -1.38029354e-04 -3.14552914e+00] [ 5.88742944e-03 1.89513333e-04 9.99982651e-01 1.07107794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.285529292999996 meters Centerline goodness [0,1] 0.9932170345850003 Centerline is valid? [True, True] Translation: X:-48.79, Y:-3.13, Z:1.08 [[ 9.99926745e-01 1.15209078e-02 -3.71115527e-03 -4.87898138e+01] [-1.15212948e-02 9.99933624e-01 -8.29236588e-05 -3.13307112e+00] [ 3.70995358e-03 1.25674898e-04 9.99993110e-01 1.07584915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.315529293 meters Centerline goodness [0,1] 0.9926795636127672 Centerline is valid? [True, True] Translation: X:-48.82, Y:-3.13, Z:1.07 [[ 9.99895189e-01 1.37123045e-02 -4.64589305e-03 -4.88196496e+01] [-1.37129508e-02 9.99905967e-01 -1.07271279e-04 -3.12761410e+00] [ 4.64398524e-03 1.70968938e-04 9.99989202e-01 1.06661944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.345529293 meters Centerline goodness [0,1] 0.9942272635203565 Centerline is valid? [True, True] Translation: X:-48.85, Y:-3.12, Z:1.05 [[ 9.99823598e-01 1.70515475e-02 -7.87508191e-03 -4.88509622e+01] [-1.70535603e-02 9.99854560e-01 -1.88509270e-04 -3.12114157e+00] [ 7.87072218e-03 3.22774201e-04 9.99968973e-01 1.05363306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.375529293 meters Centerline goodness [0,1] 0.9914443067043307 Centerline is valid? [True, True] Translation: X:-48.88, Y:-3.11, Z:1.06 [[ 9.99783476e-01 1.96725327e-02 -6.78172039e-03 -4.88795670e+01] [-1.96740235e-02 9.99806436e-01 -1.53184780e-04 -3.10929474e+00] [ 6.77739416e-03 2.86575338e-04 9.99976992e-01 1.05576216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.405529292999994 meters Centerline goodness [0,1] 0.9918576721084558 Centerline is valid? [True, True] Translation: X:-48.91, Y:-3.10, Z:1.06 [[ 9.99752579e-01 2.09947759e-02 -7.34850096e-03 -4.89072921e+01] [-2.09965978e-02 9.99779533e-01 -1.70846634e-04 -3.10173156e+00] [ 7.34329397e-03 3.25097881e-04 9.99972985e-01 1.05543176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.435529292999995 meters Centerline goodness [0,1] 0.9917258162644494 Centerline is valid? [True, True] Translation: X:-48.94, Y:-3.10, Z:1.05 [[ 9.99677209e-01 2.34833863e-02 -9.69577528e-03 -4.89378528e+01] [-2.34867035e-02 9.99724123e-01 -2.28393555e-04 -3.09644914e+00] [ 9.68773699e-03 4.56041631e-04 9.99952969e-01 1.04717501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.465529292999996 meters Centerline goodness [0,1] 0.9907532149418249 Centerline is valid? [True, True] Translation: X:-48.97, Y:-3.10, Z:1.05 [[ 9.99625541e-01 2.52630930e-02 -1.05144633e-02 -4.89669156e+01] [-2.52669981e-02 9.99680710e-01 -2.38705100e-04 -3.09518280e+00] [ 1.05050758e-02 5.04284640e-04 9.99944693e-01 1.04985135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.495529293 meters Centerline goodness [0,1] 0.992502648520903 Centerline is valid? [True, True] Translation: X:-49.00, Y:-3.10, Z:1.05 [[ 9.99626897e-01 2.62272061e-02 -7.62892233e-03 -4.89955208e+01] [-2.62292561e-02 9.99655940e-01 -1.68774728e-04 -3.09841117e+00] [ 7.62187103e-03 3.68812716e-04 9.99970885e-01 1.05240005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.525529293 meters Centerline goodness [0,1] 0.9908953886263647 Centerline is valid? [True, True] Translation: X:-49.03, Y:-3.09, Z:1.05 [[ 9.99591452e-01 2.75710143e-02 -7.53446286e-03 -4.90254567e+01] [-2.75731000e-02 9.99619775e-01 -1.73065202e-04 -3.09106522e+00] [ 7.52682648e-03 3.80742994e-04 9.99971601e-01 1.04845323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.555529293 meters Centerline goodness [0,1] 0.9895706269821908 Centerline is valid? [True, True] Translation: X:-49.05, Y:-3.09, Z:1.05 [[ 9.99601845e-01 2.57973006e-02 -1.14302401e-02 -4.90548543e+01] [-2.58020141e-02 9.99667037e-01 -2.65074670e-04 -3.09495845e+00] [ 1.14195960e-02 5.59892345e-04 9.99934638e-01 1.04621888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.58552929299999 meters Centerline goodness [0,1] 0.989526032680402 Centerline is valid? [True, True] Translation: X:-49.09, Y:-3.09, Z:1.04 [[ 9.99541201e-01 2.74799628e-02 -1.27373336e-02 -4.90850954e+01] [-2.74859174e-02 9.99622148e-01 -2.92641048e-04 -3.08736290e+00] [ 1.27244790e-02 6.42604083e-04 9.99918834e-01 1.04227592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.615529292999994 meters Centerline goodness [0,1] 0.988307654832227 Centerline is valid? [True, True] Translation: X:-49.11, Y:-3.09, Z:1.05 [[ 9.99517411e-01 2.97306977e-02 -9.00167017e-03 -4.91129967e+01] [-2.97337411e-02 9.99557834e-01 -2.04420567e-04 -3.08683004e+00] [ 8.99161237e-03 4.71975246e-04 9.99959463e-01 1.04930755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.645529292999996 meters Centerline goodness [0,1] 0.9907331975560082 Centerline is valid? [True, True] Translation: X:-49.14, Y:-3.09, Z:1.06 [[ 9.99479144e-01 3.14742163e-02 -7.12846192e-03 -4.91412936e+01] [-3.14761698e-02 9.99504489e-01 -1.62000332e-04 -3.09166292e+00] [ 7.11983086e-03 3.86292631e-04 9.99974579e-01 1.05656273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.675529293 meters Centerline goodness [0,1] 0.9910018118523646 Centerline is valid? [True, True] Translation: X:-49.17, Y:-3.10, Z:1.06 [[ 9.99506390e-01 3.11619003e-02 -3.98900378e-03 -4.91721410e+01] [-3.11625157e-02 9.99514327e-01 -9.22034070e-05 -3.09620682e+00] [ 3.98419320e-03 2.16465288e-04 9.99992040e-01 1.05983167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.705529293 meters Centerline goodness [0,1] 0.9904578606158833 Centerline is valid? [True, True] Translation: X:-49.20, Y:-3.10, Z:1.07 [[ 9.99592270e-01 2.84914333e-02 -1.87944892e-03 -4.92012545e+01] [-2.84915643e-02 9.99594032e-01 -4.29480931e-05 -3.10345363e+00] [ 1.87746227e-03 9.64790217e-05 9.99998233e-01 1.06573887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.735529293 meters Centerline goodness [0,1] 0.990508323001565 Centerline is valid? [True, True] Translation: X:-49.23, Y:-3.09, Z:1.06 [[ 9.99643365e-01 2.66872689e-02 -9.65401892e-04 -4.92329558e+01] [-2.66873039e-02 9.99643830e-01 -2.33069590e-05 -3.09466481e+00] [ 9.64436046e-04 4.90626205e-05 9.99999534e-01 1.06161764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.76552929299999 meters Centerline goodness [0,1] 0.99140757029707 Centerline is valid? [True, True] Translation: X:-49.26, Y:-3.09, Z:1.05 [[ 9.99646162e-01 2.61215572e-02 -5.02142411e-03 -4.92639035e+01] [-2.61224694e-02 9.99658743e-01 -1.16140426e-04 -3.08949347e+00] [ 5.01667675e-03 2.47271329e-04 9.99987386e-01 1.04931480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.795529292999994 meters Centerline goodness [0,1] 0.9915354491311088 Centerline is valid? [True, True] Translation: X:-49.30, Y:-3.09, Z:1.04 [[ 9.99560275e-01 2.82153163e-02 -9.11877299e-03 -4.92951903e+01] [-2.82184032e-02 9.99601760e-01 -2.10009820e-04 -3.09265660e+00] [ 9.10921603e-03 4.67234687e-04 9.99958401e-01 1.03731339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.825529292999995 meters Centerline goodness [0,1] 0.9913844023056398 Centerline is valid? [True, True] Translation: X:-49.32, Y:-3.11, Z:1.04 [[ 9.99595444e-01 2.72890857e-02 -8.01581273e-03 -4.93233050e+01] [-2.72914239e-02 9.99627503e-01 -1.82436821e-04 -3.10595924e+00] [ 8.00784833e-03 4.01125959e-04 9.99967856e-01 1.03879413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.855529293 meters Centerline goodness [0,1] 0.9919952625022973 Centerline is valid? [True, True] Translation: X:-49.35, Y:-3.10, Z:1.04 [[ 9.99555788e-01 2.91361946e-02 -6.26973523e-03 -4.93528044e+01] [-2.91376612e-02 9.99575398e-01 -1.42673658e-04 -3.10382516e+00] [ 6.26291612e-03 3.25295702e-04 9.99980335e-01 1.04135799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.885529293 meters Centerline goodness [0,1] 0.9921851150863911 Centerline is valid? [True, True] Translation: X:-49.39, Y:-3.10, Z:1.03 [[ 9.99548021e-01 2.95603729e-02 -5.47160351e-03 -4.93851199e+01] [-2.95615158e-02 9.99562955e-01 -1.28099600e-04 -3.10337924e+00] [ 5.46542549e-03 2.89790595e-04 9.99985022e-01 1.03361837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.915529293 meters Centerline goodness [0,1] 0.990916866930064 Centerline is valid? [True, True] Translation: X:-49.42, Y:-3.11, Z:1.03 [[ 9.99571340e-01 2.77836885e-02 -9.23057849e-03 -4.94168476e+01] [-2.77868440e-02 9.99613848e-01 -2.13756343e-04 -3.10715230e+00] [ 9.22107515e-03 4.70153358e-04 9.99957374e-01 1.02783276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.945529293 meters Centerline goodness [0,1] 0.9899575125531093 Centerline is valid? [True, True] Translation: X:-49.45, Y:-3.10, Z:1.02 [[ 9.99597085e-01 2.69084613e-02 -9.03337624e-03 -4.94462955e+01] [-2.69113485e-02 9.99637804e-01 -1.98194527e-04 -3.09837753e+00] [ 9.02477128e-03 4.41215008e-04 9.99959179e-01 1.02013558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.975529292999994 meters Centerline goodness [0,1] 0.991843725786061 Centerline is valid? [True, True] Translation: X:-49.47, Y:-3.10, Z:1.03 [[ 9.99519563e-01 3.02076262e-02 -6.93854661e-03 -4.94743502e+01] [-3.02094319e-02 9.99543579e-01 -1.55548660e-04 -3.10249709e+00] [ 6.93068096e-03 3.65083479e-04 9.99975916e-01 1.02870384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.005529292999995 meters Centerline goodness [0,1] 0.9921511214136115 Centerline is valid? [True, True] Translation: X:-49.51, Y:-3.11, Z:1.03 [[ 9.99478087e-01 3.20504496e-02 -4.03996341e-03 -4.95054424e+01] [-3.20510869e-02 9.99486228e-01 -9.30830394e-05 -3.10720362e+00] [ 4.03490443e-03 2.22519677e-04 9.99991835e-01 1.03416569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.035529292999996 meters Centerline goodness [0,1] 0.9933025263115037 Centerline is valid? [True, True] Translation: X:-49.54, Y:-3.11, Z:1.03 [[ 9.99513980e-01 3.08210813e-02 -4.67586958e-03 -4.95381147e+01] [-3.08219274e-02 9.99524886e-01 -1.08988481e-04 -3.10956372e+00] [ 4.67028886e-03 2.53054823e-04 9.99989062e-01 1.02825515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.065529293 meters Centerline goodness [0,1] 0.9910363232627784 Centerline is valid? [True, True] Translation: X:-49.57, Y:-3.11, Z:1.03 [[ 9.99536379e-01 2.98229129e-02 -6.13360426e-03 -4.95702968e+01] [-2.98243486e-02 9.99555145e-01 -1.42714751e-04 -3.10992541e+00] [ 6.12661952e-03 3.25579337e-04 9.99981179e-01 1.02709731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.095529293 meters Centerline goodness [0,1] 0.9904899311129626 Centerline is valid? [True, True] Translation: X:-49.60, Y:-3.12, Z:1.03 [[ 9.99593391e-01 2.79633267e-02 -5.57710578e-03 -4.96017503e+01] [-2.79644808e-02 9.99608909e-01 -1.29033025e-04 -3.11730711e+00] [ 5.57131643e-03 2.84941426e-04 9.99984440e-01 1.02909026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.125529293 meters Centerline goodness [0,1] 0.9912236149767385 Centerline is valid? [True, True] Translation: X:-49.63, Y:-3.12, Z:1.03 [[ 9.99646395e-01 2.65590537e-02 -1.30451192e-03 -4.96322084e+01] [-2.65591156e-02 9.99647244e-01 -3.01461662e-05 -3.12362698e+00] [ 1.30325109e-03 6.47821891e-05 9.99999149e-01 1.03479735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.155529292999994 meters Centerline goodness [0,1] 0.9915460900666558 Centerline is valid? [True, True] Translation: X:-49.66, Y:-3.12, Z:1.03 [[ 9.99642262e-01 2.66975651e-02 -1.60859396e-03 -4.96635499e+01] [-2.66976666e-02 9.99643553e-01 -4.16575174e-05 -3.12351586e+00] [ 1.60690842e-03 8.45883200e-05 9.99998705e-01 1.03197922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.185529292999995 meters Centerline goodness [0,1] 0.9920959057198009 Centerline is valid? [True, True] Translation: X:-49.70, Y:-3.12, Z:1.02 [[ 9.99630332e-01 2.69890334e-02 -3.28489256e-03 -4.96960413e+01] [-2.69894362e-02 9.99635716e-01 -7.83439505e-05 -3.11853314e+00] [ 3.28158150e-03 1.66972387e-04 9.99994602e-01 1.02467710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.215529292999996 meters Centerline goodness [0,1] 0.9916491842678778 Centerline is valid? [True, True] Translation: X:-49.73, Y:-3.12, Z:1.02 [[ 9.99660246e-01 2.57844123e-02 -3.81524540e-03 -4.97279506e+01] [-2.57849438e-02 9.99667509e-01 -9.01992235e-05 -3.11759241e+00] [ 3.81165114e-03 1.88544466e-04 9.99992718e-01 1.02144745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.245529293 meters Centerline goodness [0,1] 0.9915331854354508 Centerline is valid? [True, True] Translation: X:-49.76, Y:-3.12, Z:1.02 [[ 9.99682294e-01 2.49641706e-02 -3.47873550e-03 -4.97590420e+01] [-2.49646087e-02 9.99688332e-01 -8.25731196e-05 -3.12463647e+00] [ 3.47558992e-03 1.69392156e-04 9.99993946e-01 1.02104702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.275529293 meters Centerline goodness [0,1] 0.9913517693262519 Centerline is valid? [True, True] Translation: X:-49.79, Y:-3.13, Z:1.01 [[ 9.99708212e-01 2.39484814e-02 -3.15627163e-03 -4.97914638e+01] [-2.39488400e-02 9.99713183e-01 -7.58743397e-05 -3.13304986e+00] [ 3.15354928e-03 1.51441245e-04 9.99995016e-01 1.01454684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.305529293 meters Centerline goodness [0,1] 0.9946064762990251 Centerline is valid? [True, True] Translation: X:-49.82, Y:-3.14, Z:1.01 [[ 9.99767371e-01 2.10757618e-02 -4.58430372e-03 -4.98229637e+01] [-2.10764820e-02 9.99777860e-01 -1.08837776e-04 -3.14136591e+00] [ 4.58099152e-03 2.05433452e-04 9.99989486e-01 1.01131635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.33552929299999 meters Centerline goodness [0,1] 0.9937250427837993 Centerline is valid? [True, True] Translation: X:-49.85, Y:-3.14, Z:1.01 [[ 9.99816287e-01 1.87900020e-02 -3.78515643e-03 -4.98543364e+01] [-1.87904761e-02 9.99823439e-01 -8.97377694e-05 -3.13826655e+00] [ 3.78280195e-03 1.60846175e-04 9.99992832e-01 1.01158861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.365529292999994 meters Centerline goodness [0,1] 0.9933567003586566 Centerline is valid? [True, True] Translation: X:-49.89, Y:-3.13, Z:1.01 [[ 9.99830823e-01 1.82781105e-02 -2.05839479e-03 -4.98855998e+01] [-1.82782508e-02 9.99832938e-01 -4.93605963e-05 -3.13465989e+00] [ 2.05714869e-03 8.69761017e-05 9.99997880e-01 1.01296951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.395529292999996 meters Centerline goodness [0,1] 0.993635770234987 Centerline is valid? [True, True] Translation: X:-49.92, Y:-3.13, Z:1.01 [[ 9.99811677e-01 1.93898305e-02 -8.03432296e-04 -4.99177694e+01] [-1.93898537e-02 9.99811999e-01 -2.11113910e-05 -3.13111508e+00] [ 8.02871904e-04 3.66858499e-05 9.99999677e-01 1.01194218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.425529293 meters Centerline goodness [0,1] 0.9934913047899929 Centerline is valid? [True, True] Translation: X:-49.95, Y:-3.13, Z:1.01 [[ 9.99782017e-01 2.08623970e-02 -8.23857629e-04 -4.99503332e+01] [-2.08624218e-02 9.99782356e-01 -2.15244539e-05 -3.13293525e+00] [ 8.23229269e-04 3.87074273e-05 9.99999660e-01 1.00755706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.455529293 meters Centerline goodness [0,1] 0.992999592999593 Centerline is valid? [True, True] Translation: X:-49.98, Y:-3.14, Z:1.01 [[ 9.99791554e-01 2.03162636e-02 -2.02444426e-03 -4.99815952e+01] [-2.03164054e-02 9.99793599e-01 -4.95107871e-05 -3.14187962e+00] [ 2.02302054e-03 9.06298970e-05 9.99997950e-01 1.00515471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.485529293 meters Centerline goodness [0,1] 0.993994055132538 Centerline is valid? [True, True] Translation: X:-50.01, Y:-3.14, Z:1.00 [[ 9.99793044e-01 2.03141284e-02 -1.09797595e-03 -5.00138765e+01] [-2.03141717e-02 9.99793646e-01 -2.82564942e-05 -3.14127091e+00] [ 1.09717537e-03 5.05551183e-05 9.99999397e-01 1.00489075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.51552929299999 meters Centerline goodness [0,1] 0.993994055132538 Centerline is valid? [True, True] Translation: X:-50.05, Y:-3.14, Z:1.01 [[ 9.99795134e-01 2.02109778e-02 -1.09794626e-03 -5.00464510e+01] [-2.02110224e-02 9.99795736e-01 -2.95018227e-05 -3.14191114e+00] [ 1.09712573e-03 5.16863952e-05 9.99999397e-01 1.00595492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.545529292999994 meters Centerline goodness [0,1] 0.9941307138926817 Centerline is valid? [True, True] Translation: X:-50.08, Y:-3.14, Z:1.01 [[ 9.99797031e-01 2.01319218e-02 7.75697303e-04 -5.00788442e+01] [-2.01319405e-02 9.99797332e-01 1.62633558e-05 -3.13513714e+00] [-7.75212681e-04 -3.18763468e-05 9.99999699e-01 1.00805385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.575529292999995 meters Centerline goodness [0,1] 0.994777535241437 Centerline is valid? [True, True] Translation: X:-50.11, Y:-3.14, Z:1.01 [[ 9.99769436e-01 2.14612310e-02 7.00854309e-04 -5.01100044e+01] [-2.14612468e-02 9.99769681e-01 1.51006444e-05 -3.13548452e+00] [-7.00368811e-04 -3.01383700e-05 9.99999754e-01 1.00575493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.605529293 meters Centerline goodness [0,1] 0.9945764094199204 Centerline is valid? [True, True] Translation: X:-50.14, Y:-3.13, Z:1.00 [[ 9.99761384e-01 2.18428738e-02 2.54074318e-04 -5.01421779e+01] [-2.18428755e-02 9.99761416e-01 3.86009268e-06 -3.13265144e+00] [-2.53929385e-04 -9.40888531e-06 9.99999968e-01 9.99836826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.635529293 meters Centerline goodness [0,1] 0.9940544062550905 Centerline is valid? [True, True] Translation: X:-50.17, Y:-3.14, Z:1.00 [[ 9.99774826e-01 2.10758249e-02 2.47139127e-03 -5.01732307e+01] [-2.10760320e-02 9.99777874e-01 5.77505105e-05 -3.13622161e+00] [-2.46962517e-03 -1.09824628e-04 9.99996944e-01 1.00444426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.665529293 meters Centerline goodness [0,1] 0.9953022875816994 Centerline is valid? [True, True] Translation: X:-50.21, Y:-3.14, Z:1.00 [[ 9.99796996e-01 1.99502953e-02 2.81988649e-03 -5.02057555e+01] [-1.99505599e-02 9.99800966e-01 6.57534311e-05 -3.13961581e+00] [-2.81801343e-03 -1.21998397e-04 9.99996022e-01 1.00241315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.69552929299999 meters Centerline goodness [0,1] 0.9948904512753434 Centerline is valid? [True, True] Translation: X:-50.24, Y:-3.14, Z:0.99 [[ 9.99810798e-01 1.94058289e-02 1.33508552e-03 -5.02372692e+01] [-1.94058871e-02 9.99811688e-01 3.06062920e-05 -3.14370892e+00] [-1.33424016e-03 -5.65090200e-05 9.99999108e-01 9.94293922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.725529292999994 meters Centerline goodness [0,1] 0.9946944749359679 Centerline is valid? [True, True] Translation: X:-50.27, Y:-3.14, Z:0.99 [[ 9.99856899e-01 1.68666370e-02 -1.30343842e-03 -5.02698415e+01] [-1.68666954e-02 9.99857747e-01 -3.38040454e-05 -3.13742396e+00] [ 1.30268284e-03 5.57839067e-05 9.99999150e-01 9.90877369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.755529292999995 meters Centerline goodness [0,1] 0.994210933996494 Centerline is valid? [True, True] Translation: X:-50.30, Y:-3.13, Z:0.99 [[ 9.99895450e-01 1.43859084e-02 1.46103558e-03 -5.03006175e+01] [-1.43859747e-02 9.99896516e-01 3.48752529e-05 -3.13403721e+00] [-1.46038267e-03 -5.58900275e-05 9.99998932e-01 9.92932295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.785529292999996 meters Centerline goodness [0,1] 0.9944016937421115 Centerline is valid? [True, True] Translation: X:-50.33, Y:-3.14, Z:1.00 [[ 9.99906809e-01 1.32966542e-02 3.09394182e-03 -5.03309013e+01] [-1.32969390e-02 9.99911589e-01 7.14837241e-05 -3.13720064e+00] [-3.09271778e-03 -1.12617018e-04 9.99995211e-01 1.00208094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.815529293 meters Centerline goodness [0,1] 0.9951728211499684 Centerline is valid? [True, True] Translation: X:-50.36, Y:-3.14, Z:0.99 [[ 9.99919835e-01 1.23990063e-02 2.56690923e-03 -5.03630325e+01] [-1.23992023e-02 9.99923125e-01 6.04486929e-05 -3.13720226e+00] [-2.56596240e-03 -9.22714739e-05 9.99996704e-01 9.91352123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.845529293 meters Centerline goodness [0,1] 0.9948528360464879 Centerline is valid? [True, True] Translation: X:-50.39, Y:-3.13, Z:0.98 [[ 9.99933962e-01 1.13533762e-02 -1.78123171e-03 -5.03946122e+01] [-1.13534739e-02 9.99935546e-01 -4.47034498e-05 -3.13051035e+00] [ 1.78060937e-03 6.49236653e-05 9.99998413e-01 9.82424815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.875529293 meters Centerline goodness [0,1] 0.9928006054036365 Centerline is valid? [True, True] Translation: X:-50.43, Y:-3.13, Z:0.99 [[ 9.99953646e-01 9.45853434e-03 -1.80064499e-03 -5.04256030e+01] [-9.45863217e-03 9.99955265e-01 -4.58225168e-05 -3.13200348e+00] [ 1.80013103e-03 6.28520314e-05 9.99998378e-01 9.88130205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.905529292999994 meters Centerline goodness [0,1] 0.9946585117227319 Centerline is valid? [True, True] Translation: X:-50.46, Y:-3.13, Z:0.99 [[ 9.99966633e-01 7.93275024e-03 1.95050850e-03 -5.04567584e+01] [-7.93285653e-03 9.99968533e-01 4.67623962e-05 -3.13052400e+00] [-1.95007617e-03 -6.22339400e-05 9.99998097e-01 9.92610851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.935529292999995 meters Centerline goodness [0,1] 0.9949105270658171 Centerline is valid? [True, True] Translation: X:-50.49, Y:-3.13, Z:0.99 [[ 9.99976741e-01 6.31244500e-03 2.58279133e-03 -5.04886473e+01] [-6.31262577e-03 9.99980073e-01 6.18453179e-05 -3.12767631e+00] [-2.58234947e-03 -7.81480746e-05 9.99996663e-01 9.87406818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.965529292999996 meters Centerline goodness [0,1] 0.9949476429124394 Centerline is valid? [True, True] Translation: X:-50.52, Y:-3.14, Z:0.99 [[ 9.99984703e-01 5.22516966e-03 1.81399463e-03 -5.05189957e+01] [-5.22525633e-03 9.99986347e-01 4.30440206e-05 -3.13963363e+00] [-1.81374496e-03 -5.25219492e-05 9.99998354e-01 9.92640591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.995529293 meters Centerline goodness [0,1] 0.9936108105901325 Centerline is valid? [True, True] Translation: X:-50.55, Y:-3.13, Z:0.99 [[ 9.99975182e-01 4.98384530e-03 4.97958724e-03 -5.05516429e+01] [-4.98450887e-03 9.99987570e-01 1.20857380e-04 -3.13346789e+00] [-4.97892301e-03 -1.45675177e-04 9.99987594e-01 9.94553100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.025529293 meters Centerline goodness [0,1] 0.9934217205043347 Centerline is valid? [True, True] Translation: X:-50.58, Y:-3.13, Z:0.99 [[ 9.99983307e-01 1.84824225e-03 5.47446934e-03 -5.05839539e+01] [-1.84900128e-03 9.99998282e-01 1.33591006e-04 -3.12764091e+00] [-5.47421302e-03 -1.43711077e-04 9.99985006e-01 9.94173649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.055529293 meters Centerline goodness [0,1] 0.9942262572681833 Centerline is valid? [True, True] Translation: X:-50.62, Y:-3.13, Z:0.99 [[ 9.99996644e-01 9.76619144e-04 2.39954328e-03 -5.06156046e+01] [-9.76748643e-04 9.99999522e-01 5.27972031e-05 -3.12646207e+00] [-2.39949057e-03 -5.51407766e-05 9.99997120e-01 9.90513024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.08552929299999 meters Centerline goodness [0,1] 0.9939650954167346 Centerline is valid? [True, True] Translation: X:-50.65, Y:-3.13, Z:0.99 [[ 9.99989603e-01 2.40893978e-03 3.87182811e-03 -5.06476365e+01] [-2.40931347e-03 9.99997093e-01 9.18527620e-05 -3.12825277e+00] [-3.87159559e-03 -1.01180255e-04 9.99992500e-01 9.91806950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.115529292999994 meters Centerline goodness [0,1] 0.9937673130193906 Centerline is valid? [True, True] Translation: X:-50.68, Y:-3.13, Z:0.99 [[ 9.99979216e-01 2.20955153e-03 6.05689900e-03 -5.06800653e+01] [-2.21050467e-03 9.99997545e-01 1.50675228e-04 -3.12655526e+00] [-6.05655121e-03 -1.64060900e-04 9.99981645e-01 9.91926416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.145529292999996 meters Centerline goodness [0,1] 0.9927629298921574 Centerline is valid? [True, True] Translation: X:-50.71, Y:-3.11, Z:0.99 [[ 9.99985432e-01 5.20856920e-03 1.41658004e-03 -5.07114610e+01] [-5.20862436e-03 9.99986434e-01 3.52493257e-05 -3.11377829e+00] [-1.41637722e-03 -4.26272455e-05 9.99998996e-01 9.88896924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.175529293 meters Centerline goodness [0,1] 0.9915096842663836 Centerline is valid? [True, True] Translation: X:-50.74, Y:-3.11, Z:0.99 [[ 9.99988294e-01 4.68354009e-03 -1.21463751e-03 -5.07423854e+01] [-4.68358294e-03 9.99989031e-01 -3.24387293e-05 -3.11447112e+00] [ 1.21447226e-03 3.81272051e-05 9.99999262e-01 9.86398195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.205529293 meters Centerline goodness [0,1] 0.9937605774524397 Centerline is valid? [True, True] Translation: X:-50.77, Y:-3.11, Z:0.99 [[ 9.99983440e-01 5.72255319e-03 6.09263394e-04 -5.07730399e+01] [-5.72256365e-03 9.99983626e-01 1.54263396e-05 -3.11485165e+00] [-6.09165140e-04 -1.89126327e-05 9.99999814e-01 9.85594457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.235529293 meters Centerline goodness [0,1] 0.9928578716457505 Centerline is valid? [True, True] Translation: X:-50.81, Y:-3.11, Z:0.99 [[ 9.99978968e-01 6.20667334e-03 1.88177442e-03 -5.08050734e+01] [-6.20677004e-03 9.99980737e-01 4.55543833e-05 -3.10616245e+00] [-1.88145543e-03 -5.72331663e-05 9.99998228e-01 9.86228637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.26552929299999 meters Centerline goodness [0,1] 0.9909473598169037 Centerline is valid? [True, True] Translation: X:-50.84, Y:-3.10, Z:0.99 [[ 9.99976148e-01 6.58472449e-03 2.08429819e-03 -5.08362938e+01] [-6.58484107e-03 9.99978318e-01 4.90730381e-05 -3.10423402e+00] [-2.08392987e-03 -6.27966399e-05 9.99997827e-01 9.87184777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.295529292999994 meters Centerline goodness [0,1] 0.9928157400604131 Centerline is valid? [True, True] Translation: X:-50.87, Y:-3.11, Z:0.99 [[ 9.99975052e-01 6.08487529e-03 3.58730517e-03 -5.08681613e+01] [-6.08523568e-03 9.99981481e-01 8.95561807e-05 -3.10733754e+00] [-3.58669380e-03 -1.11383544e-04 9.99993562e-01 9.85728065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.325529292999995 meters Centerline goodness [0,1] 0.9907937806873978 Centerline is valid? [True, True] Translation: X:-50.90, Y:-3.11, Z:0.99 [[ 9.99974747e-01 6.71505105e-03 2.32662705e-03 -5.08997432e+01] [-6.71520283e-03 9.99977451e-01 5.74283930e-05 -3.10984641e+00] [-2.32618896e-03 -7.30507153e-05 9.99997292e-01 9.89309369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.355529293 meters Centerline goodness [0,1] 0.991458068745135 Centerline is valid? [True, True] Translation: X:-50.93, Y:-3.10, Z:0.98 [[ 9.99986620e-01 5.16996317e-03 -1.75020622e-04 -5.09311375e+01] [-5.16996433e-03 9.99986636e-01 -6.20402548e-06 -3.10433780e+00] [ 1.74986208e-04 7.10879284e-06 9.99999985e-01 9.81687370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.385529293 meters Centerline goodness [0,1] 0.9920828133630654 Centerline is valid? [True, True] Translation: X:-50.96, Y:-3.09, Z:0.97 [[ 9.99994749e-01 3.12313601e-03 -8.65305129e-04 -5.09632962e+01] [-3.12315795e-03 9.99995123e-01 -2.40074884e-05 -3.09458519e+00] [ 8.65225929e-04 2.67098469e-05 9.99999625e-01 9.74414025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.415529293 meters Centerline goodness [0,1] 0.992442501736182 Centerline is valid? [True, True] Translation: X:-50.99, Y:-3.10, Z:0.98 [[ 9.99998604e-01 1.41109984e-03 8.94626729e-04 -5.09930370e+01] [-1.41112102e-03 9.99999004e-01 2.30410808e-05 -3.10004165e+00] [-8.94593325e-04 -2.43034752e-05 9.99999600e-01 9.80401202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44552929299999 meters Centerline goodness [0,1] 0.9937234216552175 Centerline is valid? [True, True] Translation: X:-51.02, Y:-3.11, Z:0.98 [[ 9.99994340e-01 1.41862217e-03 3.05076461e-03 -5.10236614e+01] [-1.41886373e-03 9.99998990e-01 7.70197608e-05 -3.10575827e+00] [-3.05065227e-03 -8.13479442e-05 9.99995343e-01 9.84456493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.475529292999994 meters Centerline goodness [0,1] 0.9917807101629581 Centerline is valid? [True, True] Translation: X:-51.06, Y:-3.10, Z:0.98 [[ 9.99993023e-01 1.63292870e-03 3.35958525e-03 -5.10570458e+01] [-1.63321874e-03 9.99998663e-01 8.35902588e-05 -3.10387635e+00] [-3.35944426e-03 -8.90766132e-05 9.99994353e-01 9.82886908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.505529292999995 meters Centerline goodness [0,1] 0.9924401855219337 Centerline is valid? [True, True] Translation: X:-51.09, Y:-3.09, Z:0.98 [[ 9.99996102e-01 8.33967530e-04 2.66472631e-03 -5.10907142e+01] [-8.34145962e-04 9.99999650e-01 6.58497926e-05 -3.08926780e+00] [-2.66467046e-03 -6.80723066e-05 9.99996447e-01 9.77201983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.535529292999996 meters Centerline goodness [0,1] 0.993359215365754 Centerline is valid? [True, True] Translation: X:-51.12, Y:-3.09, Z:0.98 [[ 9.99998212e-01 2.58096952e-04 1.87333937e-03 -5.11216999e+01] [-2.58185764e-04 9.99999966e-01 4.71669008e-05 -3.09182380e+00] [-1.87332714e-03 -4.76504860e-05 9.99998244e-01 9.81094357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.565529293 meters Centerline goodness [0,1] 0.9936701106709682 Centerline is valid? [True, True] Translation: X:-51.15, Y:-3.09, Z:0.98 [[ 9.99999603e-01 -6.86596280e-04 5.67314960e-04 -5.11543712e+01] [ 6.86589254e-04 9.99999764e-01 1.25787643e-05 -3.08780970e+00] [-5.67323463e-04 -1.21892470e-05 9.99999839e-01 9.76822561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.595529293 meters Centerline goodness [0,1] 0.991920142369137 Centerline is valid? [True, True] Translation: X:-51.19, Y:-3.08, Z:0.97 [[ 9.99998186e-01 -7.32071890e-04 -1.75853835e-03 -5.11850556e+01] [ 7.31992182e-04 9.99999731e-01 -4.59695195e-05 -3.08483494e+00] [ 1.75857153e-03 4.46821997e-05 9.99998453e-01 9.73493952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.625529293 meters Centerline goodness [0,1] 0.9927146219175279 Centerline is valid? [True, True] Translation: X:-51.21, Y:-3.09, Z:0.98 [[ 9.99997903e-01 -1.27596999e-03 -1.60175093e-03 -5.12127923e+01] [ 1.27591195e-03 9.99999185e-01 -3.72520109e-05 -3.08793999e+00] [ 1.60179716e-03 3.52082396e-05 9.99998717e-01 9.76857997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.655529292999994 meters Centerline goodness [0,1] 0.993576498987378 Centerline is valid? [True, True] Translation: X:-51.24, Y:-3.09, Z:0.98 [[ 9.99995939e-01 -2.56869868e-03 1.23409503e-03 -5.12420831e+01] [ 2.56865969e-03 9.99996700e-01 3.31810332e-05 -3.08718558e+00] [-1.23417619e-03 -3.00109284e-05 9.99999238e-01 9.82368614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.685529292999995 meters Centerline goodness [0,1] 0.9934685879903662 Centerline is valid? [True, True] Translation: X:-51.27, Y:-3.08, Z:0.99 [[ 9.99992062e-01 -2.96552423e-03 2.66113253e-03 -5.12729175e+01] [ 2.96535215e-03 9.99995601e-01 6.86050308e-05 -3.08431968e+00] [-2.66132427e-03 -6.07132912e-05 9.99996457e-01 9.86267984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.715529292999996 meters Centerline goodness [0,1] 0.9913240981359088 Centerline is valid? [True, True] Translation: X:-51.31, Y:-3.08, Z:0.98 [[ 9.99987318e-01 -2.80361311e-03 4.18365321e-03 -5.13051307e+01] [ 2.80321019e-03 9.99996066e-01 1.02169101e-04 -3.08363119e+00] [-4.18392319e-03 -9.04401461e-05 9.99991243e-01 9.81448514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.745529293 meters Centerline goodness [0,1] 0.9925351767015707 Centerline is valid? [True, True] Translation: X:-51.34, Y:-3.08, Z:0.99 [[ 9.99996958e-01 -1.37310532e-03 2.04900098e-03 -5.13360593e+01] [ 1.37300023e-03 9.99999056e-01 5.26933369e-05 -3.08089144e+00] [-2.04907140e-03 -4.98798978e-05 9.99997899e-01 9.86210906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.775529293 meters Centerline goodness [0,1] 0.9909821282177406 Centerline is valid? [True, True] Translation: X:-51.37, Y:-3.07, Z:0.98 [[ 9.99999161e-01 -2.29907473e-04 -1.27473113e-03 -5.13683226e+01] [ 2.29862796e-04 9.99999973e-01 -3.51946222e-05 -3.07217928e+00] [ 1.27473918e-03 3.49015794e-05 9.99999187e-01 9.79526074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.805529293 meters Centerline goodness [0,1] 0.9932779997950609 Centerline is valid? [True, True] Translation: X:-51.40, Y:-3.07, Z:0.97 [[ 9.99987071e-01 2.17236279e-03 -4.59759308e-03 -5.13970674e+01] [-2.17293298e-03 9.99997632e-01 -1.19027278e-04 -3.06993360e+00] [ 4.59732363e-03 1.29016001e-04 9.99989424e-01 9.73781377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.83552929299999 meters Centerline goodness [0,1] 0.9946377404830127 Centerline is valid? [True, True] Translation: X:-51.43, Y:-3.07, Z:0.98 [[ 9.99972778e-01 5.15489168e-03 -5.27925227e-03 -5.14271086e+01] [-5.15569168e-03 9.99986700e-01 -1.37939397e-04 -3.06758353e+00] [ 5.27847099e-03 1.65153839e-04 9.99986055e-01 9.75971259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.865529292999994 meters Centerline goodness [0,1] 0.992806197737334 Centerline is valid? [True, True] Translation: X:-51.46, Y:-3.06, Z:0.98 [[ 9.99975769e-01 6.59232992e-03 -2.23666521e-03 -5.14555787e+01] [-6.59247096e-03 9.99978268e-01 -5.56921995e-05 -3.05843033e+00] [ 2.23624946e-03 7.04360005e-05 9.99997497e-01 9.76909887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.895529292999996 meters Centerline goodness [0,1] 0.9940994488721342 Centerline is valid? [True, True] Translation: X:-51.48, Y:-3.06, Z:0.99 [[ 9.99971295e-01 7.48488849e-03 1.17728812e-03 -5.14845183e+01] [-7.48493030e-03 9.99971987e-01 3.11085214e-05 -3.06193949e+00] [-1.17702230e-03 -3.99195480e-05 9.99999307e-01 9.86457997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.925529293 meters Centerline goodness [0,1] 0.9943315529907709 Centerline is valid? [True, True] Translation: X:-51.52, Y:-3.06, Z:0.99 [[ 9.99963964e-01 8.48019941e-03 3.97271355e-04 -5.15165738e+01] [-8.48020332e-03 9.99964042e-01 8.17180802e-06 -3.06059803e+00] [-3.97187772e-04 -1.15404554e-05 9.99999921e-01 9.86338989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.955529293 meters Centerline goodness [0,1] 0.9929688298415943 Centerline is valid? [True, True] Translation: X:-51.55, Y:-3.06, Z:0.98 [[ 9.99951966e-01 9.68305048e-03 -1.51815624e-03 -5.15483517e+01] [-9.68312379e-03 9.99953117e-01 -4.09448607e-05 -3.05719993e+00] [ 1.51768859e-03 5.56433887e-05 9.99998847e-01 9.79793247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.985529293 meters Centerline goodness [0,1] 0.9923509146091379 Centerline is valid? [True, True] Translation: X:-51.58, Y:-3.06, Z:0.98 [[ 9.99958890e-01 8.62631426e-03 -2.79392461e-03 -5.15795629e+01] [-8.62655779e-03 9.99962788e-01 -7.51222878e-05 -3.05907392e+00] [ 2.79317261e-03 9.92211516e-05 9.99996094e-01 9.81464168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.01552929299999 meters Centerline goodness [0,1] 0.9930596785750845 Centerline is valid? [True, True] Translation: X:-51.61, Y:-3.06, Z:0.99 [[ 9.99967174e-01 8.07478620e-03 6.69506239e-04 -5.16099817e+01] [-8.07479942e-03 9.99967398e-01 1.70577642e-05 -3.06373776e+00] [-6.69346674e-04 -2.24633329e-05 9.99999776e-01 9.88396459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.045529292999994 meters Centerline goodness [0,1] 0.9939868692859919 Centerline is valid? [True, True] Translation: X:-51.64, Y:-3.07, Z:0.99 [[ 9.99981255e-01 5.58074850e-03 2.51903180e-03 -5.16402165e+01] [-5.58092978e-03 9.99984424e-01 6.49405636e-05 -3.07210539e+00] [-2.51863015e-03 -7.89978859e-05 9.99996825e-01 9.91447733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.075529292999995 meters Centerline goodness [0,1] 0.9933845148644234 Centerline is valid? [True, True] Translation: X:-51.67, Y:-3.08, Z:0.99 [[ 9.99995315e-01 2.48710417e-03 1.78466267e-03 -5.16721831e+01] [-2.48718831e-03 9.99996906e-01 4.49316206e-05 -3.07903890e+00] [-1.78454540e-03 -4.93702022e-05 9.99998406e-01 9.92865024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.105529293 meters Centerline goodness [0,1] 0.9928995293636178 Centerline is valid? [True, True] Translation: X:-51.70, Y:-3.08, Z:0.99 [[ 9.99999944e-01 2.60768380e-04 2.10979766e-04 -5.17031272e+01] [-2.60769211e-04 9.99999966e-01 3.91093930e-06 -3.08289807e+00] [-2.10978739e-04 -3.96595611e-06 9.99999978e-01 9.94180128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.135529293 meters Centerline goodness [0,1] 0.9937556301695193 Centerline is valid? [True, True] Translation: X:-51.73, Y:-3.08, Z:0.99 [[ 9.99997774e-01 -1.79278069e-03 -1.11301274e-03 -5.17341070e+01] [ 1.79274900e-03 9.99998393e-01 -2.94648739e-05 -3.07616399e+00] [ 1.11306377e-03 2.74694559e-05 9.99999380e-01 9.90182685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.165529293 meters Centerline goodness [0,1] 0.9925598271433813 Centerline is valid? [True, True] Translation: X:-51.76, Y:-3.07, Z:0.99 [[ 9.99994951e-01 -2.55419802e-03 -1.89037562e-03 -5.17637651e+01] [ 2.55411140e-03 9.99996737e-01 -4.82343725e-05 -3.06768421e+00] [ 1.89049265e-03 4.34058991e-05 9.99998212e-01 9.87050432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.19552929299999 meters Centerline goodness [0,1] 0.9938556381154569 Centerline is valid? [True, True] Translation: X:-51.79, Y:-3.07, Z:0.99 [[ 9.99995181e-01 -3.10113210e-03 -1.46044127e-04 -5.17919466e+01] [ 3.10113198e-03 9.99995191e-01 -1.07508294e-06 -3.07099749e+00] [ 1.46046759e-04 6.22175644e-07 9.99999989e-01 9.92718595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.225529292999994 meters Centerline goodness [0,1] 0.9934647217897239 Centerline is valid? [True, True] Translation: X:-51.82, Y:-3.07, Z:0.99 [[ 9.99995159e-01 -2.74895838e-03 -1.45756901e-03 -5.18214126e+01] [ 2.74890789e-03 9.99996221e-01 -3.66401876e-05 -3.07077924e+00] [ 1.45766422e-03 3.26332873e-05 9.99998937e-01 9.85188593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.255529292999995 meters Centerline goodness [0,1] 0.9937725335955424 Centerline is valid? [True, True] Translation: X:-51.85, Y:-3.07, Z:0.98 [[ 9.99976428e-01 -3.73922899e-03 -5.75866343e-03 -5.18505673e+01] [ 3.73842640e-03 9.99993001e-01 -1.50130353e-04 -3.06961058e+00] [ 5.75918450e-03 1.28598475e-04 9.99983407e-01 9.77933706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.285529292999996 meters Centerline goodness [0,1] 0.993502380417237 Centerline is valid? [True, True] Translation: X:-51.88, Y:-3.08, Z:0.99 [[ 9.99970687e-01 -5.69551046e-03 -5.11725176e-03 -5.18782615e+01] [ 5.69492288e-03 9.99983775e-01 -1.29386995e-04 -3.07547731e+00] [ 5.11790566e-03 1.00240848e-04 9.99986898e-01 9.85984763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.315529293 meters Centerline goodness [0,1] 0.9943110892831564 Centerline is valid? [True, True] Translation: X:-51.91, Y:-3.08, Z:1.00 [[ 9.99975712e-01 -6.91636292e-03 8.59727839e-04 -5.19080783e+01] [ 6.91634571e-03 9.99976082e-01 2.29915955e-05 -3.07749712e+00] [-8.59866294e-04 -1.70448621e-05 9.99999630e-01 9.96454251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.345529293 meters Centerline goodness [0,1] 0.9919136914510318 Centerline is valid? [True, True] Translation: X:-51.94, Y:-3.07, Z:1.00 [[ 9.99993964e-01 -3.36806580e-03 8.53839734e-04 -5.19377366e+01] [ 3.36804708e-03 9.99994328e-01 2.33577604e-05 -3.06500583e+00] [-8.53913562e-04 -2.04818470e-05 9.99999635e-01 9.99306027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.375529293 meters Centerline goodness [0,1] 0.9939851469956423 Centerline is valid? [True, True] Translation: X:-51.97, Y:-3.06, Z:0.99 [[ 9.99997154e-01 -3.89410525e-04 -2.35361082e-03 -5.19673779e+01] [ 3.89261478e-04 9.99999922e-01 -6.37847023e-05 -3.06246643e+00] [ 2.35363547e-03 6.28683508e-05 9.99997228e-01 9.94378401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.405529292999994 meters Centerline goodness [0,1] 0.9939844375551768 Centerline is valid? [True, True] Translation: X:-52.00, Y:-3.06, Z:0.99 [[ 9.99997920e-01 -5.57001001e-04 -1.96218232e-03 -5.19960302e+01] [ 5.56906194e-04 9.99999844e-01 -4.88629322e-05 -3.06091507e+00] [ 1.96220923e-03 4.77700791e-05 9.99998074e-01 9.88799731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.435529292999995 meters Centerline goodness [0,1] 0.9939844375551768 Centerline is valid? [True, True] Translation: X:-52.02, Y:-3.06, Z:0.99 [[ 9.99997954e-01 -4.92024896e-04 -1.96218118e-03 -5.20243234e+01] [ 4.91929884e-04 9.99999878e-01 -4.89040751e-05 -3.06175230e+00] [ 1.96220500e-03 4.79387195e-05 9.99998074e-01 9.89726282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.465529292999996 meters Centerline goodness [0,1] 0.9949236500593606 Centerline is valid? [True, True] Translation: X:-52.05, Y:-3.07, Z:1.00 [[ 9.99995231e-01 9.77315018e-04 2.92959378e-03 -5.20524513e+01] [-9.77547929e-04 9.99999519e-01 7.80721839e-05 -3.06827421e+00] [-2.92951607e-03 -8.09356299e-05 9.99995706e-01 1.00393455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.495529293 meters Centerline goodness [0,1] 0.9940744689575987 Centerline is valid? [True, True] Translation: X:-52.08, Y:-3.06, Z:1.01 [[ 9.99997666e-01 1.74475544e-03 1.27468438e-03 -5.20843761e+01] [-1.74478920e-03 9.99998478e-01 2.53709302e-05 -3.06282378e+00] [-1.27463817e-03 -2.75949265e-05 9.99999187e-01 1.00875195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.525529293 meters Centerline goodness [0,1] 0.9934967688993743 Centerline is valid? [True, True] Translation: X:-52.12, Y:-3.05, Z:1.00 [[ 9.99986194e-01 4.41862639e-03 -2.84398672e-03 -5.21163477e+01] [-4.41885784e-03 9.99990234e-01 -7.51043412e-05 -3.04865773e+00] [ 2.84362709e-03 8.76704773e-05 9.99995953e-01 9.99452777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.555529293 meters Centerline goodness [0,1] 0.9937537119334822 Centerline is valid? [True, True] Translation: X:-52.15, Y:-3.04, Z:1.00 [[ 9.99974711e-01 6.69546164e-03 -2.39767125e-03 -5.21450844e+01] [-6.69561122e-03 9.99977583e-01 -5.43664252e-05 -3.04288835e+00] [ 2.39725349e-03 7.04189248e-05 9.99997124e-01 9.98513893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.58552929299999 meters Centerline goodness [0,1] 0.9945008720631989 Centerline is valid? [True, True] Translation: X:-52.17, Y:-3.05, Z:1.01 [[ 9.99972156e-01 7.33522094e-03 1.37200323e-03 -5.21749582e+01] [-7.33527598e-03 9.99973096e-01 3.50900022e-05 -3.04766357e+00] [-1.37170893e-03 -4.51530476e-05 9.99999058e-01 1.00554275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.615529292999994 meters Centerline goodness [0,1] 0.9953168776457596 Centerline is valid? [True, True] Translation: X:-52.21, Y:-3.05, Z:1.01 [[ 9.99973176e-01 7.16533552e-03 1.51802328e-03 -5.22057981e+01] [-7.16540117e-03 9.99974327e-01 3.78124827e-05 -3.05056332e+00] [-1.51771337e-03 -4.86887142e-05 9.99998847e-01 1.01077872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.645529292999996 meters Centerline goodness [0,1] 0.9946894671013512 Centerline is valid? [True, True] Translation: X:-52.24, Y:-3.04, Z:1.00 [[ 9.99973674e-01 6.81286079e-03 -2.49722968e-03 -5.22382724e+01] [-6.81304899e-03 9.99976789e-01 -6.68647217e-05 -3.04107093e+00] [ 2.49671618e-03 8.38767095e-05 9.99996880e-01 1.00368204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.675529293 meters Centerline goodness [0,1] 0.9960125788748895 Centerline is valid? [True, True] Translation: X:-52.27, Y:-3.04, Z:1.00 [[ 9.99958477e-01 8.30049417e-03 -3.76124692e-03 -5.22678331e+01] [-8.30091950e-03 9.99965542e-01 -9.74840152e-05 -3.04137481e+00] [ 3.76030815e-03 1.28701775e-04 9.99992922e-01 1.00311498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.705529293 meters Centerline goodness [0,1] 0.9949701287236445 Centerline is valid? [True, True] Translation: X:-52.30, Y:-3.04, Z:1.01 [[ 9.99956701e-01 8.92568509e-03 -2.63211119e-03 -5.22969044e+01] [-8.92589335e-03 9.99960161e-01 -6.73875707e-05 -3.03943086e+00] [ 2.63140485e-03 9.08785967e-05 9.99996534e-01 1.01012461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.735529293 meters Centerline goodness [0,1] 0.9940549405494055 Centerline is valid? [True, True] Translation: X:-52.33, Y:-3.04, Z:1.00 [[ 9.99974311e-01 7.11135507e-03 -8.97988817e-04 -5.23281296e+01] [-7.11137945e-03 9.99974714e-01 -2.39559730e-05 -3.03572446e+00] [ 8.97795751e-04 3.03412968e-05 9.99999597e-01 1.00496096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.76552929299999 meters Centerline goodness [0,1] 0.994239442394424 Centerline is valid? [True, True] Translation: X:-52.36, Y:-3.05, Z:1.01 [[ 9.99970160e-01 7.52940746e-03 -1.72832136e-03 -5.23590726e+01] [-7.52949964e-03 9.99971652e-01 -4.68309572e-05 -3.04619442e+00] [ 1.72791975e-03 5.98429548e-05 9.99998505e-01 1.01465856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.795529292999994 meters Centerline goodness [0,1] 0.9960387504618037 Centerline is valid? [True, True] Translation: X:-52.39, Y:-3.04, Z:1.02 [[ 9.99951554e-01 9.82622320e-03 -5.79311384e-04 -5.23910292e+01] [-9.82623497e-03 9.99951721e-01 -1.74705486e-05 -3.04300223e+00] [ 5.79111746e-04 2.31621520e-05 9.99999832e-01 1.01871068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.825529292999995 meters Centerline goodness [0,1] 0.9950804550579071 Centerline is valid? [True, True] Translation: X:-52.42, Y:-3.04, Z:1.02 [[ 9.99948581e-01 1.01118159e-02 7.66070169e-04 -5.24217719e+01] [-1.01118329e-02 9.99948874e-01 1.83910142e-05 -3.04116599e+00] [-7.65845037e-04 -2.61364421e-05 9.99999706e-01 1.02311355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.855529293 meters Centerline goodness [0,1] 0.9959308032062817 Centerline is valid? [True, True] Translation: X:-52.45, Y:-3.03, Z:1.03 [[ 9.99920113e-01 1.22119771e-02 3.26132379e-03 -5.24538956e+01] [-1.22123142e-02 9.99925423e-01 8.34772935e-05 -3.03421191e+00] [-3.26006115e-03 -1.23298935e-04 9.99994678e-01 1.02633937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.885529293 meters Centerline goodness [0,1] 0.9951144411372267 Centerline is valid? [True, True] Translation: X:-52.48, Y:-3.04, Z:1.02 [[ 9.99898965e-01 1.42126470e-02 -2.45347594e-04 -5.24836895e+01] [-1.42126490e-02 9.99898995e-01 -6.45151526e-06 -3.03660989e+00] [ 2.45231119e-04 9.93790265e-06 9.99999970e-01 1.02103831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.915529293 meters Centerline goodness [0,1] 0.9959510009454515 Centerline is valid? [True, True] Translation: X:-52.52, Y:-3.04, Z:1.01 [[ 9.99885928e-01 1.42352801e-02 -5.04854980e-03 -5.25151642e+01] [-1.42361349e-02 9.99898652e-01 -1.33416268e-04 -3.03680555e+00] [ 5.04613892e-03 2.05272885e-04 9.99987247e-01 1.01098259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94552929299999 meters Centerline goodness [0,1] 0.9957760918597498 Centerline is valid? [True, True] Translation: X:-52.55, Y:-3.04, Z:1.02 [[ 9.99867824e-01 1.49811541e-02 -6.31659684e-03 -5.25453749e+01] [-1.49825068e-02 9.99887742e-01 -1.66873543e-04 -3.03702462e+00] [ 6.31338780e-03 2.61489941e-04 9.99980036e-01 1.01931676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.975529292999994 meters Centerline goodness [0,1] 0.9947876051713523 Centerline is valid? [True, True] Translation: X:-52.58, Y:-3.03, Z:1.03 [[ 9.99888236e-01 1.49437480e-02 4.46720655e-04 -5.25754911e+01] [-1.49437548e-02 9.99888336e-01 1.20215191e-05 -3.02777112e+00] [-4.46491125e-04 -1.86958595e-05 9.99999900e-01 1.02975222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.005529292999995 meters Centerline goodness [0,1] 0.995513122579852 Centerline is valid? [True, True] Translation: X:-52.61, Y:-3.02, Z:1.04 [[ 9.99847628e-01 1.65601947e-02 5.52093186e-03 -5.26069943e+01] [-1.65612415e-02 9.99862843e-01 1.43934747e-04 -3.02037974e+00] [-5.51779103e-03 -2.35346301e-04 9.99984749e-01 1.04009888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.035529292999996 meters Centerline goodness [0,1] 0.9965990575701701 Centerline is valid? [True, True] Translation: X:-52.64, Y:-3.02, Z:1.04 [[ 9.99832722e-01 1.81547187e-02 2.22136661e-03 -5.26382316e+01] [-1.81548923e-02 9.99835185e-01 5.79755842e-05 -3.02217170e+00] [-2.21994797e-03 -9.82945577e-05 9.99997531e-01 1.03666531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.065529293 meters Centerline goodness [0,1] 0.9963462446373955 Centerline is valid? [True, True] Translation: X:-52.67, Y:-3.03, Z:1.03 [[ 9.99812827e-01 1.89531813e-02 -3.88441279e-03 -5.26684247e+01] [-1.89537214e-02 9.99820357e-01 -1.02295957e-04 -3.02971996e+00] [ 3.88177615e-03 1.75900888e-04 9.99992450e-01 1.02968427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.095529293 meters Centerline goodness [0,1] 0.9946496658603583 Centerline is valid? [True, True] Translation: X:-52.70, Y:-3.03, Z:1.03 [[ 9.99824922e-01 1.79945067e-02 -5.13066151e-03 -5.27004199e+01] [-1.79954514e-02 9.99838059e-01 -1.38014153e-04 -3.03122083e+00] [ 5.12734715e-03 2.30318559e-04 9.99986829e-01 1.03043269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.125529293 meters Centerline goodness [0,1] 0.9958569201739274 Centerline is valid? [True, True] Translation: X:-52.73, Y:-3.03, Z:1.04 [[ 9.99837831e-01 1.79428134e-02 -1.53829786e-03 -5.27313018e+01] [-1.79428981e-02 9.99839012e-01 -4.12949904e-05 -3.02550806e+00] [ 1.53730926e-03 6.88898154e-05 9.99998816e-01 1.03533861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.155529292999994 meters Centerline goodness [0,1] 0.9949615975422427 Centerline is valid? [True, True] Translation: X:-52.76, Y:-3.03, Z:1.04 [[ 9.99872247e-01 1.59729676e-02 5.95191280e-04 -5.27615028e+01] [-1.59729789e-02 9.99872424e-01 1.43852259e-05 -3.02853950e+00] [-5.94885573e-04 -2.38903659e-05 9.99999823e-01 1.04299145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.185529292999995 meters Centerline goodness [0,1] 0.9961637877979732 Centerline is valid? [True, True] Translation: X:-52.79, Y:-3.02, Z:1.03 [[ 9.99881988e-01 1.52738252e-02 -1.64908065e-03 -5.27944705e+01] [-1.52739219e-02 9.99883346e-01 -4.60800540e-05 -3.02438976e+00] [ 1.64818446e-03 7.12625451e-05 9.99998639e-01 1.03390753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.215529292999996 meters Centerline goodness [0,1] 0.9946515263720892 Centerline is valid? [True, True] Translation: X:-52.82, Y:-3.03, Z:1.04 [[ 9.99867295e-01 1.50998065e-02 -6.11458210e-03 -5.28237441e+01] [-1.51010977e-02 9.99885958e-01 -1.65045460e-04 -3.03165085e+00] [ 6.11139263e-03 2.57360459e-04 9.99981292e-01 1.03507515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.245529293 meters Centerline goodness [0,1] 0.9957116769600098 Centerline is valid? [True, True] Translation: X:-52.85, Y:-3.04, Z:1.04 [[ 9.99884889e-01 1.43671763e-02 -4.87784684e-03 -5.28524455e+01] [-1.43679850e-02 9.99896767e-01 -1.30779345e-04 -3.03617375e+00] [ 4.87546435e-03 2.00849121e-04 9.99988095e-01 1.03970052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.275529293 meters Centerline goodness [0,1] 0.9966133004926109 Centerline is valid? [True, True] Translation: X:-52.88, Y:-3.04, Z:1.04 [[ 9.99917285e-01 1.27356544e-02 -1.79608998e-03 -5.28831310e+01] [-1.27357620e-02 9.99918896e-01 -4.85029982e-05 -3.03988435e+00] [ 1.79532659e-03 7.13735608e-05 9.99998386e-01 1.04318025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.305529293 meters Centerline goodness [0,1] 0.9957608895988205 Centerline is valid? [True, True] Translation: X:-52.91, Y:-3.05, Z:1.05 [[ 9.99967556e-01 8.05452434e-03 1.11429107e-04 -5.29132869e+01] [-8.05452469e-03 9.99967562e-01 2.66138485e-06 -3.04514272e+00] [-1.11404057e-04 -3.55880700e-06 9.99999994e-01 1.04801731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.33552929299999 meters Centerline goodness [0,1] 0.9962477701913022 Centerline is valid? [True, True] Translation: X:-52.94, Y:-3.05, Z:1.05 [[ 9.99982401e-01 5.76794911e-03 1.38899719e-03 -5.29436188e+01] [-5.76800094e-03 9.99983364e-01 3.33098374e-05 -3.04982216e+00] [-1.38878196e-03 -4.13209883e-05 9.99999035e-01 1.05237821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.365529292999994 meters Centerline goodness [0,1] 0.9943493537715495 Centerline is valid? [True, True] Translation: X:-52.98, Y:-3.05, Z:1.05 [[ 9.99986304e-01 5.22940934e-03 -2.12789491e-04 -5.29760221e+01] [-5.22941116e-03 9.99986327e-01 -7.99975285e-06 -3.05178062e+00] [ 2.12744747e-04 9.11240702e-06 9.99999977e-01 1.05025508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.395529292999996 meters Centerline goodness [0,1] 0.9949898359376604 Centerline is valid? [True, True] Translation: X:-53.01, Y:-3.05, Z:1.04 [[ 9.99985388e-01 4.53747426e-03 -2.93845151e-03 -5.30080517e+01] [-4.53773138e-03 9.99989701e-01 -8.08428051e-05 -3.05333854e+00] [ 2.93805443e-03 9.41755275e-05 9.99995679e-01 1.04312065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.425529293 meters Centerline goodness [0,1] 0.9955870279146142 Centerline is valid? [True, True] Translation: X:-53.04, Y:-3.06, Z:1.05 [[ 9.99984372e-01 3.07766362e-03 -4.66740475e-03 -5.30369393e+01] [-3.07827507e-03 9.99995254e-01 -1.23825850e-04 -3.05782326e+00] [ 4.66700150e-03 1.38191471e-04 9.99989100e-01 1.04569927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.455529293 meters Centerline goodness [0,1] 0.9948842824694591 Centerline is valid? [True, True] Translation: X:-53.07, Y:-3.06, Z:1.05 [[ 9.99994484e-01 1.57638248e-03 2.92338662e-03 -5.30669787e+01] [-1.57661903e-03 9.99998754e-01 7.86130920e-05 -3.05591631e+00] [-2.92325906e-03 -8.32217254e-05 9.99995724e-01 1.05493302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.485529293 meters Centerline goodness [0,1] 0.9951018567856704 Centerline is valid? [True, True] Translation: X:-53.10, Y:-3.06, Z:1.06 [[ 9.99994630e-01 1.81399253e-03 2.72952654e-03 -5.30975263e+01] [-1.81419541e-03 9.99998352e-01 7.18526120e-05 -3.05998276e+00] [-2.72939170e-03 -7.68041206e-05 9.99996272e-01 1.06255584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.51552929299999 meters Centerline goodness [0,1] 0.9946793212539545 Centerline is valid? [True, True] Translation: X:-53.13, Y:-3.06, Z:1.05 [[ 9.99994804e-01 3.10274945e-03 -8.74970559e-04 -5.31291850e+01] [-3.10277227e-03 9.99995186e-01 -2.47216775e-05 -3.05571275e+00] [ 8.74889642e-04 2.74363835e-05 9.99999617e-01 1.05457257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.545529292999994 meters Centerline goodness [0,1] 0.9945056071509113 Centerline is valid? [True, True] Translation: X:-53.16, Y:-3.06, Z:1.05 [[ 9.99989798e-01 3.43475517e-03 -2.93377956e-03 -5.31600100e+01] [-3.43500210e-03 9.99994097e-01 -7.91355098e-05 -3.05977940e+00] [ 2.93349044e-03 8.92122414e-05 9.99995693e-01 1.05085278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.575529292999995 meters Centerline goodness [0,1] 0.9950328079965659 Centerline is valid? [True, True] Translation: X:-53.19, Y:-3.06, Z:1.05 [[ 9.99978638e-01 4.93331077e-03 -4.28785706e-03 -5.31882995e+01] [-4.93384179e-03 9.99987822e-01 -1.13273035e-04 -3.06427234e+00] [ 4.28724603e-03 1.34426223e-04 9.99990801e-01 1.05074820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.605529293 meters Centerline goodness [0,1] 0.995312114483099 Centerline is valid? [True, True] Translation: X:-53.22, Y:-3.06, Z:1.06 [[ 9.99969959e-01 6.28934365e-03 -4.53051501e-03 -5.32160657e+01] [-6.28991862e-03 9.99980212e-01 -1.12673387e-04 -3.06494404e+00] [ 4.52971672e-03 1.41166572e-04 9.99989731e-01 1.06092404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.635529293 meters Centerline goodness [0,1] 0.9951215512647071 Centerline is valid? [True, True] Translation: X:-53.24, Y:-3.06, Z:1.07 [[ 9.99934028e-01 1.12440571e-02 2.34761091e-03 -5.32445659e+01] [-1.12442401e-02 9.99936779e-01 6.47570169e-05 -3.05500299e+00] [-2.34673436e-03 -9.11498454e-05 9.99997242e-01 1.06785825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.665529293 meters Centerline goodness [0,1] 0.9947165001439086 Centerline is valid? [True, True] Translation: X:-53.27, Y:-3.06, Z:1.07 [[ 9.99912870e-01 1.31264752e-02 1.39572222e-03 -5.32743306e+01] [-1.31265390e-02 9.99913843e-01 3.65520092e-05 -3.06224147e+00] [-1.39512217e-03 -5.48698265e-05 9.99999025e-01 1.07495987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.69552929299999 meters Centerline goodness [0,1] 0.995268720301491 Centerline is valid? [True, True] Translation: X:-53.31, Y:-3.06, Z:1.07 [[ 9.99900650e-01 1.40948417e-02 1.60239426e-04 -5.33066965e+01] [-1.40948422e-02 9.99900663e-01 1.94056744e-06 -3.05802352e+00] [-1.60196157e-04 -4.19892408e-06 9.99999987e-01 1.06788258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.725529292999994 meters Centerline goodness [0,1] 0.9956438154450262 Centerline is valid? [True, True] Translation: X:-53.34, Y:-3.06, Z:1.07 [[ 9.99835597e-01 1.79820499e-02 -2.32894834e-03 -5.33362382e+01] [-1.79822423e-02 9.99838305e-01 -6.16968971e-05 -3.05573723e+00] [ 2.32746232e-03 1.03566467e-04 9.99997286e-01 1.06652840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.755529292999995 meters Centerline goodness [0,1] 0.994485783982125 Centerline is valid? [True, True] Translation: X:-53.37, Y:-3.06, Z:1.07 [[ 9.99780554e-01 2.08963511e-02 -1.47877487e-03 -5.33668163e+01] [-2.08964339e-02 9.99781645e-01 -4.06014614e-05 -3.05543951e+00] [ 1.47760355e-03 7.14936730e-05 9.99998906e-01 1.06909724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.785529292999996 meters Centerline goodness [0,1] 0.9950715746421268 Centerline is valid? [True, True] Translation: X:-53.40, Y:-3.06, Z:1.07 [[ 9.99754718e-01 2.19850747e-02 -2.67605417e-03 -5.33987793e+01] [-2.19853510e-02 9.99758290e-01 -7.38577806e-05 -3.05652983e+00] [ 2.67378358e-03 1.32673655e-04 9.99996417e-01 1.06917425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.815529293 meters Centerline goodness [0,1] 0.9947893160464448 Centerline is valid? [True, True] Translation: X:-53.43, Y:-3.06, Z:1.07 [[ 9.99730917e-01 2.30136111e-02 -2.90983150e-03 -5.34312597e+01] [-2.30139422e-02 9.99735141e-01 -8.03371695e-05 -3.05700452e+00] [ 2.90721196e-03 1.47282246e-04 9.99995763e-01 1.07109129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.845529293 meters Centerline goodness [0,1] 0.9955922752060355 Centerline is valid? [True, True] Translation: X:-53.46, Y:-3.06, Z:1.08 [[ 9.99726873e-01 2.33664103e-02 -4.35128754e-04 -5.34636987e+01] [-2.33664186e-02 9.99726968e-01 -1.39619107e-05 -3.05758421e+00] [ 4.34683710e-04 2.41254979e-05 9.99999905e-01 1.07622668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.875529293 meters Centerline goodness [0,1] 0.9955393849695774 Centerline is valid? [True, True] Translation: X:-53.49, Y:-3.06, Z:1.08 [[ 9.99698806e-01 2.45099145e-02 -1.24981071e-03 -5.34948410e+01] [-2.45099771e-02 9.99699585e-01 -3.47858501e-05 -3.06185403e+00] [ 1.24858265e-03 6.54082047e-05 9.99999218e-01 1.07541118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.905529292999994 meters Centerline goodness [0,1] 0.9954864388002134 Centerline is valid? [True, True] Translation: X:-53.53, Y:-3.07, Z:1.08 [[ 9.99693255e-01 2.47090830e-02 -1.69000966e-03 -5.35258199e+01] [-2.47091982e-02 9.99694680e-01 -4.73147464e-05 -3.06642588e+00] [ 1.68832457e-03 8.90590166e-05 9.99998571e-01 1.07741561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.935529292999995 meters Centerline goodness [0,1] 0.993987770345139 Centerline is valid? [True, True] Translation: X:-53.56, Y:-3.07, Z:1.08 [[ 9.99731684e-01 2.31485672e-02 8.38458433e-04 -5.35565908e+01] [-2.31485932e-02 9.99732035e-01 2.12517017e-05 -3.06648962e+00] [-8.37741809e-04 -4.06551327e-05 9.99999648e-01 1.08383774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.965529292999996 meters Centerline goodness [0,1] 0.9953763374864462 Centerline is valid? [True, True] Translation: X:-53.59, Y:-3.07, Z:1.09 [[ 9.99750302e-01 2.21207384e-02 3.16346439e-03 -5.35872535e+01] [-2.21211180e-02 9.99755295e-01 8.50281370e-05 -3.07340957e+00] [-3.16080939e-03 -1.54986275e-04 9.99994993e-01 1.08569652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.995529293 meters Centerline goodness [0,1] 0.9951368654327574 Centerline is valid? [True, True] Translation: X:-53.62, Y:-3.08, Z:1.08 [[ 9.99756860e-01 2.20487321e-02 2.71088716e-04 -5.36174905e+01] [-2.20487347e-02 9.99756897e-01 6.76594986e-06 -3.08153451e+00] [-2.70873633e-04 -1.27414680e-05 9.99999963e-01 1.08325385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.025529293 meters Centerline goodness [0,1] 0.9944253156255124 Centerline is valid? [True, True] Translation: X:-53.65, Y:-3.08, Z:1.08 [[ 9.99773868e-01 2.09304891e-02 -3.75862725e-03 -5.36495065e+01] [-2.09310264e-02 9.99780917e-01 -1.03676574e-04 -3.08071310e+00] [ 3.75563380e-03 1.82325056e-04 9.99992931e-01 1.07747335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.055529293 meters Centerline goodness [0,1] 0.9948272676888971 Centerline is valid? [True, True] Translation: X:-53.68, Y:-3.08, Z:1.08 [[ 9.99816597e-01 1.87895021e-02 -3.70508185e-03 -5.36813680e+01] [-1.87900124e-02 9.99823447e-01 -1.02964858e-04 -3.08377147e+00] [ 3.70249305e-03 1.72564507e-04 9.99993131e-01 1.07930511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08552929299999 meters Centerline goodness [0,1] 0.9953993715212882 Centerline is valid? [True, True] Translation: X:-53.71, Y:-3.09, Z:1.09 [[ 9.99844295e-01 1.76441257e-02 -2.67295822e-04 -5.37125129e+01] [-1.76441286e-02 9.99844330e-01 -8.39167051e-06 -3.08618253e+00] [ 2.67106148e-04 1.31065657e-05 9.99999964e-01 1.08526814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.115529292999994 meters Centerline goodness [0,1] 0.9943741787122208 Centerline is valid? [True, True] Translation: X:-53.74, Y:-3.09, Z:1.09 [[ 9.99837052e-01 1.79719003e-02 1.69720869e-03 -5.37442527e+01] [-1.79720002e-02 9.99838490e-01 4.36062000e-05 -3.08539132e+00] [-1.69615089e-03 -7.41013294e-05 9.99998559e-01 1.09252101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.145529292999996 meters Centerline goodness [0,1] 0.9945024513323351 Centerline is valid? [True, True] Translation: X:-53.77, Y:-3.09, Z:1.09 [[ 9.99815208e-01 1.92236552e-02 -7.21334861e-06 -5.37744398e+01] [-1.92236552e-02 9.99815208e-01 -7.55873230e-07 -3.08528171e+00] [ 7.19748486e-06 8.94400472e-07 1.00000000e+00 1.08898719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.175529293 meters Centerline goodness [0,1] 0.9942920272509667 Centerline is valid? [True, True] Translation: X:-53.81, Y:-3.10, Z:1.09 [[ 9.99806458e-01 1.96297277e-02 -1.31163314e-03 -5.38062628e+01] [-1.96297954e-02 9.99807316e-01 -3.87506390e-05 -3.09653785e+00] [ 1.31061975e-03 6.44902293e-05 9.99999139e-01 1.08977508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.205529293 meters Centerline goodness [0,1] 0.9949460708782742 Centerline is valid? [True, True] Translation: X:-53.84, Y:-3.11, Z:1.09 [[ 9.99807410e-01 1.95923481e-02 -1.13222313e-03 -5.38391046e+01] [-1.95923998e-02 9.99808050e-01 -3.45052648e-05 -3.10547764e+00] [ 1.13132976e-03 5.66815875e-05 9.99999358e-01 1.09274076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.235529293 meters Centerline goodness [0,1] 0.9934804001968182 Centerline is valid? [True, True] Translation: X:-53.87, Y:-3.10, Z:1.10 [[ 9.99842582e-01 1.77417813e-02 2.00949721e-04 -5.38701124e+01] [-1.77417826e-02 9.99842602e-01 4.97953722e-06 -3.10143410e+00] [-2.00829746e-04 -8.54395962e-06 9.99999980e-01 1.09514351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26552929299999 meters Centerline goodness [0,1] 0.9935442882321597 Centerline is valid? [True, True] Translation: X:-53.90, Y:-3.10, Z:1.10 [[ 9.99796174e-01 2.01863506e-02 3.48253001e-04 -5.39004568e+01] [-2.01863540e-02 9.99796235e-01 6.34964216e-06 -3.09815083e+00] [-3.48053863e-04 -1.33783063e-05 9.99999939e-01 1.09953331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.295529292999994 meters Centerline goodness [0,1] 0.9926830767969502 Centerline is valid? [True, True] Translation: X:-53.93, Y:-3.10, Z:1.09 [[ 9.99754001e-01 2.21794464e-02 1.00057805e-04 -5.39318697e+01] [-2.21794466e-02 9.99754006e-01 1.66577451e-06 -3.09557851e+00] [-9.99962456e-05 -3.88459149e-06 9.99999995e-01 1.09412788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.325529292999995 meters Centerline goodness [0,1] 0.9926830767969502 Centerline is valid? [True, True] Translation: X:-53.96, Y:-3.10, Z:1.10 [[ 9.99756164e-01 2.20817349e-02 1.00115541e-04 -5.39644607e+01] [-2.20817349e-02 9.99756169e-01 -4.15512092e-07 -3.09634110e+00] [-1.00100305e-04 -1.79531408e-06 9.99999995e-01 1.09519297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.355529293 meters Centerline goodness [0,1] 0.99459603299695 Centerline is valid? [True, True] Translation: X:-54.00, Y:-3.11, Z:1.10 [[ 9.99737104e-01 2.29177893e-02 -7.05227047e-04 -5.39954918e+01] [-2.29178119e-02 9.99737352e-01 -2.40689726e-05 -3.10736342e+00] [ 7.04490213e-04 4.02249058e-05 9.99999751e-01 1.09838909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.385529293 meters Centerline goodness [0,1] 0.9955499046408137 Centerline is valid? [True, True] Translation: X:-54.03, Y:-3.11, Z:1.10 [[ 9.99768532e-01 2.15129414e-02 2.74757686e-04 -5.40274332e+01] [-2.15129437e-02 9.99768570e-01 5.45592677e-06 -3.11074447e+00] [-2.74576726e-04 -1.13655105e-05 9.99999962e-01 1.10074132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.415529293 meters Centerline goodness [0,1] 0.9945899422107464 Centerline is valid? [True, True] Translation: X:-54.06, Y:-3.12, Z:1.11 [[ 9.99775620e-01 2.11287695e-02 1.51140512e-03 -5.40593136e+01] [-2.11288543e-02 9.99776760e-01 4.01714317e-05 -3.11547045e+00] [-1.51021894e-03 -7.20966766e-05 9.99998857e-01 1.10592482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44552929299999 meters Centerline goodness [0,1] 0.9937805601587594 Centerline is valid? [True, True] Translation: X:-54.09, Y:-3.12, Z:1.11 [[ 9.99738175e-01 2.26714186e-02 3.09652223e-03 -5.40916888e+01] [-2.26717882e-02 9.99742958e-01 8.43212759e-05 -3.12003326e+00] [-3.09381461e-03 -1.54502895e-04 9.99995202e-01 1.10507029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.475529292999994 meters Centerline goodness [0,1] 0.9938759626413239 Centerline is valid? [True, True] Translation: X:-54.12, Y:-3.12, Z:1.10 [[ 9.99737967e-01 2.28658952e-02 1.07127154e-03 -5.41235634e+01] [-2.28659384e-02 9.99738540e-01 2.80306617e-05 -3.12441510e+00] [-1.07035050e-03 -5.25189459e-05 9.99999426e-01 1.10215477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.505529292999995 meters Centerline goodness [0,1] 0.9951890597170757 Centerline is valid? [True, True] Translation: X:-54.16, Y:-3.13, Z:1.10 [[ 9.99716846e-01 2.37877630e-02 -6.07760363e-04 -5.41554699e+01] [-2.37877788e-02 9.99717031e-01 -1.87925033e-05 -3.12614103e+00] [ 6.07141354e-04 3.32444512e-05 9.99999815e-01 1.10223959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.535529292999996 meters Centerline goodness [0,1] 0.994074590449634 Centerline is valid? [True, True] Translation: X:-54.19, Y:-3.13, Z:1.10 [[ 9.99731146e-01 2.29766114e-02 -3.11621331e-03 -5.41869960e+01] [-2.29770119e-02 9.99735989e-01 -9.27796214e-05 -3.13013536e+00] [ 3.11325884e-03 1.64355948e-04 9.99995140e-01 1.10097936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.565529293 meters Centerline goodness [0,1] 0.9949502206712512 Centerline is valid? [True, True] Translation: X:-54.22, Y:-3.13, Z:1.10 [[ 9.99663459e-01 2.57195564e-02 -3.38728769e-03 -5.42172791e+01] [-2.57200293e-02 9.99669181e-01 -9.60925327e-05 -3.13305615e+00] [ 3.38369565e-03 1.83181332e-04 9.99994259e-01 1.10437069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.595529293 meters Centerline goodness [0,1] 0.9944669863518997 Centerline is valid? [True, True] Translation: X:-54.25, Y:-3.14, Z:1.10 [[ 9.99502466e-01 3.13096803e-02 -3.81108344e-03 -5.42472591e+01] [-3.13103192e-02 9.99509706e-01 -1.08088423e-04 -3.13718270e+00] [ 3.80583068e-03 2.27360885e-04 9.99992732e-01 1.10272955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.625529293 meters Centerline goodness [0,1] 0.9935259168203237 Centerline is valid? [True, True] Translation: X:-54.28, Y:-3.15, Z:1.10 [[ 9.99216099e-01 3.86605448e-02 -8.51757775e-03 -5.42776044e+01] [-3.86640020e-02 9.99252239e-01 -2.41537927e-04 -3.15161598e+00] [ 8.50187064e-03 5.70672229e-04 9.99963696e-01 1.09554931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.655529292999994 meters Centerline goodness [0,1] 0.9940523637255503 Centerline is valid? [True, True] Translation: X:-54.31, Y:-3.16, Z:1.10 [[ 9.99207120e-01 3.89233268e-02 -8.37295480e-03 -5.43083034e+01] [-3.89267152e-02 9.99242039e-01 -2.42039223e-04 -3.16048716e+00] [ 8.35718746e-03 5.67778942e-04 9.99964917e-01 1.09746686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.685529292999995 meters Centerline goodness [0,1] 0.9945321744807606 Centerline is valid? [True, True] Translation: X:-54.34, Y:-3.18, Z:1.11 [[ 9.99429199e-01 3.37773419e-02 -6.05985633e-04 -5.43375310e+01] [-3.37773583e-02 9.99429382e-01 -1.68454924e-05 -3.18425560e+00] [ 6.05070851e-04 3.73044708e-05 9.99999816e-01 1.10827058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.715529292999996 meters Centerline goodness [0,1] 0.9943437066078575 Centerline is valid? [True, True] Translation: X:-54.37, Y:-3.19, Z:1.11 [[ 9.99598422e-01 2.74183790e-02 7.15730842e-03 -5.43675358e+01] [-2.74205382e-02 9.99623966e-01 2.03711847e-04 -3.19002482e+00] [-7.14903158e-03 -3.99887290e-04 9.99974365e-01 1.11466890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.745529293 meters Centerline goodness [0,1] 0.9957150727417413 Centerline is valid? [True, True] Translation: X:-54.40, Y:-3.22, Z:1.12 [[ 9.99753209e-01 2.15575883e-02 5.36583402e-03 -5.43956316e+01] [-2.15587197e-02 9.99767572e-01 1.53088320e-04 -3.22440555e+00] [-5.36128663e-03 -2.68731051e-04 9.99985592e-01 1.11847493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.775529293 meters Centerline goodness [0,1] 0.9943358416489448 Centerline is valid? [True, True] Translation: X:-54.43, Y:-3.24, Z:1.11 [[ 9.99799837e-01 1.95345344e-02 -4.32299809e-03 -5.44267015e+01] [-1.95352521e-02 9.99809161e-01 -1.23854567e-04 -3.23972638e+00] [ 4.31975366e-03 2.08280634e-04 9.99990648e-01 1.10634986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.805529293 meters Centerline goodness [0,1] 0.9958694585309995 Centerline is valid? [True, True] Translation: X:-54.46, Y:-3.25, Z:1.10 [[ 9.99733290e-01 2.18643260e-02 -7.43634449e-03 -5.44564841e+01] [-2.18665018e-02 9.99760877e-01 -2.11402183e-04 -3.24685887e+00] [ 7.42994412e-03 3.73952640e-04 9.99972328e-01 1.10291089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.83552929299999 meters Centerline goodness [0,1] 0.9950519342438865 Centerline is valid? [True, True] Translation: X:-54.49, Y:-3.25, Z:1.11 [[ 9.99589321e-01 2.85418261e-02 -2.55979455e-03 -5.44860621e+01] [-2.85421044e-02 9.99592589e-01 -7.22788974e-05 -3.25042299e+00] [ 2.55668869e-03 1.45311137e-04 9.99996721e-01 1.11120593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.865529292999994 meters Centerline goodness [0,1] 0.9950497074827149 Centerline is valid? [True, True] Translation: X:-54.52, Y:-3.26, Z:1.12 [[ 9.99416669e-01 3.41150497e-02 1.57644854e-03 -5.45152763e+01] [-3.41151627e-02 9.99417907e-01 4.48490442e-05 -3.26164337e+00] [-1.57400088e-03 -9.86036809e-05 9.99998756e-01 1.12010201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.895529292999996 meters Centerline goodness [0,1] 0.9963286285387941 Centerline is valid? [True, True] Translation: X:-54.54, Y:-3.28, Z:1.12 [[ 9.99359428e-01 3.57307417e-02 -2.01178679e-03 -5.45447209e+01] [-3.57309290e-02 9.99361445e-01 -5.72341641e-05 -3.27928871e+00] [ 2.00845713e-03 1.29080512e-04 9.99997975e-01 1.11559570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.925529293 meters Centerline goodness [0,1] 0.9942684091786752 Centerline is valid? [True, True] Translation: X:-54.58, Y:-3.28, Z:1.11 [[ 9.99440513e-01 3.30149612e-02 -5.35476558e-03 -5.45771094e+01] [-3.30162633e-02 9.99454803e-01 -1.54929831e-04 -3.28410492e+00] [ 5.34673118e-03 3.31637500e-04 9.99985651e-01 1.11069615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.955529293 meters Centerline goodness [0,1] 0.9969720528663202 Centerline is valid? [True, True] Translation: X:-54.61, Y:-3.30, Z:1.12 [[ 9.99530600e-01 3.05003793e-02 -2.88222283e-03 -5.46062355e+01] [-3.05007412e-02 9.99534741e-01 -8.17107141e-05 -3.30396325e+00] [ 2.87838964e-03 1.69582292e-04 9.99995843e-01 1.11598713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.985529293 meters Centerline goodness [0,1] 0.9970620039581336 Centerline is valid? [True, True] Translation: X:-54.64, Y:-3.33, Z:1.13 [[ 9.99651733e-01 2.63055633e-02 2.10493352e-03 -5.46361774e+01] [-2.63057471e-02 9.99653942e-01 5.96499327e-05 -3.32701716e+00] [-2.10263596e-03 -1.15001007e-04 9.99997783e-01 1.12537074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.01552929299999 meters Centerline goodness [0,1] 0.9984721316818774 Centerline is valid? [True, True] Translation: X:-54.67, Y:-3.34, Z:1.12 [[ 9.99622537e-01 2.73542268e-02 -2.55519953e-03 -5.46661492e+01] [-2.73545021e-02 9.99625793e-01 -7.28625656e-05 -3.34094204e+00] [ 2.55225025e-03 1.42731274e-04 9.99996733e-01 1.11791085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.045529292999994 meters Centerline goodness [0,1] 0.9960877007091042 Centerline is valid? [True, True] Translation: X:-54.70, Y:-3.34, Z:1.11 [[ 9.99513662e-01 3.06356738e-02 -5.82194031e-03 -5.46969815e+01] [-3.06371585e-02 9.99530558e-01 -1.65993091e-04 -3.33764318e+00] [ 5.81412194e-03 3.44280070e-04 9.99983039e-01 1.11366961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.075529292999995 meters Centerline goodness [0,1] 0.9964757170795306 Centerline is valid? [True, True] Translation: X:-54.73, Y:-3.36, Z:1.13 [[ 9.99351227e-01 3.59751010e-02 -1.70772219e-03 -5.47260026e+01] [-3.59752365e-02 9.99352680e-01 -4.86954270e-05 -3.36024094e+00] [ 1.70486493e-03 1.10099545e-04 9.99998541e-01 1.12670808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.105529293 meters Centerline goodness [0,1] 0.9970535641713403 Centerline is valid? [True, True] Translation: X:-54.76, Y:-3.38, Z:1.13 [[ 9.99293080e-01 3.75914853e-02 -4.70108234e-04 -5.47571657e+01] [-3.75914967e-02 9.99293190e-01 -1.55765413e-05 -3.37867244e+00] [ 4.69190411e-04 3.32376021e-05 9.99999889e-01 1.13035808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.135529293 meters Centerline goodness [0,1] 0.9975399503923881 Centerline is valid? [True, True] Translation: X:-54.79, Y:-3.39, Z:1.13 [[ 9.99299896e-01 3.73957997e-02 -1.12751325e-03 -5.47894145e+01] [-3.73958622e-02 9.99300530e-01 -3.44513526e-05 -3.39240721e+00] [ 1.12543625e-03 7.65915633e-05 9.99999364e-01 1.13007360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.165529293 meters Centerline goodness [0,1] 0.997766089234581 Centerline is valid? [True, True] Translation: X:-54.82, Y:-3.40, Z:1.14 [[ 9.99399817e-01 3.46362853e-02 -5.77669510e-04 -5.48192444e+01] [-3.46363009e-02 9.99399983e-01 -1.70978921e-05 -3.40424514e+00] [ 5.76730691e-04 3.70959652e-05 9.99999833e-01 1.13735318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.19552929299999 meters Centerline goodness [0,1] 0.9974154422239407 Centerline is valid? [True, True] Translation: X:-54.85, Y:-3.41, Z:1.13 [[ 9.99506711e-01 3.14058254e-02 -9.08751420e-05 -5.48507378e+01] [-3.14058258e-02 9.99506715e-01 -3.68854370e-06 -3.40832514e+00] [ 9.07144728e-05 6.54073306e-06 9.99999996e-01 1.13027334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.225529292999994 meters Centerline goodness [0,1] 0.9976258116883117 Centerline is valid? [True, True] Translation: X:-54.88, Y:-3.43, Z:1.14 [[ 9.99537993e-01 3.03683403e-02 -1.25049576e-03 -5.48811127e+01] [-3.03684109e-02 9.99538773e-01 -3.75601908e-05 -3.43241576e+00] [ 1.24877836e-03 7.55184069e-05 9.99999217e-01 1.13809204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.255529292999995 meters Centerline goodness [0,1] 0.9981695783928898 Centerline is valid? [True, True] Translation: X:-54.91, Y:-3.45, Z:1.14 [[ 9.99557044e-01 2.96911660e-02 -2.03729718e-03 -5.49122199e+01] [-2.96913503e-02 9.99559113e-01 -6.02872109e-05 -3.45034229e+00] [ 2.03460896e-03 1.20750610e-04 9.99997923e-01 1.14066562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.285529292999996 meters Centerline goodness [0,1] 0.9975393500630414 Centerline is valid? [True, True] Translation: X:-54.94, Y:-3.46, Z:1.15 [[ 9.99467069e-01 3.26337098e-02 -7.86828136e-04 -5.49434170e+01] [-3.26337390e-02 9.99467377e-01 -2.43269811e-05 -3.45672181e+00] [ 7.85615174e-04 4.99911605e-05 9.99999690e-01 1.14859343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.315529293 meters Centerline goodness [0,1] 0.9951078315463329 Centerline is valid? [True, True] Translation: X:-54.97, Y:-3.46, Z:1.15 [[ 9.99320824e-01 3.67445803e-02 -2.77959973e-03 -5.49742747e+01] [-3.67449464e-02 9.99324673e-01 -8.07351301e-05 -3.45951206e+00] [ 2.77475601e-03 1.82816540e-04 9.99996134e-01 1.14748068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.345529293 meters Centerline goodness [0,1] 0.9942918883656453 Centerline is valid? [True, True] Translation: X:-55.00, Y:-3.47, Z:1.14 [[ 9.99171327e-01 4.03508342e-02 -5.33573632e-03 -5.50046770e+01] [-4.03522289e-02 9.99185505e-01 -1.53950325e-04 -3.46999201e+00] [ 5.32517837e-03 3.69131604e-04 9.99985753e-01 1.14127458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.375529293 meters Centerline goodness [0,1] 0.9942791994951037 Centerline is valid? [True, True] Translation: X:-55.03, Y:-3.49, Z:1.14 [[ 9.99096773e-01 4.22763942e-02 -4.28300489e-03 -5.50349958e+01] [-4.22773132e-02 9.99105907e-01 -1.24211170e-04 -3.48548971e+00] [ 4.27392428e-03 3.05172918e-04 9.99990820e-01 1.14478807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.405529292999994 meters Centerline goodness [0,1] 0.9930054289258047 Centerline is valid? [True, True] Translation: X:-55.06, Y:-3.50, Z:1.15 [[ 9.98944121e-01 4.59358863e-02 -7.32954098e-04 -5.50642037e+01] [-4.59359141e-02 9.98944389e-01 -2.11648622e-05 -3.49727870e+00] [ 7.31208157e-04 5.48114311e-05 9.99999731e-01 1.15261249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.435529292999995 meters Centerline goodness [0,1] 0.9891646845967759 Centerline is valid? [True, True] Translation: X:-55.10, Y:-3.50, Z:1.15 [[ 9.98931312e-01 4.62134499e-02 -7.42637018e-04 -5.50968777e+01] [-4.62134801e-02 9.98931586e-01 -2.36264771e-05 -3.49555807e+00] [ 7.40751713e-04 5.79210689e-05 9.99999724e-01 1.15234114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.465529292999996 meters Centerline goodness [0,1] 0.9890739236393177 Centerline is valid? [True, True] Translation: X:-55.13, Y:-3.50, Z:1.15 [[ 9.98998890e-01 4.47291881e-02 -7.19882137e-04 -5.51267814e+01] [-4.47292150e-02 9.98999148e-01 -2.13593923e-05 -3.50494109e+00] [ 7.18206253e-04 5.35377720e-05 9.99999741e-01 1.15443349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.495529293 meters Centerline goodness [0,1] 0.9918983126560945 Centerline is valid? [True, True] Translation: X:-55.16, Y:-3.54, Z:1.16 [[ 9.99273357e-01 3.80810360e-02 1.61015284e-03 -5.51560591e+01] [-3.80811602e-02 9.99274648e-01 4.65878110e-05 -3.53521702e+00] [-1.60721080e-03 -1.07870447e-04 9.99998703e-01 1.16010402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.525529293 meters Centerline goodness [0,1] 0.9961577556413905 Centerline is valid? [True, True] Translation: X:-55.19, Y:-3.56, Z:1.16 [[ 9.99353799e-01 3.59148992e-02 1.45073249e-03 -5.51859246e+01] [-3.59149971e-02 9.99354848e-01 4.15127326e-05 -3.55619479e+00] [-1.44830562e-03 -9.35889601e-05 9.99998947e-01 1.16493450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.555529293 meters Centerline goodness [0,1] 0.9923911940752764 Centerline is valid? [True, True] Translation: X:-55.22, Y:-3.55, Z:1.17 [[ 9.99409071e-01 3.43286978e-02 1.74596449e-03 -5.52169889e+01] [-3.43288375e-02 9.99410591e-01 5.00911009e-05 -3.55437204e+00] [-1.74321584e-03 -1.09998432e-04 9.99998475e-01 1.16667500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.58552929299999 meters Centerline goodness [0,1] 0.9941502650661141 Centerline is valid? [True, True] Translation: X:-55.25, Y:-3.56, Z:1.17 [[ 9.99382056e-01 3.50400691e-02 2.77473874e-03 -5.52475978e+01] [-3.50404231e-02 9.99385893e-01 7.90385225e-05 -3.55896015e+00] [-2.77026524e-03 -1.76217701e-04 9.99996147e-01 1.16945461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.615529292999994 meters Centerline goodness [0,1] 0.9946095482191167 Centerline is valid? [True, True] Translation: X:-55.28, Y:-3.57, Z:1.16 [[ 9.99352332e-01 3.59848980e-02 -5.21790636e-05 -5.52776432e+01] [-3.59848981e-02 9.99352334e-01 -1.51514614e-06 -3.56670558e+00] [ 5.20907465e-05 3.39182312e-06 9.99999999e-01 1.16488205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.645529292999996 meters Centerline goodness [0,1] 0.9887325089489098 Centerline is valid? [True, True] Translation: X:-55.31, Y:-3.57, Z:1.16 [[ 9.99309555e-01 3.70922863e-02 -2.13928318e-03 -5.53097682e+01] [-3.70925074e-02 9.99311834e-01 -6.37705640e-05 -3.56504113e+00] [ 2.13544561e-03 1.43077911e-04 9.99997710e-01 1.15727857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.675529293 meters Centerline goodness [0,1] 0.9918498094234044 Centerline is valid? [True, True] Translation: X:-55.34, Y:-3.58, Z:1.16 [[ 9.99240240e-01 3.88614958e-02 -2.95430319e-03 -5.53394535e+01] [-3.88619189e-02 9.99244587e-01 -8.59256527e-05 -3.57687105e+00] [ 2.94873227e-03 2.00670261e-04 9.99995632e-01 1.16158175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.705529293 meters Centerline goodness [0,1] 0.9921660392715433 Centerline is valid? [True, True] Translation: X:-55.37, Y:-3.59, Z:1.16 [[ 9.99182093e-01 4.01738408e-02 -4.60510195e-03 -5.53682206e+01] [-4.01748772e-02 9.99192655e-01 -1.32740725e-04 -3.58558549e+00] [ 4.59605134e-03 3.17641561e-04 9.99989388e-01 1.16192737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.735529293 meters Centerline goodness [0,1] 0.9869200899243817 Centerline is valid? [True, True] Translation: X:-55.40, Y:-3.59, Z:1.16 [[ 9.99088515e-01 4.21957831e-02 -6.45404281e-03 -5.53984164e+01] [-4.21978658e-02 9.99109256e-01 -1.86789810e-04 -3.58783362e+00] [ 6.44041217e-03 4.58966386e-04 9.99979155e-01 1.15756636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76552929299999 meters Centerline goodness [0,1] 0.9763087193682325 Centerline is valid? [True, True] Translation: X:-55.43, Y:-3.58, Z:1.16 [[ 9.99065179e-01 4.29721429e-02 -4.70779292e-03 -5.54277616e+01] [-4.29732230e-02 9.99076216e-01 -1.28457512e-04 -3.58473348e+00] [ 4.69792384e-03 3.30646462e-04 9.99988910e-01 1.15749663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.795529292999994 meters Centerline goodness [0,1] 0.990488964760395 Centerline is valid? [True, True] Translation: X:-55.46, Y:-3.61, Z:1.17 [[ 9.99145222e-01 4.13340339e-02 5.68983390e-04 -5.54556792e+01] [-4.13340505e-02 9.99145383e-01 1.73814620e-05 -3.60567715e+00] [-5.67778681e-04 -4.08849929e-05 9.99999838e-01 1.17272474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.825529292999995 meters Centerline goodness [0,1] 0.9905510528245021 Centerline is valid? [True, True] Translation: X:-55.49, Y:-3.62, Z:1.17 [[ 9.99236837e-01 3.90464469e-02 1.05794064e-03 -5.54860233e+01] [-3.90465004e-02 9.99237394e-01 2.99557227e-05 -3.61543457e+00] [-1.05596419e-03 -7.12417412e-05 9.99999440e-01 1.17302891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.855529293 meters Centerline goodness [0,1] 0.994577909550596 Centerline is valid? [True, True] Translation: X:-55.52, Y:-3.63, Z:1.17 [[ 9.99419558e-01 3.40182046e-02 1.81896054e-03 -5.55155249e+01] [-3.40183555e-02 9.99421207e-01 5.20692323e-05 -3.63404519e+00] [-1.81613644e-03 -1.13917055e-04 9.99998344e-01 1.17319108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.885529293 meters Centerline goodness [0,1] 0.9945560199816496 Centerline is valid? [True, True] Translation: X:-55.55, Y:-3.64, Z:1.18 [[ 9.99506841e-01 3.12720664e-02 2.85190856e-03 -5.55451760e+01] [-3.12724277e-02 9.99510895e-01 8.21783842e-05 -3.64400797e+00] [-2.84794379e-03 -1.71323961e-04 9.99995930e-01 1.18148095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.915529293 meters Centerline goodness [0,1] 0.9958784236493209 Centerline is valid? [True, True] Translation: X:-55.57, Y:-3.66, Z:1.19 [[ 9.99592102e-01 2.81222074e-02 4.97704319e-03 -5.55749716e+01] [-2.81232681e-02 9.99604452e-01 1.43250345e-04 -3.65588092e+00] [-4.97104602e-03 -2.83162633e-04 9.99987604e-01 1.18502198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94552929299999 meters Centerline goodness [0,1] 0.9956428789575487 Centerline is valid? [True, True] Translation: X:-55.61, Y:-3.66, Z:1.19 [[ 9.99692144e-01 2.43497586e-02 4.76516789e-03 -5.56051024e+01] [-2.43506869e-02 9.99703469e-01 1.36867553e-04 -3.66017711e+00] [-4.76042218e-03 -2.52860528e-04 9.99988637e-01 1.18977628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.975529292999994 meters Centerline goodness [0,1] 0.9963276320327875 Centerline is valid? [True, True] Translation: X:-55.64, Y:-3.67, Z:1.19 [[ 9.99736886e-01 2.25719888e-02 4.08205125e-03 -5.56356124e+01] [-2.25726437e-02 9.99745199e-01 1.14434295e-04 -3.66673073e+00] [-4.07842813e-03 -2.06546874e-04 9.99991662e-01 1.18805579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.005529292999995 meters Centerline goodness [0,1] 0.9955115055750756 Centerline is valid? [True, True] Translation: X:-55.67, Y:-3.66, Z:1.18 [[ 9.99663402e-01 2.58819999e-02 1.78991588e-03 -5.56663548e+01] [-2.58821338e-02 9.99665000e-01 5.16706799e-05 -3.66402186e+00] [-1.78797892e-03 -9.79801302e-05 9.99998397e-01 1.17979838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.035529292999996 meters Centerline goodness [0,1] 0.996271849407163 Centerline is valid? [True, True] Translation: X:-55.70, Y:-3.67, Z:1.18 [[ 9.99521709e-01 3.08675777e-02 -1.88294945e-03 -5.56961316e+01] [-3.08677359e-02 9.99523476e-01 -5.50044171e-05 -3.66884049e+00] [ 1.88035433e-03 1.13100495e-04 9.99998226e-01 1.17755307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.065529293 meters Centerline goodness [0,1] 0.9928536525775714 Centerline is valid? [True, True] Translation: X:-55.73, Y:-3.66, Z:1.18 [[ 9.99320445e-01 3.67309782e-02 -3.07961829e-03 -5.57266067e+01] [-3.67314275e-02 9.99325169e-01 -8.94523753e-05 -3.66143488e+00] [ 3.07425440e-03 2.02510364e-04 9.99995254e-01 1.17807997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.095529293 meters Centerline goodness [0,1] 0.9885184052207607 Centerline is valid? [True, True] Translation: X:-55.76, Y:-3.65, Z:1.17 [[ 9.98980674e-01 4.50573628e-02 -2.72895997e-03 -5.57578911e+01] [-4.50577457e-02 9.98984381e-01 -7.89524999e-05 -3.65408300e+00] [ 2.72263099e-03 2.01832806e-04 9.99996273e-01 1.17358141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.125529293 meters Centerline goodness [0,1] 0.9850005088022794 Centerline is valid? [True, True] Translation: X:-55.79, Y:-3.66, Z:1.17 [[ 9.98697646e-01 5.09644785e-02 -2.37365288e-03 -5.57870384e+01] [-5.09647836e-02 9.98700449e-01 -6.81771975e-05 -3.65740326e+00] [ 2.36709358e-03 1.89061112e-04 9.99997181e-01 1.17264623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.155529292999994 meters Centerline goodness [0,1] 0.9775461924379002 Centerline is valid? [True, True] Translation: X:-55.82, Y:-3.66, Z:1.17 [[ 9.98554815e-01 5.36436892e-02 -3.26121059e-03 -5.58174299e+01] [-5.36442811e-02 9.98560104e-01 -9.42312355e-05 -3.65503825e+00] [ 3.25145987e-03 2.69040351e-04 9.99994678e-01 1.17416657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.185529292999995 meters Centerline goodness [0,1] 0.98260498046875 Centerline is valid? [True, True] Translation: X:-55.85, Y:-3.66, Z:1.17 [[ 9.98643714e-01 5.19028858e-02 -4.10163988e-03 -5.58467503e+01] [-5.19038011e-02 9.98652082e-01 -1.16949373e-04 -3.65918953e+00] [ 4.09004120e-03 3.29681457e-04 9.99991581e-01 1.17406976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.215529292999996 meters Centerline goodness [0,1] 0.9810389979496132 Centerline is valid? [True, True] Translation: X:-55.88, Y:-3.67, Z:1.18 [[ 9.98990540e-01 4.49194061e-02 3.85166754e-04 -5.58767172e+01] [-4.49194138e-02 9.98990614e-01 1.14601947e-05 -3.66632834e+00] [-3.84263187e-04 -2.87500909e-05 9.99999926e-01 1.18007159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.245529293 meters Centerline goodness [0,1] 0.9810389979496132 Centerline is valid? [True, True] Translation: X:-55.91, Y:-3.67, Z:1.18 [[ 9.98991921e-01 4.48886725e-02 3.85205125e-04 -5.59076257e+01] [-4.48886798e-02 9.98991995e-01 1.01323460e-05 -3.66717896e+00] [-3.84362009e-04 -2.74134813e-05 9.99999926e-01 1.18108240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.275529293 meters Centerline goodness [0,1] 0.9877184791214145 Centerline is valid? [True, True] Translation: X:-55.94, Y:-3.68, Z:1.18 [[ 9.99244130e-01 3.88424369e-02 1.56032320e-03 -5.59379156e+01] [-3.88425543e-02 9.99245342e-01 4.49701632e-05 -3.68046231e+00] [-1.55739894e-03 -1.05543110e-04 9.99998782e-01 1.18244242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.305529293 meters Centerline goodness [0,1] 0.9951927973438168 Centerline is valid? [True, True] Translation: X:-55.97, Y:-3.70, Z:1.19 [[ 9.99508587e-01 3.12389188e-02 2.59110305e-03 -5.59670415e+01] [-3.12392167e-02 9.99511934e-01 7.45954361e-05 -3.70079448e+00] [-2.58750814e-03 -1.55502809e-04 9.99996640e-01 1.18536653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.33552929299999 meters Centerline goodness [0,1] 0.9942275249496941 Centerline is valid? [True, True] Translation: X:-56.00, Y:-3.71, Z:1.18 [[ 9.99634651e-01 2.67803875e-02 3.65732385e-03 -5.59971911e+01] [-2.67809547e-02 9.99641320e-01 1.06203999e-04 -3.70698394e+00] [-3.65316785e-03 -2.04111822e-04 9.99993306e-01 1.18046188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.365529292999994 meters Centerline goodness [0,1] 0.996475788873271 Centerline is valid? [True, True] Translation: X:-56.03, Y:-3.72, Z:1.18 [[ 9.99703709e-01 2.42456943e-02 2.15395603e-03 -5.60282130e+01] [-2.42458787e-02 9.99706024e-01 5.95280718e-05 -3.71877608e+00] [-2.15187952e-03 -1.11734991e-04 9.99997678e-01 1.18199545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.395529292999996 meters Centerline goodness [0,1] 0.9950753008970717 Centerline is valid? [True, True] Translation: X:-56.06, Y:-3.72, Z:1.18 [[ 9.99693894e-01 2.46882777e-02 -1.61472604e-03 -5.60597309e+01] [-2.46883873e-02 9.99695194e-01 -4.79669883e-05 -3.71724200e+00] [ 1.61304964e-03 8.78172871e-05 9.99998695e-01 1.17664194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.425529293 meters Centerline goodness [0,1] 0.994677488427106 Centerline is valid? [True, True] Translation: X:-56.09, Y:-3.72, Z:1.17 [[ 9.99607396e-01 2.77435270e-02 -3.91798817e-03 -5.60899516e+01] [-2.77441850e-02 9.99615050e-01 -1.13678221e-04 -3.71658583e+00] [ 3.91332610e-03 2.22334979e-04 9.99992318e-01 1.17314690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.455529293 meters Centerline goodness [0,1] 0.9949119772056578 Centerline is valid? [True, True] Translation: X:-56.12, Y:-3.72, Z:1.18 [[ 9.99510617e-01 3.12567734e-02 1.24121937e-03 -5.61175952e+01] [-3.12568469e-02 9.99511385e-01 3.98663241e-05 -3.71993005e+00] [-1.23936680e-03 -7.86434180e-05 9.99999229e-01 1.18462968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.485529293 meters Centerline goodness [0,1] 0.9935949738903395 Centerline is valid? [True, True] Translation: X:-56.15, Y:-3.71, Z:1.19 [[ 9.99405987e-01 3.39440498e-02 5.95604371e-03 -5.61494868e+01] [-3.39456689e-02 9.99423665e-01 1.70943053e-04 -3.71199295e+00] [-5.94680853e-03 -3.73023399e-04 9.99982248e-01 1.19163408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.51552929299999 meters Centerline goodness [0,1] 0.9898739324928832 Centerline is valid? [True, True] Translation: X:-56.18, Y:-3.70, Z:1.19 [[ 9.99312966e-01 3.67960338e-02 4.43254615e-03 -5.61802911e+01] [-3.67969629e-02 9.99322754e-01 1.28218554e-04 -3.70375259e+00] [-4.42482630e-03 -2.91234700e-04 9.99990168e-01 1.19416066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.545529292999994 meters Centerline goodness [0,1] 0.9919739254430637 Centerline is valid? [True, True] Translation: X:-56.21, Y:-3.70, Z:1.18 [[ 9.99191918e-01 4.01930598e-02 -1.70273647e-04 -5.62102313e+01] [-4.01930611e-02 9.99191932e-01 -4.35767390e-06 -3.70183348e+00] [ 1.69960906e-04 1.11979716e-05 9.99999985e-01 1.18400422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.575529292999995 meters Centerline goodness [0,1] 0.9884938090583252 Centerline is valid? [True, True] Translation: X:-56.24, Y:-3.70, Z:1.17 [[ 9.99066191e-01 4.30736203e-02 -3.37762400e-03 -5.62408737e+01] [-4.30741956e-02 9.99071871e-01 -9.77471068e-05 -3.70135236e+00] [ 3.37027880e-03 2.43144266e-04 9.99994291e-01 1.17411838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.605529293 meters Centerline goodness [0,1] 0.9905121403795144 Centerline is valid? [True, True] Translation: X:-56.27, Y:-3.71, Z:1.17 [[ 9.99085181e-01 4.26753426e-02 -2.75969956e-03 -5.62683979e+01] [-4.26757173e-02 9.99088974e-01 -7.70331929e-05 -3.71287959e+00] [ 2.75389798e-03 1.94734880e-04 9.99996189e-01 1.17323527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.635529293 meters Centerline goodness [0,1] 0.9833982582447839 Centerline is valid? [True, True] Translation: X:-56.30, Y:-3.71, Z:1.17 [[ 9.99171686e-01 4.06701876e-02 -1.37051868e-03 -5.62984074e+01] [-4.06702790e-02 9.99172621e-01 -3.88377974e-05 -3.71443248e+00] [ 1.36780520e-03 9.45450047e-05 9.99999060e-01 1.17175993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.665529293 meters Centerline goodness [0,1] 0.9907187392107882 Centerline is valid? [True, True] Translation: X:-56.33, Y:-3.74, Z:1.18 [[ 9.99272406e-01 3.80323759e-02 2.86315040e-03 -5.63272485e+01] [-3.80327684e-02 9.99276489e-01 8.27490617e-05 -3.73666029e+00] [-2.85793174e-03 -1.91582390e-04 9.99995898e-01 1.17952213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.69552929299999 meters Centerline goodness [0,1] 0.986729086098107 Centerline is valid? [True, True] Translation: X:-56.36, Y:-3.73, Z:1.18 [[ 9.99305504e-01 3.71400412e-02 3.02099006e-03 -5.63595324e+01] [-3.71404679e-02 9.99310051e-01 8.52511327e-05 -3.73217842e+00] [-3.01573950e-03 -1.97392911e-04 9.99995433e-01 1.18031414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.725529292999994 meters Centerline goodness [0,1] 0.9948108504100446 Centerline is valid? [True, True] Translation: X:-56.39, Y:-3.74, Z:1.18 [[ 9.99365151e-01 3.54495540e-02 3.55312402e-03 -5.63889314e+01] [-3.54501424e-02 9.99371441e-01 1.02722450e-04 -3.74383754e+00] [-3.54724921e-03 -2.28615989e-04 9.99993682e-01 1.18479992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.755529292999995 meters Centerline goodness [0,1] 0.9945530213391 Centerline is valid? [True, True] Translation: X:-56.42, Y:-3.75, Z:1.19 [[ 9.99453002e-01 3.26791630e-02 5.07631415e-03 -5.64190041e+01] [-3.26803259e-02 9.99465845e-01 1.46284423e-04 -3.75060555e+00] [-5.06882216e-03 -3.12100006e-04 9.99987105e-01 1.18686440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.785529292999996 meters Centerline goodness [0,1] 0.9941147820439971 Centerline is valid? [True, True] Translation: X:-56.45, Y:-3.74, Z:1.18 [[ 9.99509274e-01 3.06288517e-02 6.56382411e-03 -5.64507867e+01] [-3.06307510e-02 9.99530751e-01 1.89006624e-04 -3.74365262e+00] [-6.55495499e-03 -3.89968736e-04 9.99978440e-01 1.18053294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.815529293 meters Centerline goodness [0,1] 0.9969338320966457 Centerline is valid? [True, True] Translation: X:-56.48, Y:-3.75, Z:1.18 [[ 9.99512238e-01 3.07543419e-02 5.42733547e-03 -5.64817018e+01] [-3.07556399e-02 9.99526921e-01 1.55837798e-04 -3.74747960e+00] [-5.41997523e-03 -3.22682962e-04 9.99985260e-01 1.18186519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.845529293 meters Centerline goodness [0,1] 0.9954382535027696 Centerline is valid? [True, True] Translation: X:-56.51, Y:-3.74, Z:1.17 [[ 9.99569106e-01 2.92449884e-02 2.51668670e-03 -5.65141017e+01] [-2.92452596e-02 9.99572263e-01 7.10133388e-05 -3.74382708e+00] [-2.51353344e-03 -1.44583896e-04 9.99996831e-01 1.17177361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.875529293 meters Centerline goodness [0,1] 0.9960899315738025 Centerline is valid? [True, True] Translation: X:-56.55, Y:-3.76, Z:1.16 [[ 9.99586724e-01 2.87316330e-02 9.35087208e-04 -5.65456293e+01] [-2.87316695e-02 9.99587160e-01 2.56520911e-05 -3.75715856e+00] [-9.33964141e-04 -5.25081064e-05 9.99999562e-01 1.16133565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.905529292999994 meters Centerline goodness [0,1] 0.9959827892085891 Centerline is valid? [True, True] Translation: X:-56.58, Y:-3.77, Z:1.16 [[ 9.99576741e-01 2.90630033e-02 -1.29669111e-03 -5.65765557e+01] [-2.90630773e-02 9.99577579e-01 -3.83187403e-05 -3.77124034e+00] [ 1.29502970e-03 7.59883554e-05 9.99999159e-01 1.15658042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.935529292999995 meters Centerline goodness [0,1] 0.9932146059173527 Centerline is valid? [True, True] Translation: X:-56.61, Y:-3.77, Z:1.16 [[ 9.99586007e-01 2.87717396e-02 -5.01234742e-05 -5.66057133e+01] [-2.87717393e-02 9.99586008e-01 5.99973089e-06 -3.76636299e+00] [ 5.02753460e-05 -4.55510752e-06 9.99999999e-01 1.15991389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.965529292999996 meters Centerline goodness [0,1] 0.9963482057245445 Centerline is valid? [True, True] Translation: X:-56.64, Y:-3.76, Z:1.17 [[ 9.99448329e-01 3.23301652e-02 7.60248061e-03 -5.66354792e+01] [-3.23327721e-02 9.99477135e-01 2.20212671e-04 -3.75671099e+00] [-7.59138603e-03 -4.65900459e-04 9.99971076e-01 1.17343298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.995529293 meters Centerline goodness [0,1] 0.9962489552117098 Centerline is valid? [True, True] Translation: X:-56.67, Y:-3.76, Z:1.17 [[ 9.99393614e-01 3.36458349e-02 8.96444794e-03 -5.66667466e+01] [-3.36494963e-02 9.99433662e-01 2.57876734e-04 -3.75921678e+00] [-8.95069456e-03 -5.59369519e-04 9.99959785e-01 1.17256621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.025529293 meters Centerline goodness [0,1] 0.9965111297002835 Centerline is valid? [True, True] Translation: X:-56.70, Y:-3.76, Z:1.17 [[ 9.99403759e-01 3.35696947e-02 8.07479266e-03 -5.66973515e+01] [-3.35726647e-02 9.99436252e-01 2.32506734e-04 -3.76396730e+00] [-8.06243533e-03 -5.03460410e-04 9.99967371e-01 1.17250416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.055529293 meters Centerline goodness [0,1] 0.9948851181294146 Centerline is valid? [True, True] Translation: X:-56.73, Y:-3.76, Z:1.16 [[ 9.99443574e-01 3.32116298e-02 3.08700359e-03 -5.67295582e+01] [-3.32120576e-02 9.99448324e-01 8.74032278e-05 -3.76265476e+00] [-3.08239776e-03 -1.89880335e-04 9.99995231e-01 1.15718985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.08552929299999 meters Centerline goodness [0,1] 0.9956536821270431 Centerline is valid? [True, True] Translation: X:-56.76, Y:-3.76, Z:1.15 [[ 9.99542763e-01 3.01874277e-02 -1.72764416e-03 -5.67624946e+01] [-3.01875633e-02 9.99544250e-01 -5.24590604e-05 -3.75781861e+00] [ 1.72527319e-03 1.04588442e-04 9.99998506e-01 1.14994336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.115529292999994 meters Centerline goodness [0,1] 0.9948055651748793 Centerline is valid? [True, True] Translation: X:-56.79, Y:-3.76, Z:1.15 [[ 9.99521731e-01 3.08916158e-02 -1.42001715e-03 -5.67913898e+01] [-3.08916947e-02 9.99522737e-01 -3.36624549e-05 -3.75901415e+00] [ 1.41829954e-03 7.75130915e-05 9.99998991e-01 1.15245884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.145529292999996 meters Centerline goodness [0,1] 0.9963825134378385 Centerline is valid? [True, True] Translation: X:-56.82, Y:-3.76, Z:1.16 [[ 9.99552301e-01 2.99150195e-02 5.37759813e-04 -5.68205210e+01] [-2.99150330e-02 9.99552445e-01 1.71143330e-05 -3.75946476e+00] [-5.37007161e-04 -3.31937735e-05 9.99999855e-01 1.15648136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.175529293 meters Centerline goodness [0,1] 0.9957857448237952 Centerline is valid? [True, True] Translation: X:-56.85, Y:-3.77, Z:1.17 [[ 9.99567113e-01 2.72989332e-02 1.09706703e-02 -5.68491138e+01] [-2.73040534e-02 9.99627125e-01 3.17182854e-04 -3.76971933e+00] [-1.09579209e-02 -6.16589317e-04 9.99939770e-01 1.17102570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.205529293 meters Centerline goodness [0,1] 0.9962751882760025 Centerline is valid? [True, True] Translation: X:-56.88, Y:-3.77, Z:1.16 [[ 9.99571286e-01 2.80546755e-02 8.37729101e-03 -5.68808332e+01] [-2.80576752e-02 9.99606277e-01 2.40743999e-04 -3.76731437e+00] [-8.36723868e-03 -4.75688099e-04 9.99964881e-01 1.16340042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.235529293 meters Centerline goodness [0,1] 0.995796518864652 Centerline is valid? [True, True] Translation: X:-56.91, Y:-3.76, Z:1.15 [[ 9.99572281e-01 2.92318110e-02 8.70022596e-04 -5.69121801e+01] [-2.92318439e-02 9.99572658e-01 2.50964690e-05 -3.76366680e+00] [-8.68917184e-04 -5.05180995e-05 9.99999621e-01 1.14625692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26552929299999 meters Centerline goodness [0,1] 0.9943001899936669 Centerline is valid? [True, True] Translation: X:-56.94, Y:-3.76, Z:1.14 [[ 9.99571539e-01 2.92473337e-02 -1.15439634e-03 -5.69430673e+01] [-2.92473916e-02 9.99572203e-01 -3.33197466e-05 -3.76010052e+00] [ 1.15292798e-03 6.70685522e-05 9.99999333e-01 1.14315490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.295529292999994 meters Centerline goodness [0,1] 0.9974735126324369 Centerline is valid? [True, True] Translation: X:-56.97, Y:-3.77, Z:1.15 [[ 9.99578141e-01 2.88101717e-02 3.67615288e-03 -5.69718129e+01] [-2.88107596e-02 9.99584878e-01 1.07038681e-04 -3.76972336e+00] [-3.67154302e-03 -2.12906282e-04 9.99993237e-01 1.15127463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.325529292999995 meters Centerline goodness [0,1] 0.9971405812789771 Centerline is valid? [True, True] Translation: X:-57.00, Y:-3.77, Z:1.16 [[ 9.99621950e-01 2.71493802e-02 4.34368712e-03 -5.70019322e+01] [-2.71501779e-02 9.99631358e-01 1.24771149e-04 -3.77442620e+00] [-4.33869839e-03 -2.42655858e-04 9.99990558e-01 1.16079966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.355529293 meters Centerline goodness [0,1] 0.9972505651616057 Centerline is valid? [True, True] Translation: X:-57.03, Y:-3.77, Z:1.16 [[ 9.99673447e-01 2.54097170e-02 2.71023267e-03 -5.70342041e+01] [-2.54100167e-02 9.99677110e-01 7.62127031e-05 -3.76923875e+00] [-2.70742103e-03 -1.45054873e-04 9.99996324e-01 1.15599951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.385529293 meters Centerline goodness [0,1] 0.9973276758940046 Centerline is valid? [True, True] Translation: X:-57.07, Y:-3.77, Z:1.15 [[ 9.99724403e-01 2.34599711e-02 8.65249131e-04 -5.70668335e+01] [-2.34599997e-02 9.99724776e-01 2.29453689e-05 -3.76640861e+00] [-8.64472696e-04 -4.32377895e-05 9.99999625e-01 1.15466979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.415529293 meters Centerline goodness [0,1] 0.9973231982672306 Centerline is valid? [True, True] Translation: X:-57.10, Y:-3.77, Z:1.16 [[ 9.99789245e-01 2.04231125e-02 2.08838452e-03 -5.70963552e+01] [-2.04232812e-02 9.99791421e-01 5.94758539e-05 -3.76920481e+00] [-2.08673425e-03 -1.02114983e-04 9.99997818e-01 1.16136739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44552929299999 meters Centerline goodness [0,1] 0.9976838212885268 Centerline is valid? [True, True] Translation: X:-57.13, Y:-3.77, Z:1.17 [[ 9.99810824e-01 1.74524073e-02 8.58664203e-03 -5.71251434e+01] [-1.74551919e-02 9.99847615e-01 2.49447540e-04 -3.77447447e+00] [-8.58098010e-03 -3.99281834e-04 9.99963103e-01 1.17158764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.475529292999994 meters Centerline goodness [0,1] 0.9971997321482925 Centerline is valid? [True, True] Translation: X:-57.15, Y:-3.78, Z:1.18 [[ 9.99789950e-01 1.47347893e-02 1.42457805e-02 -5.71549738e+01] [-1.47421676e-02 9.99891243e-01 4.13048311e-04 -3.77783931e+00] [-1.42381450e-02 -6.22975233e-04 9.99898438e-01 1.17881489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.505529292999995 meters Centerline goodness [0,1] 0.9977890914991583 Centerline is valid? [True, True] Translation: X:-57.19, Y:-3.78, Z:1.18 [[ 9.99798722e-01 1.52538526e-02 1.30321100e-02 -5.71862263e+01] [-1.52600178e-02 9.99883489e-01 3.73766599e-04 -3.78178974e+00] [-1.30248903e-02 -5.72561598e-04 9.99915009e-01 1.17533880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.535529292999996 meters Centerline goodness [0,1] 0.9974416763111409 Centerline is valid? [True, True] Translation: X:-57.22, Y:-3.77, Z:1.17 [[ 9.99835751e-01 1.49998532e-02 1.01722753e-02 -5.72194764e+01] [-1.50036327e-02 9.99887396e-01 2.95336603e-04 -3.77111904e+00] [-1.01666998e-02 -4.47909176e-04 9.99948217e-01 1.16749236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.565529293 meters Centerline goodness [0,1] 0.9975715276927473 Centerline is valid? [True, True] Translation: X:-57.25, Y:-3.77, Z:1.17 [[ 9.99848644e-01 1.62037137e-02 6.33466438e-03 -5.72502285e+01] [-1.62052087e-02 9.99868670e-01 1.84753287e-04 -3.76706377e+00] [-6.33083876e-03 -2.87379883e-04 9.99979919e-01 1.16530696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.595529293 meters Centerline goodness [0,1] 0.997096292660982 Centerline is valid? [True, True] Translation: X:-57.28, Y:-3.77, Z:1.16 [[ 9.99834210e-01 1.76512386e-02 4.47070806e-03 -5.72824479e+01] [-1.76519947e-02 9.99844183e-01 1.29719057e-04 -3.76592688e+00] [-4.46772175e-03 -2.08614465e-04 9.99989998e-01 1.15598385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62552929299999 meters Centerline goodness [0,1] 0.9969056004560167 Centerline is valid? [True, True] Translation: X:-57.31, Y:-3.77, Z:1.15 [[ 9.99783801e-01 2.00999107e-02 5.32398499e-03 -5.73138816e+01] [-2.01010234e-02 9.99797942e-01 1.55566349e-04 -3.76747284e+00] [-5.31978236e-03 -2.62550262e-04 9.99985815e-01 1.15295172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.655529292999994 meters Centerline goodness [0,1] 0.9965010781561495 Centerline is valid? [True, True] Translation: X:-57.34, Y:-3.76, Z:1.15 [[ 9.99733054e-01 2.28116401e-02 3.66749169e-03 -5.73449814e+01] [-2.28121873e-02 9.99739762e-01 1.07424668e-04 -3.75688257e+00] [-3.66408674e-03 -1.91059499e-04 9.99993269e-01 1.15014049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.685529292999995 meters Centerline goodness [0,1] 0.9971152075618389 Centerline is valid? [True, True] Translation: X:-57.37, Y:-3.74, Z:1.15 [[ 9.99677606e-01 2.53101745e-02 -2.01975267e-03 -5.73748552e+01] [-2.53103450e-02 9.99679640e-01 -5.88586880e-05 -3.74478628e+00] [ 2.01761590e-03 1.09960349e-04 9.99997959e-01 1.14657597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.715529292999996 meters Centerline goodness [0,1] 0.9958622938790486 Centerline is valid? [True, True] Translation: X:-57.41, Y:-3.73, Z:1.14 [[ 9.99522426e-01 3.08741136e-02 1.30726530e-03 -5.74057505e+01] [-3.08741908e-02 9.99523278e-01 3.89382798e-05 -3.73475946e+00] [-1.30543991e-03 -7.92804422e-05 9.99999145e-01 1.14282788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.745529293 meters Centerline goodness [0,1] 0.9942262572681833 Centerline is valid? [True, True] Translation: X:-57.44, Y:-3.73, Z:1.15 [[ 9.99380023e-01 3.44600925e-02 7.21610606e-03 -5.74369075e+01] [-3.44625131e-02 9.99405969e-01 2.11338747e-04 -3.73307898e+00] [-7.20453671e-03 -4.59892872e-04 9.99973941e-01 1.15101743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.775529293 meters Centerline goodness [0,1] 0.9969943567514518 Centerline is valid? [True, True] Translation: X:-57.47, Y:-3.74, Z:1.16 [[ 9.99319245e-01 3.60499944e-02 7.83866772e-03 -5.74672647e+01] [-3.60529017e-02 9.99349856e-01 2.29864633e-04 -3.74356547e+00] [-7.82528484e-03 -5.12314869e-04 9.99969251e-01 1.15860216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.805529293 meters Centerline goodness [0,1] 0.994290126592567 Centerline is valid? [True, True] Translation: X:-57.50, Y:-3.74, Z:1.15 [[ 9.99295982e-01 3.72540051e-02 4.43613243e-03 -5.74986833e+01] [-3.72549487e-02 9.99305785e-01 1.30227277e-04 -3.73621646e+00] [-4.42820132e-03 -2.95403481e-04 9.99990152e-01 1.15285705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.83552929299999 meters Centerline goodness [0,1] 0.9943451109619413 Centerline is valid? [True, True] Translation: X:-57.53, Y:-3.74, Z:1.15 [[ 9.99268659e-01 3.79797630e-02 4.43684640e-03 -5.75313445e+01] [-3.79807066e-02 9.99278464e-01 1.28583438e-04 -3.73839470e+00] [-4.42876149e-03 -2.97003961e-04 9.99990149e-01 1.15221308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.865529292999994 meters Centerline goodness [0,1] 0.9946422750977836 Centerline is valid? [True, True] Translation: X:-57.56, Y:-3.74, Z:1.16 [[ 9.99313897e-01 3.64883651e-02 6.35093022e-03 -5.75622387e+01] [-3.64902891e-02 9.99333990e-01 1.87291410e-04 -3.73891755e+00] [-6.33986648e-03 -4.18910189e-04 9.99979815e-01 1.15544152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.895529292999996 meters Centerline goodness [0,1] 0.997143731510762 Centerline is valid? [True, True] Translation: X:-57.59, Y:-3.75, Z:1.16 [[ 9.99418839e-01 3.33055230e-02 7.26127601e-03 -5.75911205e+01] [-3.33079541e-02 9.99445113e-01 2.14088456e-04 -3.74988219e+00] [-7.25011649e-03 -4.55822284e-04 9.99973614e-01 1.16169115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.925529293 meters Centerline goodness [0,1] 0.9972356599861782 Centerline is valid? [True, True] Translation: X:-57.62, Y:-3.75, Z:1.16 [[ 9.99520689e-01 2.96436137e-02 8.92459812e-03 -5.76215985e+01] [-2.96471490e-02 9.99560392e-01 2.64064548e-04 -3.74667501e+00] [-8.91284697e-03 -5.28526870e-04 9.99960140e-01 1.16129590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.955529293 meters Centerline goodness [0,1] 0.9974873345317863 Centerline is valid? [True, True] Translation: X:-57.65, Y:-3.75, Z:1.16 [[ 9.99571165e-01 2.80240249e-02 8.49355093e-03 -5.76536008e+01] [-2.80271563e-02 9.99607131e-01 2.49860857e-04 -3.74635325e+00] [-8.48321197e-03 -4.87803788e-04 9.99963898e-01 1.16134558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.985529293 meters Centerline goodness [0,1] 0.9870542904324071 Centerline is valid? [True, True] Translation: X:-57.69, Y:-3.72, Z:1.15 [[ 9.99607644e-01 2.72695329e-02 6.39773021e-03 -5.76872865e+01] [-2.72712935e-02 9.99628051e-01 1.88096710e-04 -3.71939237e+00] [-6.39022127e-03 -3.62497287e-04 9.99979517e-01 1.14686248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.01552929299999 meters Centerline goodness [0,1] 0.9879178166206685 Centerline is valid? [True, True] Translation: X:-57.72, Y:-3.72, Z:1.15 [[ 9.99636466e-01 2.63003279e-02 5.93543943e-03 -5.77185326e+01] [-2.63018313e-02 9.99654032e-01 1.75375086e-04 -3.72057923e+00] [-5.92877353e-03 -3.31424258e-04 9.99982370e-01 1.14719084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.045529292999994 meters Centerline goodness [0,1] 0.9857515593786946 Centerline is valid? [True, True] Translation: X:-57.75, Y:-3.72, Z:1.15 [[ 9.99610456e-01 2.73071483e-02 5.76673530e-03 -5.77504910e+01] [-2.73085853e-02 9.99627036e-01 1.70576454e-04 -3.71994770e+00] [-5.75992656e-03 -3.27991390e-04 9.99983358e-01 1.14503496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.075529292999995 meters Centerline goodness [0,1] 0.9836095539848891 Centerline is valid? [True, True] Translation: X:-57.78, Y:-3.72, Z:1.15 [[ 9.99506936e-01 3.08854727e-02 5.65446486e-03 -5.77798214e+01] [-3.08869204e-02 9.99522871e-01 1.68865902e-04 -3.71585347e+00] [-5.64655145e-03 -3.43431647e-04 9.99983999e-01 1.14578849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.105529293 meters Centerline goodness [0,1] 0.976884728863567 Centerline is valid? [True, True] Translation: X:-57.81, Y:-3.71, Z:1.15 [[ 9.99332920e-01 3.60301308e-02 5.96191473e-03 -5.78106514e+01] [-3.60318270e-02 9.99350627e-01 1.77313782e-04 -3.71097292e+00] [-5.95165458e-03 -3.92014180e-04 9.99982212e-01 1.14703922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.135529293 meters Centerline goodness [0,1] 0.976884728863567 Centerline is valid? [True, True] Translation: X:-57.84, Y:-3.71, Z:1.15 [[ 9.99335839e-01 3.59490594e-02 5.96196756e-03 -5.78432153e+01] [-3.59507437e-02 9.99353548e-01 1.75544230e-04 -3.71180172e+00] [-5.95180279e-03 -3.89764808e-04 9.99982212e-01 1.14810407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.165529293 meters Centerline goodness [0,1] 0.9657869012707723 Centerline is valid? [True, True] Translation: X:-57.87, Y:-3.71, Z:1.15 [[ 9.99128361e-01 4.13920968e-02 5.40485245e-03 -5.78728703e+01] [-4.13935743e-02 9.99142906e-01 1.61738151e-04 -3.71065547e+00] [-5.39352530e-03 -3.85323336e-04 9.99985381e-01 1.14524737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.19552929299999 meters Centerline goodness [0,1] 0.9460565703463865 Centerline is valid? [True, False] Translation: X:-57.92, Y:-3.72, Z:1.14 [[ 9.98887412e-01 4.71484599e-02 9.79996863e-04 -5.79166045e+01] [-4.71428990e-02 9.98875228e-01 -5.08194810e-03 -3.71516746e+00] [-1.21850062e-03 5.03009409e-03 9.99986607e-01 1.14351714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.225529292999994 meters Centerline goodness [0,1] 0.9565270684371808 Centerline is valid? [False, True] Translation: X:-57.94, Y:-3.71, Z:1.15 [[ 9.99053897e-01 4.33647300e-02 3.28816360e-03 -5.79389884e+01] [-4.33543176e-02 9.99054716e-01 -3.17443754e-03 -3.70712352e+00] [-3.42271398e-03 3.02887810e-03 9.99989555e-01 1.14732369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.255529292999995 meters Centerline goodness [0,1] 0.9598859121931343 Centerline is valid? [True, True] Translation: X:-57.97, Y:-3.71, Z:1.15 [[ 9.99056783e-01 4.30222455e-02 5.88473084e-03 -5.79700690e+01] [-4.30241863e-02 9.99074010e-01 2.03542763e-04 -3.71171562e+00] [-5.87052477e-03 -4.56536534e-04 9.99982664e-01 1.15280435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.285529292999996 meters Centerline goodness [0,1] 0.9642051344594182 Centerline is valid? [True, True] Translation: X:-58.00, Y:-3.73, Z:1.16 [[ 9.99091402e-01 4.17868175e-02 8.38048066e-03 -5.80006194e+01] [-4.17907152e-02 9.99126344e-01 2.90441251e-04 -3.72660404e+00] [-8.36102239e-03 -6.40403637e-04 9.99964841e-01 1.15765870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.315529293 meters Centerline goodness [0,1] 0.9686212425663197 Centerline is valid? [True, True] Translation: X:-58.03, Y:-3.73, Z:1.17 [[ 9.99198571e-01 3.92617906e-02 7.79282837e-03 -5.80309732e+01] [-3.92650887e-02 9.99228792e-01 2.70624417e-04 -3.72563301e+00] [-7.77619328e-03 -5.76393628e-04 9.99969599e-01 1.16612131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.345529293 meters Centerline goodness [0,1] 0.9705175713645804 Centerline is valid? [True, True] Translation: X:-58.06, Y:-3.72, Z:1.16 [[ 9.99228340e-01 3.87170478e-02 6.61170453e-03 -5.80632194e+01] [-3.87194029e-02 9.99250097e-01 2.28519150e-04 -3.72064767e+00] [-6.59789880e-03 -4.84344063e-04 9.99978116e-01 1.16262734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.37552929299999 meters Centerline goodness [0,1] 0.9798779616742516 Centerline is valid? [True, True] Translation: X:-58.09, Y:-3.73, Z:1.16 [[ 9.99308037e-01 3.62992541e-02 8.11245938e-03 -5.80921365e+01] [-3.63027409e-02 9.99340798e-01 2.82928702e-04 -3.73402756e+00] [-8.09684153e-03 -5.77237437e-04 9.99967053e-01 1.15909838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.405529292999994 meters Centerline goodness [0,1] 0.9771634615384616 Centerline is valid? [True, True] Translation: X:-58.12, Y:-3.76, Z:1.15 [[ 9.99387105e-01 3.44992231e-02 5.93445479e-03 -5.81240071e+01] [-3.45010467e-02 9.99404641e-01 2.05156288e-04 -3.75594360e+00] [-5.92384392e-03 -4.09775451e-04 9.99982370e-01 1.15423012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.435529292999995 meters Centerline goodness [0,1] 0.9773711497407747 Centerline is valid? [True, True] Translation: X:-58.16, Y:-3.76, Z:1.15 [[ 9.99417793e-01 3.38506732e-02 4.26707280e-03 -5.81567042e+01] [-3.38516088e-02 9.99426859e-01 1.47221961e-04 -3.75520255e+00] [-4.25964360e-03 -2.91583526e-04 9.99990885e-01 1.15476436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.465529292999996 meters Centerline goodness [0,1] 0.9749582637729549 Centerline is valid? [True, True] Translation: X:-58.19, Y:-3.75, Z:1.16 [[ 9.99336664e-01 3.63831319e-02 1.58115482e-03 -5.81860481e+01] [-3.63832654e-02 9.99337908e-01 5.56992391e-05 -3.74943941e+00] [-1.57808143e-03 -1.13189867e-04 9.99998748e-01 1.15875499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.495529293 meters Centerline goodness [0,1] 0.9753316833691728 Centerline is valid? [True, True] Translation: X:-58.22, Y:-3.76, Z:1.16 [[ 9.99285225e-01 3.75263043e-02 4.56233330e-03 -5.82171810e+01] [-3.75274153e-02 9.99295586e-01 1.58135075e-04 -3.75830319e+00] [-4.55318531e-03 -3.29234621e-04 9.99989580e-01 1.16338149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.525529293 meters Centerline goodness [0,1] 0.9774589749296858 Centerline is valid? [True, True] Translation: X:-58.25, Y:-3.77, Z:1.17 [[ 9.99256075e-01 3.75557663e-02 8.76699965e-03 -5.82463716e+01] [-3.75598941e-02 9.99294331e-01 3.06609981e-04 -3.77038892e+00] [-8.74929808e-03 -6.35669465e-04 9.99961522e-01 1.17057767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.555529293 meters Centerline goodness [0,1] 0.9769433198380567 Centerline is valid? [True, True] Translation: X:-58.28, Y:-3.76, Z:1.17 [[ 9.99208601e-01 3.95652901e-02 4.09381766e-03 -5.82763472e+01] [-3.95662087e-02 9.99216941e-01 1.43605147e-04 -3.76249839e+00] [-4.08493018e-03 -3.05468342e-04 9.99991610e-01 1.17259939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.58552929299999 meters Centerline goodness [0,1] 0.9785367636607306 Centerline is valid? [True, True] Translation: X:-58.31, Y:-3.76, Z:1.17 [[ 9.99201588e-01 3.99339702e-02 1.21008225e-03 -5.83064911e+01] [-3.99340471e-02 9.99202317e-01 3.94727307e-05 -3.76434923e+00] [-1.20754068e-03 -8.77646966e-05 9.99999267e-01 1.17012486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.615529292999994 meters Centerline goodness [0,1] 0.9816247385839881 Centerline is valid? [True, True] Translation: X:-58.34, Y:-3.78, Z:1.18 [[ 9.99207511e-01 3.95371061e-02 4.60087719e-03 -5.83353880e+01] [-3.95382654e-02 9.99218044e-01 1.61249267e-04 -3.77966307e+00] [-4.59090417e-03 -3.43032182e-04 9.99989403e-01 1.17616610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.645529292999996 meters Centerline goodness [0,1] 0.9818066987205607 Centerline is valid? [True, True] Translation: X:-58.37, Y:-3.79, Z:1.18 [[ 9.99226341e-01 3.89526337e-02 5.42323553e-03 -5.83659727e+01] [-3.89542290e-02 9.99240978e-01 1.88813027e-04 -3.78798619e+00] [-5.41176442e-03 -3.99924910e-04 9.99985276e-01 1.17871299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.675529293 meters Centerline goodness [0,1] 0.9802329829118805 Centerline is valid? [True, True] Translation: X:-58.40, Y:-3.78, Z:1.18 [[ 9.99204941e-01 3.98675884e-02 2.46364237e-04 -5.83959841e+01] [-3.98675918e-02 9.99204971e-01 8.98880543e-06 -3.78339733e+00] [-2.45810008e-04 -1.88036076e-05 9.99999970e-01 1.18067499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.705529293 meters Centerline goodness [0,1] 0.9757229197615026 Centerline is valid? [True, True] Translation: X:-58.43, Y:-3.78, Z:1.18 [[ 9.99112123e-01 4.20433788e-02 -2.70548955e-03 -5.84261633e+01] [-4.20437891e-02 9.99115764e-01 -9.49302879e-05 -3.78291061e+00] [ 2.69910607e-03 2.08595033e-04 9.99996336e-01 1.17813731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.735529293 meters Centerline goodness [0,1] 0.9765352175955235 Centerline is valid? [True, True] Translation: X:-58.46, Y:-3.79, Z:1.17 [[ 9.99073097e-01 4.28604147e-02 -3.99154683e-03 -5.84553817e+01] [-4.28612845e-02 9.99081024e-01 -1.32580357e-04 -3.79456158e+00] [ 3.98219625e-03 3.03540293e-04 9.99992025e-01 1.17396806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.76552929299999 meters Centerline goodness [0,1] 0.9670965507405823 Centerline is valid? [True, True] Translation: X:-58.49, Y:-3.80, Z:1.17 [[ 9.98996077e-01 4.41515206e-02 -7.58159357e-03 -5.84856922e+01] [-4.41547903e-02 9.99024667e-01 -2.64336085e-04 -3.80158677e+00] [ 7.56252815e-03 5.98834386e-04 9.99971224e-01 1.17214729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.795529292999994 meters Centerline goodness [0,1] 0.9479366113985416 Centerline is valid? [True, False] Translation: X:-58.48, Y:-3.80, Z:1.17 [[ 9.99120925e-01 4.12823979e-02 -7.28978044e-03 -5.84847252e+01] [-4.13054397e-02 9.99141944e-01 -3.03902799e-03 -3.80438520e+00] [ 7.15806704e-03 3.33746404e-03 9.99968811e-01 1.17154527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.825529292999995 meters Centerline goodness [0,1] 0.9666951323654995 Centerline is valid? [False, True] Translation: X:-58.47, Y:-3.80, Z:1.17 [[ 9.99228144e-01 3.92368548e-02 -1.89347546e-03 -5.84680879e+01] [-3.92353075e-02 9.99229639e-01 8.47499770e-04 -3.80288163e+00] [ 1.92527003e-03 -7.72554530e-04 9.99997848e-01 1.17069927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.855529293 meters Centerline goodness [0,1] 0.9531023795444814 Centerline is valid? [True, True] Translation: X:-58.50, Y:-3.82, Z:1.17 [[ 9.99025919e-01 4.40797164e-02 -2.04715764e-03 -5.84978275e+01] [-4.40799877e-02 9.99028001e-01 -8.75644129e-05 -3.81655557e+00] [ 2.04130799e-03 1.77717801e-04 9.99997901e-01 1.16929173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.885529293 meters Centerline goodness [0,1] 0.948702757916241 Centerline is valid? [True, False] Translation: X:-58.49, Y:-3.83, Z:1.17 [[ 9.99033218e-01 4.38549270e-02 -3.06196467e-03 -5.84946881e+01] [-4.38528961e-02 9.99037734e-01 7.27332920e-04 -3.82687297e+00] [ 3.09091538e-03 -5.92353729e-04 9.99995048e-01 1.16830917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.915529293 meters Centerline goodness [0,1] 0.9562381525040256 Centerline is valid? [False, True] Translation: X:-58.50, Y:-3.84, Z:1.17 [[ 9.99176288e-01 4.05628659e-02 -1.18254599e-03 -5.85009490e+01] [-4.05640171e-02 9.99176474e-01 -9.66281874e-04 -3.84045011e+00] [ 1.14237697e-03 1.01345475e-03 9.99998834e-01 1.17191263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94552929299999 meters Centerline goodness [0,1] 0.972332818721053 Centerline is valid? [True, True] Translation: X:-58.53, Y:-3.86, Z:1.18 [[ 9.99275941e-01 3.76877001e-02 5.21829683e-03 -5.85289176e+01] [-3.76894608e-02 9.99289471e-01 2.39462074e-04 -3.85715049e+00] [-5.20556431e-03 -4.35963484e-04 9.99986356e-01 1.18383494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.975529292999994 meters Centerline goodness [0,1] 0.9719479353680431 Centerline is valid? [True, True] Translation: X:-58.56, Y:-3.87, Z:1.18 [[ 9.99317525e-01 3.67614834e-02 3.61620401e-03 -5.85605120e+01] [-3.67623165e-02 9.99324024e-01 1.64153020e-04 -3.87476777e+00] [-3.60772504e-03 -2.96981026e-04 9.99993448e-01 1.17973623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.005529292999995 meters Centerline goodness [0,1] 0.965496825299606 Centerline is valid? [True, True] Translation: X:-58.59, Y:-3.89, Z:1.17 [[ 9.99286969e-01 3.75031757e-02 -4.36644772e-03 -5.85907697e+01] [-3.75044075e-02 9.99296442e-01 -2.00538533e-04 -3.88831186e+00] [ 4.35585483e-03 3.64156577e-04 9.99990447e-01 1.17211166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.035529292999996 meters Centerline goodness [0,1] 0.9680966298105418 Centerline is valid? [True, True] Translation: X:-58.62, Y:-3.90, Z:1.17 [[ 9.99302403e-01 3.69534458e-02 -5.39914917e-03 -5.86177437e+01] [-3.69553058e-02 9.99316889e-01 -2.45111505e-04 -3.90337674e+00] [ 5.38640323e-03 4.44467724e-04 9.99985394e-01 1.17431673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.065529293 meters Centerline goodness [0,1] 0.9655193570157679 Centerline is valid? [True, True] Translation: X:-58.65, Y:-3.92, Z:1.18 [[ 9.99366706e-01 3.55819613e-02 -3.33954657e-04 -5.86475375e+01] [-3.55819684e-02 9.99366761e-01 -1.53193993e-05 -3.91523444e+00] [ 3.33198090e-04 2.71924617e-05 9.99999944e-01 1.18350281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.095529293 meters Centerline goodness [0,1] 0.9749790126742972 Centerline is valid? [True, True] Translation: X:-58.68, Y:-3.94, Z:1.19 [[ 9.99452513e-01 3.30695745e-02 1.03841990e-03 -5.86752771e+01] [-3.30696422e-02 9.99453049e-01 4.81493849e-05 -3.93852008e+00] [-1.03625965e-03 -8.24631982e-05 9.99999460e-01 1.19125508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12552929299999 meters Centerline goodness [0,1] 0.9837607886448235 Centerline is valid? [True, True] Translation: X:-58.70, Y:-3.96, Z:1.19 [[ 9.99550709e-01 2.98793567e-02 -2.36724564e-03 -5.87026716e+01] [-2.98796910e-02 9.99553497e-01 -1.05966834e-04 -3.95907537e+00] [ 2.36302244e-03 1.76651793e-04 9.99997192e-01 1.18775501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.155529292999994 meters Centerline goodness [0,1] 0.971055490642232 Centerline is valid? [True, True] Translation: X:-58.73, Y:-3.96, Z:1.18 [[ 9.99575663e-01 2.87939693e-02 -4.40472537e-03 -5.87316929e+01] [-2.87950993e-02 9.99585316e-01 -1.93332168e-04 -3.96282609e+00] [ 4.39733200e-03 3.20084634e-04 9.99990280e-01 1.18254305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.185529292999995 meters Centerline goodness [0,1] 0.9762751348700344 Centerline is valid? [True, True] Translation: X:-58.76, Y:-3.98, Z:1.18 [[ 9.99620023e-01 2.71361252e-02 -4.84147740e-03 -5.87591897e+01] [-2.71374967e-02 9.99631687e-01 -2.17785318e-04 -3.97999958e+00] [ 4.83378437e-03 3.49088141e-04 9.99988256e-01 1.18423681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.215529292999996 meters Centerline goodness [0,1] 0.973038964236617 Centerline is valid? [True, True] Translation: X:-58.79, Y:-3.99, Z:1.19 [[ 9.99659486e-01 2.51063382e-02 -7.11227118e-03 -5.87873142e+01] [-2.51092109e-02 9.99684664e-01 -3.14877768e-04 -3.98927965e+00] [ 7.10212300e-03 4.93354064e-04 9.99974658e-01 1.18745865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.245529293 meters Centerline goodness [0,1] 0.9761499148211243 Centerline is valid? [True, True] Translation: X:-58.82, Y:-4.00, Z:1.19 [[ 9.99690398e-01 2.41632002e-02 -5.93700986e-03 -5.88150290e+01] [-2.41652056e-02 9.99707943e-01 -2.66270005e-04 -3.99582351e+00] [ 5.92884198e-03 4.09656631e-04 9.99982340e-01 1.19382398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.275529293 meters Centerline goodness [0,1] 0.9765154309602853 Centerline is valid? [True, True] Translation: X:-58.84, Y:-4.01, Z:1.19 [[ 9.99695443e-01 2.41849802e-02 -4.90998763e-03 -5.88429949e+01] [-2.41863209e-02 9.99707445e-01 -2.13852958e-04 -4.01405988e+00] [ 4.90337916e-03 3.32542364e-04 9.99987923e-01 1.19286494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.305529293 meters Centerline goodness [0,1] 0.9782946370176586 Centerline is valid? [True, True] Translation: X:-58.87, Y:-4.03, Z:1.20 [[ 9.99723028e-01 2.33224934e-02 -3.15087795e-03 -5.88715299e+01] [-2.33230501e-02 9.99727971e-01 -1.40055105e-04 -4.02820865e+00] [ 3.14675439e-03 2.13504398e-04 9.99995026e-01 1.19742505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.33552929299999 meters Centerline goodness [0,1] 0.9765607346083527 Centerline is valid? [True, True] Translation: X:-58.90, Y:-4.03, Z:1.21 [[ 9.99682787e-01 2.49536100e-02 -3.41203165e-03 -5.89006737e+01] [-2.49542740e-02 9.99688582e-01 -1.52169389e-04 -4.03051235e+00] [ 3.40717191e-03 2.37265892e-04 9.99994167e-01 1.20938935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.365529292999994 meters Centerline goodness [0,1] 0.9765286198746275 Centerline is valid? [True, True] Translation: X:-58.93, Y:-4.04, Z:1.21 [[ 9.99558990e-01 2.93805965e-02 -4.31346601e-03 -5.89290795e+01] [-2.93816976e-02 9.99568246e-01 -1.92111423e-04 -4.04146379e+00] [ 4.30595931e-03 3.18763654e-04 9.99990679e-01 1.20613205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.395529292999996 meters Centerline goodness [0,1] 0.9784924042272127 Centerline is valid? [True, True] Translation: X:-58.96, Y:-4.06, Z:1.21 [[ 9.99593953e-01 2.80214257e-02 -5.17004404e-03 -5.89562948e+01] [-2.80229823e-02 9.99607253e-01 -2.28867568e-04 -4.05871356e+00] [ 5.16160032e-03 3.73654689e-04 9.99986609e-01 1.20730849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.425529293 meters Centerline goodness [0,1] 0.9772105555441288 Centerline is valid? [True, True] Translation: X:-58.99, Y:-4.06, Z:1.21 [[ 9.99641736e-01 2.65352251e-02 -3.50435441e-03 -5.89861045e+01] [-2.65359352e-02 9.99647848e-01 -1.56291753e-04 -4.06254861e+00] [ 3.49897310e-03 2.49227081e-04 9.99993848e-01 1.21375060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.455529293 meters Centerline goodness [0,1] 0.9798320711228186 Centerline is valid? [True, True] Translation: X:-59.01, Y:-4.07, Z:1.22 [[ 9.99683554e-01 2.50314667e-02 -2.49337388e-03 -5.90135042e+01] [-2.50318170e-02 9.99686649e-01 -1.09379358e-04 -4.07017505e+00] [ 2.48985465e-03 1.71758424e-04 9.99996886e-01 1.22213035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.485529293 meters Centerline goodness [0,1] 0.9738987237546315 Centerline is valid? [True, True] Translation: X:-59.04, Y:-4.08, Z:1.21 [[ 9.99705596e-01 2.40917779e-02 -2.88231982e-03 -5.90419166e+01] [-2.40922408e-02 9.99709732e-01 -1.25982189e-04 -4.07628366e+00] [ 2.87844804e-03 1.95386642e-04 9.99995838e-01 1.21345046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.51552929299999 meters Centerline goodness [0,1] 0.9769421708002544 Centerline is valid? [True, True] Translation: X:-59.07, Y:-4.09, Z:1.21 [[ 9.99749639e-01 2.16535394e-02 -5.63774445e-03 -5.90686918e+01] [-2.16552804e-02 9.99765466e-01 -2.47950892e-04 -4.09071269e+00] [ 5.63105319e-03 3.69975752e-04 9.99984077e-01 1.21038688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.545529292999994 meters Centerline goodness [0,1] 0.9639462873260163 Centerline is valid? [True, True] Translation: X:-59.10, Y:-4.08, Z:1.21 [[ 9.99812875e-01 1.84465371e-02 -5.82588821e-03 -5.90991117e+01] [-1.84483552e-02 9.99829781e-01 -2.58475386e-04 -4.08287495e+00] [ 5.82012856e-03 3.65905074e-04 9.99982996e-01 1.21351950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.575529292999995 meters Centerline goodness [0,1] 0.978747799025429 Centerline is valid? [True, True] Translation: X:-59.13, Y:-4.09, Z:1.23 [[ 9.99827666e-01 1.82971412e-02 -3.13897582e-03 -5.91268281e+01] [-1.82976642e-02 9.99832574e-01 -1.37983240e-04 -4.09447450e+00] [ 3.13592557e-03 1.95395386e-04 9.99995064e-01 1.22775780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.605529293 meters Centerline goodness [0,1] 0.9687313448197781 Centerline is valid? [True, True] Translation: X:-59.16, Y:-4.09, Z:1.22 [[ 9.99812409e-01 1.90846550e-02 -3.30487480e-03 -5.91556270e+01] [-1.90852186e-02 9.99817851e-01 -1.39074922e-04 -4.09379916e+00] [ 3.30161862e-03 2.02123091e-04 9.99994529e-01 1.22326778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.635529293 meters Centerline goodness [0,1] 0.9657532834374549 Centerline is valid? [True, True] Translation: X:-59.19, Y:-4.10, Z:1.22 [[ 9.99768738e-01 2.02005676e-02 -7.37620342e-03 -5.91858236e+01] [-2.02035205e-02 9.99795835e-01 -3.26030338e-04 -4.10465867e+00] [ 7.36811146e-03 4.74980217e-04 9.99972742e-01 1.21729861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.665529293 meters Centerline goodness [0,1] 0.9585829267790609 Centerline is valid? [True, True] Translation: X:-59.22, Y:-4.10, Z:1.22 [[ 9.99721763e-01 2.24884504e-02 -7.11805813e-03 -5.92154306e+01] [-2.24912504e-02 9.99746991e-01 -3.13549623e-04 -4.10403611e+00] [ 7.10920595e-03 4.73556410e-04 9.99974617e-01 1.22115458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.69552929299999 meters Centerline goodness [0,1] 0.9579331107788723 Centerline is valid? [True, True] Translation: X:-59.24, Y:-4.10, Z:1.23 [[ 9.99680089e-01 2.48419400e-02 -4.75369723e-03 -5.92444413e+01] [-2.48432080e-02 9.99691338e-01 -2.07858466e-04 -4.10018821e+00] [ 4.74706634e-03 3.25889059e-04 9.99988680e-01 1.23098268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.725529292999994 meters Centerline goodness [0,1] 0.9598346495557749 Centerline is valid? [True, True] Translation: X:-59.27, Y:-4.11, Z:1.23 [[ 9.99681671e-01 2.49302765e-02 -3.87799143e-03 -5.92732956e+01] [-2.49310982e-02 9.99689158e-01 -1.63694451e-04 -4.11104599e+00] [ 3.87270504e-03 2.60324927e-04 9.99992467e-01 1.23022865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.755529292999995 meters Centerline goodness [0,1] 0.9569616616041376 Centerline is valid? [True, True] Translation: X:-59.30, Y:-4.13, Z:1.23 [[ 9.99637112e-01 2.68514555e-02 -2.15508527e-03 -5.93017419e+01] [-2.68517064e-02 9.99639424e-01 -8.75586596e-05 -4.12572847e+00] [ 2.15195712e-03 1.45394603e-04 9.99997674e-01 1.23347461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.785529292999996 meters Centerline goodness [0,1] 0.9599418676055185 Centerline is valid? [True, True] Translation: X:-59.33, Y:-4.13, Z:1.24 [[ 9.99639453e-01 2.67051202e-02 -2.79280897e-03 -5.93289587e+01] [-2.67055577e-02 9.99643336e-01 -1.19460950e-04 -4.12615661e+00] [ 2.78862265e-03 1.94001400e-04 9.99996093e-01 1.23880507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.815529293 meters Centerline goodness [0,1] 0.965934382985739 Centerline is valid? [True, True] Translation: X:-59.36, Y:-4.13, Z:1.24 [[ 9.99652080e-01 2.58875853e-02 -5.05490896e-03 -5.93563749e+01] [-2.58890156e-02 9.99664800e-01 -2.17708644e-04 -4.12977981e+00] [ 5.04757860e-03 3.48499516e-04 9.99987200e-01 1.24031773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.845529293 meters Centerline goodness [0,1] 0.949568938910722 Centerline is valid? [True, False] Translation: X:-59.38, Y:-4.13, Z:1.24 [[ 9.99681070e-01 2.46350287e-02 -5.55632754e-03 -5.93840011e+01] [-2.46160439e-02 9.99690993e-01 3.45968658e-03 -4.13473687e+00] [ 5.63984007e-03 -3.32180838e-03 9.99978579e-01 1.24020017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.87552929299999 meters Centerline goodness [0,1] 0.8288319672131148 Centerline is valid? [False, False] Translation: X:-59.40, Y:-4.15, Z:1.24 [[ 9.99631303e-01 2.70597227e-02 -2.24254200e-03 -5.93977809e+01] [-2.70551622e-02 9.99631861e-01 2.03961300e-03 -4.14522041e+00] [ 2.29690780e-03 -1.97818866e-03 9.99995405e-01 1.23987148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.905529292999994 meters Centerline goodness [0,1] 0.8242616598998371 Centerline is valid? [False, False] Translation: X:-59.42, Y:-4.14, Z:1.24 [[ 9.99669335e-01 2.53407300e-02 -4.36673245e-03 -5.94169591e+01] [-2.52982225e-02 9.99634530e-01 9.52919451e-03 -4.14315022e+00] [ 4.60661329e-03 -9.41557297e-03 9.99945062e-01 1.24367659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.935529292999995 meters Centerline goodness [0,1] 0.9420755572034771 Centerline is valid? [False, False] Translation: X:-59.45, Y:-4.15, Z:1.24 [[ 9.99706115e-01 2.36374613e-02 -5.38085879e-03 -5.94458470e+01] [-2.35693103e-02 9.99645365e-01 1.23948711e-02 -4.14789600e+00] [ 5.67193384e-03 -1.22644053e-02 9.99908703e-01 1.24413315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.965529292999996 meters Centerline goodness [0,1] 0.9418530613921581 Centerline is valid? [False, False] Translation: X:-59.48, Y:-4.15, Z:1.24 [[ 9.99776840e-01 2.11215401e-02 3.88690019e-04 -5.94793587e+01] [-2.11247553e-02 9.99698080e-01 1.25496749e-02 -4.15082519e+00] [-1.23504204e-04 -1.25550852e-02 9.99921174e-01 1.24425418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.995529293 meters Centerline goodness [0,1] 0.9477815910071721 Centerline is valid? [False, False] Translation: X:-59.52, Y:-4.16, Z:1.25 [[ 9.99821854e-01 1.82202873e-02 4.92754252e-03 -5.95151679e+01] [-1.82779653e-02 9.99761826e-01 1.19251038e-02 -4.15505261e+00] [-4.70909009e-03 -1.20130448e-02 9.99916752e-01 1.24532122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.025529293 meters Centerline goodness [0,1] 0.8437544918786833 Centerline is valid? [False, False] Translation: X:-59.57, Y:-4.17, Z:1.25 [[ 9.99863545e-01 1.64376339e-02 1.64210036e-03 -5.95738295e+01] [-1.64502597e-02 9.99832710e-01 7.99636729e-03 -4.17344867e+00] [-1.51038430e-03 -8.02228912e-03 9.99966680e-01 1.24667441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.055529293 meters Centerline goodness [0,1] 0.8437544918786833 Centerline is valid? [False, False] Translation: X:-59.57, Y:-4.17, Z:1.25 [[ 9.99863545e-01 1.64376339e-02 1.64210036e-03 -5.95738295e+01] [-1.64502597e-02 9.99832710e-01 7.99636729e-03 -4.17344867e+00] [-1.51038430e-03 -8.02228912e-03 9.99966680e-01 1.24667441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.08552929299999 meters Centerline goodness [0,1] 0.8601783030327987 Centerline is valid? [False, False] Translation: X:-59.61, Y:-4.18, Z:1.25 [[ 9.99918681e-01 1.24663347e-02 -2.68747482e-03 -5.96146362e+01] [-1.24506665e-02 9.99905839e-01 5.77003402e-03 -4.18230051e+00] [ 2.75915295e-03 -5.73610395e-03 9.99979742e-01 1.24801277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.115529292999994 meters Centerline goodness [0,1] 0.8722312653246245 Centerline is valid? [False, False] Translation: X:-59.66, Y:-4.19, Z:1.25 [[ 9.99939776e-01 9.48688331e-03 -5.51763355e-03 -5.96558198e+01] [-9.46261837e-03 9.99945516e-01 4.40731189e-03 -4.18869177e+00] [ 5.55914458e-03 -4.35483520e-03 9.99975065e-01 1.24986079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.145529292999996 meters Centerline goodness [0,1] 0.8785381731284249 Centerline is valid? [False, False] Translation: X:-59.69, Y:-4.19, Z:1.25 [[ 9.99943258e-01 7.15722899e-03 -7.89020127e-03 -5.96948650e+01] [-7.11847512e-03 9.99962516e-01 4.92883655e-03 -4.19497979e+00] [ 7.92518233e-03 -4.87239068e-03 9.99956725e-01 1.25328029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.175529293 meters Centerline goodness [0,1] 0.8954922258423723 Centerline is valid? [False, False] Translation: X:-59.72, Y:-4.21, Z:1.26 [[ 9.99930704e-01 9.62326626e-03 -6.78089671e-03 -5.97212743e+01] [-9.60323779e-03 9.99949447e-01 2.98005620e-03 -4.21051898e+00] [ 6.80923179e-03 -2.91473113e-03 9.99972569e-01 1.25740539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.205529293 meters Centerline goodness [0,1] 0.9079322729604926 Centerline is valid? [False, False] Translation: X:-59.75, Y:-4.23, Z:1.26 [[ 9.99941946e-01 1.00013537e-02 -4.00959801e-03 -5.97452786e+01] [-1.00065075e-02 9.99949130e-01 -1.26738382e-03 -4.22528124e+00] [ 3.99671849e-03 1.30743231e-03 9.99991158e-01 1.25991222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.235529293 meters Centerline goodness [0,1] 0.9091264372544583 Centerline is valid? [False, False] Translation: X:-59.78, Y:-4.22, Z:1.26 [[ 9.99965333e-01 7.65021461e-03 -3.28728831e-03 -5.97776271e+01] [-7.65112829e-03 9.99970694e-01 -2.65459009e-04 -4.22335204e+00] [ 3.28516116e-03 2.90601271e-04 9.99994562e-01 1.26057062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.26552929299999 meters Centerline goodness [0,1] 0.9115915570962647 Centerline is valid? [False, False] Translation: X:-59.80, Y:-4.23, Z:1.26 [[ 9.99912601e-01 9.85306652e-03 -8.81514680e-03 -5.98005265e+01] [-9.89656969e-03 9.99938997e-01 -4.90511176e-03 -4.23240286e+00] [ 8.76627866e-03 4.99192278e-03 9.99949115e-01 1.26268584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.295529292999994 meters Centerline goodness [0,1] 0.9121617443993323 Centerline is valid? [False, False] Translation: X:-59.82, Y:-4.23, Z:1.26 [[ 9.99929145e-01 6.17530794e-03 -1.01769143e-02 -5.98236549e+01] [-6.17187337e-03 9.99980886e-01 3.68858397e-04 -4.23275538e+00] [ 1.01789976e-02 -3.06021635e-04 9.99948146e-01 1.26499094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.325529292999995 meters Centerline goodness [0,1] 0.911880231147305 Centerline is valid? [False, False] Translation: X:-59.86, Y:-4.25, Z:1.27 [[ 9.99889362e-01 1.22810751e-02 -8.39274407e-03 -5.98591439e+01] [-1.23093487e-02 9.99918707e-01 -3.32550843e-03 -4.24691305e+00] [ 8.35122099e-03 3.42844971e-03 9.99959251e-01 1.26643719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.355529293 meters Centerline goodness [0,1] 0.8971129905138178 Centerline is valid? [False, False] Translation: X:-59.89, Y:-4.25, Z:1.27 [[ 9.99877656e-01 1.15291344e-02 -1.05713261e-02 -5.98910972e+01] [-1.15454387e-02 9.99932250e-01 -1.48258700e-03 -4.24537231e+00] [ 1.05535170e-02 1.60445621e-03 9.99943023e-01 1.26775618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.385529293 meters Centerline goodness [0,1] 0.8962676909804244 Centerline is valid? [False, False] Translation: X:-59.92, Y:-4.25, Z:1.27 [[ 9.99865458e-01 1.09435962e-02 -1.22189469e-02 -5.99246928e+01] [-1.09336296e-02 9.99939837e-01 8.82171881e-04 -4.24671358e+00] [ 1.22278659e-02 -7.48455753e-04 9.99924957e-01 1.26889849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.415529293 meters Centerline goodness [0,1] 0.892516364681017 Centerline is valid? [False, False] Translation: X:-59.96, Y:-4.25, Z:1.27 [[ 9.99903679e-01 9.28234585e-03 -1.03184403e-02 -5.99588196e+01] [-9.26123757e-03 9.99954926e-01 2.09158913e-03 -4.24731389e+00] [ 1.03373900e-02 -1.99582614e-03 9.99944576e-01 1.26986693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.44552929299999 meters Centerline goodness [0,1] 0.9042203117930155 Centerline is valid? [False, False] Translation: X:-59.99, Y:-4.25, Z:1.27 [[ 9.99945863e-01 7.12478296e-03 -7.58337391e-03 -5.99941138e+01] [-7.10364545e-03 9.99970819e-01 2.81064367e-03 -4.24758465e+00] [ 7.60317784e-03 -2.75662192e-03 9.99967296e-01 1.27114819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.475529292999994 meters Centerline goodness [0,1] 0.9053890743737326 Centerline is valid? [False, False] Translation: X:-60.03, Y:-4.25, Z:1.27 [[ 9.99961546e-01 4.08489423e-03 -7.76019220e-03 -6.00316401e+01] [-4.06213065e-03 9.99987407e-01 2.94687852e-03 -4.25405774e+00] [ 7.77213217e-03 -2.91524229e-03 9.99965547e-01 1.27123576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.505529292999995 meters Centerline goodness [0,1] 0.9097926007820978 Centerline is valid? [False, False] Translation: X:-60.07, Y:-4.26, Z:1.27 [[ 9.99941805e-01 2.13030762e-03 -1.05758492e-02 -6.00715541e+01] [-2.10890789e-03 9.99995707e-01 2.03419242e-03 -4.25962251e+00] [ 1.05801373e-02 -2.01177054e-03 9.99942005e-01 1.27084378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.535529292999996 meters Centerline goodness [0,1] 0.9054940085914538 Centerline is valid? [False, False] Translation: X:-60.11, Y:-4.27, Z:1.27 [[ 9.99866874e-01 6.63263530e-03 -1.49078308e-02 -6.01111035e+01] [-6.70936953e-03 9.99964471e-01 -5.10313600e-03 -4.26779603e+00] [ 1.48734539e-02 5.20247879e-03 9.99875850e-01 1.27256171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.565529293 meters Centerline goodness [0,1] 0.9036776148742731 Centerline is valid? [False, False] Translation: X:-60.16, Y:-4.27, Z:1.27 [[ 9.99856223e-01 6.55071633e-03 -1.56403593e-02 -6.01559720e+01] [-6.64547065e-03 9.99959834e-01 -6.01405450e-03 -4.27081265e+00] [ 1.56003347e-02 6.11712737e-03 9.99859595e-01 1.27434571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.595529293 meters Centerline goodness [0,1] 0.9088056119623408 Centerline is valid? [False, False] Translation: X:-60.20, Y:-4.28, Z:1.28 [[ 9.99869111e-01 6.68315046e-03 -1.47342149e-02 -6.01957705e+01] [-6.70153421e-03 9.99976826e-01 -1.19867027e-03 -4.27697123e+00] [ 1.47258626e-02 1.29725523e-03 9.99890727e-01 1.27690922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62552929299999 meters Centerline goodness [0,1] 0.9046709783389796 Centerline is valid? [False, False] Translation: X:-60.24, Y:-4.28, Z:1.28 [[ 9.99867627e-01 5.57782324e-03 -1.52844859e-02 -6.02355002e+01] [-5.56652066e-03 9.99984201e-01 7.81923899e-04 -4.28093404e+00] [ 1.52886059e-02 -6.96738987e-04 9.99882880e-01 1.27824335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.655529292999994 meters Centerline goodness [0,1] 0.9084064987281529 Centerline is valid? [False, False] Translation: X:-60.29, Y:-4.28, Z:1.28 [[ 9.99831281e-01 3.68729706e-03 -1.79948294e-02 -6.02921293e+01] [-3.78514096e-03 9.99978222e-01 -5.40630672e-03 -4.28049225e+00] [ 1.79745029e-02 5.47350754e-03 9.99823463e-01 1.28011576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.685529292999995 meters Centerline goodness [0,1] 0.9132329961345506 Centerline is valid? [False, False] Translation: X:-60.32, Y:-4.28, Z:1.29 [[ 9.99843288e-01 -1.28701076e-03 -1.76562400e-02 -6.03194169e+01] [ 1.24442732e-03 9.99996291e-01 -2.42258168e-03 -4.27598498e+00] [ 1.76592924e-02 2.40023012e-03 9.99841182e-01 1.28513662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.715529292999996 meters Centerline goodness [0,1] 0.9125186991536711 Centerline is valid? [False, False] Translation: X:-60.33, Y:-4.28, Z:1.29 [[ 9.99852972e-01 1.78501629e-05 -1.71474467e-02 -6.03253030e+01] [-3.03550017e-05 9.99999734e-01 -7.28993692e-04 -4.27967807e+00] [ 1.71474291e-02 7.29407020e-04 9.99852706e-01 1.28826114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.745529293 meters Centerline goodness [0,1] 0.915995633997158 Centerline is valid? [False, False] Translation: X:-60.36, Y:-4.29, Z:1.29 [[ 9.99783063e-01 -1.09352717e-03 -2.07997739e-02 -6.03643564e+01] [ 1.14259151e-03 9.99996593e-01 2.34715024e-03 -4.28578510e+00] [ 2.07971364e-02 -2.37040670e-03 9.99780906e-01 1.28779575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.775529293 meters Centerline goodness [0,1] 0.9154857154610337 Centerline is valid? [False, False] Translation: X:-60.39, Y:-4.29, Z:1.29 [[ 9.99628452e-01 -6.52359736e-04 -2.72494386e-02 -6.03865172e+01] [ 5.54193584e-04 9.99993331e-01 -3.60989862e-03 -4.28865552e+00] [ 2.72516118e-02 3.59345591e-03 9.99622147e-01 1.28994525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.805529293 meters Centerline goodness [0,1] 0.909118972649256 Centerline is valid? [False, False] Translation: X:-60.41, Y:-4.29, Z:1.29 [[ 9.99664935e-01 1.94438732e-03 -2.58115812e-02 -6.04085117e+01] [-2.11456606e-03 9.99976198e-01 -6.56745914e-03 -4.29319926e+00] [ 2.57981972e-02 6.61983890e-03 9.99645252e-01 1.29303683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.83552929299999 meters Centerline goodness [0,1] 0.911887479179947 Centerline is valid? [False, False] Translation: X:-60.44, Y:-4.29, Z:1.30 [[ 9.99707217e-01 -4.67643184e-04 -2.41921791e-02 -6.04361863e+01] [ 4.47026521e-04 9.99999532e-01 -8.57604683e-04 -4.29048425e+00] [ 2.41925688e-02 8.46539046e-04 9.99706959e-01 1.29774503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.865529292999994 meters Centerline goodness [0,1] 0.9090834259373586 Centerline is valid? [False, False] Translation: X:-60.46, Y:-4.29, Z:1.30 [[ 9.99761860e-01 2.78574036e-03 -2.16439839e-02 -6.04617698e+01] [-2.85637021e-03 9.99990694e-01 -3.23302570e-03 -4.29433100e+00] [ 2.16347761e-02 3.29407902e-03 9.99760514e-01 1.30071294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.895529292999996 meters Centerline goodness [0,1] 0.903343965428542 Centerline is valid? [False, False] Translation: X:-60.50, Y:-4.30, Z:1.30 [[ 9.99736132e-01 7.13523347e-03 -2.18347216e-02 -6.04974149e+01] [-7.37967772e-03 9.99910770e-01 -1.11351852e-02 -4.29724795e+00] [ 2.17533212e-02 1.12933802e-02 9.99699581e-01 1.30080762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.925529293 meters Centerline goodness [0,1] 0.8997173101128696 Centerline is valid? [False, False] Translation: X:-60.53, Y:-4.29, Z:1.30 [[ 9.99636431e-01 7.12117478e-03 -2.60056794e-02 -6.05339418e+01] [-7.39998294e-03 9.99916005e-01 -1.06405949e-02 -4.29211493e+00] [ 2.59277215e-02 1.08291679e-02 9.99605163e-01 1.30021011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.955529293 meters Centerline goodness [0,1] 0.8899291186954562 Centerline is valid? [False, False] Translation: X:-60.57, Y:-4.29, Z:1.30 [[ 9.99543374e-01 8.34836071e-03 -2.90404554e-02 -6.05708915e+01] [-8.56667442e-03 9.99935914e-01 -7.40129447e-03 -4.29326779e+00] [ 2.89768057e-02 7.64669497e-03 9.99550836e-01 1.29907925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.985529293 meters Centerline goodness [0,1] 0.8886174187985053 Centerline is valid? [False, False] Translation: X:-60.61, Y:-4.29, Z:1.30 [[ 9.99556445e-01 9.07232269e-03 -2.83655678e-02 -6.06092001e+01] [-9.18752395e-03 9.99950057e-01 -3.93361359e-03 -4.29388352e+00] [ 2.83284641e-02 4.19247815e-03 9.99589877e-01 1.29908421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.01552929299999 meters Centerline goodness [0,1] 0.9029647369724998 Centerline is valid? [False, False] Translation: X:-60.65, Y:-4.29, Z:1.30 [[ 9.99521557e-01 8.48380606e-03 -2.97436174e-02 -6.06495769e+01] [-8.56905068e-03 9.99959532e-01 -2.73968475e-03 -4.29182240e+00] [ 2.97191708e-02 2.99324853e-03 9.99553806e-01 1.30031098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.045529292999994 meters Centerline goodness [0,1] 0.8850605597122897 Centerline is valid? [False, False] Translation: X:-60.69, Y:-4.29, Z:1.30 [[ 9.99482172e-01 6.60936051e-03 -3.14913335e-02 -6.06908125e+01] [-6.75293684e-03 9.99967275e-01 -4.45505931e-03 -4.28714678e+00] [ 3.14608579e-02 4.66541134e-03 9.99494096e-01 1.30166169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.075529292999995 meters Centerline goodness [0,1] 0.8922340908153586 Centerline is valid? [False, False] Translation: X:-60.73, Y:-4.28, Z:1.30 [[ 9.99551377e-01 5.80760763e-03 -2.93822602e-02 -6.07313678e+01] [-5.99316194e-03 9.99962627e-01 -6.23106199e-03 -4.27912228e+00] [ 2.93449746e-02 6.40435923e-03 9.99548827e-01 1.30356747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.105529293 meters Centerline goodness [0,1] 0.8877245199561812 Centerline is valid? [False, False] Translation: X:-60.77, Y:-4.28, Z:1.30 [[ 9.99580467e-01 7.21907671e-03 -2.80494924e-02 -6.07712601e+01] [-7.34382353e-03 9.99963586e-01 -4.34691382e-03 -4.27583829e+00] [ 2.80170903e-02 4.55108067e-03 9.99597084e-01 1.30448664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.135529293 meters Centerline goodness [0,1] 0.8751321216140598 Centerline is valid? [False, False] Translation: X:-60.83, Y:-4.28, Z:1.30 [[ 9.99410606e-01 1.05989382e-02 -3.26512496e-02 -6.08283085e+01] [-1.06840968e-02 9.99939959e-01 -2.43475655e-03 -4.28150754e+00] [ 3.26234834e-02 2.78217063e-03 9.99463840e-01 1.30358558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.165529293 meters Centerline goodness [0,1] 0.9039229067146431 Centerline is valid? [False, False] Translation: X:-60.86, Y:-4.28, Z:1.30 [[ 9.99404201e-01 8.80975504e-03 -3.33711085e-02 -6.08646510e+01] [-8.89762923e-03 9.99957326e-01 -2.48565147e-03 -4.27866185e+00] [ 3.33477865e-02 2.78109428e-03 9.99439938e-01 1.30339461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.19552929299999 meters Centerline goodness [0,1] 0.8782819191856496 Centerline is valid? [False, False] Translation: X:-60.90, Y:-4.27, Z:1.30 [[ 9.99523988e-01 7.79977013e-03 -2.98489676e-02 -6.09008620e+01] [-7.91410192e-03 9.99961785e-01 -3.71411980e-03 -4.27286848e+00] [ 2.98188576e-02 3.94857960e-03 9.99547520e-01 1.30447976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.225529292999994 meters Centerline goodness [0,1] 0.9016189548309529 Centerline is valid? [False, False] Translation: X:-60.94, Y:-4.27, Z:1.31 [[ 9.99590212e-01 8.44831962e-03 -2.73501926e-02 -6.09371396e+01] [-8.49490481e-03 9.99962657e-01 -1.58754150e-03 -4.26991290e+00] [ 2.73357592e-02 1.81922823e-03 9.99624653e-01 1.30502949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.255529292999995 meters Centerline goodness [0,1] 0.9029782833505687 Centerline is valid? [False, False] Translation: X:-60.97, Y:-4.27, Z:1.30 [[ 9.99557272e-01 9.07807045e-03 -2.83345914e-02 -6.09727861e+01] [-9.07230418e-03 9.99958791e-01 3.32058260e-04 -4.26770840e+00] [ 2.83364382e-02 -7.48512161e-05 9.99598440e-01 1.30478759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.285529292999996 meters Centerline goodness [0,1] 0.9072747598542563 Centerline is valid? [False, False] Translation: X:-61.01, Y:-4.27, Z:1.30 [[ 9.99541804e-01 8.92929670e-03 -2.89214263e-02 -6.10085261e+01] [-8.91352353e-03 9.99960046e-01 6.74259623e-04 -4.26564371e+00] [ 2.89262914e-02 -4.16158866e-04 9.99581461e-01 1.30396202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.315529293 meters Centerline goodness [0,1] 0.8852082178847772 Centerline is valid? [False, False] Translation: X:-61.04, Y:-4.27, Z:1.31 [[ 9.99475752e-01 1.26346447e-02 -2.98091823e-02 -6.10354908e+01] [-1.27084422e-02 9.99916628e-01 -2.28749975e-03 -4.26982144e+00] [ 2.97777953e-02 2.66512881e-03 9.99552990e-01 1.30676405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.345529293 meters Centerline goodness [0,1] 0.8868388429752067 Centerline is valid? [False, False] Translation: X:-61.09, Y:-4.27, Z:1.31 [[ 9.99289765e-01 1.65551212e-02 -3.38510606e-02 -6.10885232e+01] [-1.65876149e-02 9.99862185e-01 -6.79271977e-04 -4.27155701e+00] [ 3.38351500e-02 1.24029789e-03 9.99426658e-01 1.30585850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.37552929299999 meters Centerline goodness [0,1] 0.8739809712504902 Centerline is valid? [False, False] Translation: X:-61.12, Y:-4.27, Z:1.31 [[ 9.99192679e-01 1.61368422e-02 -3.67912000e-02 -6.11209515e+01] [-1.62825206e-02 9.99860720e-01 -3.66339616e-03 -4.26760225e+00] [ 3.67269601e-02 4.25949210e-03 9.99316260e-01 1.30676850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.405529292999994 meters Centerline goodness [0,1] 0.8553230959497062 Centerline is valid? [False, False] Translation: X:-61.15, Y:-4.26, Z:1.31 [[ 9.99232872e-01 2.06981924e-02 -3.32453303e-02 -6.11474029e+01] [-2.09147386e-02 9.99762168e-01 -6.17905408e-03 -4.26329759e+00] [ 3.31095283e-02 6.86963135e-03 9.99428120e-01 1.31031457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.435529292999995 meters Centerline goodness [0,1] 0.8558168316831684 Centerline is valid? [False, False] Translation: X:-61.18, Y:-4.26, Z:1.31 [[ 9.99382455e-01 2.16604773e-02 -2.76682412e-02 -6.11790041e+01] [-2.17797983e-02 9.99754716e-01 -4.01847094e-03 -4.25932805e+00] [ 2.75744126e-02 4.61859807e-03 9.99609084e-01 1.30801760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.465529292999996 meters Centerline goodness [0,1] 0.8421713016290933 Centerline is valid? [False, False] Translation: X:-61.21, Y:-4.26, Z:1.30 [[ 9.99163591e-01 2.34433538e-02 -3.35041471e-02 -6.12078754e+01] [-2.34782900e-02 9.99724136e-01 -6.49649716e-04 -4.26082974e+00] [ 3.34796745e-02 1.43572643e-03 9.99438367e-01 1.30475371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.495529293 meters Centerline goodness [0,1] 0.8250041267745131 Centerline is valid? [False, False] Translation: X:-61.23, Y:-4.26, Z:1.30 [[ 9.99020445e-01 2.10218458e-02 -3.89388296e-02 -6.12333356e+01] [-2.10949223e-02 9.99776401e-01 -1.46674378e-03 -4.26034629e+00] [ 3.88992893e-02 2.28671861e-03 9.99240520e-01 1.30129951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.525529293 meters Centerline goodness [0,1] 0.8663459957243874 Centerline is valid? [False, False] Translation: X:-61.25, Y:-4.25, Z:1.30 [[ 9.99309204e-01 1.44335985e-02 -3.42459538e-02 -6.12504174e+01] [-1.45729005e-02 9.99886507e-01 -3.82156640e-03 -4.25394470e+00] [ 3.41869081e-02 4.31798936e-03 9.99406129e-01 1.30398825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1247.94 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%| | 0/2051 [00:00